diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-303/trial_T20190908_144933_600228/game.tw-pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-303/trial_T20190908_144933_600228/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..59a21362f13e7a69de634fce61c58fef7b853af6 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-303/trial_T20190908_144933_600228/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: examine the alarmclock with the desklamp.\"\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_144933_600228)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n AlarmClock_bar__minus_01_dot_78_bar__plus_00_dot_60_bar__plus_00_dot_03 - object\n BaseballBat_bar__minus_01_dot_63_bar__plus_00_dot_65_bar__plus_00_dot_42 - object\n Blinds_bar__plus_00_dot_45_bar__plus_02_dot_16_bar__minus_02_dot_85 - object\n Book_bar__plus_00_dot_34_bar__plus_00_dot_72_bar__minus_02_dot_65 - object\n Box_bar__plus_02_dot_00_bar__plus_00_dot_32_bar__minus_01_dot_04 - object\n CD_bar__plus_02_dot_24_bar__plus_00_dot_04_bar__plus_00_dot_29 - object\n CD_bar__minus_01_dot_85_bar__plus_00_dot_60_bar__minus_00_dot_39 - object\n CellPhone_bar__plus_00_dot_54_bar__plus_00_dot_42_bar__minus_02_dot_55 - object\n CellPhone_bar__minus_00_dot_33_bar__plus_00_dot_42_bar__minus_01_dot_73 - object\n Chair_bar__minus_01_dot_56_bar__plus_00_dot_00_bar__minus_00_dot_31 - object\n Cloth_bar__plus_02_dot_18_bar__plus_00_dot_00_bar__minus_00_dot_57 - object\n CreditCard_bar__plus_01_dot_72_bar__plus_00_dot_36_bar__minus_02_dot_28 - object\n DeskLamp_bar__minus_01_dot_85_bar__plus_00_dot_59_bar__minus_00_dot_79 - object\n KeyChain_bar__plus_00_dot_08_bar__plus_00_dot_73_bar__minus_02_dot_59 - object\n KeyChain_bar__plus_01_dot_98_bar__plus_00_dot_06_bar__minus_02_dot_32 - object\n Laptop_bar__minus_00_dot_79_bar__plus_00_dot_42_bar__minus_01_dot_61 - object\n LightSwitch_bar__minus_00_dot_64_bar__plus_01_dot_15_bar__plus_00_dot_50 - object\n Mirror_bar__minus_01_dot_07_bar__plus_01_dot_47_bar__plus_00_dot_50 - object\n Mug_bar__plus_01_dot_19_bar__plus_00_dot_05_bar__minus_02_dot_28 - object\n Mug_bar__minus_01_dot_52_bar__plus_00_dot_60_bar__minus_00_dot_25 - object\n Mug_bar__minus_01_dot_71_bar__plus_00_dot_60_bar__minus_00_dot_39 - object\n Pencil_bar__plus_00_dot_54_bar__plus_00_dot_73_bar__minus_02_dot_59 - object\n Pencil_bar__plus_01_dot_45_bar__plus_00_dot_98_bar__minus_02_dot_26 - object\n Pencil_bar__minus_01_dot_79_bar__plus_00_dot_07_bar__minus_01_dot_11 - object\n Pen_bar__plus_00_dot_65_bar__plus_00_dot_74_bar__minus_02_dot_65 - object\n Pen_bar__plus_00_dot_77_bar__plus_00_dot_73_bar__minus_02_dot_71 - object\n Pen_bar__plus_01_dot_45_bar__plus_01_dot_58_bar__minus_02_dot_24 - object\n Pillow_bar__minus_01_dot_55_bar__plus_00_dot_46_bar__minus_01_dot_83 - object\n Poster_bar__plus_00_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64 - object\n TennisRacket_bar__plus_02_dot_24_bar__plus_00_dot_28_bar__minus_01_dot_90 - object\n Vase_bar__plus_01_dot_79_bar__plus_01_dot_58_bar__minus_02_dot_30 - object\n Window_bar__plus_00_dot_44_bar__plus_01_dot_40_bar__minus_02_dot_86 - object\n Bed_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__minus_01_dot_85 - receptacle\n Desk_bar__minus_01_dot_71_bar__plus_00_dot_00_bar__minus_00_dot_37 - receptacle\n Drawer_bar__plus_00_dot_45_bar__plus_00_dot_20_bar__minus_02_dot_43 - receptacle\n Drawer_bar__plus_00_dot_45_bar__plus_00_dot_50_bar__minus_02_dot_43 - receptacle\n Drawer_bar__minus_01_dot_79_bar__plus_00_dot_10_bar__minus_01_dot_15 - receptacle\n Drawer_bar__minus_01_dot_79_bar__plus_00_dot_25_bar__minus_01_dot_15 - receptacle\n Drawer_bar__minus_01_dot_79_bar__plus_00_dot_39_bar__minus_01_dot_15 - receptacle\n Dresser_bar__plus_00_dot_44_bar__plus_00_dot_04_bar__minus_02_dot_65 - receptacle\n GarbageCan_bar__plus_02_dot_22_bar__plus_00_dot_00_bar__plus_00_dot_31 - receptacle\n Shelf_bar__plus_01_dot_31_bar__plus_00_dot_05_bar__minus_02_dot_30 - receptacle\n Shelf_bar__plus_01_dot_31_bar__plus_00_dot_35_bar__minus_02_dot_30 - receptacle\n Shelf_bar__plus_01_dot_31_bar__plus_00_dot_97_bar__minus_02_dot_30 - receptacle\n Shelf_bar__plus_01_dot_31_bar__plus_01_dot_17_bar__minus_02_dot_30 - receptacle\n Shelf_bar__plus_01_dot_31_bar__plus_01_dot_37_bar__minus_02_dot_30 - receptacle\n Shelf_bar__plus_01_dot_31_bar__plus_01_dot_57_bar__minus_02_dot_30 - receptacle\n Shelf_bar__plus_01_dot_84_bar__plus_00_dot_05_bar__minus_02_dot_30 - receptacle\n Shelf_bar__plus_01_dot_84_bar__plus_00_dot_35_bar__minus_02_dot_30 - receptacle\n Shelf_bar__plus_01_dot_84_bar__plus_00_dot_97_bar__minus_02_dot_30 - receptacle\n Shelf_bar__plus_01_dot_84_bar__plus_01_dot_17_bar__minus_02_dot_30 - receptacle\n Shelf_bar__plus_01_dot_84_bar__plus_01_dot_37_bar__minus_02_dot_30 - receptacle\n Shelf_bar__plus_01_dot_84_bar__plus_01_dot_57_bar__minus_02_dot_30 - receptacle\n SideTable_bar__minus_01_dot_82_bar__plus_00_dot_00_bar__minus_01_dot_14 - receptacle\n loc_bar_7_bar__minus_7_bar_2_bar_45 - location\n loc_bar__minus_4_bar__minus_1_bar_3_bar_60 - location\n loc_bar_2_bar__minus_8_bar_2_bar_60 - location\n loc_bar_3_bar__minus_5_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_3_bar_3_bar_60 - location\n loc_bar__minus_4_bar__minus_2_bar_2_bar_45 - location\n loc_bar_2_bar__minus_8_bar_2_bar__minus_30 - location\n loc_bar_7_bar_0_bar_1_bar_60 - location\n loc_bar__minus_2_bar__minus_2_bar_3_bar_45 - location\n loc_bar_5_bar__minus_7_bar_2_bar_15 - location\n loc_bar__minus_4_bar_0_bar_0_bar_15 - location\n loc_bar_7_bar__minus_7_bar_2_bar_15 - location\n loc_bar__minus_4_bar_0_bar_3_bar_60 - location\n loc_bar_5_bar__minus_5_bar_2_bar_60 - location\n loc_bar__minus_3_bar__minus_3_bar_3_bar_60 - location\n loc_bar_6_bar__minus_6_bar_2_bar_60 - location\n loc_bar_7_bar__minus_6_bar_2_bar_60 - location\n loc_bar_1_bar__minus_8_bar_2_bar_15 - location\n loc_bar_7_bar__minus_7_bar_2_bar_30 - location\n loc_bar_6_bar__minus_4_bar_1_bar_60 - location\n loc_bar__minus_3_bar__minus_2_bar_3_bar_60 - location\n loc_bar_5_bar__minus_7_bar_2_bar_45 - location\n loc_bar_7_bar__minus_2_bar_1_bar_60 - location\n loc_bar_7_bar__minus_7_bar_1_bar_60 - location\n loc_bar_5_bar__minus_7_bar_2_bar_30 - location\n loc_bar__minus_3_bar_0_bar_0_bar_45 - location\n loc_bar__minus_3_bar__minus_3_bar_3_bar_45 - location\n loc_bar_6_bar__minus_1_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Shelf_bar__plus_01_dot_84_bar__plus_01_dot_57_bar__minus_02_dot_30 ShelfType)\n (receptacleType Drawer_bar__minus_01_dot_79_bar__plus_00_dot_25_bar__minus_01_dot_15 DrawerType)\n (receptacleType Shelf_bar__plus_01_dot_84_bar__plus_01_dot_17_bar__minus_02_dot_30 ShelfType)\n (receptacleType SideTable_bar__minus_01_dot_82_bar__plus_00_dot_00_bar__minus_01_dot_14 SideTableType)\n (receptacleType Shelf_bar__plus_01_dot_31_bar__plus_00_dot_35_bar__minus_02_dot_30 ShelfType)\n (receptacleType Drawer_bar__plus_00_dot_45_bar__plus_00_dot_50_bar__minus_02_dot_43 DrawerType)\n (receptacleType Shelf_bar__plus_01_dot_31_bar__plus_01_dot_37_bar__minus_02_dot_30 ShelfType)\n (receptacleType Shelf_bar__plus_01_dot_84_bar__plus_01_dot_37_bar__minus_02_dot_30 ShelfType)\n (receptacleType Dresser_bar__plus_00_dot_44_bar__plus_00_dot_04_bar__minus_02_dot_65 DresserType)\n (receptacleType Shelf_bar__plus_01_dot_84_bar__plus_00_dot_05_bar__minus_02_dot_30 ShelfType)\n (receptacleType Drawer_bar__plus_00_dot_45_bar__plus_00_dot_20_bar__minus_02_dot_43 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_79_bar__plus_00_dot_39_bar__minus_01_dot_15 DrawerType)\n (receptacleType Shelf_bar__plus_01_dot_31_bar__plus_01_dot_17_bar__minus_02_dot_30 ShelfType)\n (receptacleType Shelf_bar__plus_01_dot_31_bar__plus_00_dot_97_bar__minus_02_dot_30 ShelfType)\n (receptacleType Shelf_bar__plus_01_dot_84_bar__plus_00_dot_97_bar__minus_02_dot_30 ShelfType)\n (receptacleType GarbageCan_bar__plus_02_dot_22_bar__plus_00_dot_00_bar__plus_00_dot_31 GarbageCanType)\n (receptacleType Bed_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__minus_01_dot_85 BedType)\n (receptacleType Shelf_bar__plus_01_dot_31_bar__plus_01_dot_57_bar__minus_02_dot_30 ShelfType)\n (receptacleType Drawer_bar__minus_01_dot_79_bar__plus_00_dot_10_bar__minus_01_dot_15 DrawerType)\n (receptacleType Shelf_bar__plus_01_dot_31_bar__plus_00_dot_05_bar__minus_02_dot_30 ShelfType)\n (receptacleType Desk_bar__minus_01_dot_71_bar__plus_00_dot_00_bar__minus_00_dot_37 DeskType)\n (receptacleType Shelf_bar__plus_01_dot_84_bar__plus_00_dot_35_bar__minus_02_dot_30 ShelfType)\n (objectType Window_bar__plus_00_dot_44_bar__plus_01_dot_40_bar__minus_02_dot_86 WindowType)\n (objectType Mug_bar__minus_01_dot_71_bar__plus_00_dot_60_bar__minus_00_dot_39 MugType)\n (objectType KeyChain_bar__plus_00_dot_08_bar__plus_00_dot_73_bar__minus_02_dot_59 KeyChainType)\n (objectType Pen_bar__plus_00_dot_65_bar__plus_00_dot_74_bar__minus_02_dot_65 PenType)\n (objectType LightSwitch_bar__minus_00_dot_64_bar__plus_01_dot_15_bar__plus_00_dot_50 LightSwitchType)\n (objectType Book_bar__plus_00_dot_34_bar__plus_00_dot_72_bar__minus_02_dot_65 BookType)\n (objectType CD_bar__plus_02_dot_24_bar__plus_00_dot_04_bar__plus_00_dot_29 CDType)\n (objectType AlarmClock_bar__minus_01_dot_78_bar__plus_00_dot_60_bar__plus_00_dot_03 AlarmClockType)\n (objectType Mug_bar__plus_01_dot_19_bar__plus_00_dot_05_bar__minus_02_dot_28 MugType)\n (objectType DeskLamp_bar__minus_01_dot_85_bar__plus_00_dot_59_bar__minus_00_dot_79 DeskLampType)\n (objectType Laptop_bar__minus_00_dot_79_bar__plus_00_dot_42_bar__minus_01_dot_61 LaptopType)\n (objectType TennisRacket_bar__plus_02_dot_24_bar__plus_00_dot_28_bar__minus_01_dot_90 TennisRacketType)\n (objectType Pencil_bar__minus_01_dot_79_bar__plus_00_dot_07_bar__minus_01_dot_11 PencilType)\n (objectType Chair_bar__minus_01_dot_56_bar__plus_00_dot_00_bar__minus_00_dot_31 ChairType)\n (objectType Pencil_bar__plus_01_dot_45_bar__plus_00_dot_98_bar__minus_02_dot_26 PencilType)\n (objectType Box_bar__plus_02_dot_00_bar__plus_00_dot_32_bar__minus_01_dot_04 BoxType)\n (objectType CellPhone_bar__plus_00_dot_54_bar__plus_00_dot_42_bar__minus_02_dot_55 CellPhoneType)\n (objectType BaseballBat_bar__minus_01_dot_63_bar__plus_00_dot_65_bar__plus_00_dot_42 BaseballBatType)\n (objectType CreditCard_bar__plus_01_dot_72_bar__plus_00_dot_36_bar__minus_02_dot_28 CreditCardType)\n (objectType Mug_bar__minus_01_dot_52_bar__plus_00_dot_60_bar__minus_00_dot_25 MugType)\n (objectType CD_bar__minus_01_dot_85_bar__plus_00_dot_60_bar__minus_00_dot_39 CDType)\n (objectType Pen_bar__plus_00_dot_77_bar__plus_00_dot_73_bar__minus_02_dot_71 PenType)\n (objectType Pillow_bar__minus_01_dot_55_bar__plus_00_dot_46_bar__minus_01_dot_83 PillowType)\n (objectType Blinds_bar__plus_00_dot_45_bar__plus_02_dot_16_bar__minus_02_dot_85 BlindsType)\n (objectType Vase_bar__plus_01_dot_79_bar__plus_01_dot_58_bar__minus_02_dot_30 VaseType)\n (objectType KeyChain_bar__plus_01_dot_98_bar__plus_00_dot_06_bar__minus_02_dot_32 KeyChainType)\n (objectType Poster_bar__plus_00_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64 PosterType)\n (objectType CellPhone_bar__minus_00_dot_33_bar__plus_00_dot_42_bar__minus_01_dot_73 CellPhoneType)\n (objectType Pen_bar__plus_01_dot_45_bar__plus_01_dot_58_bar__minus_02_dot_24 PenType)\n (objectType Cloth_bar__plus_02_dot_18_bar__plus_00_dot_00_bar__minus_00_dot_57 ClothType)\n (objectType Mirror_bar__minus_01_dot_07_bar__plus_01_dot_47_bar__plus_00_dot_50 MirrorType)\n (objectType Pencil_bar__plus_00_dot_54_bar__plus_00_dot_73_bar__minus_02_dot_59 PencilType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType VaseType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType VaseType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType VaseType)\n (canContain SideTableType CDType)\n (canContain SideTableType MugType)\n (canContain SideTableType BoxType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType BaseballBatType)\n (canContain SideTableType TennisRacketType)\n (canContain SideTableType ClothType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType AlarmClockType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType VaseType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType VaseType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType VaseType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain DresserType PenType)\n (canContain DresserType BookType)\n (canContain DresserType VaseType)\n (canContain DresserType CDType)\n (canContain DresserType MugType)\n (canContain DresserType BoxType)\n (canContain DresserType CellPhoneType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType TennisRacketType)\n (canContain DresserType ClothType)\n (canContain DresserType LaptopType)\n (canContain DresserType PencilType)\n (canContain DresserType AlarmClockType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType VaseType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType VaseType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType VaseType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType VaseType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType PencilType)\n (canContain BedType BaseballBatType)\n (canContain BedType TennisRacketType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType VaseType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType VaseType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain DeskType PenType)\n (canContain DeskType BookType)\n (canContain DeskType VaseType)\n (canContain DeskType CDType)\n (canContain DeskType MugType)\n (canContain DeskType BoxType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType TennisRacketType)\n (canContain DeskType ClothType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType AlarmClockType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType VaseType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (pickupable Mug_bar__minus_01_dot_71_bar__plus_00_dot_60_bar__minus_00_dot_39)\n (pickupable KeyChain_bar__plus_00_dot_08_bar__plus_00_dot_73_bar__minus_02_dot_59)\n (pickupable Pen_bar__plus_00_dot_65_bar__plus_00_dot_74_bar__minus_02_dot_65)\n (pickupable Book_bar__plus_00_dot_34_bar__plus_00_dot_72_bar__minus_02_dot_65)\n (pickupable CD_bar__plus_02_dot_24_bar__plus_00_dot_04_bar__plus_00_dot_29)\n (pickupable AlarmClock_bar__minus_01_dot_78_bar__plus_00_dot_60_bar__plus_00_dot_03)\n (pickupable Mug_bar__plus_01_dot_19_bar__plus_00_dot_05_bar__minus_02_dot_28)\n (pickupable Laptop_bar__minus_00_dot_79_bar__plus_00_dot_42_bar__minus_01_dot_61)\n (pickupable TennisRacket_bar__plus_02_dot_24_bar__plus_00_dot_28_bar__minus_01_dot_90)\n (pickupable Pencil_bar__minus_01_dot_79_bar__plus_00_dot_07_bar__minus_01_dot_11)\n (pickupable Pencil_bar__plus_01_dot_45_bar__plus_00_dot_98_bar__minus_02_dot_26)\n (pickupable Box_bar__plus_02_dot_00_bar__plus_00_dot_32_bar__minus_01_dot_04)\n (pickupable CellPhone_bar__plus_00_dot_54_bar__plus_00_dot_42_bar__minus_02_dot_55)\n (pickupable BaseballBat_bar__minus_01_dot_63_bar__plus_00_dot_65_bar__plus_00_dot_42)\n (pickupable CreditCard_bar__plus_01_dot_72_bar__plus_00_dot_36_bar__minus_02_dot_28)\n (pickupable Mug_bar__minus_01_dot_52_bar__plus_00_dot_60_bar__minus_00_dot_25)\n (pickupable CD_bar__minus_01_dot_85_bar__plus_00_dot_60_bar__minus_00_dot_39)\n (pickupable Pen_bar__plus_00_dot_77_bar__plus_00_dot_73_bar__minus_02_dot_71)\n (pickupable Pillow_bar__minus_01_dot_55_bar__plus_00_dot_46_bar__minus_01_dot_83)\n (pickupable Vase_bar__plus_01_dot_79_bar__plus_01_dot_58_bar__minus_02_dot_30)\n (pickupable KeyChain_bar__plus_01_dot_98_bar__plus_00_dot_06_bar__minus_02_dot_32)\n (pickupable CellPhone_bar__minus_00_dot_33_bar__plus_00_dot_42_bar__minus_01_dot_73)\n (pickupable Pen_bar__plus_01_dot_45_bar__plus_01_dot_58_bar__minus_02_dot_24)\n (pickupable Cloth_bar__plus_02_dot_18_bar__plus_00_dot_00_bar__minus_00_dot_57)\n (pickupable Pencil_bar__plus_00_dot_54_bar__plus_00_dot_73_bar__minus_02_dot_59)\n (isReceptacleObject Mug_bar__minus_01_dot_71_bar__plus_00_dot_60_bar__minus_00_dot_39)\n (isReceptacleObject Mug_bar__plus_01_dot_19_bar__plus_00_dot_05_bar__minus_02_dot_28)\n (isReceptacleObject Box_bar__plus_02_dot_00_bar__plus_00_dot_32_bar__minus_01_dot_04)\n (isReceptacleObject Mug_bar__minus_01_dot_52_bar__plus_00_dot_60_bar__minus_00_dot_25)\n (openable Drawer_bar__minus_01_dot_79_bar__plus_00_dot_25_bar__minus_01_dot_15)\n (openable Drawer_bar__minus_01_dot_79_bar__plus_00_dot_39_bar__minus_01_dot_15)\n (openable Drawer_bar__minus_01_dot_79_bar__plus_00_dot_10_bar__minus_01_dot_15)\n \n (atLocation agent1 loc_bar_6_bar__minus_1_bar_0_bar_30)\n \n (cleanable Mug_bar__minus_01_dot_71_bar__plus_00_dot_60_bar__minus_00_dot_39)\n (cleanable Mug_bar__plus_01_dot_19_bar__plus_00_dot_05_bar__minus_02_dot_28)\n (cleanable Mug_bar__minus_01_dot_52_bar__plus_00_dot_60_bar__minus_00_dot_25)\n (cleanable Cloth_bar__plus_02_dot_18_bar__plus_00_dot_00_bar__minus_00_dot_57)\n \n (heatable Mug_bar__minus_01_dot_71_bar__plus_00_dot_60_bar__minus_00_dot_39)\n (heatable Mug_bar__plus_01_dot_19_bar__plus_00_dot_05_bar__minus_02_dot_28)\n (heatable Mug_bar__minus_01_dot_52_bar__plus_00_dot_60_bar__minus_00_dot_25)\n (coolable Mug_bar__minus_01_dot_71_bar__plus_00_dot_60_bar__minus_00_dot_39)\n (coolable Mug_bar__plus_01_dot_19_bar__plus_00_dot_05_bar__minus_02_dot_28)\n (coolable Mug_bar__minus_01_dot_52_bar__plus_00_dot_60_bar__minus_00_dot_25)\n \n \n (toggleable DeskLamp_bar__minus_01_dot_85_bar__plus_00_dot_59_bar__minus_00_dot_79)\n \n \n \n \n (inReceptacle Pencil_bar__plus_01_dot_45_bar__plus_00_dot_98_bar__minus_02_dot_26 Shelf_bar__plus_01_dot_31_bar__plus_00_dot_97_bar__minus_02_dot_30)\n (inReceptacle CellPhone_bar__plus_00_dot_54_bar__plus_00_dot_42_bar__minus_02_dot_55 Drawer_bar__plus_00_dot_45_bar__plus_00_dot_50_bar__minus_02_dot_43)\n (inReceptacle Window_bar__plus_00_dot_44_bar__plus_01_dot_40_bar__minus_02_dot_86 Dresser_bar__plus_00_dot_44_bar__plus_00_dot_04_bar__minus_02_dot_65)\n (inReceptacle KeyChain_bar__plus_00_dot_08_bar__plus_00_dot_73_bar__minus_02_dot_59 Dresser_bar__plus_00_dot_44_bar__plus_00_dot_04_bar__minus_02_dot_65)\n (inReceptacle Pen_bar__plus_00_dot_77_bar__plus_00_dot_73_bar__minus_02_dot_71 Dresser_bar__plus_00_dot_44_bar__plus_00_dot_04_bar__minus_02_dot_65)\n (inReceptacle Pen_bar__plus_00_dot_65_bar__plus_00_dot_74_bar__minus_02_dot_65 Dresser_bar__plus_00_dot_44_bar__plus_00_dot_04_bar__minus_02_dot_65)\n (inReceptacle Pencil_bar__plus_00_dot_54_bar__plus_00_dot_73_bar__minus_02_dot_59 Dresser_bar__plus_00_dot_44_bar__plus_00_dot_04_bar__minus_02_dot_65)\n (inReceptacle Book_bar__plus_00_dot_34_bar__plus_00_dot_72_bar__minus_02_dot_65 Dresser_bar__plus_00_dot_44_bar__plus_00_dot_04_bar__minus_02_dot_65)\n (inReceptacle AlarmClock_bar__minus_01_dot_78_bar__plus_00_dot_60_bar__plus_00_dot_03 Desk_bar__minus_01_dot_71_bar__plus_00_dot_00_bar__minus_00_dot_37)\n (inReceptacle Mug_bar__minus_01_dot_71_bar__plus_00_dot_60_bar__minus_00_dot_39 Desk_bar__minus_01_dot_71_bar__plus_00_dot_00_bar__minus_00_dot_37)\n (inReceptacle DeskLamp_bar__minus_01_dot_85_bar__plus_00_dot_59_bar__minus_00_dot_79 Desk_bar__minus_01_dot_71_bar__plus_00_dot_00_bar__minus_00_dot_37)\n (inReceptacle Mug_bar__minus_01_dot_52_bar__plus_00_dot_60_bar__minus_00_dot_25 Desk_bar__minus_01_dot_71_bar__plus_00_dot_00_bar__minus_00_dot_37)\n (inReceptacle CD_bar__minus_01_dot_85_bar__plus_00_dot_60_bar__minus_00_dot_39 Desk_bar__minus_01_dot_71_bar__plus_00_dot_00_bar__minus_00_dot_37)\n (inReceptacle Pencil_bar__minus_01_dot_79_bar__plus_00_dot_07_bar__minus_01_dot_11 Drawer_bar__minus_01_dot_79_bar__plus_00_dot_10_bar__minus_01_dot_15)\n (inReceptacle Vase_bar__plus_01_dot_79_bar__plus_01_dot_58_bar__minus_02_dot_30 Shelf_bar__plus_01_dot_84_bar__plus_01_dot_57_bar__minus_02_dot_30)\n (inReceptacle Pen_bar__plus_01_dot_45_bar__plus_01_dot_58_bar__minus_02_dot_24 Shelf_bar__plus_01_dot_31_bar__plus_01_dot_57_bar__minus_02_dot_30)\n (inReceptacle CreditCard_bar__plus_01_dot_72_bar__plus_00_dot_36_bar__minus_02_dot_28 Shelf_bar__plus_01_dot_84_bar__plus_00_dot_35_bar__minus_02_dot_30)\n (inReceptacle Mug_bar__plus_01_dot_19_bar__plus_00_dot_05_bar__minus_02_dot_28 Shelf_bar__plus_01_dot_31_bar__plus_00_dot_05_bar__minus_02_dot_30)\n (inReceptacle KeyChain_bar__plus_01_dot_98_bar__plus_00_dot_06_bar__minus_02_dot_32 Shelf_bar__plus_01_dot_84_bar__plus_00_dot_05_bar__minus_02_dot_30)\n (inReceptacle Pillow_bar__minus_01_dot_55_bar__plus_00_dot_46_bar__minus_01_dot_83 Bed_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__minus_01_dot_85)\n (inReceptacle CellPhone_bar__minus_00_dot_33_bar__plus_00_dot_42_bar__minus_01_dot_73 Bed_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__minus_01_dot_85)\n (inReceptacle Laptop_bar__minus_00_dot_79_bar__plus_00_dot_42_bar__minus_01_dot_61 Bed_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__minus_01_dot_85)\n \n \n (receptacleAtLocation Bed_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__minus_01_dot_85 loc_bar__minus_4_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Desk_bar__minus_01_dot_71_bar__plus_00_dot_00_bar__minus_00_dot_37 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_45_bar__plus_00_dot_20_bar__minus_02_dot_43 loc_bar_2_bar__minus_8_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_45_bar__plus_00_dot_50_bar__minus_02_dot_43 loc_bar_2_bar__minus_8_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_79_bar__plus_00_dot_10_bar__minus_01_dot_15 loc_bar__minus_2_bar__minus_2_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_79_bar__plus_00_dot_25_bar__minus_01_dot_15 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_79_bar__plus_00_dot_39_bar__minus_01_dot_15 loc_bar__minus_3_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation Dresser_bar__plus_00_dot_44_bar__plus_00_dot_04_bar__minus_02_dot_65 loc_bar_2_bar__minus_8_bar_2_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_02_dot_22_bar__plus_00_dot_00_bar__plus_00_dot_31 loc_bar_7_bar_0_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__plus_01_dot_31_bar__plus_00_dot_05_bar__minus_02_dot_30 loc_bar_3_bar__minus_5_bar_2_bar_60)\n (receptacleAtLocation Shelf_bar__plus_01_dot_31_bar__plus_00_dot_35_bar__minus_02_dot_30 loc_bar_7_bar__minus_6_bar_2_bar_60)\n (receptacleAtLocation Shelf_bar__plus_01_dot_31_bar__plus_00_dot_97_bar__minus_02_dot_30 loc_bar_5_bar__minus_7_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_01_dot_31_bar__plus_01_dot_17_bar__minus_02_dot_30 loc_bar_5_bar__minus_7_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_01_dot_31_bar__plus_01_dot_37_bar__minus_02_dot_30 loc_bar_5_bar__minus_7_bar_2_bar_30)\n (receptacleAtLocation Shelf_bar__plus_01_dot_31_bar__plus_01_dot_57_bar__minus_02_dot_30 loc_bar_5_bar__minus_7_bar_2_bar_15)\n (receptacleAtLocation Shelf_bar__plus_01_dot_84_bar__plus_00_dot_05_bar__minus_02_dot_30 loc_bar_5_bar__minus_5_bar_2_bar_60)\n (receptacleAtLocation Shelf_bar__plus_01_dot_84_bar__plus_00_dot_35_bar__minus_02_dot_30 loc_bar_6_bar__minus_6_bar_2_bar_60)\n (receptacleAtLocation Shelf_bar__plus_01_dot_84_bar__plus_00_dot_97_bar__minus_02_dot_30 loc_bar_7_bar__minus_7_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_01_dot_84_bar__plus_01_dot_17_bar__minus_02_dot_30 loc_bar_7_bar__minus_7_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_01_dot_84_bar__plus_01_dot_37_bar__minus_02_dot_30 loc_bar_7_bar__minus_7_bar_2_bar_30)\n (receptacleAtLocation Shelf_bar__plus_01_dot_84_bar__plus_01_dot_57_bar__minus_02_dot_30 loc_bar_7_bar__minus_7_bar_2_bar_15)\n (receptacleAtLocation SideTable_bar__minus_01_dot_82_bar__plus_00_dot_00_bar__minus_01_dot_14 loc_bar__minus_4_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Mug_bar__minus_01_dot_52_bar__plus_00_dot_60_bar__minus_00_dot_25 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (objectAtLocation Pencil_bar__plus_01_dot_45_bar__plus_00_dot_98_bar__minus_02_dot_26 loc_bar_5_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Pen_bar__plus_01_dot_45_bar__plus_01_dot_58_bar__minus_02_dot_24 loc_bar_5_bar__minus_7_bar_2_bar_15)\n (objectAtLocation KeyChain_bar__plus_01_dot_98_bar__plus_00_dot_06_bar__minus_02_dot_32 loc_bar_5_bar__minus_5_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__plus_00_dot_54_bar__plus_00_dot_42_bar__minus_02_dot_55 loc_bar_2_bar__minus_8_bar_2_bar_60)\n (objectAtLocation Pencil_bar__minus_01_dot_79_bar__plus_00_dot_07_bar__minus_01_dot_11 loc_bar__minus_2_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Pen_bar__plus_00_dot_77_bar__plus_00_dot_73_bar__minus_02_dot_71 loc_bar_2_bar__minus_8_bar_2_bar_60)\n (objectAtLocation Mug_bar__minus_01_dot_71_bar__plus_00_dot_60_bar__minus_00_dot_39 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (objectAtLocation Box_bar__plus_02_dot_00_bar__plus_00_dot_32_bar__minus_01_dot_04 loc_bar_6_bar__minus_4_bar_1_bar_60)\n (objectAtLocation Chair_bar__minus_01_dot_56_bar__plus_00_dot_00_bar__minus_00_dot_31 loc_bar__minus_4_bar__minus_1_bar_3_bar_60)\n (objectAtLocation Book_bar__plus_00_dot_34_bar__plus_00_dot_72_bar__minus_02_dot_65 loc_bar_2_bar__minus_8_bar_2_bar_60)\n (objectAtLocation Pillow_bar__minus_01_dot_55_bar__plus_00_dot_46_bar__minus_01_dot_83 loc_bar__minus_4_bar__minus_2_bar_2_bar_45)\n (objectAtLocation CellPhone_bar__minus_00_dot_33_bar__plus_00_dot_42_bar__minus_01_dot_73 loc_bar__minus_4_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Vase_bar__plus_01_dot_79_bar__plus_01_dot_58_bar__minus_02_dot_30 loc_bar_7_bar__minus_7_bar_2_bar_15)\n (objectAtLocation DeskLamp_bar__minus_01_dot_85_bar__plus_00_dot_59_bar__minus_00_dot_79 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (objectAtLocation BaseballBat_bar__minus_01_dot_63_bar__plus_00_dot_65_bar__plus_00_dot_42 loc_bar__minus_4_bar_0_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__plus_01_dot_72_bar__plus_00_dot_36_bar__minus_02_dot_28 loc_bar_6_bar__minus_6_bar_2_bar_60)\n (objectAtLocation TennisRacket_bar__plus_02_dot_24_bar__plus_00_dot_28_bar__minus_01_dot_90 loc_bar_7_bar__minus_7_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__plus_00_dot_08_bar__plus_00_dot_73_bar__minus_02_dot_59 loc_bar_2_bar__minus_8_bar_2_bar_60)\n (objectAtLocation LightSwitch_bar__minus_00_dot_64_bar__plus_01_dot_15_bar__plus_00_dot_50 loc_bar__minus_3_bar_0_bar_0_bar_45)\n (objectAtLocation AlarmClock_bar__minus_01_dot_78_bar__plus_00_dot_60_bar__plus_00_dot_03 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (objectAtLocation Poster_bar__plus_00_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64 loc_bar_1_bar__minus_8_bar_2_bar_15)\n (objectAtLocation Cloth_bar__plus_02_dot_18_bar__plus_00_dot_00_bar__minus_00_dot_57 loc_bar_7_bar__minus_2_bar_1_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_79_bar__plus_00_dot_42_bar__minus_01_dot_61 loc_bar__minus_4_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Mirror_bar__minus_01_dot_07_bar__plus_01_dot_47_bar__plus_00_dot_50 loc_bar__minus_4_bar_0_bar_0_bar_15)\n (objectAtLocation CD_bar__minus_01_dot_85_bar__plus_00_dot_60_bar__minus_00_dot_39 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (objectAtLocation CD_bar__plus_02_dot_24_bar__plus_00_dot_04_bar__plus_00_dot_29 loc_bar_7_bar_0_bar_1_bar_60)\n (objectAtLocation Pen_bar__plus_00_dot_65_bar__plus_00_dot_74_bar__minus_02_dot_65 loc_bar_2_bar__minus_8_bar_2_bar_60)\n (objectAtLocation Window_bar__plus_00_dot_44_bar__plus_01_dot_40_bar__minus_02_dot_86 loc_bar_2_bar__minus_8_bar_2_bar_60)\n (objectAtLocation Pencil_bar__plus_00_dot_54_bar__plus_00_dot_73_bar__minus_02_dot_59 loc_bar_2_bar__minus_8_bar_2_bar_60)\n (objectAtLocation Mug_bar__plus_01_dot_19_bar__plus_00_dot_05_bar__minus_02_dot_28 loc_bar_3_bar__minus_5_bar_2_bar_60)\n (objectAtLocation Blinds_bar__plus_00_dot_45_bar__plus_02_dot_16_bar__minus_02_dot_85 loc_bar_2_bar__minus_8_bar_2_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?ot - object\n ?r - receptacle\n ?a - agent\n ?l - location)\n (and\n (objectType ?ot DeskLampType)\n (toggleable ?ot)\n (isToggled ?ot)\n (receptacleAtLocation ?r ?l)\n (atLocation ?a ?l)\n (inReceptacle ?ot ?r)\n )\n )\n (exists (?o - object\n ?a - agent)\n (and\n (objectType ?o AlarmClockType)\n (holds ?a ?o)\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to desk 1", "use desklamp 1", "take alarmclock 1 from desk 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-303/trial_T20190908_144933_600228/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-303/trial_T20190908_144933_600228/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..b29a1746e026c916ce3eb183525da8456ddc693c --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-303/trial_T20190908_144933_600228/initial_state.pddl @@ -0,0 +1,734 @@ + +(define (problem plan_trial_T20190908_144933_600228) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + AlarmClock_bar__minus_01_dot_78_bar__plus_00_dot_60_bar__plus_00_dot_03 - object + BaseballBat_bar__minus_01_dot_63_bar__plus_00_dot_65_bar__plus_00_dot_42 - object + Blinds_bar__plus_00_dot_45_bar__plus_02_dot_16_bar__minus_02_dot_85 - object + Book_bar__plus_00_dot_34_bar__plus_00_dot_72_bar__minus_02_dot_65 - object + Box_bar__plus_02_dot_00_bar__plus_00_dot_32_bar__minus_01_dot_04 - object + CD_bar__plus_02_dot_24_bar__plus_00_dot_04_bar__plus_00_dot_29 - object + CD_bar__minus_01_dot_85_bar__plus_00_dot_60_bar__minus_00_dot_39 - object + CellPhone_bar__plus_00_dot_54_bar__plus_00_dot_42_bar__minus_02_dot_55 - object + CellPhone_bar__minus_00_dot_33_bar__plus_00_dot_42_bar__minus_01_dot_73 - object + Chair_bar__minus_01_dot_56_bar__plus_00_dot_00_bar__minus_00_dot_31 - object + Cloth_bar__plus_02_dot_18_bar__plus_00_dot_00_bar__minus_00_dot_57 - object + CreditCard_bar__plus_01_dot_72_bar__plus_00_dot_36_bar__minus_02_dot_28 - object + DeskLamp_bar__minus_01_dot_85_bar__plus_00_dot_59_bar__minus_00_dot_79 - object + KeyChain_bar__plus_00_dot_08_bar__plus_00_dot_73_bar__minus_02_dot_59 - object + KeyChain_bar__plus_01_dot_98_bar__plus_00_dot_06_bar__minus_02_dot_32 - object + Laptop_bar__minus_00_dot_79_bar__plus_00_dot_42_bar__minus_01_dot_61 - object + LightSwitch_bar__minus_00_dot_64_bar__plus_01_dot_15_bar__plus_00_dot_50 - object + Mirror_bar__minus_01_dot_07_bar__plus_01_dot_47_bar__plus_00_dot_50 - object + Mug_bar__plus_01_dot_19_bar__plus_00_dot_05_bar__minus_02_dot_28 - object + Mug_bar__minus_01_dot_52_bar__plus_00_dot_60_bar__minus_00_dot_25 - object + Mug_bar__minus_01_dot_71_bar__plus_00_dot_60_bar__minus_00_dot_39 - object + Pencil_bar__plus_00_dot_54_bar__plus_00_dot_73_bar__minus_02_dot_59 - object + Pencil_bar__plus_01_dot_45_bar__plus_00_dot_98_bar__minus_02_dot_26 - object + Pencil_bar__minus_01_dot_79_bar__plus_00_dot_07_bar__minus_01_dot_11 - object + Pen_bar__plus_00_dot_65_bar__plus_00_dot_74_bar__minus_02_dot_65 - object + Pen_bar__plus_00_dot_77_bar__plus_00_dot_73_bar__minus_02_dot_71 - object + Pen_bar__plus_01_dot_45_bar__plus_01_dot_58_bar__minus_02_dot_24 - object + Pillow_bar__minus_01_dot_55_bar__plus_00_dot_46_bar__minus_01_dot_83 - object + Poster_bar__plus_00_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64 - object + TennisRacket_bar__plus_02_dot_24_bar__plus_00_dot_28_bar__minus_01_dot_90 - object + Vase_bar__plus_01_dot_79_bar__plus_01_dot_58_bar__minus_02_dot_30 - object + Window_bar__plus_00_dot_44_bar__plus_01_dot_40_bar__minus_02_dot_86 - object + Bed_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__minus_01_dot_85 - receptacle + Desk_bar__minus_01_dot_71_bar__plus_00_dot_00_bar__minus_00_dot_37 - receptacle + Drawer_bar__plus_00_dot_45_bar__plus_00_dot_20_bar__minus_02_dot_43 - receptacle + Drawer_bar__plus_00_dot_45_bar__plus_00_dot_50_bar__minus_02_dot_43 - receptacle + Drawer_bar__minus_01_dot_79_bar__plus_00_dot_10_bar__minus_01_dot_15 - receptacle + Drawer_bar__minus_01_dot_79_bar__plus_00_dot_25_bar__minus_01_dot_15 - receptacle + Drawer_bar__minus_01_dot_79_bar__plus_00_dot_39_bar__minus_01_dot_15 - receptacle + Dresser_bar__plus_00_dot_44_bar__plus_00_dot_04_bar__minus_02_dot_65 - receptacle + GarbageCan_bar__plus_02_dot_22_bar__plus_00_dot_00_bar__plus_00_dot_31 - receptacle + Shelf_bar__plus_01_dot_31_bar__plus_00_dot_05_bar__minus_02_dot_30 - receptacle + Shelf_bar__plus_01_dot_31_bar__plus_00_dot_35_bar__minus_02_dot_30 - receptacle + Shelf_bar__plus_01_dot_31_bar__plus_00_dot_97_bar__minus_02_dot_30 - receptacle + Shelf_bar__plus_01_dot_31_bar__plus_01_dot_17_bar__minus_02_dot_30 - receptacle + Shelf_bar__plus_01_dot_31_bar__plus_01_dot_37_bar__minus_02_dot_30 - receptacle + Shelf_bar__plus_01_dot_31_bar__plus_01_dot_57_bar__minus_02_dot_30 - receptacle + Shelf_bar__plus_01_dot_84_bar__plus_00_dot_05_bar__minus_02_dot_30 - receptacle + Shelf_bar__plus_01_dot_84_bar__plus_00_dot_35_bar__minus_02_dot_30 - receptacle + Shelf_bar__plus_01_dot_84_bar__plus_00_dot_97_bar__minus_02_dot_30 - receptacle + Shelf_bar__plus_01_dot_84_bar__plus_01_dot_17_bar__minus_02_dot_30 - receptacle + Shelf_bar__plus_01_dot_84_bar__plus_01_dot_37_bar__minus_02_dot_30 - receptacle + Shelf_bar__plus_01_dot_84_bar__plus_01_dot_57_bar__minus_02_dot_30 - receptacle + SideTable_bar__minus_01_dot_82_bar__plus_00_dot_00_bar__minus_01_dot_14 - receptacle + loc_bar_7_bar__minus_7_bar_2_bar_45 - location + loc_bar__minus_4_bar__minus_1_bar_3_bar_60 - location + loc_bar_2_bar__minus_8_bar_2_bar_60 - location + loc_bar_3_bar__minus_5_bar_2_bar_60 - location + loc_bar__minus_4_bar__minus_3_bar_3_bar_60 - location + loc_bar__minus_4_bar__minus_2_bar_2_bar_45 - location + loc_bar_2_bar__minus_8_bar_2_bar__minus_30 - location + loc_bar_7_bar_0_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_2_bar_3_bar_45 - location + loc_bar_5_bar__minus_7_bar_2_bar_15 - location + loc_bar__minus_4_bar_0_bar_0_bar_15 - location + loc_bar_7_bar__minus_7_bar_2_bar_15 - location + loc_bar__minus_4_bar_0_bar_3_bar_60 - location + loc_bar_5_bar__minus_5_bar_2_bar_60 - location + loc_bar__minus_3_bar__minus_3_bar_3_bar_60 - location + loc_bar_6_bar__minus_6_bar_2_bar_60 - location + loc_bar_7_bar__minus_6_bar_2_bar_60 - location + loc_bar_1_bar__minus_8_bar_2_bar_15 - location + loc_bar_7_bar__minus_7_bar_2_bar_30 - location + loc_bar_6_bar__minus_4_bar_1_bar_60 - location + loc_bar__minus_3_bar__minus_2_bar_3_bar_60 - location + loc_bar_5_bar__minus_7_bar_2_bar_45 - location + loc_bar_7_bar__minus_2_bar_1_bar_60 - location + loc_bar_7_bar__minus_7_bar_1_bar_60 - location + loc_bar_5_bar__minus_7_bar_2_bar_30 - location + loc_bar__minus_3_bar_0_bar_0_bar_45 - location + loc_bar__minus_3_bar__minus_3_bar_3_bar_45 - location + loc_bar_6_bar__minus_1_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Shelf_bar__plus_01_dot_84_bar__plus_01_dot_57_bar__minus_02_dot_30 ShelfType) + (receptacleType Drawer_bar__minus_01_dot_79_bar__plus_00_dot_25_bar__minus_01_dot_15 DrawerType) + (receptacleType Shelf_bar__plus_01_dot_84_bar__plus_01_dot_17_bar__minus_02_dot_30 ShelfType) + (receptacleType SideTable_bar__minus_01_dot_82_bar__plus_00_dot_00_bar__minus_01_dot_14 SideTableType) + (receptacleType Shelf_bar__plus_01_dot_31_bar__plus_00_dot_35_bar__minus_02_dot_30 ShelfType) + (receptacleType Drawer_bar__plus_00_dot_45_bar__plus_00_dot_50_bar__minus_02_dot_43 DrawerType) + (receptacleType Shelf_bar__plus_01_dot_31_bar__plus_01_dot_37_bar__minus_02_dot_30 ShelfType) + (receptacleType Shelf_bar__plus_01_dot_84_bar__plus_01_dot_37_bar__minus_02_dot_30 ShelfType) + (receptacleType Dresser_bar__plus_00_dot_44_bar__plus_00_dot_04_bar__minus_02_dot_65 DresserType) + (receptacleType Shelf_bar__plus_01_dot_84_bar__plus_00_dot_05_bar__minus_02_dot_30 ShelfType) + (receptacleType Drawer_bar__plus_00_dot_45_bar__plus_00_dot_20_bar__minus_02_dot_43 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_79_bar__plus_00_dot_39_bar__minus_01_dot_15 DrawerType) + (receptacleType Shelf_bar__plus_01_dot_31_bar__plus_01_dot_17_bar__minus_02_dot_30 ShelfType) + (receptacleType Shelf_bar__plus_01_dot_31_bar__plus_00_dot_97_bar__minus_02_dot_30 ShelfType) + (receptacleType Shelf_bar__plus_01_dot_84_bar__plus_00_dot_97_bar__minus_02_dot_30 ShelfType) + (receptacleType GarbageCan_bar__plus_02_dot_22_bar__plus_00_dot_00_bar__plus_00_dot_31 GarbageCanType) + (receptacleType Bed_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__minus_01_dot_85 BedType) + (receptacleType Shelf_bar__plus_01_dot_31_bar__plus_01_dot_57_bar__minus_02_dot_30 ShelfType) + (receptacleType Drawer_bar__minus_01_dot_79_bar__plus_00_dot_10_bar__minus_01_dot_15 DrawerType) + (receptacleType Shelf_bar__plus_01_dot_31_bar__plus_00_dot_05_bar__minus_02_dot_30 ShelfType) + (receptacleType Desk_bar__minus_01_dot_71_bar__plus_00_dot_00_bar__minus_00_dot_37 DeskType) + (receptacleType Shelf_bar__plus_01_dot_84_bar__plus_00_dot_35_bar__minus_02_dot_30 ShelfType) + (objectType Window_bar__plus_00_dot_44_bar__plus_01_dot_40_bar__minus_02_dot_86 WindowType) + (objectType Mug_bar__minus_01_dot_71_bar__plus_00_dot_60_bar__minus_00_dot_39 MugType) + (objectType KeyChain_bar__plus_00_dot_08_bar__plus_00_dot_73_bar__minus_02_dot_59 KeyChainType) + (objectType Pen_bar__plus_00_dot_65_bar__plus_00_dot_74_bar__minus_02_dot_65 PenType) + (objectType LightSwitch_bar__minus_00_dot_64_bar__plus_01_dot_15_bar__plus_00_dot_50 LightSwitchType) + (objectType Book_bar__plus_00_dot_34_bar__plus_00_dot_72_bar__minus_02_dot_65 BookType) + (objectType CD_bar__plus_02_dot_24_bar__plus_00_dot_04_bar__plus_00_dot_29 CDType) + (objectType AlarmClock_bar__minus_01_dot_78_bar__plus_00_dot_60_bar__plus_00_dot_03 AlarmClockType) + (objectType Mug_bar__plus_01_dot_19_bar__plus_00_dot_05_bar__minus_02_dot_28 MugType) + (objectType DeskLamp_bar__minus_01_dot_85_bar__plus_00_dot_59_bar__minus_00_dot_79 DeskLampType) + (objectType Laptop_bar__minus_00_dot_79_bar__plus_00_dot_42_bar__minus_01_dot_61 LaptopType) + (objectType TennisRacket_bar__plus_02_dot_24_bar__plus_00_dot_28_bar__minus_01_dot_90 TennisRacketType) + (objectType Pencil_bar__minus_01_dot_79_bar__plus_00_dot_07_bar__minus_01_dot_11 PencilType) + (objectType Chair_bar__minus_01_dot_56_bar__plus_00_dot_00_bar__minus_00_dot_31 ChairType) + (objectType Pencil_bar__plus_01_dot_45_bar__plus_00_dot_98_bar__minus_02_dot_26 PencilType) + (objectType Box_bar__plus_02_dot_00_bar__plus_00_dot_32_bar__minus_01_dot_04 BoxType) + (objectType 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Drawer_bar__minus_01_dot_79_bar__plus_00_dot_25_bar__minus_01_dot_15 loc_bar__minus_3_bar__minus_3_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_79_bar__plus_00_dot_39_bar__minus_01_dot_15 loc_bar__minus_3_bar__minus_3_bar_3_bar_45) + (receptacleAtLocation Dresser_bar__plus_00_dot_44_bar__plus_00_dot_04_bar__minus_02_dot_65 loc_bar_2_bar__minus_8_bar_2_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_02_dot_22_bar__plus_00_dot_00_bar__plus_00_dot_31 loc_bar_7_bar_0_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__plus_01_dot_31_bar__plus_00_dot_05_bar__minus_02_dot_30 loc_bar_3_bar__minus_5_bar_2_bar_60) + (receptacleAtLocation Shelf_bar__plus_01_dot_31_bar__plus_00_dot_35_bar__minus_02_dot_30 loc_bar_7_bar__minus_6_bar_2_bar_60) + (receptacleAtLocation Shelf_bar__plus_01_dot_31_bar__plus_00_dot_97_bar__minus_02_dot_30 loc_bar_5_bar__minus_7_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__plus_01_dot_31_bar__plus_01_dot_17_bar__minus_02_dot_30 loc_bar_5_bar__minus_7_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__plus_01_dot_31_bar__plus_01_dot_37_bar__minus_02_dot_30 loc_bar_5_bar__minus_7_bar_2_bar_30) + (receptacleAtLocation Shelf_bar__plus_01_dot_31_bar__plus_01_dot_57_bar__minus_02_dot_30 loc_bar_5_bar__minus_7_bar_2_bar_15) + (receptacleAtLocation Shelf_bar__plus_01_dot_84_bar__plus_00_dot_05_bar__minus_02_dot_30 loc_bar_5_bar__minus_5_bar_2_bar_60) + (receptacleAtLocation Shelf_bar__plus_01_dot_84_bar__plus_00_dot_35_bar__minus_02_dot_30 loc_bar_6_bar__minus_6_bar_2_bar_60) + (receptacleAtLocation Shelf_bar__plus_01_dot_84_bar__plus_00_dot_97_bar__minus_02_dot_30 loc_bar_7_bar__minus_7_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__plus_01_dot_84_bar__plus_01_dot_17_bar__minus_02_dot_30 loc_bar_7_bar__minus_7_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__plus_01_dot_84_bar__plus_01_dot_37_bar__minus_02_dot_30 loc_bar_7_bar__minus_7_bar_2_bar_30) + (receptacleAtLocation Shelf_bar__plus_01_dot_84_bar__plus_01_dot_57_bar__minus_02_dot_30 loc_bar_7_bar__minus_7_bar_2_bar_15) + (receptacleAtLocation SideTable_bar__minus_01_dot_82_bar__plus_00_dot_00_bar__minus_01_dot_14 loc_bar__minus_4_bar__minus_3_bar_3_bar_60) + (objectAtLocation Mug_bar__minus_01_dot_52_bar__plus_00_dot_60_bar__minus_00_dot_25 loc_bar__minus_3_bar__minus_2_bar_3_bar_60) + (objectAtLocation Pencil_bar__plus_01_dot_45_bar__plus_00_dot_98_bar__minus_02_dot_26 loc_bar_5_bar__minus_7_bar_2_bar_45) + (objectAtLocation Pen_bar__plus_01_dot_45_bar__plus_01_dot_58_bar__minus_02_dot_24 loc_bar_5_bar__minus_7_bar_2_bar_15) + (objectAtLocation KeyChain_bar__plus_01_dot_98_bar__plus_00_dot_06_bar__minus_02_dot_32 loc_bar_5_bar__minus_5_bar_2_bar_60) + (objectAtLocation CellPhone_bar__plus_00_dot_54_bar__plus_00_dot_42_bar__minus_02_dot_55 loc_bar_2_bar__minus_8_bar_2_bar_60) + (objectAtLocation Pencil_bar__minus_01_dot_79_bar__plus_00_dot_07_bar__minus_01_dot_11 loc_bar__minus_2_bar__minus_2_bar_3_bar_45) + (objectAtLocation Pen_bar__plus_00_dot_77_bar__plus_00_dot_73_bar__minus_02_dot_71 loc_bar_2_bar__minus_8_bar_2_bar_60) + (objectAtLocation Mug_bar__minus_01_dot_71_bar__plus_00_dot_60_bar__minus_00_dot_39 loc_bar__minus_3_bar__minus_2_bar_3_bar_60) + (objectAtLocation Box_bar__plus_02_dot_00_bar__plus_00_dot_32_bar__minus_01_dot_04 loc_bar_6_bar__minus_4_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_01_dot_56_bar__plus_00_dot_00_bar__minus_00_dot_31 loc_bar__minus_4_bar__minus_1_bar_3_bar_60) + (objectAtLocation Book_bar__plus_00_dot_34_bar__plus_00_dot_72_bar__minus_02_dot_65 loc_bar_2_bar__minus_8_bar_2_bar_60) + (objectAtLocation Pillow_bar__minus_01_dot_55_bar__plus_00_dot_46_bar__minus_01_dot_83 loc_bar__minus_4_bar__minus_2_bar_2_bar_45) + (objectAtLocation CellPhone_bar__minus_00_dot_33_bar__plus_00_dot_42_bar__minus_01_dot_73 loc_bar__minus_4_bar__minus_2_bar_2_bar_45) + (objectAtLocation Vase_bar__plus_01_dot_79_bar__plus_01_dot_58_bar__minus_02_dot_30 loc_bar_7_bar__minus_7_bar_2_bar_15) + (objectAtLocation DeskLamp_bar__minus_01_dot_85_bar__plus_00_dot_59_bar__minus_00_dot_79 loc_bar__minus_3_bar__minus_2_bar_3_bar_60) + (objectAtLocation BaseballBat_bar__minus_01_dot_63_bar__plus_00_dot_65_bar__plus_00_dot_42 loc_bar__minus_4_bar_0_bar_3_bar_60) + (objectAtLocation CreditCard_bar__plus_01_dot_72_bar__plus_00_dot_36_bar__minus_02_dot_28 loc_bar_6_bar__minus_6_bar_2_bar_60) + (objectAtLocation TennisRacket_bar__plus_02_dot_24_bar__plus_00_dot_28_bar__minus_01_dot_90 loc_bar_7_bar__minus_7_bar_1_bar_60) + (objectAtLocation KeyChain_bar__plus_00_dot_08_bar__plus_00_dot_73_bar__minus_02_dot_59 loc_bar_2_bar__minus_8_bar_2_bar_60) + (objectAtLocation LightSwitch_bar__minus_00_dot_64_bar__plus_01_dot_15_bar__plus_00_dot_50 loc_bar__minus_3_bar_0_bar_0_bar_45) + (objectAtLocation AlarmClock_bar__minus_01_dot_78_bar__plus_00_dot_60_bar__plus_00_dot_03 loc_bar__minus_3_bar__minus_2_bar_3_bar_60) + (objectAtLocation Poster_bar__plus_00_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64 loc_bar_1_bar__minus_8_bar_2_bar_15) + (objectAtLocation Cloth_bar__plus_02_dot_18_bar__plus_00_dot_00_bar__minus_00_dot_57 loc_bar_7_bar__minus_2_bar_1_bar_60) + (objectAtLocation Laptop_bar__minus_00_dot_79_bar__plus_00_dot_42_bar__minus_01_dot_61 loc_bar__minus_4_bar__minus_2_bar_2_bar_45) + (objectAtLocation Mirror_bar__minus_01_dot_07_bar__plus_01_dot_47_bar__plus_00_dot_50 loc_bar__minus_4_bar_0_bar_0_bar_15) + (objectAtLocation CD_bar__minus_01_dot_85_bar__plus_00_dot_60_bar__minus_00_dot_39 loc_bar__minus_3_bar__minus_2_bar_3_bar_60) + (objectAtLocation CD_bar__plus_02_dot_24_bar__plus_00_dot_04_bar__plus_00_dot_29 loc_bar_7_bar_0_bar_1_bar_60) + (objectAtLocation Pen_bar__plus_00_dot_65_bar__plus_00_dot_74_bar__minus_02_dot_65 loc_bar_2_bar__minus_8_bar_2_bar_60) + (objectAtLocation Window_bar__plus_00_dot_44_bar__plus_01_dot_40_bar__minus_02_dot_86 loc_bar_2_bar__minus_8_bar_2_bar_60) + (objectAtLocation Pencil_bar__plus_00_dot_54_bar__plus_00_dot_73_bar__minus_02_dot_59 loc_bar_2_bar__minus_8_bar_2_bar_60) + (objectAtLocation Mug_bar__plus_01_dot_19_bar__plus_00_dot_05_bar__minus_02_dot_28 loc_bar_3_bar__minus_5_bar_2_bar_60) + (objectAtLocation Blinds_bar__plus_00_dot_45_bar__plus_02_dot_16_bar__minus_02_dot_85 loc_bar_2_bar__minus_8_bar_2_bar__minus_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 AlarmClockType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git 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"position": { + "x": -1.846236, + "y": 0.5987067, + "z": -0.392395258 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CD_ecad3d62", + "position": { + "x": 2.23895288, + "y": 0.0447977223, + "z": 0.288047016 + }, + "rotation": { + "x": 0.0, + "y": 225.000046, + "z": 0.0 + } + }, + { + "objectName": "Pen_194b8b51", + "position": { + "x": 1.44764686, + "y": 1.58332837, + "z": -2.235766 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pencil_7cb80570", + "position": { + "x": 1.44764686, + "y": 0.981150866, + "z": -2.25671053 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_79472253", + "position": { + "x": -1.51596332, + "y": 0.5971, + "z": -0.2509424 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [ + { + "isOn": false, + "objectType": "DeskLamp" + } + ], + "random_seed": 3597013723, + "scene_num": 303 + }, + "task_id": "trial_T20190908_144933_600228", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A14IPKOBOPID9H_36W0OB37HZ55HDQWMFFHW4JUCE3ZH8", + "high_descs": [ + "Turn left and head to the desk, then turn right then left", + "Pick up the round container from the desk", + "Turn around, then turn right and go to the bed, then turn right", + "Turn on the lamp that is on the desk" + ], + "task_desc": "Examine the round container by the light of the lamp on the desk", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "ARB8SJAWXUWTD_3JJVG1YBEEOXJM3LFZY5LP91G2UB51", + "high_descs": [ + "Go to the wooden table", + "Pick up the round object on the table", + "Go to the lamp", + "Turn on the lamp" + ], + "task_desc": "Pick up an object and turn on a lamp", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1MKCTVKE7J0ZP_3GU1KF0O4LS1CWL4ZE7JJVEI72SBPK", + "high_descs": [ + "Turn left, and go forward to the desk.", + "Pick up the alarm clock on the edge of the desk.", + "Turn around, step forward, turn right and go towards the bed, then turn right to face the desk.", + "Turn on the lamp, on the edge of the desk." + ], + "task_desc": "Look at an alarm clock in the light.", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-303/trial_T20190908_144950_175895/game.tw-pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-303/trial_T20190908_144950_175895/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..be129539fc93400ee9ec5f511ae4324181f94267 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-303/trial_T20190908_144950_175895/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: look at alarmclock under the desklamp.\"\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_144950_175895)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n AlarmClock_bar__plus_00_dot_08_bar__plus_00_dot_73_bar__minus_02_dot_76 - object\n BaseballBat_bar__minus_01_dot_63_bar__plus_00_dot_65_bar__plus_00_dot_42 - object\n Blinds_bar__plus_00_dot_45_bar__plus_02_dot_16_bar__minus_02_dot_85 - object\n Book_bar__minus_00_dot_33_bar__plus_00_dot_42_bar__minus_01_dot_86 - object\n Box_bar__plus_02_dot_00_bar__plus_00_dot_32_bar__minus_01_dot_04 - object\n CD_bar__plus_00_dot_27_bar__plus_00_dot_41_bar__minus_02_dot_58 - object\n CD_bar__plus_00_dot_72_bar__plus_00_dot_41_bar__minus_02_dot_55 - object\n CD_bar__plus_02_dot_05_bar__plus_01_dot_18_bar__minus_02_dot_28 - object\n CellPhone_bar__minus_01_dot_79_bar__plus_00_dot_22_bar__minus_01_dot_11 - object\n Chair_bar__minus_01_dot_56_bar__plus_00_dot_00_bar__minus_00_dot_31 - object\n Cloth_bar__plus_02_dot_18_bar__plus_00_dot_00_bar__minus_00_dot_57 - object\n CreditCard_bar__plus_00_dot_08_bar__plus_00_dot_73_bar__minus_02_dot_47 - object\n CreditCard_bar__plus_00_dot_65_bar__plus_00_dot_73_bar__minus_02_dot_82 - object\n DeskLamp_bar__minus_01_dot_85_bar__plus_00_dot_59_bar__minus_00_dot_79 - object\n KeyChain_bar__plus_01_dot_72_bar__plus_01_dot_18_bar__minus_02_dot_28 - object\n KeyChain_bar__minus_01_dot_79_bar__plus_00_dot_51_bar__minus_01_dot_19 - object\n Laptop_bar__minus_01_dot_76_bar__plus_00_dot_59_bar__minus_00_dot_11 - object\n LightSwitch_bar__minus_00_dot_64_bar__plus_01_dot_15_bar__plus_00_dot_50 - object\n Mirror_bar__minus_01_dot_07_bar__plus_01_dot_47_bar__plus_00_dot_50 - object\n Mug_bar__plus_00_dot_42_bar__plus_00_dot_73_bar__minus_02_dot_47 - object\n Mug_bar__minus_01_dot_52_bar__plus_00_dot_60_bar__minus_00_dot_25 - object\n Pencil_bar__minus_01_dot_85_bar__plus_00_dot_60_bar__minus_00_dot_39 - object\n Pen_bar__plus_00_dot_31_bar__plus_00_dot_73_bar__minus_02_dot_65 - object\n Pen_bar__minus_01_dot_71_bar__plus_00_dot_60_bar__minus_00_dot_53 - object\n Pillow_bar__minus_01_dot_02_bar__plus_00_dot_49_bar__minus_02_dot_10 - object\n Pillow_bar__minus_01_dot_55_bar__plus_00_dot_46_bar__minus_01_dot_83 - object\n Poster_bar__plus_00_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64 - object\n TennisRacket_bar__plus_02_dot_24_bar__plus_00_dot_28_bar__minus_01_dot_90 - object\n Vase_bar__plus_00_dot_54_bar__plus_00_dot_73_bar__minus_02_dot_71 - object\n Window_bar__plus_00_dot_44_bar__plus_01_dot_40_bar__minus_02_dot_86 - object\n Bed_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__minus_01_dot_85 - receptacle\n Desk_bar__minus_01_dot_71_bar__plus_00_dot_00_bar__minus_00_dot_37 - receptacle\n Drawer_bar__plus_00_dot_45_bar__plus_00_dot_20_bar__minus_02_dot_43 - receptacle\n Drawer_bar__plus_00_dot_45_bar__plus_00_dot_50_bar__minus_02_dot_43 - receptacle\n Drawer_bar__minus_01_dot_79_bar__plus_00_dot_10_bar__minus_01_dot_15 - receptacle\n Drawer_bar__minus_01_dot_79_bar__plus_00_dot_25_bar__minus_01_dot_15 - receptacle\n Drawer_bar__minus_01_dot_79_bar__plus_00_dot_39_bar__minus_01_dot_15 - receptacle\n Dresser_bar__plus_00_dot_44_bar__plus_00_dot_04_bar__minus_02_dot_65 - receptacle\n GarbageCan_bar__plus_02_dot_22_bar__plus_00_dot_00_bar__plus_00_dot_31 - receptacle\n Shelf_bar__plus_01_dot_31_bar__plus_00_dot_05_bar__minus_02_dot_30 - receptacle\n Shelf_bar__plus_01_dot_31_bar__plus_00_dot_35_bar__minus_02_dot_30 - receptacle\n Shelf_bar__plus_01_dot_31_bar__plus_00_dot_97_bar__minus_02_dot_30 - receptacle\n Shelf_bar__plus_01_dot_31_bar__plus_01_dot_17_bar__minus_02_dot_30 - receptacle\n Shelf_bar__plus_01_dot_31_bar__plus_01_dot_37_bar__minus_02_dot_30 - receptacle\n Shelf_bar__plus_01_dot_31_bar__plus_01_dot_57_bar__minus_02_dot_30 - receptacle\n Shelf_bar__plus_01_dot_84_bar__plus_00_dot_05_bar__minus_02_dot_30 - receptacle\n Shelf_bar__plus_01_dot_84_bar__plus_00_dot_35_bar__minus_02_dot_30 - receptacle\n Shelf_bar__plus_01_dot_84_bar__plus_00_dot_97_bar__minus_02_dot_30 - receptacle\n Shelf_bar__plus_01_dot_84_bar__plus_01_dot_17_bar__minus_02_dot_30 - receptacle\n Shelf_bar__plus_01_dot_84_bar__plus_01_dot_37_bar__minus_02_dot_30 - receptacle\n Shelf_bar__plus_01_dot_84_bar__plus_01_dot_57_bar__minus_02_dot_30 - receptacle\n SideTable_bar__minus_01_dot_82_bar__plus_00_dot_00_bar__minus_01_dot_14 - receptacle\n loc_bar_7_bar__minus_7_bar_2_bar_45 - location\n loc_bar__minus_4_bar__minus_1_bar_3_bar_60 - location\n loc_bar_2_bar__minus_8_bar_2_bar_60 - location\n loc_bar_3_bar__minus_5_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_3_bar_3_bar_60 - location\n loc_bar__minus_4_bar__minus_2_bar_2_bar_45 - location\n loc_bar_2_bar__minus_8_bar_2_bar__minus_30 - location\n loc_bar_7_bar_0_bar_1_bar_60 - location\n loc_bar__minus_2_bar__minus_2_bar_3_bar_45 - location\n loc_bar_5_bar__minus_7_bar_2_bar_15 - location\n loc_bar__minus_4_bar_0_bar_0_bar_15 - location\n loc_bar_7_bar__minus_7_bar_2_bar_15 - location\n loc_bar__minus_4_bar_0_bar_3_bar_60 - location\n loc_bar_5_bar__minus_5_bar_2_bar_60 - location\n loc_bar__minus_3_bar__minus_3_bar_3_bar_60 - location\n loc_bar_6_bar__minus_6_bar_2_bar_60 - location\n loc_bar_7_bar__minus_6_bar_2_bar_60 - location\n loc_bar_1_bar__minus_8_bar_2_bar_15 - location\n loc_bar_7_bar__minus_7_bar_2_bar_30 - location\n loc_bar_6_bar__minus_4_bar_1_bar_60 - location\n loc_bar__minus_3_bar__minus_2_bar_3_bar_60 - location\n loc_bar_5_bar__minus_7_bar_2_bar_45 - location\n loc_bar_7_bar__minus_2_bar_1_bar_60 - location\n loc_bar_7_bar__minus_7_bar_1_bar_60 - location\n loc_bar_5_bar__minus_7_bar_2_bar_30 - location\n loc_bar__minus_3_bar_0_bar_0_bar_45 - location\n loc_bar__minus_3_bar__minus_3_bar_3_bar_45 - location\n loc_bar__minus_5_bar_1_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Shelf_bar__plus_01_dot_84_bar__plus_01_dot_57_bar__minus_02_dot_30 ShelfType)\n (receptacleType Drawer_bar__minus_01_dot_79_bar__plus_00_dot_25_bar__minus_01_dot_15 DrawerType)\n (receptacleType Shelf_bar__plus_01_dot_84_bar__plus_01_dot_17_bar__minus_02_dot_30 ShelfType)\n (receptacleType SideTable_bar__minus_01_dot_82_bar__plus_00_dot_00_bar__minus_01_dot_14 SideTableType)\n (receptacleType Shelf_bar__plus_01_dot_31_bar__plus_00_dot_35_bar__minus_02_dot_30 ShelfType)\n (receptacleType Drawer_bar__plus_00_dot_45_bar__plus_00_dot_50_bar__minus_02_dot_43 DrawerType)\n (receptacleType Shelf_bar__plus_01_dot_31_bar__plus_01_dot_37_bar__minus_02_dot_30 ShelfType)\n (receptacleType Shelf_bar__plus_01_dot_84_bar__plus_01_dot_37_bar__minus_02_dot_30 ShelfType)\n (receptacleType Dresser_bar__plus_00_dot_44_bar__plus_00_dot_04_bar__minus_02_dot_65 DresserType)\n (receptacleType Shelf_bar__plus_01_dot_84_bar__plus_00_dot_05_bar__minus_02_dot_30 ShelfType)\n (receptacleType Drawer_bar__plus_00_dot_45_bar__plus_00_dot_20_bar__minus_02_dot_43 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_79_bar__plus_00_dot_39_bar__minus_01_dot_15 DrawerType)\n (receptacleType Shelf_bar__plus_01_dot_31_bar__plus_01_dot_17_bar__minus_02_dot_30 ShelfType)\n (receptacleType Shelf_bar__plus_01_dot_31_bar__plus_00_dot_97_bar__minus_02_dot_30 ShelfType)\n (receptacleType Shelf_bar__plus_01_dot_84_bar__plus_00_dot_97_bar__minus_02_dot_30 ShelfType)\n (receptacleType GarbageCan_bar__plus_02_dot_22_bar__plus_00_dot_00_bar__plus_00_dot_31 GarbageCanType)\n (receptacleType Bed_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__minus_01_dot_85 BedType)\n (receptacleType Shelf_bar__plus_01_dot_31_bar__plus_01_dot_57_bar__minus_02_dot_30 ShelfType)\n (receptacleType Drawer_bar__minus_01_dot_79_bar__plus_00_dot_10_bar__minus_01_dot_15 DrawerType)\n (receptacleType Shelf_bar__plus_01_dot_31_bar__plus_00_dot_05_bar__minus_02_dot_30 ShelfType)\n (receptacleType Desk_bar__minus_01_dot_71_bar__plus_00_dot_00_bar__minus_00_dot_37 DeskType)\n (receptacleType Shelf_bar__plus_01_dot_84_bar__plus_00_dot_35_bar__minus_02_dot_30 ShelfType)\n (objectType Window_bar__plus_00_dot_44_bar__plus_01_dot_40_bar__minus_02_dot_86 WindowType)\n (objectType Book_bar__minus_00_dot_33_bar__plus_00_dot_42_bar__minus_01_dot_86 BookType)\n (objectType CD_bar__plus_00_dot_27_bar__plus_00_dot_41_bar__minus_02_dot_58 CDType)\n (objectType AlarmClock_bar__plus_00_dot_08_bar__plus_00_dot_73_bar__minus_02_dot_76 AlarmClockType)\n (objectType LightSwitch_bar__minus_00_dot_64_bar__plus_01_dot_15_bar__plus_00_dot_50 LightSwitchType)\n (objectType CreditCard_bar__plus_00_dot_08_bar__plus_00_dot_73_bar__minus_02_dot_47 CreditCardType)\n (objectType Pen_bar__minus_01_dot_71_bar__plus_00_dot_60_bar__minus_00_dot_53 PenType)\n (objectType Laptop_bar__minus_01_dot_76_bar__plus_00_dot_59_bar__minus_00_dot_11 LaptopType)\n (objectType CD_bar__plus_00_dot_72_bar__plus_00_dot_41_bar__minus_02_dot_55 CDType)\n (objectType DeskLamp_bar__minus_01_dot_85_bar__plus_00_dot_59_bar__minus_00_dot_79 DeskLampType)\n (objectType TennisRacket_bar__plus_02_dot_24_bar__plus_00_dot_28_bar__minus_01_dot_90 TennisRacketType)\n (objectType Chair_bar__minus_01_dot_56_bar__plus_00_dot_00_bar__minus_00_dot_31 ChairType)\n (objectType KeyChain_bar__plus_01_dot_72_bar__plus_01_dot_18_bar__minus_02_dot_28 KeyChainType)\n (objectType Box_bar__plus_02_dot_00_bar__plus_00_dot_32_bar__minus_01_dot_04 BoxType)\n (objectType BaseballBat_bar__minus_01_dot_63_bar__plus_00_dot_65_bar__plus_00_dot_42 BaseballBatType)\n (objectType Pen_bar__plus_00_dot_31_bar__plus_00_dot_73_bar__minus_02_dot_65 PenType)\n (objectType Mug_bar__minus_01_dot_52_bar__plus_00_dot_60_bar__minus_00_dot_25 MugType)\n (objectType Pencil_bar__minus_01_dot_85_bar__plus_00_dot_60_bar__minus_00_dot_39 PencilType)\n (objectType Pillow_bar__minus_01_dot_02_bar__plus_00_dot_49_bar__minus_02_dot_10 PillowType)\n (objectType Pillow_bar__minus_01_dot_55_bar__plus_00_dot_46_bar__minus_01_dot_83 PillowType)\n (objectType CellPhone_bar__minus_01_dot_79_bar__plus_00_dot_22_bar__minus_01_dot_11 CellPhoneType)\n (objectType Blinds_bar__plus_00_dot_45_bar__plus_02_dot_16_bar__minus_02_dot_85 BlindsType)\n (objectType Vase_bar__plus_00_dot_54_bar__plus_00_dot_73_bar__minus_02_dot_71 VaseType)\n (objectType Mug_bar__plus_00_dot_42_bar__plus_00_dot_73_bar__minus_02_dot_47 MugType)\n (objectType KeyChain_bar__minus_01_dot_79_bar__plus_00_dot_51_bar__minus_01_dot_19 KeyChainType)\n (objectType CreditCard_bar__plus_00_dot_65_bar__plus_00_dot_73_bar__minus_02_dot_82 CreditCardType)\n (objectType Poster_bar__plus_00_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64 PosterType)\n (objectType CD_bar__plus_02_dot_05_bar__plus_01_dot_18_bar__minus_02_dot_28 CDType)\n (objectType Cloth_bar__plus_02_dot_18_bar__plus_00_dot_00_bar__minus_00_dot_57 ClothType)\n (objectType Mirror_bar__minus_01_dot_07_bar__plus_01_dot_47_bar__plus_00_dot_50 MirrorType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType VaseType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType VaseType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType VaseType)\n (canContain SideTableType CDType)\n (canContain SideTableType MugType)\n (canContain SideTableType BoxType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType BaseballBatType)\n (canContain SideTableType TennisRacketType)\n (canContain SideTableType ClothType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType AlarmClockType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType VaseType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType VaseType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType VaseType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain DresserType PenType)\n (canContain DresserType BookType)\n (canContain DresserType VaseType)\n (canContain DresserType CDType)\n (canContain DresserType MugType)\n (canContain DresserType BoxType)\n (canContain DresserType CellPhoneType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType TennisRacketType)\n (canContain DresserType ClothType)\n (canContain DresserType LaptopType)\n (canContain DresserType PencilType)\n (canContain DresserType AlarmClockType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType VaseType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType VaseType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType VaseType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType VaseType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType PencilType)\n (canContain BedType BaseballBatType)\n (canContain BedType TennisRacketType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType VaseType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType VaseType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain DeskType PenType)\n (canContain DeskType BookType)\n (canContain DeskType VaseType)\n (canContain DeskType CDType)\n (canContain DeskType MugType)\n (canContain DeskType BoxType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType TennisRacketType)\n (canContain DeskType ClothType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType AlarmClockType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType VaseType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (pickupable Book_bar__minus_00_dot_33_bar__plus_00_dot_42_bar__minus_01_dot_86)\n (pickupable CD_bar__plus_00_dot_27_bar__plus_00_dot_41_bar__minus_02_dot_58)\n (pickupable AlarmClock_bar__plus_00_dot_08_bar__plus_00_dot_73_bar__minus_02_dot_76)\n (pickupable CreditCard_bar__plus_00_dot_08_bar__plus_00_dot_73_bar__minus_02_dot_47)\n (pickupable Pen_bar__minus_01_dot_71_bar__plus_00_dot_60_bar__minus_00_dot_53)\n (pickupable Laptop_bar__minus_01_dot_76_bar__plus_00_dot_59_bar__minus_00_dot_11)\n (pickupable CD_bar__plus_00_dot_72_bar__plus_00_dot_41_bar__minus_02_dot_55)\n (pickupable TennisRacket_bar__plus_02_dot_24_bar__plus_00_dot_28_bar__minus_01_dot_90)\n (pickupable KeyChain_bar__plus_01_dot_72_bar__plus_01_dot_18_bar__minus_02_dot_28)\n (pickupable Box_bar__plus_02_dot_00_bar__plus_00_dot_32_bar__minus_01_dot_04)\n (pickupable BaseballBat_bar__minus_01_dot_63_bar__plus_00_dot_65_bar__plus_00_dot_42)\n (pickupable Pen_bar__plus_00_dot_31_bar__plus_00_dot_73_bar__minus_02_dot_65)\n (pickupable Mug_bar__minus_01_dot_52_bar__plus_00_dot_60_bar__minus_00_dot_25)\n (pickupable Pencil_bar__minus_01_dot_85_bar__plus_00_dot_60_bar__minus_00_dot_39)\n (pickupable Pillow_bar__minus_01_dot_02_bar__plus_00_dot_49_bar__minus_02_dot_10)\n (pickupable Pillow_bar__minus_01_dot_55_bar__plus_00_dot_46_bar__minus_01_dot_83)\n (pickupable CellPhone_bar__minus_01_dot_79_bar__plus_00_dot_22_bar__minus_01_dot_11)\n (pickupable Vase_bar__plus_00_dot_54_bar__plus_00_dot_73_bar__minus_02_dot_71)\n (pickupable Mug_bar__plus_00_dot_42_bar__plus_00_dot_73_bar__minus_02_dot_47)\n (pickupable KeyChain_bar__minus_01_dot_79_bar__plus_00_dot_51_bar__minus_01_dot_19)\n (pickupable CreditCard_bar__plus_00_dot_65_bar__plus_00_dot_73_bar__minus_02_dot_82)\n (pickupable CD_bar__plus_02_dot_05_bar__plus_01_dot_18_bar__minus_02_dot_28)\n (pickupable Cloth_bar__plus_02_dot_18_bar__plus_00_dot_00_bar__minus_00_dot_57)\n (isReceptacleObject Box_bar__plus_02_dot_00_bar__plus_00_dot_32_bar__minus_01_dot_04)\n (isReceptacleObject Mug_bar__minus_01_dot_52_bar__plus_00_dot_60_bar__minus_00_dot_25)\n (isReceptacleObject Mug_bar__plus_00_dot_42_bar__plus_00_dot_73_bar__minus_02_dot_47)\n (openable Drawer_bar__minus_01_dot_79_bar__plus_00_dot_25_bar__minus_01_dot_15)\n (openable Drawer_bar__minus_01_dot_79_bar__plus_00_dot_39_bar__minus_01_dot_15)\n (openable Drawer_bar__minus_01_dot_79_bar__plus_00_dot_10_bar__minus_01_dot_15)\n \n (atLocation agent1 loc_bar__minus_5_bar_1_bar_0_bar_30)\n \n (cleanable Mug_bar__minus_01_dot_52_bar__plus_00_dot_60_bar__minus_00_dot_25)\n (cleanable Mug_bar__plus_00_dot_42_bar__plus_00_dot_73_bar__minus_02_dot_47)\n (cleanable Cloth_bar__plus_02_dot_18_bar__plus_00_dot_00_bar__minus_00_dot_57)\n \n (heatable Mug_bar__minus_01_dot_52_bar__plus_00_dot_60_bar__minus_00_dot_25)\n (heatable Mug_bar__plus_00_dot_42_bar__plus_00_dot_73_bar__minus_02_dot_47)\n (coolable Mug_bar__minus_01_dot_52_bar__plus_00_dot_60_bar__minus_00_dot_25)\n (coolable Mug_bar__plus_00_dot_42_bar__plus_00_dot_73_bar__minus_02_dot_47)\n \n \n (toggleable DeskLamp_bar__minus_01_dot_85_bar__plus_00_dot_59_bar__minus_00_dot_79)\n \n \n \n \n (inReceptacle CD_bar__plus_00_dot_72_bar__plus_00_dot_41_bar__minus_02_dot_55 Drawer_bar__plus_00_dot_45_bar__plus_00_dot_50_bar__minus_02_dot_43)\n (inReceptacle CD_bar__plus_00_dot_27_bar__plus_00_dot_41_bar__minus_02_dot_58 Drawer_bar__plus_00_dot_45_bar__plus_00_dot_50_bar__minus_02_dot_43)\n (inReceptacle CreditCard_bar__plus_00_dot_08_bar__plus_00_dot_73_bar__minus_02_dot_47 Dresser_bar__plus_00_dot_44_bar__plus_00_dot_04_bar__minus_02_dot_65)\n (inReceptacle Window_bar__plus_00_dot_44_bar__plus_01_dot_40_bar__minus_02_dot_86 Dresser_bar__plus_00_dot_44_bar__plus_00_dot_04_bar__minus_02_dot_65)\n (inReceptacle Mug_bar__plus_00_dot_42_bar__plus_00_dot_73_bar__minus_02_dot_47 Dresser_bar__plus_00_dot_44_bar__plus_00_dot_04_bar__minus_02_dot_65)\n (inReceptacle CreditCard_bar__plus_00_dot_65_bar__plus_00_dot_73_bar__minus_02_dot_82 Dresser_bar__plus_00_dot_44_bar__plus_00_dot_04_bar__minus_02_dot_65)\n (inReceptacle Pen_bar__plus_00_dot_31_bar__plus_00_dot_73_bar__minus_02_dot_65 Dresser_bar__plus_00_dot_44_bar__plus_00_dot_04_bar__minus_02_dot_65)\n (inReceptacle AlarmClock_bar__plus_00_dot_08_bar__plus_00_dot_73_bar__minus_02_dot_76 Dresser_bar__plus_00_dot_44_bar__plus_00_dot_04_bar__minus_02_dot_65)\n (inReceptacle Vase_bar__plus_00_dot_54_bar__plus_00_dot_73_bar__minus_02_dot_71 Dresser_bar__plus_00_dot_44_bar__plus_00_dot_04_bar__minus_02_dot_65)\n (inReceptacle Laptop_bar__minus_01_dot_76_bar__plus_00_dot_59_bar__minus_00_dot_11 Desk_bar__minus_01_dot_71_bar__plus_00_dot_00_bar__minus_00_dot_37)\n (inReceptacle DeskLamp_bar__minus_01_dot_85_bar__plus_00_dot_59_bar__minus_00_dot_79 Desk_bar__minus_01_dot_71_bar__plus_00_dot_00_bar__minus_00_dot_37)\n (inReceptacle Pencil_bar__minus_01_dot_85_bar__plus_00_dot_60_bar__minus_00_dot_39 Desk_bar__minus_01_dot_71_bar__plus_00_dot_00_bar__minus_00_dot_37)\n (inReceptacle Mug_bar__minus_01_dot_52_bar__plus_00_dot_60_bar__minus_00_dot_25 Desk_bar__minus_01_dot_71_bar__plus_00_dot_00_bar__minus_00_dot_37)\n (inReceptacle Pen_bar__minus_01_dot_71_bar__plus_00_dot_60_bar__minus_00_dot_53 Desk_bar__minus_01_dot_71_bar__plus_00_dot_00_bar__minus_00_dot_37)\n (inReceptacle KeyChain_bar__plus_01_dot_72_bar__plus_01_dot_18_bar__minus_02_dot_28 Shelf_bar__plus_01_dot_84_bar__plus_01_dot_17_bar__minus_02_dot_30)\n (inReceptacle CD_bar__plus_02_dot_05_bar__plus_01_dot_18_bar__minus_02_dot_28 Shelf_bar__plus_01_dot_84_bar__plus_01_dot_17_bar__minus_02_dot_30)\n (inReceptacle CellPhone_bar__minus_01_dot_79_bar__plus_00_dot_22_bar__minus_01_dot_11 Drawer_bar__minus_01_dot_79_bar__plus_00_dot_25_bar__minus_01_dot_15)\n (inReceptacle KeyChain_bar__minus_01_dot_79_bar__plus_00_dot_51_bar__minus_01_dot_19 SideTable_bar__minus_01_dot_82_bar__plus_00_dot_00_bar__minus_01_dot_14)\n (inReceptacle Pillow_bar__minus_01_dot_55_bar__plus_00_dot_46_bar__minus_01_dot_83 Bed_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__minus_01_dot_85)\n (inReceptacle Book_bar__minus_00_dot_33_bar__plus_00_dot_42_bar__minus_01_dot_86 Bed_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__minus_01_dot_85)\n (inReceptacle Pillow_bar__minus_01_dot_02_bar__plus_00_dot_49_bar__minus_02_dot_10 Bed_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__minus_01_dot_85)\n \n \n (receptacleAtLocation Bed_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__minus_01_dot_85 loc_bar__minus_4_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Desk_bar__minus_01_dot_71_bar__plus_00_dot_00_bar__minus_00_dot_37 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_45_bar__plus_00_dot_20_bar__minus_02_dot_43 loc_bar_2_bar__minus_8_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_45_bar__plus_00_dot_50_bar__minus_02_dot_43 loc_bar_2_bar__minus_8_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_79_bar__plus_00_dot_10_bar__minus_01_dot_15 loc_bar__minus_2_bar__minus_2_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_79_bar__plus_00_dot_25_bar__minus_01_dot_15 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_79_bar__plus_00_dot_39_bar__minus_01_dot_15 loc_bar__minus_3_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation Dresser_bar__plus_00_dot_44_bar__plus_00_dot_04_bar__minus_02_dot_65 loc_bar_2_bar__minus_8_bar_2_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_02_dot_22_bar__plus_00_dot_00_bar__plus_00_dot_31 loc_bar_7_bar_0_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__plus_01_dot_31_bar__plus_00_dot_05_bar__minus_02_dot_30 loc_bar_3_bar__minus_5_bar_2_bar_60)\n (receptacleAtLocation Shelf_bar__plus_01_dot_31_bar__plus_00_dot_35_bar__minus_02_dot_30 loc_bar_7_bar__minus_6_bar_2_bar_60)\n (receptacleAtLocation Shelf_bar__plus_01_dot_31_bar__plus_00_dot_97_bar__minus_02_dot_30 loc_bar_5_bar__minus_7_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_01_dot_31_bar__plus_01_dot_17_bar__minus_02_dot_30 loc_bar_5_bar__minus_7_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_01_dot_31_bar__plus_01_dot_37_bar__minus_02_dot_30 loc_bar_5_bar__minus_7_bar_2_bar_30)\n (receptacleAtLocation Shelf_bar__plus_01_dot_31_bar__plus_01_dot_57_bar__minus_02_dot_30 loc_bar_5_bar__minus_7_bar_2_bar_15)\n (receptacleAtLocation Shelf_bar__plus_01_dot_84_bar__plus_00_dot_05_bar__minus_02_dot_30 loc_bar_5_bar__minus_5_bar_2_bar_60)\n (receptacleAtLocation Shelf_bar__plus_01_dot_84_bar__plus_00_dot_35_bar__minus_02_dot_30 loc_bar_6_bar__minus_6_bar_2_bar_60)\n (receptacleAtLocation Shelf_bar__plus_01_dot_84_bar__plus_00_dot_97_bar__minus_02_dot_30 loc_bar_7_bar__minus_7_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_01_dot_84_bar__plus_01_dot_17_bar__minus_02_dot_30 loc_bar_7_bar__minus_7_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_01_dot_84_bar__plus_01_dot_37_bar__minus_02_dot_30 loc_bar_7_bar__minus_7_bar_2_bar_30)\n (receptacleAtLocation Shelf_bar__plus_01_dot_84_bar__plus_01_dot_57_bar__minus_02_dot_30 loc_bar_7_bar__minus_7_bar_2_bar_15)\n (receptacleAtLocation SideTable_bar__minus_01_dot_82_bar__plus_00_dot_00_bar__minus_01_dot_14 loc_bar__minus_4_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Mug_bar__minus_01_dot_52_bar__plus_00_dot_60_bar__minus_00_dot_25 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (objectAtLocation Pen_bar__plus_00_dot_31_bar__plus_00_dot_73_bar__minus_02_dot_65 loc_bar_2_bar__minus_8_bar_2_bar_60)\n (objectAtLocation CD_bar__plus_00_dot_27_bar__plus_00_dot_41_bar__minus_02_dot_58 loc_bar_2_bar__minus_8_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__plus_01_dot_72_bar__plus_01_dot_18_bar__minus_02_dot_28 loc_bar_7_bar__minus_7_bar_2_bar_45)\n (objectAtLocation CreditCard_bar__plus_00_dot_08_bar__plus_00_dot_73_bar__minus_02_dot_47 loc_bar_2_bar__minus_8_bar_2_bar_60)\n (objectAtLocation Pillow_bar__minus_01_dot_55_bar__plus_00_dot_46_bar__minus_01_dot_83 loc_bar__minus_4_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Box_bar__plus_02_dot_00_bar__plus_00_dot_32_bar__minus_01_dot_04 loc_bar_6_bar__minus_4_bar_1_bar_60)\n (objectAtLocation Chair_bar__minus_01_dot_56_bar__plus_00_dot_00_bar__minus_00_dot_31 loc_bar__minus_4_bar__minus_1_bar_3_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_33_bar__plus_00_dot_42_bar__minus_01_dot_86 loc_bar__minus_4_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Pillow_bar__minus_01_dot_02_bar__plus_00_dot_49_bar__minus_02_dot_10 loc_bar__minus_4_bar__minus_2_bar_2_bar_45)\n (objectAtLocation CellPhone_bar__minus_01_dot_79_bar__plus_00_dot_22_bar__minus_01_dot_11 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Vase_bar__plus_00_dot_54_bar__plus_00_dot_73_bar__minus_02_dot_71 loc_bar_2_bar__minus_8_bar_2_bar_60)\n (objectAtLocation DeskLamp_bar__minus_01_dot_85_bar__plus_00_dot_59_bar__minus_00_dot_79 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (objectAtLocation BaseballBat_bar__minus_01_dot_63_bar__plus_00_dot_65_bar__plus_00_dot_42 loc_bar__minus_4_bar_0_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__plus_00_dot_65_bar__plus_00_dot_73_bar__minus_02_dot_82 loc_bar_2_bar__minus_8_bar_2_bar_60)\n (objectAtLocation TennisRacket_bar__plus_02_dot_24_bar__plus_00_dot_28_bar__minus_01_dot_90 loc_bar_7_bar__minus_7_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__minus_01_dot_79_bar__plus_00_dot_51_bar__minus_01_dot_19 loc_bar__minus_4_bar__minus_3_bar_3_bar_60)\n (objectAtLocation LightSwitch_bar__minus_00_dot_64_bar__plus_01_dot_15_bar__plus_00_dot_50 loc_bar__minus_3_bar_0_bar_0_bar_45)\n (objectAtLocation AlarmClock_bar__plus_00_dot_08_bar__plus_00_dot_73_bar__minus_02_dot_76 loc_bar_2_bar__minus_8_bar_2_bar_60)\n (objectAtLocation Poster_bar__plus_00_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64 loc_bar_1_bar__minus_8_bar_2_bar_15)\n (objectAtLocation Cloth_bar__plus_02_dot_18_bar__plus_00_dot_00_bar__minus_00_dot_57 loc_bar_7_bar__minus_2_bar_1_bar_60)\n (objectAtLocation Laptop_bar__minus_01_dot_76_bar__plus_00_dot_59_bar__minus_00_dot_11 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (objectAtLocation Mirror_bar__minus_01_dot_07_bar__plus_01_dot_47_bar__plus_00_dot_50 loc_bar__minus_4_bar_0_bar_0_bar_15)\n (objectAtLocation CD_bar__plus_02_dot_05_bar__plus_01_dot_18_bar__minus_02_dot_28 loc_bar_7_bar__minus_7_bar_2_bar_45)\n (objectAtLocation CD_bar__plus_00_dot_72_bar__plus_00_dot_41_bar__minus_02_dot_55 loc_bar_2_bar__minus_8_bar_2_bar_60)\n (objectAtLocation Pen_bar__minus_01_dot_71_bar__plus_00_dot_60_bar__minus_00_dot_53 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (objectAtLocation Window_bar__plus_00_dot_44_bar__plus_01_dot_40_bar__minus_02_dot_86 loc_bar_2_bar__minus_8_bar_2_bar_60)\n (objectAtLocation Pencil_bar__minus_01_dot_85_bar__plus_00_dot_60_bar__minus_00_dot_39 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (objectAtLocation Mug_bar__plus_00_dot_42_bar__plus_00_dot_73_bar__minus_02_dot_47 loc_bar_2_bar__minus_8_bar_2_bar_60)\n (objectAtLocation Blinds_bar__plus_00_dot_45_bar__plus_02_dot_16_bar__minus_02_dot_85 loc_bar_2_bar__minus_8_bar_2_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?ot - object\n ?r - receptacle\n ?a - agent\n ?l - location)\n (and\n (objectType ?ot DeskLampType)\n (toggleable ?ot)\n (isToggled ?ot)\n (receptacleAtLocation ?r ?l)\n (atLocation ?a ?l)\n (inReceptacle ?ot ?r)\n )\n )\n (exists (?o - object\n ?a - agent)\n (and\n (objectType ?o AlarmClockType)\n (holds ?a ?o)\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to drawer 2", "take alarmclock 1 from dresser 1", "go to desk 1", "use desklamp 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-303/trial_T20190908_144950_175895/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-303/trial_T20190908_144950_175895/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..e6f52f585805878a132266930c2cf36877638d30 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-303/trial_T20190908_144950_175895/initial_state.pddl @@ -0,0 +1,721 @@ + +(define (problem plan_trial_T20190908_144950_175895) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + AlarmClock_bar__plus_00_dot_08_bar__plus_00_dot_73_bar__minus_02_dot_76 - object + BaseballBat_bar__minus_01_dot_63_bar__plus_00_dot_65_bar__plus_00_dot_42 - object + Blinds_bar__plus_00_dot_45_bar__plus_02_dot_16_bar__minus_02_dot_85 - object + Book_bar__minus_00_dot_33_bar__plus_00_dot_42_bar__minus_01_dot_86 - object + Box_bar__plus_02_dot_00_bar__plus_00_dot_32_bar__minus_01_dot_04 - object + CD_bar__plus_00_dot_27_bar__plus_00_dot_41_bar__minus_02_dot_58 - object + CD_bar__plus_00_dot_72_bar__plus_00_dot_41_bar__minus_02_dot_55 - object + CD_bar__plus_02_dot_05_bar__plus_01_dot_18_bar__minus_02_dot_28 - object + CellPhone_bar__minus_01_dot_79_bar__plus_00_dot_22_bar__minus_01_dot_11 - object + Chair_bar__minus_01_dot_56_bar__plus_00_dot_00_bar__minus_00_dot_31 - object + Cloth_bar__plus_02_dot_18_bar__plus_00_dot_00_bar__minus_00_dot_57 - object + CreditCard_bar__plus_00_dot_08_bar__plus_00_dot_73_bar__minus_02_dot_47 - object + 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Shelf_bar__plus_01_dot_84_bar__plus_01_dot_17_bar__minus_02_dot_30 - receptacle + Shelf_bar__plus_01_dot_84_bar__plus_01_dot_37_bar__minus_02_dot_30 - receptacle + Shelf_bar__plus_01_dot_84_bar__plus_01_dot_57_bar__minus_02_dot_30 - receptacle + SideTable_bar__minus_01_dot_82_bar__plus_00_dot_00_bar__minus_01_dot_14 - receptacle + loc_bar_7_bar__minus_7_bar_2_bar_45 - location + loc_bar__minus_4_bar__minus_1_bar_3_bar_60 - location + loc_bar_2_bar__minus_8_bar_2_bar_60 - location + loc_bar_3_bar__minus_5_bar_2_bar_60 - location + loc_bar__minus_4_bar__minus_3_bar_3_bar_60 - location + loc_bar__minus_4_bar__minus_2_bar_2_bar_45 - location + loc_bar_2_bar__minus_8_bar_2_bar__minus_30 - location + loc_bar_7_bar_0_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_2_bar_3_bar_45 - location + loc_bar_5_bar__minus_7_bar_2_bar_15 - location + loc_bar__minus_4_bar_0_bar_0_bar_15 - location + loc_bar_7_bar__minus_7_bar_2_bar_15 - location + loc_bar__minus_4_bar_0_bar_3_bar_60 - location + loc_bar_5_bar__minus_5_bar_2_bar_60 - location + loc_bar__minus_3_bar__minus_3_bar_3_bar_60 - location + loc_bar_6_bar__minus_6_bar_2_bar_60 - location + loc_bar_7_bar__minus_6_bar_2_bar_60 - location + loc_bar_1_bar__minus_8_bar_2_bar_15 - location + loc_bar_7_bar__minus_7_bar_2_bar_30 - location + loc_bar_6_bar__minus_4_bar_1_bar_60 - location + loc_bar__minus_3_bar__minus_2_bar_3_bar_60 - location + loc_bar_5_bar__minus_7_bar_2_bar_45 - location + loc_bar_7_bar__minus_2_bar_1_bar_60 - location + loc_bar_7_bar__minus_7_bar_1_bar_60 - location + loc_bar_5_bar__minus_7_bar_2_bar_30 - location + loc_bar__minus_3_bar_0_bar_0_bar_45 - location + loc_bar__minus_3_bar__minus_3_bar_3_bar_45 - location + loc_bar__minus_5_bar_1_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Shelf_bar__plus_01_dot_84_bar__plus_01_dot_57_bar__minus_02_dot_30 ShelfType) + (receptacleType Drawer_bar__minus_01_dot_79_bar__plus_00_dot_25_bar__minus_01_dot_15 DrawerType) + (receptacleType 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(canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType ClothType) + (canContain DrawerType PencilType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType VaseType) + (canContain ShelfType CDType) + (canContain ShelfType MugType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType ClothType) + (canContain ShelfType PencilType) + (canContain ShelfType AlarmClockType) + (canContain DeskType PenType) + (canContain DeskType BookType) + (canContain DeskType VaseType) + (canContain DeskType CDType) + (canContain DeskType MugType) + (canContain DeskType BoxType) + (canContain DeskType CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (canContain DeskType TennisRacketType) + (canContain DeskType ClothType) + (canContain DeskType LaptopType) + (canContain DeskType PencilType) + (canContain DeskType AlarmClockType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType VaseType) + (canContain ShelfType CDType) + (canContain ShelfType MugType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType ClothType) + (canContain ShelfType PencilType) + (canContain ShelfType AlarmClockType) + (pickupable Book_bar__minus_00_dot_33_bar__plus_00_dot_42_bar__minus_01_dot_86) + (pickupable CD_bar__plus_00_dot_27_bar__plus_00_dot_41_bar__minus_02_dot_58) + (pickupable AlarmClock_bar__plus_00_dot_08_bar__plus_00_dot_73_bar__minus_02_dot_76) + (pickupable CreditCard_bar__plus_00_dot_08_bar__plus_00_dot_73_bar__minus_02_dot_47) + (pickupable Pen_bar__minus_01_dot_71_bar__plus_00_dot_60_bar__minus_00_dot_53) + (pickupable Laptop_bar__minus_01_dot_76_bar__plus_00_dot_59_bar__minus_00_dot_11) + (pickupable CD_bar__plus_00_dot_72_bar__plus_00_dot_41_bar__minus_02_dot_55) + (pickupable TennisRacket_bar__plus_02_dot_24_bar__plus_00_dot_28_bar__minus_01_dot_90) + (pickupable KeyChain_bar__plus_01_dot_72_bar__plus_01_dot_18_bar__minus_02_dot_28) + (pickupable Box_bar__plus_02_dot_00_bar__plus_00_dot_32_bar__minus_01_dot_04) + (pickupable BaseballBat_bar__minus_01_dot_63_bar__plus_00_dot_65_bar__plus_00_dot_42) + (pickupable Pen_bar__plus_00_dot_31_bar__plus_00_dot_73_bar__minus_02_dot_65) + (pickupable Mug_bar__minus_01_dot_52_bar__plus_00_dot_60_bar__minus_00_dot_25) + (pickupable Pencil_bar__minus_01_dot_85_bar__plus_00_dot_60_bar__minus_00_dot_39) + (pickupable Pillow_bar__minus_01_dot_02_bar__plus_00_dot_49_bar__minus_02_dot_10) + (pickupable Pillow_bar__minus_01_dot_55_bar__plus_00_dot_46_bar__minus_01_dot_83) + (pickupable CellPhone_bar__minus_01_dot_79_bar__plus_00_dot_22_bar__minus_01_dot_11) + (pickupable Vase_bar__plus_00_dot_54_bar__plus_00_dot_73_bar__minus_02_dot_71) + (pickupable Mug_bar__plus_00_dot_42_bar__plus_00_dot_73_bar__minus_02_dot_47) + (pickupable KeyChain_bar__minus_01_dot_79_bar__plus_00_dot_51_bar__minus_01_dot_19) + (pickupable CreditCard_bar__plus_00_dot_65_bar__plus_00_dot_73_bar__minus_02_dot_82) + (pickupable CD_bar__plus_02_dot_05_bar__plus_01_dot_18_bar__minus_02_dot_28) + (pickupable Cloth_bar__plus_02_dot_18_bar__plus_00_dot_00_bar__minus_00_dot_57) + (isReceptacleObject Box_bar__plus_02_dot_00_bar__plus_00_dot_32_bar__minus_01_dot_04) + (isReceptacleObject Mug_bar__minus_01_dot_52_bar__plus_00_dot_60_bar__minus_00_dot_25) + (isReceptacleObject Mug_bar__plus_00_dot_42_bar__plus_00_dot_73_bar__minus_02_dot_47) + (openable Drawer_bar__minus_01_dot_79_bar__plus_00_dot_25_bar__minus_01_dot_15) + (openable Drawer_bar__minus_01_dot_79_bar__plus_00_dot_39_bar__minus_01_dot_15) + (openable Drawer_bar__minus_01_dot_79_bar__plus_00_dot_10_bar__minus_01_dot_15) + + (atLocation agent1 loc_bar__minus_5_bar_1_bar_0_bar_30) + + (cleanable Mug_bar__minus_01_dot_52_bar__plus_00_dot_60_bar__minus_00_dot_25) + (cleanable Mug_bar__plus_00_dot_42_bar__plus_00_dot_73_bar__minus_02_dot_47) + (cleanable Cloth_bar__plus_02_dot_18_bar__plus_00_dot_00_bar__minus_00_dot_57) + + (heatable Mug_bar__minus_01_dot_52_bar__plus_00_dot_60_bar__minus_00_dot_25) + (heatable Mug_bar__plus_00_dot_42_bar__plus_00_dot_73_bar__minus_02_dot_47) + (coolable Mug_bar__minus_01_dot_52_bar__plus_00_dot_60_bar__minus_00_dot_25) + (coolable Mug_bar__plus_00_dot_42_bar__plus_00_dot_73_bar__minus_02_dot_47) + + + (toggleable DeskLamp_bar__minus_01_dot_85_bar__plus_00_dot_59_bar__minus_00_dot_79) + + + + + (inReceptacle CD_bar__plus_00_dot_72_bar__plus_00_dot_41_bar__minus_02_dot_55 Drawer_bar__plus_00_dot_45_bar__plus_00_dot_50_bar__minus_02_dot_43) + (inReceptacle CD_bar__plus_00_dot_27_bar__plus_00_dot_41_bar__minus_02_dot_58 Drawer_bar__plus_00_dot_45_bar__plus_00_dot_50_bar__minus_02_dot_43) + (inReceptacle CreditCard_bar__plus_00_dot_08_bar__plus_00_dot_73_bar__minus_02_dot_47 Dresser_bar__plus_00_dot_44_bar__plus_00_dot_04_bar__minus_02_dot_65) + (inReceptacle Window_bar__plus_00_dot_44_bar__plus_01_dot_40_bar__minus_02_dot_86 Dresser_bar__plus_00_dot_44_bar__plus_00_dot_04_bar__minus_02_dot_65) + (inReceptacle Mug_bar__plus_00_dot_42_bar__plus_00_dot_73_bar__minus_02_dot_47 Dresser_bar__plus_00_dot_44_bar__plus_00_dot_04_bar__minus_02_dot_65) + (inReceptacle CreditCard_bar__plus_00_dot_65_bar__plus_00_dot_73_bar__minus_02_dot_82 Dresser_bar__plus_00_dot_44_bar__plus_00_dot_04_bar__minus_02_dot_65) + (inReceptacle Pen_bar__plus_00_dot_31_bar__plus_00_dot_73_bar__minus_02_dot_65 Dresser_bar__plus_00_dot_44_bar__plus_00_dot_04_bar__minus_02_dot_65) + (inReceptacle AlarmClock_bar__plus_00_dot_08_bar__plus_00_dot_73_bar__minus_02_dot_76 Dresser_bar__plus_00_dot_44_bar__plus_00_dot_04_bar__minus_02_dot_65) + (inReceptacle Vase_bar__plus_00_dot_54_bar__plus_00_dot_73_bar__minus_02_dot_71 Dresser_bar__plus_00_dot_44_bar__plus_00_dot_04_bar__minus_02_dot_65) + (inReceptacle Laptop_bar__minus_01_dot_76_bar__plus_00_dot_59_bar__minus_00_dot_11 Desk_bar__minus_01_dot_71_bar__plus_00_dot_00_bar__minus_00_dot_37) + (inReceptacle DeskLamp_bar__minus_01_dot_85_bar__plus_00_dot_59_bar__minus_00_dot_79 Desk_bar__minus_01_dot_71_bar__plus_00_dot_00_bar__minus_00_dot_37) + (inReceptacle Pencil_bar__minus_01_dot_85_bar__plus_00_dot_60_bar__minus_00_dot_39 Desk_bar__minus_01_dot_71_bar__plus_00_dot_00_bar__minus_00_dot_37) + (inReceptacle Mug_bar__minus_01_dot_52_bar__plus_00_dot_60_bar__minus_00_dot_25 Desk_bar__minus_01_dot_71_bar__plus_00_dot_00_bar__minus_00_dot_37) + (inReceptacle Pen_bar__minus_01_dot_71_bar__plus_00_dot_60_bar__minus_00_dot_53 Desk_bar__minus_01_dot_71_bar__plus_00_dot_00_bar__minus_00_dot_37) + (inReceptacle KeyChain_bar__plus_01_dot_72_bar__plus_01_dot_18_bar__minus_02_dot_28 Shelf_bar__plus_01_dot_84_bar__plus_01_dot_17_bar__minus_02_dot_30) + (inReceptacle CD_bar__plus_02_dot_05_bar__plus_01_dot_18_bar__minus_02_dot_28 Shelf_bar__plus_01_dot_84_bar__plus_01_dot_17_bar__minus_02_dot_30) + (inReceptacle CellPhone_bar__minus_01_dot_79_bar__plus_00_dot_22_bar__minus_01_dot_11 Drawer_bar__minus_01_dot_79_bar__plus_00_dot_25_bar__minus_01_dot_15) + (inReceptacle KeyChain_bar__minus_01_dot_79_bar__plus_00_dot_51_bar__minus_01_dot_19 SideTable_bar__minus_01_dot_82_bar__plus_00_dot_00_bar__minus_01_dot_14) + (inReceptacle Pillow_bar__minus_01_dot_55_bar__plus_00_dot_46_bar__minus_01_dot_83 Bed_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__minus_01_dot_85) + (inReceptacle Book_bar__minus_00_dot_33_bar__plus_00_dot_42_bar__minus_01_dot_86 Bed_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__minus_01_dot_85) + (inReceptacle Pillow_bar__minus_01_dot_02_bar__plus_00_dot_49_bar__minus_02_dot_10 Bed_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__minus_01_dot_85) + + + (receptacleAtLocation Bed_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__minus_01_dot_85 loc_bar__minus_4_bar__minus_2_bar_2_bar_45) + (receptacleAtLocation Desk_bar__minus_01_dot_71_bar__plus_00_dot_00_bar__minus_00_dot_37 loc_bar__minus_3_bar__minus_2_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_45_bar__plus_00_dot_20_bar__minus_02_dot_43 loc_bar_2_bar__minus_8_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_45_bar__plus_00_dot_50_bar__minus_02_dot_43 loc_bar_2_bar__minus_8_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_79_bar__plus_00_dot_10_bar__minus_01_dot_15 loc_bar__minus_2_bar__minus_2_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_79_bar__plus_00_dot_25_bar__minus_01_dot_15 loc_bar__minus_3_bar__minus_3_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_79_bar__plus_00_dot_39_bar__minus_01_dot_15 loc_bar__minus_3_bar__minus_3_bar_3_bar_45) + (receptacleAtLocation Dresser_bar__plus_00_dot_44_bar__plus_00_dot_04_bar__minus_02_dot_65 loc_bar_2_bar__minus_8_bar_2_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_02_dot_22_bar__plus_00_dot_00_bar__plus_00_dot_31 loc_bar_7_bar_0_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__plus_01_dot_31_bar__plus_00_dot_05_bar__minus_02_dot_30 loc_bar_3_bar__minus_5_bar_2_bar_60) + (receptacleAtLocation Shelf_bar__plus_01_dot_31_bar__plus_00_dot_35_bar__minus_02_dot_30 loc_bar_7_bar__minus_6_bar_2_bar_60) + (receptacleAtLocation Shelf_bar__plus_01_dot_31_bar__plus_00_dot_97_bar__minus_02_dot_30 loc_bar_5_bar__minus_7_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__plus_01_dot_31_bar__plus_01_dot_17_bar__minus_02_dot_30 loc_bar_5_bar__minus_7_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__plus_01_dot_31_bar__plus_01_dot_37_bar__minus_02_dot_30 loc_bar_5_bar__minus_7_bar_2_bar_30) + (receptacleAtLocation Shelf_bar__plus_01_dot_31_bar__plus_01_dot_57_bar__minus_02_dot_30 loc_bar_5_bar__minus_7_bar_2_bar_15) + (receptacleAtLocation Shelf_bar__plus_01_dot_84_bar__plus_00_dot_05_bar__minus_02_dot_30 loc_bar_5_bar__minus_5_bar_2_bar_60) + (receptacleAtLocation Shelf_bar__plus_01_dot_84_bar__plus_00_dot_35_bar__minus_02_dot_30 loc_bar_6_bar__minus_6_bar_2_bar_60) + (receptacleAtLocation Shelf_bar__plus_01_dot_84_bar__plus_00_dot_97_bar__minus_02_dot_30 loc_bar_7_bar__minus_7_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__plus_01_dot_84_bar__plus_01_dot_17_bar__minus_02_dot_30 loc_bar_7_bar__minus_7_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__plus_01_dot_84_bar__plus_01_dot_37_bar__minus_02_dot_30 loc_bar_7_bar__minus_7_bar_2_bar_30) + (receptacleAtLocation Shelf_bar__plus_01_dot_84_bar__plus_01_dot_57_bar__minus_02_dot_30 loc_bar_7_bar__minus_7_bar_2_bar_15) + (receptacleAtLocation SideTable_bar__minus_01_dot_82_bar__plus_00_dot_00_bar__minus_01_dot_14 loc_bar__minus_4_bar__minus_3_bar_3_bar_60) + (objectAtLocation Mug_bar__minus_01_dot_52_bar__plus_00_dot_60_bar__minus_00_dot_25 loc_bar__minus_3_bar__minus_2_bar_3_bar_60) + (objectAtLocation Pen_bar__plus_00_dot_31_bar__plus_00_dot_73_bar__minus_02_dot_65 loc_bar_2_bar__minus_8_bar_2_bar_60) + (objectAtLocation CD_bar__plus_00_dot_27_bar__plus_00_dot_41_bar__minus_02_dot_58 loc_bar_2_bar__minus_8_bar_2_bar_60) + (objectAtLocation KeyChain_bar__plus_01_dot_72_bar__plus_01_dot_18_bar__minus_02_dot_28 loc_bar_7_bar__minus_7_bar_2_bar_45) + (objectAtLocation CreditCard_bar__plus_00_dot_08_bar__plus_00_dot_73_bar__minus_02_dot_47 loc_bar_2_bar__minus_8_bar_2_bar_60) + (objectAtLocation Pillow_bar__minus_01_dot_55_bar__plus_00_dot_46_bar__minus_01_dot_83 loc_bar__minus_4_bar__minus_2_bar_2_bar_45) + (objectAtLocation Box_bar__plus_02_dot_00_bar__plus_00_dot_32_bar__minus_01_dot_04 loc_bar_6_bar__minus_4_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_01_dot_56_bar__plus_00_dot_00_bar__minus_00_dot_31 loc_bar__minus_4_bar__minus_1_bar_3_bar_60) + (objectAtLocation Book_bar__minus_00_dot_33_bar__plus_00_dot_42_bar__minus_01_dot_86 loc_bar__minus_4_bar__minus_2_bar_2_bar_45) + (objectAtLocation Pillow_bar__minus_01_dot_02_bar__plus_00_dot_49_bar__minus_02_dot_10 loc_bar__minus_4_bar__minus_2_bar_2_bar_45) + (objectAtLocation CellPhone_bar__minus_01_dot_79_bar__plus_00_dot_22_bar__minus_01_dot_11 loc_bar__minus_3_bar__minus_3_bar_3_bar_60) + (objectAtLocation Vase_bar__plus_00_dot_54_bar__plus_00_dot_73_bar__minus_02_dot_71 loc_bar_2_bar__minus_8_bar_2_bar_60) + (objectAtLocation DeskLamp_bar__minus_01_dot_85_bar__plus_00_dot_59_bar__minus_00_dot_79 loc_bar__minus_3_bar__minus_2_bar_3_bar_60) + (objectAtLocation BaseballBat_bar__minus_01_dot_63_bar__plus_00_dot_65_bar__plus_00_dot_42 loc_bar__minus_4_bar_0_bar_3_bar_60) + (objectAtLocation CreditCard_bar__plus_00_dot_65_bar__plus_00_dot_73_bar__minus_02_dot_82 loc_bar_2_bar__minus_8_bar_2_bar_60) + (objectAtLocation TennisRacket_bar__plus_02_dot_24_bar__plus_00_dot_28_bar__minus_01_dot_90 loc_bar_7_bar__minus_7_bar_1_bar_60) + (objectAtLocation KeyChain_bar__minus_01_dot_79_bar__plus_00_dot_51_bar__minus_01_dot_19 loc_bar__minus_4_bar__minus_3_bar_3_bar_60) + (objectAtLocation LightSwitch_bar__minus_00_dot_64_bar__plus_01_dot_15_bar__plus_00_dot_50 loc_bar__minus_3_bar_0_bar_0_bar_45) + (objectAtLocation AlarmClock_bar__plus_00_dot_08_bar__plus_00_dot_73_bar__minus_02_dot_76 loc_bar_2_bar__minus_8_bar_2_bar_60) + (objectAtLocation Poster_bar__plus_00_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64 loc_bar_1_bar__minus_8_bar_2_bar_15) + (objectAtLocation Cloth_bar__plus_02_dot_18_bar__plus_00_dot_00_bar__minus_00_dot_57 loc_bar_7_bar__minus_2_bar_1_bar_60) + (objectAtLocation Laptop_bar__minus_01_dot_76_bar__plus_00_dot_59_bar__minus_00_dot_11 loc_bar__minus_3_bar__minus_2_bar_3_bar_60) + (objectAtLocation Mirror_bar__minus_01_dot_07_bar__plus_01_dot_47_bar__plus_00_dot_50 loc_bar__minus_4_bar_0_bar_0_bar_15) + (objectAtLocation CD_bar__plus_02_dot_05_bar__plus_01_dot_18_bar__minus_02_dot_28 loc_bar_7_bar__minus_7_bar_2_bar_45) + (objectAtLocation CD_bar__plus_00_dot_72_bar__plus_00_dot_41_bar__minus_02_dot_55 loc_bar_2_bar__minus_8_bar_2_bar_60) + (objectAtLocation Pen_bar__minus_01_dot_71_bar__plus_00_dot_60_bar__minus_00_dot_53 loc_bar__minus_3_bar__minus_2_bar_3_bar_60) + (objectAtLocation Window_bar__plus_00_dot_44_bar__plus_01_dot_40_bar__minus_02_dot_86 loc_bar_2_bar__minus_8_bar_2_bar_60) + (objectAtLocation Pencil_bar__minus_01_dot_85_bar__plus_00_dot_60_bar__minus_00_dot_39 loc_bar__minus_3_bar__minus_2_bar_3_bar_60) + (objectAtLocation Mug_bar__plus_00_dot_42_bar__plus_00_dot_73_bar__minus_02_dot_47 loc_bar_2_bar__minus_8_bar_2_bar_60) + (objectAtLocation Blinds_bar__plus_00_dot_45_bar__plus_02_dot_16_bar__minus_02_dot_85 loc_bar_2_bar__minus_8_bar_2_bar__minus_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 AlarmClockType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-303/trial_T20190908_144950_175895/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-303/trial_T20190908_144950_175895/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..6683ba715498474e5e4687a45f1ddf4bcb934c55 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-303/trial_T20190908_144950_175895/traj_data.json @@ -0,0 +1,2540 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": 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bed then turn left and walk to the night stand.", + "Turn on the light that's on the desk." + ], + "task_desc": "Inspect a clock by lamp light.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A272X64FOZFYLB_3VBEN272MNQUG5977H3RFBAQA0RSG0", + "high_descs": [ + "Turn right, walk to the door, then turn right and walk forward to the alarm clock near the window.", + "Pick up the alarm clock from the dresser.", + "Turn around, walk forward to the door, then turn left and walk to the lamp on the desk.", + "Turn on the lamp." + ], + "task_desc": "Examine an alarm clock by the light of a desk lamp.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2KAGFQU28JY43_3JMSRU9HQLLCOJUKVHI8QV9LWO5EV9", + "high_descs": [ + "Turn around and go to the dresser across the room, underneath the window. ", + "Pick up the alarm clock in the back, right corner of the dresser. ", + "Turn around and go to the end of the bed and turn left, then go to the desk by the top of the bed. ", + "Turn on the lamp in the back, right corner of the desk. " + ], + "task_desc": "Turn on the desk lamp. ", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-303/trial_T20190908_145005_617119/game.tw-pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-303/trial_T20190908_145005_617119/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..7d64bd09aa894df5d71855d21932d390d7468250 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-303/trial_T20190908_145005_617119/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: examine the alarmclock with the desklamp.\"\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_145005_617119)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n AlarmClock_bar__plus_00_dot_08_bar__plus_00_dot_73_bar__minus_02_dot_71 - object\n AlarmClock_bar__plus_00_dot_77_bar__plus_00_dot_73_bar__minus_02_dot_65 - object\n BaseballBat_bar__minus_01_dot_63_bar__plus_00_dot_65_bar__plus_00_dot_42 - object\n Blinds_bar__plus_00_dot_45_bar__plus_02_dot_16_bar__minus_02_dot_85 - object\n Book_bar__minus_01_dot_71_bar__plus_00_dot_60_bar__minus_00_dot_11 - object\n Box_bar__plus_02_dot_00_bar__plus_00_dot_32_bar__minus_01_dot_04 - object\n CD_bar__plus_00_dot_08_bar__plus_00_dot_73_bar__minus_02_dot_53 - object\n CD_bar__plus_00_dot_19_bar__plus_00_dot_73_bar__minus_02_dot_53 - object\n CD_bar__plus_01_dot_45_bar__plus_00_dot_98_bar__minus_02_dot_30 - object\n CellPhone_bar__plus_00_dot_77_bar__plus_00_dot_73_bar__minus_02_dot_76 - object\n CellPhone_bar__minus_01_dot_83_bar__plus_00_dot_51_bar__minus_01_dot_19 - object\n Chair_bar__minus_01_dot_56_bar__plus_00_dot_00_bar__minus_00_dot_31 - object\n Cloth_bar__plus_02_dot_18_bar__plus_00_dot_00_bar__minus_00_dot_57 - object\n CreditCard_bar__plus_01_dot_79_bar__plus_00_dot_98_bar__minus_02_dot_30 - object\n CreditCard_bar__minus_01_dot_90_bar__plus_00_dot_51_bar__minus_01_dot_07 - object\n DeskLamp_bar__minus_01_dot_85_bar__plus_00_dot_59_bar__minus_00_dot_79 - object\n KeyChain_bar__plus_01_dot_38_bar__plus_01_dot_18_bar__minus_02_dot_34 - object\n Laptop_bar__minus_00_dot_56_bar__plus_00_dot_42_bar__minus_01_dot_61 - object\n Laptop_bar__minus_00_dot_56_bar__plus_00_dot_42_bar__minus_02_dot_10 - object\n LightSwitch_bar__minus_00_dot_64_bar__plus_01_dot_15_bar__plus_00_dot_50 - object\n Mirror_bar__minus_01_dot_07_bar__plus_01_dot_47_bar__plus_00_dot_50 - object\n Mug_bar__plus_01_dot_26_bar__plus_00_dot_98_bar__minus_02_dot_28 - object\n Mug_bar__plus_01_dot_38_bar__plus_01_dot_58_bar__minus_02_dot_32 - object\n Mug_bar__minus_01_dot_85_bar__plus_00_dot_60_bar__minus_00_dot_39 - object\n Pencil_bar__plus_01_dot_19_bar__plus_00_dot_06_bar__minus_02_dot_26 - object\n Pen_bar__plus_01_dot_92_bar__plus_00_dot_98_bar__minus_02_dot_28 - object\n Pillow_bar__minus_01_dot_55_bar__plus_00_dot_46_bar__minus_01_dot_83 - object\n Poster_bar__plus_00_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64 - object\n TennisRacket_bar__plus_02_dot_24_bar__plus_00_dot_28_bar__minus_01_dot_90 - object\n Vase_bar__plus_00_dot_31_bar__plus_00_dot_73_bar__minus_02_dot_76 - object\n Vase_bar__plus_00_dot_42_bar__plus_00_dot_73_bar__minus_02_dot_53 - object\n Vase_bar__minus_01_dot_71_bar__plus_00_dot_60_bar__minus_00_dot_53 - object\n Window_bar__plus_00_dot_44_bar__plus_01_dot_40_bar__minus_02_dot_86 - object\n Bed_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__minus_01_dot_85 - receptacle\n Desk_bar__minus_01_dot_71_bar__plus_00_dot_00_bar__minus_00_dot_37 - receptacle\n Drawer_bar__plus_00_dot_45_bar__plus_00_dot_20_bar__minus_02_dot_43 - receptacle\n Drawer_bar__plus_00_dot_45_bar__plus_00_dot_50_bar__minus_02_dot_43 - receptacle\n Drawer_bar__minus_01_dot_79_bar__plus_00_dot_10_bar__minus_01_dot_15 - receptacle\n Drawer_bar__minus_01_dot_79_bar__plus_00_dot_25_bar__minus_01_dot_15 - receptacle\n Drawer_bar__minus_01_dot_79_bar__plus_00_dot_39_bar__minus_01_dot_15 - receptacle\n Dresser_bar__plus_00_dot_44_bar__plus_00_dot_04_bar__minus_02_dot_65 - receptacle\n GarbageCan_bar__plus_02_dot_22_bar__plus_00_dot_00_bar__plus_00_dot_31 - receptacle\n Shelf_bar__plus_01_dot_31_bar__plus_00_dot_05_bar__minus_02_dot_30 - receptacle\n Shelf_bar__plus_01_dot_31_bar__plus_00_dot_35_bar__minus_02_dot_30 - receptacle\n Shelf_bar__plus_01_dot_31_bar__plus_00_dot_97_bar__minus_02_dot_30 - receptacle\n Shelf_bar__plus_01_dot_31_bar__plus_01_dot_17_bar__minus_02_dot_30 - receptacle\n Shelf_bar__plus_01_dot_31_bar__plus_01_dot_37_bar__minus_02_dot_30 - receptacle\n Shelf_bar__plus_01_dot_31_bar__plus_01_dot_57_bar__minus_02_dot_30 - receptacle\n Shelf_bar__plus_01_dot_84_bar__plus_00_dot_05_bar__minus_02_dot_30 - receptacle\n Shelf_bar__plus_01_dot_84_bar__plus_00_dot_35_bar__minus_02_dot_30 - receptacle\n Shelf_bar__plus_01_dot_84_bar__plus_00_dot_97_bar__minus_02_dot_30 - receptacle\n Shelf_bar__plus_01_dot_84_bar__plus_01_dot_17_bar__minus_02_dot_30 - receptacle\n Shelf_bar__plus_01_dot_84_bar__plus_01_dot_37_bar__minus_02_dot_30 - receptacle\n Shelf_bar__plus_01_dot_84_bar__plus_01_dot_57_bar__minus_02_dot_30 - receptacle\n SideTable_bar__minus_01_dot_82_bar__plus_00_dot_00_bar__minus_01_dot_14 - receptacle\n loc_bar_7_bar__minus_7_bar_2_bar_45 - location\n loc_bar__minus_4_bar__minus_1_bar_3_bar_60 - location\n loc_bar_2_bar__minus_8_bar_2_bar_60 - location\n loc_bar_3_bar__minus_5_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_3_bar_3_bar_60 - location\n loc_bar__minus_4_bar__minus_2_bar_2_bar_45 - location\n loc_bar_2_bar__minus_8_bar_2_bar__minus_30 - location\n loc_bar_7_bar_0_bar_1_bar_60 - location\n loc_bar__minus_2_bar__minus_2_bar_3_bar_45 - location\n loc_bar_5_bar__minus_7_bar_2_bar_15 - location\n loc_bar__minus_4_bar_0_bar_0_bar_15 - location\n loc_bar_7_bar__minus_7_bar_2_bar_15 - location\n loc_bar__minus_4_bar_0_bar_3_bar_60 - location\n loc_bar_5_bar__minus_5_bar_2_bar_60 - location\n loc_bar__minus_3_bar__minus_3_bar_3_bar_60 - location\n loc_bar_6_bar__minus_6_bar_2_bar_60 - location\n loc_bar_7_bar__minus_6_bar_2_bar_60 - location\n loc_bar_1_bar__minus_8_bar_2_bar_15 - location\n loc_bar_7_bar__minus_7_bar_2_bar_30 - location\n loc_bar_6_bar__minus_4_bar_1_bar_60 - location\n loc_bar__minus_3_bar__minus_2_bar_3_bar_60 - location\n loc_bar_5_bar__minus_7_bar_2_bar_45 - location\n loc_bar_7_bar__minus_2_bar_1_bar_60 - location\n loc_bar_7_bar__minus_7_bar_1_bar_60 - location\n loc_bar_5_bar__minus_7_bar_2_bar_30 - location\n loc_bar__minus_3_bar_0_bar_0_bar_45 - location\n loc_bar__minus_3_bar__minus_3_bar_3_bar_45 - location\n loc_bar_1_bar__minus_2_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Shelf_bar__plus_01_dot_84_bar__plus_01_dot_57_bar__minus_02_dot_30 ShelfType)\n (receptacleType Drawer_bar__minus_01_dot_79_bar__plus_00_dot_25_bar__minus_01_dot_15 DrawerType)\n (receptacleType Shelf_bar__plus_01_dot_84_bar__plus_01_dot_17_bar__minus_02_dot_30 ShelfType)\n (receptacleType SideTable_bar__minus_01_dot_82_bar__plus_00_dot_00_bar__minus_01_dot_14 SideTableType)\n (receptacleType Shelf_bar__plus_01_dot_31_bar__plus_00_dot_35_bar__minus_02_dot_30 ShelfType)\n (receptacleType Drawer_bar__plus_00_dot_45_bar__plus_00_dot_50_bar__minus_02_dot_43 DrawerType)\n (receptacleType Shelf_bar__plus_01_dot_31_bar__plus_01_dot_37_bar__minus_02_dot_30 ShelfType)\n (receptacleType Shelf_bar__plus_01_dot_84_bar__plus_01_dot_37_bar__minus_02_dot_30 ShelfType)\n (receptacleType Dresser_bar__plus_00_dot_44_bar__plus_00_dot_04_bar__minus_02_dot_65 DresserType)\n (receptacleType Shelf_bar__plus_01_dot_84_bar__plus_00_dot_05_bar__minus_02_dot_30 ShelfType)\n (receptacleType Drawer_bar__plus_00_dot_45_bar__plus_00_dot_20_bar__minus_02_dot_43 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_79_bar__plus_00_dot_39_bar__minus_01_dot_15 DrawerType)\n (receptacleType Shelf_bar__plus_01_dot_31_bar__plus_01_dot_17_bar__minus_02_dot_30 ShelfType)\n (receptacleType Shelf_bar__plus_01_dot_31_bar__plus_00_dot_97_bar__minus_02_dot_30 ShelfType)\n (receptacleType Shelf_bar__plus_01_dot_84_bar__plus_00_dot_97_bar__minus_02_dot_30 ShelfType)\n (receptacleType GarbageCan_bar__plus_02_dot_22_bar__plus_00_dot_00_bar__plus_00_dot_31 GarbageCanType)\n (receptacleType Bed_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__minus_01_dot_85 BedType)\n (receptacleType Shelf_bar__plus_01_dot_31_bar__plus_01_dot_57_bar__minus_02_dot_30 ShelfType)\n (receptacleType Drawer_bar__minus_01_dot_79_bar__plus_00_dot_10_bar__minus_01_dot_15 DrawerType)\n (receptacleType Shelf_bar__plus_01_dot_31_bar__plus_00_dot_05_bar__minus_02_dot_30 ShelfType)\n (receptacleType Desk_bar__minus_01_dot_71_bar__plus_00_dot_00_bar__minus_00_dot_37 DeskType)\n (receptacleType Shelf_bar__plus_01_dot_84_bar__plus_00_dot_35_bar__minus_02_dot_30 ShelfType)\n (objectType Window_bar__plus_00_dot_44_bar__plus_01_dot_40_bar__minus_02_dot_86 WindowType)\n (objectType Mug_bar__minus_01_dot_85_bar__plus_00_dot_60_bar__minus_00_dot_39 MugType)\n (objectType CellPhone_bar__minus_01_dot_83_bar__plus_00_dot_51_bar__minus_01_dot_19 CellPhoneType)\n (objectType Vase_bar__minus_01_dot_71_bar__plus_00_dot_60_bar__minus_00_dot_53 VaseType)\n (objectType LightSwitch_bar__minus_00_dot_64_bar__plus_01_dot_15_bar__plus_00_dot_50 LightSwitchType)\n (objectType Mug_bar__plus_01_dot_38_bar__plus_01_dot_58_bar__minus_02_dot_32 MugType)\n (objectType Pen_bar__plus_01_dot_92_bar__plus_00_dot_98_bar__minus_02_dot_28 PenType)\n (objectType Pencil_bar__plus_01_dot_19_bar__plus_00_dot_06_bar__minus_02_dot_26 PencilType)\n (objectType Vase_bar__plus_00_dot_31_bar__plus_00_dot_73_bar__minus_02_dot_76 VaseType)\n (objectType Vase_bar__plus_00_dot_42_bar__plus_00_dot_73_bar__minus_02_dot_53 VaseType)\n (objectType DeskLamp_bar__minus_01_dot_85_bar__plus_00_dot_59_bar__minus_00_dot_79 DeskLampType)\n (objectType TennisRacket_bar__plus_02_dot_24_bar__plus_00_dot_28_bar__minus_01_dot_90 TennisRacketType)\n (objectType Chair_bar__minus_01_dot_56_bar__plus_00_dot_00_bar__minus_00_dot_31 ChairType)\n (objectType Box_bar__plus_02_dot_00_bar__plus_00_dot_32_bar__minus_01_dot_04 BoxType)\n (objectType CellPhone_bar__plus_00_dot_77_bar__plus_00_dot_73_bar__minus_02_dot_76 CellPhoneType)\n (objectType Mug_bar__plus_01_dot_26_bar__plus_00_dot_98_bar__minus_02_dot_28 MugType)\n (objectType BaseballBat_bar__minus_01_dot_63_bar__plus_00_dot_65_bar__plus_00_dot_42 BaseballBatType)\n (objectType CD_bar__plus_01_dot_45_bar__plus_00_dot_98_bar__minus_02_dot_30 CDType)\n (objectType Laptop_bar__minus_00_dot_56_bar__plus_00_dot_42_bar__minus_02_dot_10 LaptopType)\n (objectType CreditCard_bar__minus_01_dot_90_bar__plus_00_dot_51_bar__minus_01_dot_07 CreditCardType)\n (objectType Pillow_bar__minus_01_dot_55_bar__plus_00_dot_46_bar__minus_01_dot_83 PillowType)\n (objectType Blinds_bar__plus_00_dot_45_bar__plus_02_dot_16_bar__minus_02_dot_85 BlindsType)\n (objectType Book_bar__minus_01_dot_71_bar__plus_00_dot_60_bar__minus_00_dot_11 BookType)\n (objectType AlarmClock_bar__plus_00_dot_08_bar__plus_00_dot_73_bar__minus_02_dot_71 AlarmClockType)\n (objectType KeyChain_bar__plus_01_dot_38_bar__plus_01_dot_18_bar__minus_02_dot_34 KeyChainType)\n (objectType AlarmClock_bar__plus_00_dot_77_bar__plus_00_dot_73_bar__minus_02_dot_65 AlarmClockType)\n (objectType Poster_bar__plus_00_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64 PosterType)\n (objectType Laptop_bar__minus_00_dot_56_bar__plus_00_dot_42_bar__minus_01_dot_61 LaptopType)\n (objectType Cloth_bar__plus_02_dot_18_bar__plus_00_dot_00_bar__minus_00_dot_57 ClothType)\n (objectType Mirror_bar__minus_01_dot_07_bar__plus_01_dot_47_bar__plus_00_dot_50 MirrorType)\n (objectType CD_bar__plus_00_dot_08_bar__plus_00_dot_73_bar__minus_02_dot_53 CDType)\n (objectType CD_bar__plus_00_dot_19_bar__plus_00_dot_73_bar__minus_02_dot_53 CDType)\n (objectType CreditCard_bar__plus_01_dot_79_bar__plus_00_dot_98_bar__minus_02_dot_30 CreditCardType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType VaseType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType VaseType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType VaseType)\n (canContain SideTableType CDType)\n (canContain SideTableType MugType)\n (canContain SideTableType BoxType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType BaseballBatType)\n (canContain SideTableType TennisRacketType)\n (canContain SideTableType ClothType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType AlarmClockType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType VaseType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType VaseType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType VaseType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain DresserType PenType)\n (canContain DresserType BookType)\n (canContain DresserType VaseType)\n (canContain DresserType CDType)\n (canContain DresserType MugType)\n (canContain DresserType BoxType)\n (canContain DresserType CellPhoneType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType TennisRacketType)\n (canContain DresserType ClothType)\n (canContain DresserType LaptopType)\n (canContain DresserType PencilType)\n (canContain DresserType AlarmClockType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType VaseType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType ClothType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n 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(canContain ShelfType VaseType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType ClothType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType PencilType)\n (canContain BedType BaseballBatType)\n (canContain BedType TennisRacketType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType VaseType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType 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(inReceptacle CD_bar__plus_00_dot_08_bar__plus_00_dot_73_bar__minus_02_dot_53 Dresser_bar__plus_00_dot_44_bar__plus_00_dot_04_bar__minus_02_dot_65)\n (inReceptacle CD_bar__plus_00_dot_19_bar__plus_00_dot_73_bar__minus_02_dot_53 Dresser_bar__plus_00_dot_44_bar__plus_00_dot_04_bar__minus_02_dot_65)\n (inReceptacle AlarmClock_bar__plus_00_dot_08_bar__plus_00_dot_73_bar__minus_02_dot_71 Dresser_bar__plus_00_dot_44_bar__plus_00_dot_04_bar__minus_02_dot_65)\n (inReceptacle Book_bar__minus_01_dot_71_bar__plus_00_dot_60_bar__minus_00_dot_11 Desk_bar__minus_01_dot_71_bar__plus_00_dot_00_bar__minus_00_dot_37)\n (inReceptacle Mug_bar__minus_01_dot_85_bar__plus_00_dot_60_bar__minus_00_dot_39 Desk_bar__minus_01_dot_71_bar__plus_00_dot_00_bar__minus_00_dot_37)\n (inReceptacle Vase_bar__minus_01_dot_71_bar__plus_00_dot_60_bar__minus_00_dot_53 Desk_bar__minus_01_dot_71_bar__plus_00_dot_00_bar__minus_00_dot_37)\n (inReceptacle DeskLamp_bar__minus_01_dot_85_bar__plus_00_dot_59_bar__minus_00_dot_79 Desk_bar__minus_01_dot_71_bar__plus_00_dot_00_bar__minus_00_dot_37)\n (inReceptacle KeyChain_bar__plus_01_dot_38_bar__plus_01_dot_18_bar__minus_02_dot_34 Shelf_bar__plus_01_dot_31_bar__plus_01_dot_17_bar__minus_02_dot_30)\n (inReceptacle CellPhone_bar__minus_01_dot_83_bar__plus_00_dot_51_bar__minus_01_dot_19 SideTable_bar__minus_01_dot_82_bar__plus_00_dot_00_bar__minus_01_dot_14)\n (inReceptacle CreditCard_bar__minus_01_dot_90_bar__plus_00_dot_51_bar__minus_01_dot_07 SideTable_bar__minus_01_dot_82_bar__plus_00_dot_00_bar__minus_01_dot_14)\n (inReceptacle Mug_bar__plus_01_dot_38_bar__plus_01_dot_58_bar__minus_02_dot_32 Shelf_bar__plus_01_dot_31_bar__plus_01_dot_57_bar__minus_02_dot_30)\n (inReceptacle Pencil_bar__plus_01_dot_19_bar__plus_00_dot_06_bar__minus_02_dot_26 Shelf_bar__plus_01_dot_31_bar__plus_00_dot_05_bar__minus_02_dot_30)\n (inReceptacle Pillow_bar__minus_01_dot_55_bar__plus_00_dot_46_bar__minus_01_dot_83 Bed_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__minus_01_dot_85)\n (inReceptacle Laptop_bar__minus_00_dot_56_bar__plus_00_dot_42_bar__minus_02_dot_10 Bed_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__minus_01_dot_85)\n (inReceptacle Laptop_bar__minus_00_dot_56_bar__plus_00_dot_42_bar__minus_01_dot_61 Bed_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__minus_01_dot_85)\n \n \n (receptacleAtLocation Bed_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__minus_01_dot_85 loc_bar__minus_4_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Desk_bar__minus_01_dot_71_bar__plus_00_dot_00_bar__minus_00_dot_37 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_45_bar__plus_00_dot_20_bar__minus_02_dot_43 loc_bar_2_bar__minus_8_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_45_bar__plus_00_dot_50_bar__minus_02_dot_43 loc_bar_2_bar__minus_8_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_79_bar__plus_00_dot_10_bar__minus_01_dot_15 loc_bar__minus_2_bar__minus_2_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_79_bar__plus_00_dot_25_bar__minus_01_dot_15 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_79_bar__plus_00_dot_39_bar__minus_01_dot_15 loc_bar__minus_3_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation Dresser_bar__plus_00_dot_44_bar__plus_00_dot_04_bar__minus_02_dot_65 loc_bar_2_bar__minus_8_bar_2_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_02_dot_22_bar__plus_00_dot_00_bar__plus_00_dot_31 loc_bar_7_bar_0_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__plus_01_dot_31_bar__plus_00_dot_05_bar__minus_02_dot_30 loc_bar_3_bar__minus_5_bar_2_bar_60)\n (receptacleAtLocation Shelf_bar__plus_01_dot_31_bar__plus_00_dot_35_bar__minus_02_dot_30 loc_bar_7_bar__minus_6_bar_2_bar_60)\n (receptacleAtLocation Shelf_bar__plus_01_dot_31_bar__plus_00_dot_97_bar__minus_02_dot_30 loc_bar_5_bar__minus_7_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_01_dot_31_bar__plus_01_dot_17_bar__minus_02_dot_30 loc_bar_5_bar__minus_7_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_01_dot_31_bar__plus_01_dot_37_bar__minus_02_dot_30 loc_bar_5_bar__minus_7_bar_2_bar_30)\n (receptacleAtLocation Shelf_bar__plus_01_dot_31_bar__plus_01_dot_57_bar__minus_02_dot_30 loc_bar_5_bar__minus_7_bar_2_bar_15)\n (receptacleAtLocation Shelf_bar__plus_01_dot_84_bar__plus_00_dot_05_bar__minus_02_dot_30 loc_bar_5_bar__minus_5_bar_2_bar_60)\n (receptacleAtLocation Shelf_bar__plus_01_dot_84_bar__plus_00_dot_35_bar__minus_02_dot_30 loc_bar_6_bar__minus_6_bar_2_bar_60)\n (receptacleAtLocation Shelf_bar__plus_01_dot_84_bar__plus_00_dot_97_bar__minus_02_dot_30 loc_bar_7_bar__minus_7_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_01_dot_84_bar__plus_01_dot_17_bar__minus_02_dot_30 loc_bar_7_bar__minus_7_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_01_dot_84_bar__plus_01_dot_37_bar__minus_02_dot_30 loc_bar_7_bar__minus_7_bar_2_bar_30)\n (receptacleAtLocation Shelf_bar__plus_01_dot_84_bar__plus_01_dot_57_bar__minus_02_dot_30 loc_bar_7_bar__minus_7_bar_2_bar_15)\n (receptacleAtLocation SideTable_bar__minus_01_dot_82_bar__plus_00_dot_00_bar__minus_01_dot_14 loc_bar__minus_4_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Mug_bar__minus_01_dot_85_bar__plus_00_dot_60_bar__minus_00_dot_39 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (objectAtLocation CD_bar__plus_00_dot_08_bar__plus_00_dot_73_bar__minus_02_dot_53 loc_bar_2_bar__minus_8_bar_2_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_56_bar__plus_00_dot_42_bar__minus_01_dot_61 loc_bar__minus_4_bar__minus_2_bar_2_bar_45)\n (objectAtLocation AlarmClock_bar__plus_00_dot_77_bar__plus_00_dot_73_bar__minus_02_dot_65 loc_bar_2_bar__minus_8_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__plus_01_dot_79_bar__plus_00_dot_98_bar__minus_02_dot_30 loc_bar_7_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Vase_bar__plus_00_dot_42_bar__plus_00_dot_73_bar__minus_02_dot_53 loc_bar_2_bar__minus_8_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__minus_01_dot_83_bar__plus_00_dot_51_bar__minus_01_dot_19 loc_bar__minus_4_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Vase_bar__minus_01_dot_71_bar__plus_00_dot_60_bar__minus_00_dot_53 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (objectAtLocation Mug_bar__plus_01_dot_38_bar__plus_01_dot_58_bar__minus_02_dot_32 loc_bar_5_bar__minus_7_bar_2_bar_15)\n (objectAtLocation Box_bar__plus_02_dot_00_bar__plus_00_dot_32_bar__minus_01_dot_04 loc_bar_6_bar__minus_4_bar_1_bar_60)\n (objectAtLocation Chair_bar__minus_01_dot_56_bar__plus_00_dot_00_bar__minus_00_dot_31 loc_bar__minus_4_bar__minus_1_bar_3_bar_60)\n (objectAtLocation Book_bar__minus_01_dot_71_bar__plus_00_dot_60_bar__minus_00_dot_11 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (objectAtLocation Pillow_bar__minus_01_dot_55_bar__plus_00_dot_46_bar__minus_01_dot_83 loc_bar__minus_4_bar__minus_2_bar_2_bar_45)\n (objectAtLocation CellPhone_bar__plus_00_dot_77_bar__plus_00_dot_73_bar__minus_02_dot_76 loc_bar_2_bar__minus_8_bar_2_bar_60)\n (objectAtLocation Vase_bar__plus_00_dot_31_bar__plus_00_dot_73_bar__minus_02_dot_76 loc_bar_2_bar__minus_8_bar_2_bar_60)\n (objectAtLocation DeskLamp_bar__minus_01_dot_85_bar__plus_00_dot_59_bar__minus_00_dot_79 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (objectAtLocation BaseballBat_bar__minus_01_dot_63_bar__plus_00_dot_65_bar__plus_00_dot_42 loc_bar__minus_4_bar_0_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_90_bar__plus_00_dot_51_bar__minus_01_dot_07 loc_bar__minus_4_bar__minus_3_bar_3_bar_60)\n (objectAtLocation TennisRacket_bar__plus_02_dot_24_bar__plus_00_dot_28_bar__minus_01_dot_90 loc_bar_7_bar__minus_7_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__plus_01_dot_38_bar__plus_01_dot_18_bar__minus_02_dot_34 loc_bar_5_bar__minus_7_bar_2_bar_45)\n (objectAtLocation LightSwitch_bar__minus_00_dot_64_bar__plus_01_dot_15_bar__plus_00_dot_50 loc_bar__minus_3_bar_0_bar_0_bar_45)\n (objectAtLocation AlarmClock_bar__plus_00_dot_08_bar__plus_00_dot_73_bar__minus_02_dot_71 loc_bar_2_bar__minus_8_bar_2_bar_60)\n (objectAtLocation Poster_bar__plus_00_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64 loc_bar_1_bar__minus_8_bar_2_bar_15)\n (objectAtLocation Cloth_bar__plus_02_dot_18_bar__plus_00_dot_00_bar__minus_00_dot_57 loc_bar_7_bar__minus_2_bar_1_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_56_bar__plus_00_dot_42_bar__minus_02_dot_10 loc_bar__minus_4_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Mirror_bar__minus_01_dot_07_bar__plus_01_dot_47_bar__plus_00_dot_50 loc_bar__minus_4_bar_0_bar_0_bar_15)\n (objectAtLocation CD_bar__plus_01_dot_45_bar__plus_00_dot_98_bar__minus_02_dot_30 loc_bar_5_bar__minus_7_bar_2_bar_45)\n (objectAtLocation CD_bar__plus_00_dot_19_bar__plus_00_dot_73_bar__minus_02_dot_53 loc_bar_2_bar__minus_8_bar_2_bar_60)\n (objectAtLocation Pen_bar__plus_01_dot_92_bar__plus_00_dot_98_bar__minus_02_dot_28 loc_bar_7_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Window_bar__plus_00_dot_44_bar__plus_01_dot_40_bar__minus_02_dot_86 loc_bar_2_bar__minus_8_bar_2_bar_60)\n (objectAtLocation Pencil_bar__plus_01_dot_19_bar__plus_00_dot_06_bar__minus_02_dot_26 loc_bar_3_bar__minus_5_bar_2_bar_60)\n (objectAtLocation Mug_bar__plus_01_dot_26_bar__plus_00_dot_98_bar__minus_02_dot_28 loc_bar_5_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Blinds_bar__plus_00_dot_45_bar__plus_02_dot_16_bar__minus_02_dot_85 loc_bar_2_bar__minus_8_bar_2_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?ot - object\n ?r - receptacle\n ?a - agent\n ?l - location)\n (and\n (objectType ?ot DeskLampType)\n (toggleable ?ot)\n (isToggled ?ot)\n (receptacleAtLocation ?r ?l)\n (atLocation ?a ?l)\n (inReceptacle ?ot ?r)\n )\n )\n (exists (?o - object\n ?a - agent)\n (and\n (objectType ?o AlarmClockType)\n (holds ?a ?o)\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to drawer 2", "take alarmclock 1 from dresser 1", "go to desk 1", "use desklamp 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-303/trial_T20190908_145005_617119/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-303/trial_T20190908_145005_617119/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..45912fe7ed6161898ebd426be356b8d38efcc5dc --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-303/trial_T20190908_145005_617119/initial_state.pddl @@ -0,0 +1,740 @@ + +(define (problem plan_trial_T20190908_145005_617119) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + AlarmClock_bar__plus_00_dot_08_bar__plus_00_dot_73_bar__minus_02_dot_71 - object + AlarmClock_bar__plus_00_dot_77_bar__plus_00_dot_73_bar__minus_02_dot_65 - object + BaseballBat_bar__minus_01_dot_63_bar__plus_00_dot_65_bar__plus_00_dot_42 - object + Blinds_bar__plus_00_dot_45_bar__plus_02_dot_16_bar__minus_02_dot_85 - object + Book_bar__minus_01_dot_71_bar__plus_00_dot_60_bar__minus_00_dot_11 - object + Box_bar__plus_02_dot_00_bar__plus_00_dot_32_bar__minus_01_dot_04 - object + CD_bar__plus_00_dot_08_bar__plus_00_dot_73_bar__minus_02_dot_53 - object + CD_bar__plus_00_dot_19_bar__plus_00_dot_73_bar__minus_02_dot_53 - object + CD_bar__plus_01_dot_45_bar__plus_00_dot_98_bar__minus_02_dot_30 - object + CellPhone_bar__plus_00_dot_77_bar__plus_00_dot_73_bar__minus_02_dot_76 - object + CellPhone_bar__minus_01_dot_83_bar__plus_00_dot_51_bar__minus_01_dot_19 - object + Chair_bar__minus_01_dot_56_bar__plus_00_dot_00_bar__minus_00_dot_31 - object + Cloth_bar__plus_02_dot_18_bar__plus_00_dot_00_bar__minus_00_dot_57 - object + CreditCard_bar__plus_01_dot_79_bar__plus_00_dot_98_bar__minus_02_dot_30 - object + CreditCard_bar__minus_01_dot_90_bar__plus_00_dot_51_bar__minus_01_dot_07 - object + DeskLamp_bar__minus_01_dot_85_bar__plus_00_dot_59_bar__minus_00_dot_79 - object + KeyChain_bar__plus_01_dot_38_bar__plus_01_dot_18_bar__minus_02_dot_34 - object + Laptop_bar__minus_00_dot_56_bar__plus_00_dot_42_bar__minus_01_dot_61 - object + Laptop_bar__minus_00_dot_56_bar__plus_00_dot_42_bar__minus_02_dot_10 - object + LightSwitch_bar__minus_00_dot_64_bar__plus_01_dot_15_bar__plus_00_dot_50 - object + Mirror_bar__minus_01_dot_07_bar__plus_01_dot_47_bar__plus_00_dot_50 - object + Mug_bar__plus_01_dot_26_bar__plus_00_dot_98_bar__minus_02_dot_28 - object + Mug_bar__plus_01_dot_38_bar__plus_01_dot_58_bar__minus_02_dot_32 - object + Mug_bar__minus_01_dot_85_bar__plus_00_dot_60_bar__minus_00_dot_39 - object + Pencil_bar__plus_01_dot_19_bar__plus_00_dot_06_bar__minus_02_dot_26 - object + Pen_bar__plus_01_dot_92_bar__plus_00_dot_98_bar__minus_02_dot_28 - object + Pillow_bar__minus_01_dot_55_bar__plus_00_dot_46_bar__minus_01_dot_83 - object + Poster_bar__plus_00_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64 - object + TennisRacket_bar__plus_02_dot_24_bar__plus_00_dot_28_bar__minus_01_dot_90 - object + Vase_bar__plus_00_dot_31_bar__plus_00_dot_73_bar__minus_02_dot_76 - object + Vase_bar__plus_00_dot_42_bar__plus_00_dot_73_bar__minus_02_dot_53 - object + Vase_bar__minus_01_dot_71_bar__plus_00_dot_60_bar__minus_00_dot_53 - object + Window_bar__plus_00_dot_44_bar__plus_01_dot_40_bar__minus_02_dot_86 - object + Bed_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__minus_01_dot_85 - receptacle + Desk_bar__minus_01_dot_71_bar__plus_00_dot_00_bar__minus_00_dot_37 - receptacle + Drawer_bar__plus_00_dot_45_bar__plus_00_dot_20_bar__minus_02_dot_43 - receptacle + Drawer_bar__plus_00_dot_45_bar__plus_00_dot_50_bar__minus_02_dot_43 - receptacle + Drawer_bar__minus_01_dot_79_bar__plus_00_dot_10_bar__minus_01_dot_15 - receptacle + Drawer_bar__minus_01_dot_79_bar__plus_00_dot_25_bar__minus_01_dot_15 - receptacle + Drawer_bar__minus_01_dot_79_bar__plus_00_dot_39_bar__minus_01_dot_15 - receptacle + Dresser_bar__plus_00_dot_44_bar__plus_00_dot_04_bar__minus_02_dot_65 - receptacle + GarbageCan_bar__plus_02_dot_22_bar__plus_00_dot_00_bar__plus_00_dot_31 - receptacle + Shelf_bar__plus_01_dot_31_bar__plus_00_dot_05_bar__minus_02_dot_30 - receptacle + Shelf_bar__plus_01_dot_31_bar__plus_00_dot_35_bar__minus_02_dot_30 - receptacle + Shelf_bar__plus_01_dot_31_bar__plus_00_dot_97_bar__minus_02_dot_30 - receptacle + Shelf_bar__plus_01_dot_31_bar__plus_01_dot_17_bar__minus_02_dot_30 - receptacle + Shelf_bar__plus_01_dot_31_bar__plus_01_dot_37_bar__minus_02_dot_30 - receptacle + Shelf_bar__plus_01_dot_31_bar__plus_01_dot_57_bar__minus_02_dot_30 - receptacle + Shelf_bar__plus_01_dot_84_bar__plus_00_dot_05_bar__minus_02_dot_30 - receptacle + Shelf_bar__plus_01_dot_84_bar__plus_00_dot_35_bar__minus_02_dot_30 - receptacle + Shelf_bar__plus_01_dot_84_bar__plus_00_dot_97_bar__minus_02_dot_30 - receptacle + Shelf_bar__plus_01_dot_84_bar__plus_01_dot_17_bar__minus_02_dot_30 - receptacle + Shelf_bar__plus_01_dot_84_bar__plus_01_dot_37_bar__minus_02_dot_30 - receptacle + Shelf_bar__plus_01_dot_84_bar__plus_01_dot_57_bar__minus_02_dot_30 - receptacle + SideTable_bar__minus_01_dot_82_bar__plus_00_dot_00_bar__minus_01_dot_14 - receptacle + loc_bar_7_bar__minus_7_bar_2_bar_45 - location + loc_bar__minus_4_bar__minus_1_bar_3_bar_60 - location + loc_bar_2_bar__minus_8_bar_2_bar_60 - location + loc_bar_3_bar__minus_5_bar_2_bar_60 - location + loc_bar__minus_4_bar__minus_3_bar_3_bar_60 - location + loc_bar__minus_4_bar__minus_2_bar_2_bar_45 - location + loc_bar_2_bar__minus_8_bar_2_bar__minus_30 - location + loc_bar_7_bar_0_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_2_bar_3_bar_45 - location + loc_bar_5_bar__minus_7_bar_2_bar_15 - location + loc_bar__minus_4_bar_0_bar_0_bar_15 - location + loc_bar_7_bar__minus_7_bar_2_bar_15 - location + loc_bar__minus_4_bar_0_bar_3_bar_60 - location + loc_bar_5_bar__minus_5_bar_2_bar_60 - location + loc_bar__minus_3_bar__minus_3_bar_3_bar_60 - location + loc_bar_6_bar__minus_6_bar_2_bar_60 - location + loc_bar_7_bar__minus_6_bar_2_bar_60 - location + loc_bar_1_bar__minus_8_bar_2_bar_15 - location + loc_bar_7_bar__minus_7_bar_2_bar_30 - location + loc_bar_6_bar__minus_4_bar_1_bar_60 - location + loc_bar__minus_3_bar__minus_2_bar_3_bar_60 - location + loc_bar_5_bar__minus_7_bar_2_bar_45 - location + loc_bar_7_bar__minus_2_bar_1_bar_60 - location + loc_bar_7_bar__minus_7_bar_1_bar_60 - location + loc_bar_5_bar__minus_7_bar_2_bar_30 - location + loc_bar__minus_3_bar_0_bar_0_bar_45 - location + loc_bar__minus_3_bar__minus_3_bar_3_bar_45 - location + loc_bar_1_bar__minus_2_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Shelf_bar__plus_01_dot_84_bar__plus_01_dot_57_bar__minus_02_dot_30 ShelfType) + (receptacleType Drawer_bar__minus_01_dot_79_bar__plus_00_dot_25_bar__minus_01_dot_15 DrawerType) + (receptacleType Shelf_bar__plus_01_dot_84_bar__plus_01_dot_17_bar__minus_02_dot_30 ShelfType) + (receptacleType SideTable_bar__minus_01_dot_82_bar__plus_00_dot_00_bar__minus_01_dot_14 SideTableType) + (receptacleType Shelf_bar__plus_01_dot_31_bar__plus_00_dot_35_bar__minus_02_dot_30 ShelfType) + (receptacleType Drawer_bar__plus_00_dot_45_bar__plus_00_dot_50_bar__minus_02_dot_43 DrawerType) + (receptacleType Shelf_bar__plus_01_dot_31_bar__plus_01_dot_37_bar__minus_02_dot_30 ShelfType) + (receptacleType Shelf_bar__plus_01_dot_84_bar__plus_01_dot_37_bar__minus_02_dot_30 ShelfType) + (receptacleType Dresser_bar__plus_00_dot_44_bar__plus_00_dot_04_bar__minus_02_dot_65 DresserType) + (receptacleType Shelf_bar__plus_01_dot_84_bar__plus_00_dot_05_bar__minus_02_dot_30 ShelfType) + (receptacleType Drawer_bar__plus_00_dot_45_bar__plus_00_dot_20_bar__minus_02_dot_43 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_79_bar__plus_00_dot_39_bar__minus_01_dot_15 DrawerType) + (receptacleType Shelf_bar__plus_01_dot_31_bar__plus_01_dot_17_bar__minus_02_dot_30 ShelfType) + (receptacleType Shelf_bar__plus_01_dot_31_bar__plus_00_dot_97_bar__minus_02_dot_30 ShelfType) + (receptacleType Shelf_bar__plus_01_dot_84_bar__plus_00_dot_97_bar__minus_02_dot_30 ShelfType) + (receptacleType GarbageCan_bar__plus_02_dot_22_bar__plus_00_dot_00_bar__plus_00_dot_31 GarbageCanType) + (receptacleType Bed_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__minus_01_dot_85 BedType) + (receptacleType Shelf_bar__plus_01_dot_31_bar__plus_01_dot_57_bar__minus_02_dot_30 ShelfType) + (receptacleType Drawer_bar__minus_01_dot_79_bar__plus_00_dot_10_bar__minus_01_dot_15 DrawerType) + (receptacleType Shelf_bar__plus_01_dot_31_bar__plus_00_dot_05_bar__minus_02_dot_30 ShelfType) + (receptacleType Desk_bar__minus_01_dot_71_bar__plus_00_dot_00_bar__minus_00_dot_37 DeskType) + (receptacleType Shelf_bar__plus_01_dot_84_bar__plus_00_dot_35_bar__minus_02_dot_30 ShelfType) + (objectType Window_bar__plus_00_dot_44_bar__plus_01_dot_40_bar__minus_02_dot_86 WindowType) + (objectType Mug_bar__minus_01_dot_85_bar__plus_00_dot_60_bar__minus_00_dot_39 MugType) + (objectType CellPhone_bar__minus_01_dot_83_bar__plus_00_dot_51_bar__minus_01_dot_19 CellPhoneType) + (objectType Vase_bar__minus_01_dot_71_bar__plus_00_dot_60_bar__minus_00_dot_53 VaseType) + (objectType LightSwitch_bar__minus_00_dot_64_bar__plus_01_dot_15_bar__plus_00_dot_50 LightSwitchType) + (objectType Mug_bar__plus_01_dot_38_bar__plus_01_dot_58_bar__minus_02_dot_32 MugType) + (objectType Pen_bar__plus_01_dot_92_bar__plus_00_dot_98_bar__minus_02_dot_28 PenType) + (objectType Pencil_bar__plus_01_dot_19_bar__plus_00_dot_06_bar__minus_02_dot_26 PencilType) + (objectType Vase_bar__plus_00_dot_31_bar__plus_00_dot_73_bar__minus_02_dot_76 VaseType) + (objectType Vase_bar__plus_00_dot_42_bar__plus_00_dot_73_bar__minus_02_dot_53 VaseType) + (objectType DeskLamp_bar__minus_01_dot_85_bar__plus_00_dot_59_bar__minus_00_dot_79 DeskLampType) + (objectType TennisRacket_bar__plus_02_dot_24_bar__plus_00_dot_28_bar__minus_01_dot_90 TennisRacketType) + (objectType Chair_bar__minus_01_dot_56_bar__plus_00_dot_00_bar__minus_00_dot_31 ChairType) + (objectType Box_bar__plus_02_dot_00_bar__plus_00_dot_32_bar__minus_01_dot_04 BoxType) + (objectType CellPhone_bar__plus_00_dot_77_bar__plus_00_dot_73_bar__minus_02_dot_76 CellPhoneType) + (objectType Mug_bar__plus_01_dot_26_bar__plus_00_dot_98_bar__minus_02_dot_28 MugType) + (objectType BaseballBat_bar__minus_01_dot_63_bar__plus_00_dot_65_bar__plus_00_dot_42 BaseballBatType) + (objectType CD_bar__plus_01_dot_45_bar__plus_00_dot_98_bar__minus_02_dot_30 CDType) + (objectType Laptop_bar__minus_00_dot_56_bar__plus_00_dot_42_bar__minus_02_dot_10 LaptopType) + (objectType CreditCard_bar__minus_01_dot_90_bar__plus_00_dot_51_bar__minus_01_dot_07 CreditCardType) + (objectType Pillow_bar__minus_01_dot_55_bar__plus_00_dot_46_bar__minus_01_dot_83 PillowType) + (objectType Blinds_bar__plus_00_dot_45_bar__plus_02_dot_16_bar__minus_02_dot_85 BlindsType) + (objectType Book_bar__minus_01_dot_71_bar__plus_00_dot_60_bar__minus_00_dot_11 BookType) + (objectType AlarmClock_bar__plus_00_dot_08_bar__plus_00_dot_73_bar__minus_02_dot_71 AlarmClockType) + (objectType KeyChain_bar__plus_01_dot_38_bar__plus_01_dot_18_bar__minus_02_dot_34 KeyChainType) + (objectType AlarmClock_bar__plus_00_dot_77_bar__plus_00_dot_73_bar__minus_02_dot_65 AlarmClockType) + (objectType Poster_bar__plus_00_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64 PosterType) + (objectType Laptop_bar__minus_00_dot_56_bar__plus_00_dot_42_bar__minus_01_dot_61 LaptopType) + (objectType Cloth_bar__plus_02_dot_18_bar__plus_00_dot_00_bar__minus_00_dot_57 ClothType) + (objectType Mirror_bar__minus_01_dot_07_bar__plus_01_dot_47_bar__plus_00_dot_50 MirrorType) + (objectType 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loc_bar_5_bar__minus_7_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__plus_01_dot_31_bar__plus_01_dot_17_bar__minus_02_dot_30 loc_bar_5_bar__minus_7_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__plus_01_dot_31_bar__plus_01_dot_37_bar__minus_02_dot_30 loc_bar_5_bar__minus_7_bar_2_bar_30) + (receptacleAtLocation Shelf_bar__plus_01_dot_31_bar__plus_01_dot_57_bar__minus_02_dot_30 loc_bar_5_bar__minus_7_bar_2_bar_15) + (receptacleAtLocation Shelf_bar__plus_01_dot_84_bar__plus_00_dot_05_bar__minus_02_dot_30 loc_bar_5_bar__minus_5_bar_2_bar_60) + (receptacleAtLocation Shelf_bar__plus_01_dot_84_bar__plus_00_dot_35_bar__minus_02_dot_30 loc_bar_6_bar__minus_6_bar_2_bar_60) + (receptacleAtLocation Shelf_bar__plus_01_dot_84_bar__plus_00_dot_97_bar__minus_02_dot_30 loc_bar_7_bar__minus_7_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__plus_01_dot_84_bar__plus_01_dot_17_bar__minus_02_dot_30 loc_bar_7_bar__minus_7_bar_2_bar_45) + (receptacleAtLocation 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loc_bar_7_bar__minus_7_bar_2_bar_45) + (objectAtLocation Vase_bar__plus_00_dot_42_bar__plus_00_dot_73_bar__minus_02_dot_53 loc_bar_2_bar__minus_8_bar_2_bar_60) + (objectAtLocation CellPhone_bar__minus_01_dot_83_bar__plus_00_dot_51_bar__minus_01_dot_19 loc_bar__minus_4_bar__minus_3_bar_3_bar_60) + (objectAtLocation Vase_bar__minus_01_dot_71_bar__plus_00_dot_60_bar__minus_00_dot_53 loc_bar__minus_3_bar__minus_2_bar_3_bar_60) + (objectAtLocation Mug_bar__plus_01_dot_38_bar__plus_01_dot_58_bar__minus_02_dot_32 loc_bar_5_bar__minus_7_bar_2_bar_15) + (objectAtLocation Box_bar__plus_02_dot_00_bar__plus_00_dot_32_bar__minus_01_dot_04 loc_bar_6_bar__minus_4_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_01_dot_56_bar__plus_00_dot_00_bar__minus_00_dot_31 loc_bar__minus_4_bar__minus_1_bar_3_bar_60) + (objectAtLocation Book_bar__minus_01_dot_71_bar__plus_00_dot_60_bar__minus_00_dot_11 loc_bar__minus_3_bar__minus_2_bar_3_bar_60) + (objectAtLocation 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loc_bar_5_bar__minus_7_bar_2_bar_45) + (objectAtLocation LightSwitch_bar__minus_00_dot_64_bar__plus_01_dot_15_bar__plus_00_dot_50 loc_bar__minus_3_bar_0_bar_0_bar_45) + (objectAtLocation AlarmClock_bar__plus_00_dot_08_bar__plus_00_dot_73_bar__minus_02_dot_71 loc_bar_2_bar__minus_8_bar_2_bar_60) + (objectAtLocation Poster_bar__plus_00_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64 loc_bar_1_bar__minus_8_bar_2_bar_15) + (objectAtLocation Cloth_bar__plus_02_dot_18_bar__plus_00_dot_00_bar__minus_00_dot_57 loc_bar_7_bar__minus_2_bar_1_bar_60) + (objectAtLocation Laptop_bar__minus_00_dot_56_bar__plus_00_dot_42_bar__minus_02_dot_10 loc_bar__minus_4_bar__minus_2_bar_2_bar_45) + (objectAtLocation Mirror_bar__minus_01_dot_07_bar__plus_01_dot_47_bar__plus_00_dot_50 loc_bar__minus_4_bar_0_bar_0_bar_15) + (objectAtLocation CD_bar__plus_01_dot_45_bar__plus_00_dot_98_bar__minus_02_dot_30 loc_bar_5_bar__minus_7_bar_2_bar_45) + (objectAtLocation 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object + ?a - agent) + (and + (objectType ?o AlarmClockType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-303/trial_T20190908_145005_617119/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-303/trial_T20190908_145005_617119/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..4f045ca6460bb7ef524dba668d2435ffa25eb8b1 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-303/trial_T20190908_145005_617119/traj_data.json @@ -0,0 +1,2494 @@ +{ + "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": 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"x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "BaseballBat_a983eb51", + "position": { + "x": -1.62947965, + "y": 0.649, + "z": 0.416 + }, + "rotation": { + "x": 14.4914894, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_15d77e20", + "position": { + "x": 1.78888452, + "y": 0.9774715, + "z": -2.2986 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "TennisRacket_2d36a6ad", + "position": { + "x": 2.244, + "y": 0.279, + "z": -1.901 + }, + "rotation": { + "x": 335.40213, + "y": 251.97406, + "z": 201.7148 + } + }, + { + "objectName": "KeyChain_27a5504d", + "position": { + "x": 1.38428545, + "y": 1.17981124, + "z": -2.34048939 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "AlarmClock_b5103f04", + "position": { + "x": 0.766442, + "y": 0.730703354, + "z": -2.6471 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "Cloth_d24bf320", + "position": { + "x": 2.17615461, + "y": 0.0, + "z": -0.5715845 + }, + "rotation": { + "x": 0.0, + "y": 335.474518, + "z": 0.0 + } + }, + { + "objectName": "Laptop_20fa9a67", + "position": { + "x": -0.5640116, + "y": 0.415540248, + "z": -1.61096263 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CD_10494eb8", + "position": { + "x": 1.44764686, + "y": 0.9770822, + "z": -2.2986 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CD_ecad3d62", + "position": { + "x": 0.07691851, + "y": 0.728406668, + "z": -2.53012061 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "Pen_194b8b51", + "position": { + "x": 1.91719127, + "y": 0.9831283, + "z": -2.27765536 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pencil_7cb80570", + "position": { + "x": 1.19420123, + "y": 0.05849502, + "z": -2.26131058 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_79472253", + "position": { + "x": -1.846236, + "y": 0.5971, + "z": -0.392395258 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [ + { + "isOn": false, + "objectType": "DeskLamp" + } + ], + "random_seed": 3247589396, + "scene_num": 303 + }, + "task_id": "trial_T20190908_145005_617119", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A24RGLS3BRZ60J_3FTF2T8WLU988C38DG7IKJROCZQW9O", + "high_descs": [ + "Turn around and walk back to the dresser along the wall.", + "Pick up the clock from the left side of the dresser.", + "Carry the clock and turn around, then left and find the desk.", + "Hold the clock and turn on the lamp that is on the left side of the desk." + ], + "task_desc": "Hold a clock and turn on a lamp.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3R19ZA45J8915_3LBXNTKX0UMNXC8YNL34M25VL15X9R", + "high_descs": [ + "Turn around and walk over to the small dresser.", + "Pick up the alarm clock that is sitting on the dresser. ", + "Turn around, walk a few steps, then turn left and head over to the desk.", + "Turn on the lamp that sits on the desk." + ], + "task_desc": "Examine an alarm clock by the light of a lamp.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A14IPKOBOPID9H_3TXMY6UCAHF5MDEPDRI3UKAAUJKCQP", + "high_descs": [ + "Turn right then turn right again and head to the dresser", + "Pick up the round container from the dresser", + "Turn around and go around the bed and head to the table", + "Turn on the lamp that is on the table" + ], + "task_desc": "Examine the round container by the light of the table lamp", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-BasketBall-None-DeskLamp-304/trial_T20190906_174726_702879/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-BasketBall-None-DeskLamp-304/trial_T20190906_174726_702879/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..ba33124c560e0321fa2708771c464af18dc437e8 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-BasketBall-None-DeskLamp-304/trial_T20190906_174726_702879/initial_state.pddl @@ -0,0 +1,513 @@ + +(define (problem plan_trial_T20190906_174726_702879) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + AlarmClock_bar__minus_00_dot_81_bar__plus_01_dot_54_bar__minus_01_dot_63 - object + AlarmClock_bar__minus_01_dot_38_bar__plus_01_dot_54_bar__minus_01_dot_51 - object + AlarmClock_bar__minus_01_dot_38_bar__plus_01_dot_54_bar__minus_01_dot_67 - object + BasketBall_bar__minus_01_dot_66_bar__plus_00_dot_13_bar__minus_00_dot_09 - object + Blinds_bar__plus_01_dot_06_bar__plus_02_dot_38_bar__minus_02_dot_09 - object + Book_bar__minus_01_dot_03_bar__plus_00_dot_90_bar__plus_00_dot_87 - object + Bowl_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_52 - object + Bowl_bar__minus_01_dot_18_bar__plus_01_dot_53_bar__minus_01_dot_59 - object + Box_bar__plus_01_dot_56_bar__plus_00_dot_29_bar__minus_01_dot_07 - object + CD_bar__minus_01_dot_00_bar__plus_01_dot_54_bar__minus_01_dot_55 - object + CD_bar__minus_01_dot_41_bar__plus_00_dot_42_bar__minus_01_dot_30 - object + CD_bar__minus_01_dot_50_bar__plus_00_dot_10_bar__minus_01_dot_35 - object + CellPhone_bar__minus_01_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_28 - object + CellPhone_bar__minus_01_dot_50_bar__plus_00_dot_74_bar__minus_01_dot_35 - object + Chair_bar__plus_00_dot_89_bar__plus_00_dot_01_bar__minus_01_dot_44 - object + Chair_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__minus_01_dot_21 - object + CreditCard_bar__minus_01_dot_57_bar__plus_01_dot_54_bar__minus_01_dot_67 - object + DeskLamp_bar__minus_00_dot_35_bar__plus_01_dot_53_bar__minus_01_dot_56 - object + KeyChain_bar__minus_01_dot_33_bar__plus_00_dot_10_bar__minus_01_dot_44 - object + Laptop_bar__minus_01_dot_30_bar__plus_00_dot_89_bar__plus_00_dot_87 - object + Laptop_bar__minus_01_dot_30_bar__plus_00_dot_89_bar__plus_02_dot_33 - object + LaundryHamperLid_bar_00_dot_00_bar__plus_00_dot_48_bar__plus_02_dot_52 - object + LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_20_bar__plus_02_dot_73 - object + Mirror_bar__plus_01_dot_91_bar__plus_01_dot_39_bar__plus_00_dot_97 - object + Mug_bar__minus_01_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_44 - object + Mug_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_52 - object + Mug_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_69 - object + Pencil_bar__minus_01_dot_50_bar__plus_00_dot_43_bar__minus_01_dot_30 - object + Pen_bar__minus_01_dot_00_bar__plus_01_dot_54_bar__minus_01_dot_63 - object + Pen_bar__minus_01_dot_24_bar__plus_00_dot_10_bar__minus_01_dot_39 - object + Pillow_bar__minus_01_dot_28_bar__plus_00_dot_92_bar__plus_00_dot_48 - object + Statue_bar__minus_00_dot_62_bar__plus_01_dot_54_bar__minus_01_dot_63 - object + Window_bar__plus_01_dot_01_bar__plus_01_dot_52_bar__minus_02_dot_09 - object + Bed_bar__minus_01_dot_31_bar__plus_00_dot_69_bar__plus_01_dot_47 - receptacle + Bed_bar__minus_01_dot_31_bar__plus_01_dot_93_bar__plus_01_dot_47 - receptacle + Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41 - receptacle + Drawer_bar__minus_01_dot_41_bar__plus_00_dot_22_bar__minus_01_dot_34 - receptacle + Drawer_bar__minus_01_dot_41_bar__plus_00_dot_54_bar__minus_01_dot_34 - receptacle + Drawer_bar__minus_01_dot_41_bar__plus_00_dot_83_bar__minus_01_dot_34 - receptacle + GarbageCan_bar__minus_00_dot_04_bar__plus_00_dot_01_bar__minus_01_dot_53 - receptacle + LaundryHamper_bar__plus_00_dot_00_bar__plus_00_dot_01_bar__plus_02_dot_52 - receptacle + Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59 - receptacle + loc_bar_4_bar__minus_3_bar_2_bar_60 - location + loc_bar__minus_5_bar__minus_1_bar_3_bar_60 - location + loc_bar_4_bar__minus_3_bar_2_bar_0 - location + loc_bar_2_bar_9_bar_0_bar_45 - location + loc_bar_5_bar__minus_3_bar_2_bar_60 - location + loc_bar__minus_4_bar__minus_3_bar_2_bar_60 - location + loc_bar__minus_5_bar__minus_3_bar_2_bar_60 - location + loc_bar_0_bar__minus_4_bar_2_bar_60 - location + loc_bar_5_bar_4_bar_1_bar_15 - location + loc_bar__minus_4_bar__minus_3_bar_2_bar_15 - location + loc_bar__minus_1_bar_6_bar_3_bar_45 - location + loc_bar_4_bar__minus_3_bar_2_bar__minus_30 - location + loc_bar_2_bar_6_bar_3_bar__minus_15 - location + loc_bar_0_bar_8_bar_0_bar_60 - location + loc_bar_1_bar_0_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__minus_01_dot_41_bar__plus_00_dot_22_bar__minus_01_dot_34 DrawerType) + (receptacleType GarbageCan_bar__minus_00_dot_04_bar__plus_00_dot_01_bar__minus_01_dot_53 GarbageCanType) + (receptacleType Drawer_bar__minus_01_dot_41_bar__plus_00_dot_83_bar__minus_01_dot_34 DrawerType) + (receptacleType Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59 ShelfType) + (receptacleType LaundryHamper_bar__plus_00_dot_00_bar__plus_00_dot_01_bar__plus_02_dot_52 LaundryHamperType) + (receptacleType Drawer_bar__minus_01_dot_41_bar__plus_00_dot_54_bar__minus_01_dot_34 DrawerType) + (receptacleType Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41 DeskType) + (receptacleType Bed_bar__minus_01_dot_31_bar__plus_01_dot_93_bar__plus_01_dot_47 BedType) + (receptacleType Bed_bar__minus_01_dot_31_bar__plus_00_dot_69_bar__plus_01_dot_47 BedType) + (objectType Mug_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_69 MugType) + (objectType DeskLamp_bar__minus_00_dot_35_bar__plus_01_dot_53_bar__minus_01_dot_56 DeskLampType) + (objectType CD_bar__minus_01_dot_50_bar__plus_00_dot_10_bar__minus_01_dot_35 CDType) + (objectType AlarmClock_bar__minus_01_dot_38_bar__plus_01_dot_54_bar__minus_01_dot_51 AlarmClockType) + (objectType Mug_bar__minus_01_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_44 MugType) + (objectType Mirror_bar__plus_01_dot_91_bar__plus_01_dot_39_bar__plus_00_dot_97 MirrorType) + (objectType Box_bar__plus_01_dot_56_bar__plus_00_dot_29_bar__minus_01_dot_07 BoxType) + (objectType Mug_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_52 MugType) + (objectType LaundryHamperLid_bar_00_dot_00_bar__plus_00_dot_48_bar__plus_02_dot_52 LaundryHamperLidType) + (objectType BasketBall_bar__minus_01_dot_66_bar__plus_00_dot_13_bar__minus_00_dot_09 BasketBallType) + (objectType Chair_bar__plus_00_dot_89_bar__plus_00_dot_01_bar__minus_01_dot_44 ChairType) + (objectType Pillow_bar__minus_01_dot_28_bar__plus_00_dot_92_bar__plus_00_dot_48 PillowType) + (objectType AlarmClock_bar__minus_01_dot_38_bar__plus_01_dot_54_bar__minus_01_dot_67 AlarmClockType) + (objectType LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_20_bar__plus_02_dot_73 LightSwitchType) + (objectType CellPhone_bar__minus_01_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_28 CellPhoneType) + (objectType Pencil_bar__minus_01_dot_50_bar__plus_00_dot_43_bar__minus_01_dot_30 PencilType) + (objectType CreditCard_bar__minus_01_dot_57_bar__plus_01_dot_54_bar__minus_01_dot_67 CreditCardType) + (objectType Laptop_bar__minus_01_dot_30_bar__plus_00_dot_89_bar__plus_02_dot_33 LaptopType) + (objectType Book_bar__minus_01_dot_03_bar__plus_00_dot_90_bar__plus_00_dot_87 BookType) + (objectType Window_bar__plus_01_dot_01_bar__plus_01_dot_52_bar__minus_02_dot_09 WindowType) + (objectType CellPhone_bar__minus_01_dot_50_bar__plus_00_dot_74_bar__minus_01_dot_35 CellPhoneType) + (objectType Bowl_bar__minus_01_dot_18_bar__plus_01_dot_53_bar__minus_01_dot_59 BowlType) + (objectType Pen_bar__minus_01_dot_24_bar__plus_00_dot_10_bar__minus_01_dot_39 PenType) + (objectType CD_bar__minus_01_dot_41_bar__plus_00_dot_42_bar__minus_01_dot_30 CDType) + (objectType KeyChain_bar__minus_01_dot_33_bar__plus_00_dot_10_bar__minus_01_dot_44 KeyChainType) + (objectType Laptop_bar__minus_01_dot_30_bar__plus_00_dot_89_bar__plus_00_dot_87 LaptopType) + (objectType AlarmClock_bar__minus_00_dot_81_bar__plus_01_dot_54_bar__minus_01_dot_63 AlarmClockType) + (objectType Pen_bar__minus_01_dot_00_bar__plus_01_dot_54_bar__minus_01_dot_63 PenType) + (objectType Blinds_bar__plus_01_dot_06_bar__plus_02_dot_38_bar__minus_02_dot_09 BlindsType) + (objectType Chair_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__minus_01_dot_21 ChairType) + (objectType Statue_bar__minus_00_dot_62_bar__plus_01_dot_54_bar__minus_01_dot_63 StatueType) + (objectType CD_bar__minus_01_dot_00_bar__plus_01_dot_54_bar__minus_01_dot_55 CDType) + (objectType Bowl_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_52 BowlType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType CDType) + (canContain GarbageCanType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType BowlType) + (canContain ShelfType CDType) + (canContain ShelfType MugType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType StatueType) + (canContain ShelfType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DeskType PenType) + (canContain DeskType BookType) + (canContain DeskType BowlType) + (canContain DeskType CDType) + (canContain DeskType MugType) + (canContain DeskType BoxType) + (canContain DeskType CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (canContain DeskType BasketBallType) + (canContain DeskType LaptopType) + (canContain DeskType PencilType) + (canContain DeskType StatueType) + (canContain DeskType AlarmClockType) + (canContain BedType BasketBallType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (canContain BedType BasketBallType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (pickupable Mug_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_69) + (pickupable CD_bar__minus_01_dot_50_bar__plus_00_dot_10_bar__minus_01_dot_35) + (pickupable AlarmClock_bar__minus_01_dot_38_bar__plus_01_dot_54_bar__minus_01_dot_51) + (pickupable Mug_bar__minus_01_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_44) + (pickupable Box_bar__plus_01_dot_56_bar__plus_00_dot_29_bar__minus_01_dot_07) + (pickupable Mug_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_52) + (pickupable BasketBall_bar__minus_01_dot_66_bar__plus_00_dot_13_bar__minus_00_dot_09) + (pickupable Pillow_bar__minus_01_dot_28_bar__plus_00_dot_92_bar__plus_00_dot_48) + (pickupable AlarmClock_bar__minus_01_dot_38_bar__plus_01_dot_54_bar__minus_01_dot_67) + (pickupable CellPhone_bar__minus_01_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_28) + (pickupable Pencil_bar__minus_01_dot_50_bar__plus_00_dot_43_bar__minus_01_dot_30) + (pickupable CreditCard_bar__minus_01_dot_57_bar__plus_01_dot_54_bar__minus_01_dot_67) + (pickupable Laptop_bar__minus_01_dot_30_bar__plus_00_dot_89_bar__plus_02_dot_33) + (pickupable Book_bar__minus_01_dot_03_bar__plus_00_dot_90_bar__plus_00_dot_87) + (pickupable CellPhone_bar__minus_01_dot_50_bar__plus_00_dot_74_bar__minus_01_dot_35) + (pickupable Bowl_bar__minus_01_dot_18_bar__plus_01_dot_53_bar__minus_01_dot_59) + (pickupable Pen_bar__minus_01_dot_24_bar__plus_00_dot_10_bar__minus_01_dot_39) + (pickupable CD_bar__minus_01_dot_41_bar__plus_00_dot_42_bar__minus_01_dot_30) + (pickupable KeyChain_bar__minus_01_dot_33_bar__plus_00_dot_10_bar__minus_01_dot_44) + (pickupable Laptop_bar__minus_01_dot_30_bar__plus_00_dot_89_bar__plus_00_dot_87) + (pickupable AlarmClock_bar__minus_00_dot_81_bar__plus_01_dot_54_bar__minus_01_dot_63) + (pickupable Pen_bar__minus_01_dot_00_bar__plus_01_dot_54_bar__minus_01_dot_63) + (pickupable Statue_bar__minus_00_dot_62_bar__plus_01_dot_54_bar__minus_01_dot_63) + (pickupable CD_bar__minus_01_dot_00_bar__plus_01_dot_54_bar__minus_01_dot_55) + (pickupable Bowl_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_52) + (isReceptacleObject Mug_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_69) + (isReceptacleObject Mug_bar__minus_01_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_44) + (isReceptacleObject Box_bar__plus_01_dot_56_bar__plus_00_dot_29_bar__minus_01_dot_07) + (isReceptacleObject Mug_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_52) + (isReceptacleObject Bowl_bar__minus_01_dot_18_bar__plus_01_dot_53_bar__minus_01_dot_59) + (isReceptacleObject Bowl_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_52) + + + (atLocation agent1 loc_bar_1_bar_0_bar_1_bar_30) + + (cleanable Mug_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_69) + (cleanable Mug_bar__minus_01_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_44) + (cleanable Mug_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_52) + (cleanable Bowl_bar__minus_01_dot_18_bar__plus_01_dot_53_bar__minus_01_dot_59) + (cleanable Bowl_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_52) + + (heatable Mug_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_69) + (heatable Mug_bar__minus_01_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_44) + (heatable Mug_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_52) + (coolable Mug_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_69) + (coolable Mug_bar__minus_01_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_44) + (coolable Mug_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_52) + (coolable Bowl_bar__minus_01_dot_18_bar__plus_01_dot_53_bar__minus_01_dot_59) + (coolable Bowl_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_52) + + + (toggleable DeskLamp_bar__minus_00_dot_35_bar__plus_01_dot_53_bar__minus_01_dot_56) + + + + + (inReceptacle CD_bar__minus_01_dot_41_bar__plus_00_dot_42_bar__minus_01_dot_30 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_54_bar__minus_01_dot_34) + (inReceptacle Pencil_bar__minus_01_dot_50_bar__plus_00_dot_43_bar__minus_01_dot_30 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_54_bar__minus_01_dot_34) + (inReceptacle Laptop_bar__minus_01_dot_30_bar__plus_00_dot_89_bar__plus_00_dot_87 Bed_bar__minus_01_dot_31_bar__plus_00_dot_69_bar__plus_01_dot_47) + (inReceptacle Laptop_bar__minus_01_dot_30_bar__plus_00_dot_89_bar__plus_02_dot_33 Bed_bar__minus_01_dot_31_bar__plus_00_dot_69_bar__plus_01_dot_47) + (inReceptacle Book_bar__minus_01_dot_03_bar__plus_00_dot_90_bar__plus_00_dot_87 Bed_bar__minus_01_dot_31_bar__plus_00_dot_69_bar__plus_01_dot_47) + (inReceptacle Pillow_bar__minus_01_dot_28_bar__plus_00_dot_92_bar__plus_00_dot_48 Bed_bar__minus_01_dot_31_bar__plus_00_dot_69_bar__plus_01_dot_47) + (inReceptacle Mug_bar__minus_01_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_44 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41) + (inReceptacle Mug_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_52 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41) + (inReceptacle Mug_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_69 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41) + (inReceptacle CellPhone_bar__minus_01_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_28 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41) + (inReceptacle Bowl_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_52 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41) + (inReceptacle CellPhone_bar__minus_01_dot_50_bar__plus_00_dot_74_bar__minus_01_dot_35 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_83_bar__minus_01_dot_34) + (inReceptacle Pen_bar__minus_01_dot_24_bar__plus_00_dot_10_bar__minus_01_dot_39 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_22_bar__minus_01_dot_34) + (inReceptacle KeyChain_bar__minus_01_dot_33_bar__plus_00_dot_10_bar__minus_01_dot_44 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_22_bar__minus_01_dot_34) + (inReceptacle CD_bar__minus_01_dot_50_bar__plus_00_dot_10_bar__minus_01_dot_35 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_22_bar__minus_01_dot_34) + (inReceptacle CreditCard_bar__minus_01_dot_57_bar__plus_01_dot_54_bar__minus_01_dot_67 Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59) + (inReceptacle DeskLamp_bar__minus_00_dot_35_bar__plus_01_dot_53_bar__minus_01_dot_56 Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59) + (inReceptacle AlarmClock_bar__minus_00_dot_81_bar__plus_01_dot_54_bar__minus_01_dot_63 Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59) + (inReceptacle AlarmClock_bar__minus_01_dot_38_bar__plus_01_dot_54_bar__minus_01_dot_51 Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59) + (inReceptacle Pen_bar__minus_01_dot_00_bar__plus_01_dot_54_bar__minus_01_dot_63 Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59) + (inReceptacle AlarmClock_bar__minus_01_dot_38_bar__plus_01_dot_54_bar__minus_01_dot_67 Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59) + (inReceptacle Statue_bar__minus_00_dot_62_bar__plus_01_dot_54_bar__minus_01_dot_63 Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59) + (inReceptacle CD_bar__minus_01_dot_00_bar__plus_01_dot_54_bar__minus_01_dot_55 Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59) + (inReceptacle Bowl_bar__minus_01_dot_18_bar__plus_01_dot_53_bar__minus_01_dot_59 Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59) + + + (receptacleAtLocation Bed_bar__minus_01_dot_31_bar__plus_00_dot_69_bar__plus_01_dot_47 loc_bar__minus_1_bar_6_bar_3_bar_45) + (receptacleAtLocation Bed_bar__minus_01_dot_31_bar__plus_01_dot_93_bar__plus_01_dot_47 loc_bar_2_bar_6_bar_3_bar__minus_15) + (receptacleAtLocation Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_41_bar__plus_00_dot_22_bar__minus_01_dot_34 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_41_bar__plus_00_dot_54_bar__minus_01_dot_34 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_41_bar__plus_00_dot_83_bar__minus_01_dot_34 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_04_bar__plus_00_dot_01_bar__minus_01_dot_53 loc_bar_0_bar__minus_4_bar_2_bar_60) + (receptacleAtLocation LaundryHamper_bar__plus_00_dot_00_bar__plus_00_dot_01_bar__plus_02_dot_52 loc_bar_0_bar_8_bar_0_bar_60) + (receptacleAtLocation Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59 loc_bar__minus_4_bar__minus_3_bar_2_bar_15) + (objectAtLocation Mug_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_52 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation AlarmClock_bar__minus_01_dot_38_bar__plus_01_dot_54_bar__minus_01_dot_51 loc_bar__minus_4_bar__minus_3_bar_2_bar_15) + (objectAtLocation CD_bar__minus_01_dot_00_bar__plus_01_dot_54_bar__minus_01_dot_55 loc_bar__minus_4_bar__minus_3_bar_2_bar_15) + (objectAtLocation CellPhone_bar__minus_01_dot_50_bar__plus_00_dot_74_bar__minus_01_dot_35 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation Bowl_bar__minus_01_dot_18_bar__plus_01_dot_53_bar__minus_01_dot_59 loc_bar__minus_4_bar__minus_3_bar_2_bar_15) + (objectAtLocation Laptop_bar__minus_01_dot_30_bar__plus_00_dot_89_bar__plus_00_dot_87 loc_bar__minus_1_bar_6_bar_3_bar_45) + (objectAtLocation Pen_bar__minus_01_dot_24_bar__plus_00_dot_10_bar__minus_01_dot_39 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation AlarmClock_bar__minus_01_dot_38_bar__plus_01_dot_54_bar__minus_01_dot_67 loc_bar__minus_4_bar__minus_3_bar_2_bar_15) + (objectAtLocation CD_bar__minus_01_dot_50_bar__plus_00_dot_10_bar__minus_01_dot_35 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation Mug_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_69 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation Mirror_bar__plus_01_dot_91_bar__plus_01_dot_39_bar__plus_00_dot_97 loc_bar_5_bar_4_bar_1_bar_15) + (objectAtLocation Book_bar__minus_01_dot_03_bar__plus_00_dot_90_bar__plus_00_dot_87 loc_bar__minus_1_bar_6_bar_3_bar_45) + (objectAtLocation Box_bar__plus_01_dot_56_bar__plus_00_dot_29_bar__minus_01_dot_07 loc_bar_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation Chair_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__minus_01_dot_21 loc_bar__minus_4_bar__minus_3_bar_2_bar_60) + (objectAtLocation LaundryHamperLid_bar_00_dot_00_bar__plus_00_dot_48_bar__plus_02_dot_52 loc_bar_0_bar_8_bar_0_bar_60) + (objectAtLocation Chair_bar__plus_00_dot_89_bar__plus_00_dot_01_bar__minus_01_dot_44 loc_bar_4_bar__minus_3_bar_2_bar_60) + (objectAtLocation BasketBall_bar__minus_01_dot_66_bar__plus_00_dot_13_bar__minus_00_dot_09 loc_bar__minus_5_bar__minus_1_bar_3_bar_60) + (objectAtLocation Pen_bar__minus_01_dot_00_bar__plus_01_dot_54_bar__minus_01_dot_63 loc_bar__minus_4_bar__minus_3_bar_2_bar_15) + (objectAtLocation Pencil_bar__minus_01_dot_50_bar__plus_00_dot_43_bar__minus_01_dot_30 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation Laptop_bar__minus_01_dot_30_bar__plus_00_dot_89_bar__plus_02_dot_33 loc_bar__minus_1_bar_6_bar_3_bar_45) + (objectAtLocation Pillow_bar__minus_01_dot_28_bar__plus_00_dot_92_bar__plus_00_dot_48 loc_bar__minus_1_bar_6_bar_3_bar_45) + (objectAtLocation DeskLamp_bar__minus_00_dot_35_bar__plus_01_dot_53_bar__minus_01_dot_56 loc_bar__minus_4_bar__minus_3_bar_2_bar_15) + (objectAtLocation KeyChain_bar__minus_01_dot_33_bar__plus_00_dot_10_bar__minus_01_dot_44 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation Bowl_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_52 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation CreditCard_bar__minus_01_dot_57_bar__plus_01_dot_54_bar__minus_01_dot_67 loc_bar__minus_4_bar__minus_3_bar_2_bar_15) + (objectAtLocation CellPhone_bar__minus_01_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_28 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation CD_bar__minus_01_dot_41_bar__plus_00_dot_42_bar__minus_01_dot_30 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation AlarmClock_bar__minus_00_dot_81_bar__plus_01_dot_54_bar__minus_01_dot_63 loc_bar__minus_4_bar__minus_3_bar_2_bar_15) + (objectAtLocation Window_bar__plus_01_dot_01_bar__plus_01_dot_52_bar__minus_02_dot_09 loc_bar_4_bar__minus_3_bar_2_bar_0) + (objectAtLocation LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_20_bar__plus_02_dot_73 loc_bar_2_bar_9_bar_0_bar_45) + (objectAtLocation Mug_bar__minus_01_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_44 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation Statue_bar__minus_00_dot_62_bar__plus_01_dot_54_bar__minus_01_dot_63 loc_bar__minus_4_bar__minus_3_bar_2_bar_15) + (objectAtLocation Blinds_bar__plus_01_dot_06_bar__plus_02_dot_38_bar__minus_02_dot_09 loc_bar_4_bar__minus_3_bar_2_bar__minus_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 BasketBallType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-BasketBall-None-DeskLamp-304/trial_T20190906_174726_702879/traj_data.json 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+ "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_8cd9998a", + "position": { + "x": -1.57245445, + "y": 1.53652143, + "z": -1.67128921 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CellPhone_6e288678", + "position": { + "x": -1.50057912, + "y": 0.740239739, + "z": -1.34525383 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CD_dc6e6a5d", + "position": { + "x": -1.00159907, + "y": 1.5361321, + "z": -1.55385542 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "AlarmClock_8fa1421f", + "position": { + "x": -1.38216937, + "y": 1.5370717, + "z": -1.5147109 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_9c9dffb8", + "position": { + "x": -1.40073812, + "y": 0.980398655, + "z": -1.5249877 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_f17ac2ff", + "position": { + "x": -0.6210288, + "y": 1.54382181, + "z": -1.63214469 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [ + { + "isOn": false, + "objectType": "DeskLamp" + } + ], + "random_seed": 478906860, + "scene_num": 304 + }, + "task_id": "trial_T20190906_174726_702879", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A2KAGFQU28JY43_33SA9F9TR0BHIJ8RPJYNBB8X9FSWEP", + "high_descs": [ + "Turn around and go to the end of the bunk-bed to your right.", + "Pick up the basketball that is on the floor, in front of the bed. ", + "Turn around and go to the lamp an the top, left end of the desk.", + "Turn the lamp on while still holding the basketball. " + ], + "task_desc": "Turn on the lamp.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3F51C49T9A34D_3QEMNNSB20GX0YTQLGFRDDRVGCGD79", + "high_descs": [ + "turn to the right and take a few steps and turn to the right and go to the wall and turn to the right facing a basketball on the floor", + "pick up the basketball from the floor", + "turn to the right and go to the end of the desk", + "turn on the lamp on the top shelf of the desk" + ], + "task_desc": "Examine a basketball by the light of a desk lamp", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3UF6XXFFRR237_3TXWC2NHN277G601X380M841C5FS9V", + "high_descs": [ + "walk over to the bed standing in front of the ladder", + "pick up the basketball from the floor", + "Bring the basketball over to the window across the room ", + "turn on the lamp above to examine the ball" + ], + "task_desc": "pick up a ball from the floor then examine the ball under the lamp", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A320QA9HJFUOZO_3A1COHJ8NMCICS3BHHQNIY2NGDOH8R", + "high_descs": [ + "Turn around and walk toward the wall between the desk and the bed", + "Pick up the basketball from the floor", + "Turn and walk to the left side of the desk", + "Turn on the light" + ], + "task_desc": "Pick up the basketball and turn on the light", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "ARL7HOWLEHNOP_3KWTYT0873K1B63ZA4YIY6L3V4ZL53", + "high_descs": [ + "Turn to the right and walk to the desk, then turn to the right and walk towards the bunk beds.", + "Pick up the basketball on the ground.", + "Turn to the right and walk across the room, then turn right and walk to the trash bin.", + "Hold the basketball above the trash bin." + ], + "task_desc": "Carry the basketball to the other side of the room.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1ELPYAFO7MANS_3VD82FOHKT5UGCFB261I4TV7IQOOCT", + "high_descs": [ + "Turn around and walk to the wall near the end of the bunk beds and face them.", + "Pick up the basketball on the floor.", + "Turn around and walk to the end of the desk.", + "Turn on the light." + ], + "task_desc": "View a basketball under illumination.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-BasketBall-None-DeskLamp-304/trial_T20190906_174740_185362/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-BasketBall-None-DeskLamp-304/trial_T20190906_174740_185362/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..9ee8198d46d1adc4d396d37feba4e0735af012ca --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-BasketBall-None-DeskLamp-304/trial_T20190906_174740_185362/initial_state.pddl @@ -0,0 +1,515 @@ + +(define (problem plan_trial_T20190906_174740_185362) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + AlarmClock_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_36 - object + BasketBall_bar__minus_01_dot_66_bar__plus_00_dot_13_bar__minus_00_dot_09 - object + Blinds_bar__plus_01_dot_06_bar__plus_02_dot_38_bar__minus_02_dot_09 - object + Book_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_61 - object + Book_bar__minus_00_dot_59_bar__plus_00_dot_98_bar__minus_01_dot_28 - object + Book_bar__minus_01_dot_33_bar__plus_00_dot_42_bar__minus_01_dot_39 - object + Bowl_bar__minus_00_dot_81_bar__plus_01_dot_54_bar__minus_01_dot_55 - object + Bowl_bar__minus_01_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_36 - object + Box_bar__plus_01_dot_56_bar__plus_00_dot_29_bar__minus_01_dot_07 - object + CD_bar__minus_01_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_52 - object + CellPhone_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_36 - object + CellPhone_bar__minus_01_dot_41_bar__plus_00_dot_74_bar__minus_01_dot_30 - object + CellPhone_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__minus_01_dot_39 - object + Chair_bar__plus_00_dot_89_bar__plus_00_dot_01_bar__minus_01_dot_44 - object + Chair_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__minus_01_dot_21 - object + CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_98_bar__minus_01_dot_61 - object + CreditCard_bar__minus_01_dot_67_bar__plus_00_dot_42_bar__minus_01_dot_39 - object + DeskLamp_bar__minus_00_dot_35_bar__plus_01_dot_53_bar__minus_01_dot_56 - object + KeyChain_bar__minus_01_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_61 - object + KeyChain_bar__minus_01_dot_57_bar__plus_01_dot_54_bar__minus_01_dot_59 - object + Laptop_bar__minus_01_dot_30_bar__plus_00_dot_89_bar__plus_01_dot_75 - object + LaundryHamperLid_bar_00_dot_00_bar__plus_00_dot_48_bar__plus_02_dot_52 - object + LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_20_bar__plus_02_dot_73 - object + Mirror_bar__plus_01_dot_91_bar__plus_01_dot_39_bar__plus_00_dot_97 - object + Mug_bar__minus_00_dot_62_bar__plus_01_dot_53_bar__minus_01_dot_55 - object + Pencil_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_44 - object + Pencil_bar__minus_00_dot_81_bar__plus_01_dot_54_bar__minus_01_dot_67 - object + Pencil_bar__minus_01_dot_40_bar__plus_00_dot_99_bar__minus_01_dot_61 - object + Pen_bar__minus_01_dot_24_bar__plus_00_dot_43_bar__minus_01_dot_30 - object + Pen_bar__minus_01_dot_50_bar__plus_00_dot_43_bar__minus_01_dot_30 - object + Pillow_bar__minus_01_dot_28_bar__plus_00_dot_92_bar__plus_00_dot_48 - object + Pillow_bar__minus_01_dot_57_bar__plus_00_dot_95_bar__plus_01_dot_16 - object + Statue_bar__minus_01_dot_20_bar__plus_00_dot_99_bar__minus_01_dot_36 - object + Statue_bar__minus_01_dot_60_bar__plus_00_dot_99_bar__minus_01_dot_52 - object + Window_bar__plus_01_dot_01_bar__plus_01_dot_52_bar__minus_02_dot_09 - object + Bed_bar__minus_01_dot_31_bar__plus_00_dot_69_bar__plus_01_dot_47 - receptacle + Bed_bar__minus_01_dot_31_bar__plus_01_dot_93_bar__plus_01_dot_47 - receptacle + Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41 - receptacle + Drawer_bar__minus_01_dot_41_bar__plus_00_dot_22_bar__minus_01_dot_34 - receptacle + Drawer_bar__minus_01_dot_41_bar__plus_00_dot_54_bar__minus_01_dot_34 - receptacle + Drawer_bar__minus_01_dot_41_bar__plus_00_dot_83_bar__minus_01_dot_34 - receptacle + GarbageCan_bar__minus_00_dot_04_bar__plus_00_dot_01_bar__minus_01_dot_53 - receptacle + LaundryHamper_bar__plus_00_dot_00_bar__plus_00_dot_01_bar__plus_02_dot_52 - receptacle + Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59 - receptacle + loc_bar_4_bar__minus_3_bar_2_bar_60 - location + loc_bar__minus_5_bar__minus_1_bar_3_bar_60 - location + loc_bar_4_bar__minus_3_bar_2_bar_0 - location + loc_bar_2_bar_9_bar_0_bar_45 - location + loc_bar_5_bar__minus_3_bar_2_bar_60 - location + loc_bar__minus_4_bar__minus_3_bar_2_bar_60 - location + loc_bar__minus_5_bar__minus_3_bar_2_bar_60 - location + loc_bar_0_bar__minus_4_bar_2_bar_60 - location + loc_bar_5_bar_4_bar_1_bar_15 - location + loc_bar__minus_4_bar__minus_3_bar_2_bar_15 - location + loc_bar__minus_1_bar_6_bar_3_bar_45 - location + loc_bar_4_bar__minus_3_bar_2_bar__minus_30 - location + loc_bar_2_bar_6_bar_3_bar__minus_15 - location + loc_bar_0_bar_8_bar_0_bar_60 - location + loc_bar__minus_3_bar__minus_1_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__minus_01_dot_41_bar__plus_00_dot_22_bar__minus_01_dot_34 DrawerType) + (receptacleType GarbageCan_bar__minus_00_dot_04_bar__plus_00_dot_01_bar__minus_01_dot_53 GarbageCanType) + (receptacleType Drawer_bar__minus_01_dot_41_bar__plus_00_dot_83_bar__minus_01_dot_34 DrawerType) + (receptacleType Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59 ShelfType) + (receptacleType LaundryHamper_bar__plus_00_dot_00_bar__plus_00_dot_01_bar__plus_02_dot_52 LaundryHamperType) + (receptacleType Drawer_bar__minus_01_dot_41_bar__plus_00_dot_54_bar__minus_01_dot_34 DrawerType) + (receptacleType Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41 DeskType) + (receptacleType Bed_bar__minus_01_dot_31_bar__plus_01_dot_93_bar__plus_01_dot_47 BedType) + (receptacleType Bed_bar__minus_01_dot_31_bar__plus_00_dot_69_bar__plus_01_dot_47 BedType) + (objectType CellPhone_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__minus_01_dot_39 CellPhoneType) + (objectType KeyChain_bar__minus_01_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_61 KeyChainType) + (objectType CellPhone_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_36 CellPhoneType) + (objectType KeyChain_bar__minus_01_dot_57_bar__plus_01_dot_54_bar__minus_01_dot_59 KeyChainType) + (objectType DeskLamp_bar__minus_00_dot_35_bar__plus_01_dot_53_bar__minus_01_dot_56 DeskLampType) + (objectType Statue_bar__minus_01_dot_20_bar__plus_00_dot_99_bar__minus_01_dot_36 StatueType) + (objectType CreditCard_bar__minus_01_dot_67_bar__plus_00_dot_42_bar__minus_01_dot_39 CreditCardType) + (objectType CellPhone_bar__minus_01_dot_41_bar__plus_00_dot_74_bar__minus_01_dot_30 CellPhoneType) + (objectType Mug_bar__minus_00_dot_62_bar__plus_01_dot_53_bar__minus_01_dot_55 MugType) + (objectType AlarmClock_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_36 AlarmClockType) + (objectType Mirror_bar__plus_01_dot_91_bar__plus_01_dot_39_bar__plus_00_dot_97 MirrorType) + (objectType Box_bar__plus_01_dot_56_bar__plus_00_dot_29_bar__minus_01_dot_07 BoxType) + (objectType Pen_bar__minus_01_dot_24_bar__plus_00_dot_43_bar__minus_01_dot_30 PenType) + (objectType CD_bar__minus_01_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_52 CDType) + (objectType LaundryHamperLid_bar_00_dot_00_bar__plus_00_dot_48_bar__plus_02_dot_52 LaundryHamperLidType) + (objectType Pillow_bar__minus_01_dot_57_bar__plus_00_dot_95_bar__plus_01_dot_16 PillowType) + (objectType BasketBall_bar__minus_01_dot_66_bar__plus_00_dot_13_bar__minus_00_dot_09 BasketBallType) + (objectType Pillow_bar__minus_01_dot_28_bar__plus_00_dot_92_bar__plus_00_dot_48 PillowType) + (objectType Chair_bar__plus_00_dot_89_bar__plus_00_dot_01_bar__minus_01_dot_44 ChairType) + (objectType Pencil_bar__minus_00_dot_81_bar__plus_01_dot_54_bar__minus_01_dot_67 PencilType) + (objectType CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_98_bar__minus_01_dot_61 CreditCardType) + (objectType Book_bar__minus_01_dot_33_bar__plus_00_dot_42_bar__minus_01_dot_39 BookType) + (objectType LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_20_bar__plus_02_dot_73 LightSwitchType) + (objectType Laptop_bar__minus_01_dot_30_bar__plus_00_dot_89_bar__plus_01_dot_75 LaptopType) + (objectType Pencil_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_44 PencilType) + (objectType Bowl_bar__minus_00_dot_81_bar__plus_01_dot_54_bar__minus_01_dot_55 BowlType) + (objectType Statue_bar__minus_01_dot_60_bar__plus_00_dot_99_bar__minus_01_dot_52 StatueType) + (objectType Window_bar__plus_01_dot_01_bar__plus_01_dot_52_bar__minus_02_dot_09 WindowType) + (objectType Book_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_61 BookType) + (objectType Book_bar__minus_00_dot_59_bar__plus_00_dot_98_bar__minus_01_dot_28 BookType) + (objectType Pen_bar__minus_01_dot_50_bar__plus_00_dot_43_bar__minus_01_dot_30 PenType) + (objectType Blinds_bar__plus_01_dot_06_bar__plus_02_dot_38_bar__minus_02_dot_09 BlindsType) + (objectType Chair_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__minus_01_dot_21 ChairType) + (objectType Pencil_bar__minus_01_dot_40_bar__plus_00_dot_99_bar__minus_01_dot_61 PencilType) + (objectType Bowl_bar__minus_01_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_36 BowlType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType CDType) + (canContain GarbageCanType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType BowlType) + (canContain ShelfType CDType) + (canContain ShelfType MugType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType StatueType) + (canContain ShelfType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DeskType PenType) + (canContain DeskType BookType) + (canContain DeskType BowlType) + (canContain DeskType CDType) + (canContain DeskType MugType) + (canContain DeskType BoxType) + (canContain DeskType CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (canContain DeskType BasketBallType) + (canContain DeskType LaptopType) + (canContain DeskType PencilType) + (canContain DeskType StatueType) + (canContain DeskType AlarmClockType) + (canContain BedType BasketBallType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (canContain BedType BasketBallType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (pickupable CellPhone_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__minus_01_dot_39) + (pickupable KeyChain_bar__minus_01_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_61) + (pickupable CellPhone_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_36) + (pickupable KeyChain_bar__minus_01_dot_57_bar__plus_01_dot_54_bar__minus_01_dot_59) + (pickupable Statue_bar__minus_01_dot_20_bar__plus_00_dot_99_bar__minus_01_dot_36) + (pickupable CreditCard_bar__minus_01_dot_67_bar__plus_00_dot_42_bar__minus_01_dot_39) + (pickupable CellPhone_bar__minus_01_dot_41_bar__plus_00_dot_74_bar__minus_01_dot_30) + (pickupable Mug_bar__minus_00_dot_62_bar__plus_01_dot_53_bar__minus_01_dot_55) + (pickupable AlarmClock_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_36) + (pickupable Box_bar__plus_01_dot_56_bar__plus_00_dot_29_bar__minus_01_dot_07) + (pickupable Pen_bar__minus_01_dot_24_bar__plus_00_dot_43_bar__minus_01_dot_30) + (pickupable CD_bar__minus_01_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_52) + (pickupable Pillow_bar__minus_01_dot_57_bar__plus_00_dot_95_bar__plus_01_dot_16) + (pickupable BasketBall_bar__minus_01_dot_66_bar__plus_00_dot_13_bar__minus_00_dot_09) + (pickupable Pillow_bar__minus_01_dot_28_bar__plus_00_dot_92_bar__plus_00_dot_48) + (pickupable Pencil_bar__minus_00_dot_81_bar__plus_01_dot_54_bar__minus_01_dot_67) + (pickupable CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_98_bar__minus_01_dot_61) + (pickupable Book_bar__minus_01_dot_33_bar__plus_00_dot_42_bar__minus_01_dot_39) + (pickupable Laptop_bar__minus_01_dot_30_bar__plus_00_dot_89_bar__plus_01_dot_75) + (pickupable Pencil_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_44) + (pickupable Bowl_bar__minus_00_dot_81_bar__plus_01_dot_54_bar__minus_01_dot_55) + (pickupable Statue_bar__minus_01_dot_60_bar__plus_00_dot_99_bar__minus_01_dot_52) + (pickupable Book_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_61) + (pickupable Book_bar__minus_00_dot_59_bar__plus_00_dot_98_bar__minus_01_dot_28) + (pickupable Pen_bar__minus_01_dot_50_bar__plus_00_dot_43_bar__minus_01_dot_30) + (pickupable Pencil_bar__minus_01_dot_40_bar__plus_00_dot_99_bar__minus_01_dot_61) + (pickupable Bowl_bar__minus_01_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_36) + (isReceptacleObject Mug_bar__minus_00_dot_62_bar__plus_01_dot_53_bar__minus_01_dot_55) + (isReceptacleObject Box_bar__plus_01_dot_56_bar__plus_00_dot_29_bar__minus_01_dot_07) + (isReceptacleObject Bowl_bar__minus_00_dot_81_bar__plus_01_dot_54_bar__minus_01_dot_55) + (isReceptacleObject Bowl_bar__minus_01_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_36) + + + (atLocation agent1 loc_bar__minus_3_bar__minus_1_bar_1_bar_30) + + (cleanable Mug_bar__minus_00_dot_62_bar__plus_01_dot_53_bar__minus_01_dot_55) + (cleanable Bowl_bar__minus_00_dot_81_bar__plus_01_dot_54_bar__minus_01_dot_55) + (cleanable Bowl_bar__minus_01_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_36) + + (heatable Mug_bar__minus_00_dot_62_bar__plus_01_dot_53_bar__minus_01_dot_55) + (coolable Mug_bar__minus_00_dot_62_bar__plus_01_dot_53_bar__minus_01_dot_55) + (coolable Bowl_bar__minus_00_dot_81_bar__plus_01_dot_54_bar__minus_01_dot_55) + (coolable Bowl_bar__minus_01_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_36) + + + (toggleable DeskLamp_bar__minus_00_dot_35_bar__plus_01_dot_53_bar__minus_01_dot_56) + + + + + (inReceptacle CellPhone_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__minus_01_dot_39 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_54_bar__minus_01_dot_34) + (inReceptacle Pen_bar__minus_01_dot_50_bar__plus_00_dot_43_bar__minus_01_dot_30 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_54_bar__minus_01_dot_34) + (inReceptacle CreditCard_bar__minus_01_dot_67_bar__plus_00_dot_42_bar__minus_01_dot_39 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_54_bar__minus_01_dot_34) + (inReceptacle Book_bar__minus_01_dot_33_bar__plus_00_dot_42_bar__minus_01_dot_39 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_54_bar__minus_01_dot_34) + (inReceptacle Pen_bar__minus_01_dot_24_bar__plus_00_dot_43_bar__minus_01_dot_30 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_54_bar__minus_01_dot_34) + (inReceptacle Pillow_bar__minus_01_dot_57_bar__plus_00_dot_95_bar__plus_01_dot_16 Bed_bar__minus_01_dot_31_bar__plus_00_dot_69_bar__plus_01_dot_47) + (inReceptacle Laptop_bar__minus_01_dot_30_bar__plus_00_dot_89_bar__plus_01_dot_75 Bed_bar__minus_01_dot_31_bar__plus_00_dot_69_bar__plus_01_dot_47) + (inReceptacle Pillow_bar__minus_01_dot_28_bar__plus_00_dot_92_bar__plus_00_dot_48 Bed_bar__minus_01_dot_31_bar__plus_00_dot_69_bar__plus_01_dot_47) + (inReceptacle KeyChain_bar__minus_01_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_61 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41) + (inReceptacle CellPhone_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_36 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41) + (inReceptacle Pencil_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_44 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41) + (inReceptacle CD_bar__minus_01_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_52 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41) + (inReceptacle Statue_bar__minus_01_dot_20_bar__plus_00_dot_99_bar__minus_01_dot_36 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41) + (inReceptacle Statue_bar__minus_01_dot_60_bar__plus_00_dot_99_bar__minus_01_dot_52 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41) + (inReceptacle CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_98_bar__minus_01_dot_61 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41) + (inReceptacle Pencil_bar__minus_01_dot_40_bar__plus_00_dot_99_bar__minus_01_dot_61 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41) + (inReceptacle Book_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_61 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(inReceptacle Bowl_bar__minus_00_dot_81_bar__plus_01_dot_54_bar__minus_01_dot_55 Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59) + (inReceptacle Pencil_bar__minus_00_dot_81_bar__plus_01_dot_54_bar__minus_01_dot_67 Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59) + (inReceptacle Mug_bar__minus_00_dot_62_bar__plus_01_dot_53_bar__minus_01_dot_55 Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59) + + + (receptacleAtLocation Bed_bar__minus_01_dot_31_bar__plus_00_dot_69_bar__plus_01_dot_47 loc_bar__minus_1_bar_6_bar_3_bar_45) + (receptacleAtLocation Bed_bar__minus_01_dot_31_bar__plus_01_dot_93_bar__plus_01_dot_47 loc_bar_2_bar_6_bar_3_bar__minus_15) + (receptacleAtLocation Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_41_bar__plus_00_dot_22_bar__minus_01_dot_34 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_41_bar__plus_00_dot_54_bar__minus_01_dot_34 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_41_bar__plus_00_dot_83_bar__minus_01_dot_34 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_04_bar__plus_00_dot_01_bar__minus_01_dot_53 loc_bar_0_bar__minus_4_bar_2_bar_60) + (receptacleAtLocation LaundryHamper_bar__plus_00_dot_00_bar__plus_00_dot_01_bar__plus_02_dot_52 loc_bar_0_bar_8_bar_0_bar_60) + (receptacleAtLocation Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59 loc_bar__minus_4_bar__minus_3_bar_2_bar_15) + (objectAtLocation Statue_bar__minus_01_dot_60_bar__plus_00_dot_99_bar__minus_01_dot_52 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation CellPhone_bar__minus_01_dot_41_bar__plus_00_dot_74_bar__minus_01_dot_30 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_98_bar__minus_01_dot_61 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation Bowl_bar__minus_01_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_36 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation KeyChain_bar__minus_01_dot_57_bar__plus_01_dot_54_bar__minus_01_dot_59 loc_bar__minus_4_bar__minus_3_bar_2_bar_15) + (objectAtLocation Pillow_bar__minus_01_dot_28_bar__plus_00_dot_92_bar__plus_00_dot_48 loc_bar__minus_1_bar_6_bar_3_bar_45) + (objectAtLocation Pencil_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_44 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation Pen_bar__minus_01_dot_50_bar__plus_00_dot_43_bar__minus_01_dot_30 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation Book_bar__minus_01_dot_33_bar__plus_00_dot_42_bar__minus_01_dot_39 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation Book_bar__minus_00_dot_59_bar__plus_00_dot_98_bar__minus_01_dot_28 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation Pencil_bar__minus_01_dot_40_bar__plus_00_dot_99_bar__minus_01_dot_61 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation CellPhone_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__minus_01_dot_39 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation Mirror_bar__plus_01_dot_91_bar__plus_01_dot_39_bar__plus_00_dot_97 loc_bar_5_bar_4_bar_1_bar_15) + (objectAtLocation Book_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_61 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation Box_bar__plus_01_dot_56_bar__plus_00_dot_29_bar__minus_01_dot_07 loc_bar_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation Chair_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__minus_01_dot_21 loc_bar__minus_4_bar__minus_3_bar_2_bar_60) + (objectAtLocation LaundryHamperLid_bar_00_dot_00_bar__plus_00_dot_48_bar__plus_02_dot_52 loc_bar_0_bar_8_bar_0_bar_60) + (objectAtLocation Chair_bar__plus_00_dot_89_bar__plus_00_dot_01_bar__minus_01_dot_44 loc_bar_4_bar__minus_3_bar_2_bar_60) + (objectAtLocation BasketBall_bar__minus_01_dot_66_bar__plus_00_dot_13_bar__minus_00_dot_09 loc_bar__minus_5_bar__minus_1_bar_3_bar_60) + (objectAtLocation Pen_bar__minus_01_dot_24_bar__plus_00_dot_43_bar__minus_01_dot_30 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation Pencil_bar__minus_00_dot_81_bar__plus_01_dot_54_bar__minus_01_dot_67 loc_bar__minus_4_bar__minus_3_bar_2_bar_15) + (objectAtLocation Laptop_bar__minus_01_dot_30_bar__plus_00_dot_89_bar__plus_01_dot_75 loc_bar__minus_1_bar_6_bar_3_bar_45) + (objectAtLocation Pillow_bar__minus_01_dot_57_bar__plus_00_dot_95_bar__plus_01_dot_16 loc_bar__minus_1_bar_6_bar_3_bar_45) + (objectAtLocation DeskLamp_bar__minus_00_dot_35_bar__plus_01_dot_53_bar__minus_01_dot_56 loc_bar__minus_4_bar__minus_3_bar_2_bar_15) + (objectAtLocation KeyChain_bar__minus_01_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_61 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation Bowl_bar__minus_00_dot_81_bar__plus_01_dot_54_bar__minus_01_dot_55 loc_bar__minus_4_bar__minus_3_bar_2_bar_15) + (objectAtLocation CreditCard_bar__minus_01_dot_67_bar__plus_00_dot_42_bar__minus_01_dot_39 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation CellPhone_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_36 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation CD_bar__minus_01_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_52 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation AlarmClock_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_36 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation Window_bar__plus_01_dot_01_bar__plus_01_dot_52_bar__minus_02_dot_09 loc_bar_4_bar__minus_3_bar_2_bar_0) + (objectAtLocation LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_20_bar__plus_02_dot_73 loc_bar_2_bar_9_bar_0_bar_45) + (objectAtLocation Mug_bar__minus_00_dot_62_bar__plus_01_dot_53_bar__minus_01_dot_55 loc_bar__minus_4_bar__minus_3_bar_2_bar_15) + (objectAtLocation Statue_bar__minus_01_dot_20_bar__plus_00_dot_99_bar__minus_01_dot_36 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation Blinds_bar__plus_01_dot_06_bar__plus_02_dot_38_bar__minus_02_dot_09 loc_bar_4_bar__minus_3_bar_2_bar__minus_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 BasketBallType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-BasketBall-None-DeskLamp-304/trial_T20190906_174740_185362/traj_data.json 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to the front of the lamp on the desk.", + "Turn on the lamp." + ], + "task_desc": "Examine a basketball by the light of a desk lamp.", + "votes": [ + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2A4UAFZ5LW71K_39GXDJN2OWVNUTYVM67RXZTXR1Q8VM", + "high_descs": [ + "turn right to face desk, turn right to face wall, turn right to face bed, look down", + "pick up the basketball that is on the floor", + "turn right, walk forward, turn right after the desk, walk forward, hold ball up to lamp", + "turn on the lamp" + ], + "task_desc": "examine a basketball with a lamp", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-BasketBall-None-DeskLamp-304/trial_T20190906_174752_165600/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-BasketBall-None-DeskLamp-304/trial_T20190906_174752_165600/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..ecb2ccd44fded32c1a87b877ff093291aacbb3b3 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-BasketBall-None-DeskLamp-304/trial_T20190906_174752_165600/initial_state.pddl @@ -0,0 +1,480 @@ + +(define (problem plan_trial_T20190906_174752_165600) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + AlarmClock_bar__minus_01_dot_38_bar__plus_01_dot_54_bar__minus_01_dot_59 - object + AlarmClock_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_61 - object + BasketBall_bar__minus_01_dot_66_bar__plus_00_dot_13_bar__minus_00_dot_09 - object + Blinds_bar__plus_01_dot_06_bar__plus_02_dot_38_bar__minus_02_dot_09 - object + Book_bar__minus_00_dot_94_bar__plus_02_dot_05_bar__plus_01_dot_75 - object + Bowl_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_36 - object + Bowl_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_44 - object + Box_bar__plus_01_dot_56_bar__plus_00_dot_29_bar__minus_01_dot_07 - object + CD_bar__minus_00_dot_62_bar__plus_01_dot_54_bar__minus_01_dot_67 - object + CD_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_61 - object + CellPhone_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_52 - object + Chair_bar__plus_00_dot_89_bar__plus_00_dot_01_bar__minus_01_dot_44 - object + Chair_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__minus_01_dot_21 - object + CreditCard_bar__minus_00_dot_43_bar__plus_01_dot_54_bar__minus_01_dot_71 - object + DeskLamp_bar__minus_00_dot_35_bar__plus_01_dot_53_bar__minus_01_dot_56 - object + KeyChain_bar__minus_00_dot_62_bar__plus_01_dot_54_bar__minus_01_dot_51 - object + KeyChain_bar__minus_00_dot_79_bar__plus_00_dot_98_bar__minus_01_dot_36 - object + Laptop_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_75 - object + LaundryHamperLid_bar_00_dot_00_bar__plus_00_dot_48_bar__plus_02_dot_52 - object + LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_20_bar__plus_02_dot_73 - object + Mirror_bar__plus_01_dot_91_bar__plus_01_dot_39_bar__plus_00_dot_97 - object + Mug_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_36 - object + Pencil_bar__minus_00_dot_06_bar__plus_00_dot_09_bar__minus_01_dot_61 - object + Pencil_bar__minus_01_dot_50_bar__plus_00_dot_74_bar__minus_01_dot_39 - object + Pen_bar__minus_00_dot_81_bar__plus_01_dot_54_bar__minus_01_dot_63 - object + Pillow_bar__minus_01_dot_16_bar__plus_00_dot_95_bar__plus_02_dot_33 - object + Statue_bar__minus_01_dot_19_bar__plus_01_dot_54_bar__minus_01_dot_59 - object + Window_bar__plus_01_dot_01_bar__plus_01_dot_52_bar__minus_02_dot_09 - object + Bed_bar__minus_01_dot_31_bar__plus_00_dot_69_bar__plus_01_dot_47 - receptacle + Bed_bar__minus_01_dot_31_bar__plus_01_dot_93_bar__plus_01_dot_47 - receptacle + Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41 - receptacle + Drawer_bar__minus_01_dot_41_bar__plus_00_dot_22_bar__minus_01_dot_34 - receptacle + Drawer_bar__minus_01_dot_41_bar__plus_00_dot_54_bar__minus_01_dot_34 - receptacle + Drawer_bar__minus_01_dot_41_bar__plus_00_dot_83_bar__minus_01_dot_34 - receptacle + GarbageCan_bar__minus_00_dot_04_bar__plus_00_dot_01_bar__minus_01_dot_53 - receptacle + LaundryHamper_bar__plus_00_dot_00_bar__plus_00_dot_01_bar__plus_02_dot_52 - receptacle + Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59 - receptacle + loc_bar_4_bar__minus_3_bar_2_bar_60 - location + loc_bar__minus_5_bar__minus_1_bar_3_bar_60 - location + loc_bar_4_bar__minus_3_bar_2_bar_0 - location + loc_bar_2_bar_9_bar_0_bar_45 - location + loc_bar_5_bar__minus_3_bar_2_bar_60 - location + loc_bar__minus_4_bar__minus_3_bar_2_bar_60 - location + loc_bar__minus_5_bar__minus_3_bar_2_bar_60 - location + loc_bar_0_bar__minus_4_bar_2_bar_60 - location + loc_bar_5_bar_4_bar_1_bar_15 - location + loc_bar__minus_4_bar__minus_3_bar_2_bar_15 - location + loc_bar__minus_1_bar_6_bar_3_bar_45 - location + loc_bar_4_bar__minus_3_bar_2_bar__minus_30 - location + loc_bar_2_bar_6_bar_3_bar__minus_15 - location + loc_bar_0_bar_8_bar_0_bar_60 - location + loc_bar_6_bar_6_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__minus_01_dot_41_bar__plus_00_dot_22_bar__minus_01_dot_34 DrawerType) + (receptacleType GarbageCan_bar__minus_00_dot_04_bar__plus_00_dot_01_bar__minus_01_dot_53 GarbageCanType) + (receptacleType Drawer_bar__minus_01_dot_41_bar__plus_00_dot_83_bar__minus_01_dot_34 DrawerType) + (receptacleType Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59 ShelfType) + (receptacleType LaundryHamper_bar__plus_00_dot_00_bar__plus_00_dot_01_bar__plus_02_dot_52 LaundryHamperType) + (receptacleType Drawer_bar__minus_01_dot_41_bar__plus_00_dot_54_bar__minus_01_dot_34 DrawerType) + (receptacleType Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41 DeskType) + (receptacleType Bed_bar__minus_01_dot_31_bar__plus_01_dot_93_bar__plus_01_dot_47 BedType) + (receptacleType Bed_bar__minus_01_dot_31_bar__plus_00_dot_69_bar__plus_01_dot_47 BedType) + (objectType Pencil_bar__minus_01_dot_50_bar__plus_00_dot_74_bar__minus_01_dot_39 PencilType) + (objectType CellPhone_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_52 CellPhoneType) + (objectType DeskLamp_bar__minus_00_dot_35_bar__plus_01_dot_53_bar__minus_01_dot_56 DeskLampType) + (objectType KeyChain_bar__minus_00_dot_62_bar__plus_01_dot_54_bar__minus_01_dot_51 KeyChainType) + (objectType AlarmClock_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_61 AlarmClockType) + (objectType Mirror_bar__plus_01_dot_91_bar__plus_01_dot_39_bar__plus_00_dot_97 MirrorType) + (objectType Box_bar__plus_01_dot_56_bar__plus_00_dot_29_bar__minus_01_dot_07 BoxType) + (objectType Statue_bar__minus_01_dot_19_bar__plus_01_dot_54_bar__minus_01_dot_59 StatueType) + (objectType Mug_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_36 MugType) + (objectType LaundryHamperLid_bar_00_dot_00_bar__plus_00_dot_48_bar__plus_02_dot_52 LaundryHamperLidType) + (objectType Pen_bar__minus_00_dot_81_bar__plus_01_dot_54_bar__minus_01_dot_63 PenType) + (objectType BasketBall_bar__minus_01_dot_66_bar__plus_00_dot_13_bar__minus_00_dot_09 BasketBallType) + (objectType Laptop_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_75 LaptopType) + (objectType Bowl_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_36 BowlType) + (objectType Chair_bar__plus_00_dot_89_bar__plus_00_dot_01_bar__minus_01_dot_44 ChairType) + (objectType Pillow_bar__minus_01_dot_16_bar__plus_00_dot_95_bar__plus_02_dot_33 PillowType) + (objectType LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_20_bar__plus_02_dot_73 LightSwitchType) + (objectType CD_bar__minus_00_dot_62_bar__plus_01_dot_54_bar__minus_01_dot_67 CDType) + (objectType CD_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_61 CDType) + (objectType CreditCard_bar__minus_00_dot_43_bar__plus_01_dot_54_bar__minus_01_dot_71 CreditCardType) + (objectType Window_bar__plus_01_dot_01_bar__plus_01_dot_52_bar__minus_02_dot_09 WindowType) + (objectType Pencil_bar__minus_00_dot_06_bar__plus_00_dot_09_bar__minus_01_dot_61 PencilType) + (objectType AlarmClock_bar__minus_01_dot_38_bar__plus_01_dot_54_bar__minus_01_dot_59 AlarmClockType) + (objectType Bowl_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_44 BowlType) + (objectType Book_bar__minus_00_dot_94_bar__plus_02_dot_05_bar__plus_01_dot_75 BookType) + (objectType KeyChain_bar__minus_00_dot_79_bar__plus_00_dot_98_bar__minus_01_dot_36 KeyChainType) + (objectType Blinds_bar__plus_01_dot_06_bar__plus_02_dot_38_bar__minus_02_dot_09 BlindsType) + (objectType Chair_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__minus_01_dot_21 ChairType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType CDType) + (canContain GarbageCanType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType BowlType) + (canContain ShelfType CDType) + (canContain ShelfType MugType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType StatueType) + (canContain ShelfType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DeskType PenType) + (canContain DeskType BookType) + (canContain DeskType BowlType) + (canContain DeskType CDType) + (canContain DeskType MugType) + (canContain DeskType BoxType) + (canContain DeskType CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (canContain DeskType BasketBallType) + (canContain DeskType LaptopType) + (canContain DeskType PencilType) + (canContain DeskType StatueType) + (canContain DeskType AlarmClockType) + (canContain BedType BasketBallType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (canContain BedType BasketBallType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (pickupable Pencil_bar__minus_01_dot_50_bar__plus_00_dot_74_bar__minus_01_dot_39) + (pickupable CellPhone_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_52) + (pickupable KeyChain_bar__minus_00_dot_62_bar__plus_01_dot_54_bar__minus_01_dot_51) + (pickupable AlarmClock_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_61) + (pickupable Box_bar__plus_01_dot_56_bar__plus_00_dot_29_bar__minus_01_dot_07) + (pickupable Statue_bar__minus_01_dot_19_bar__plus_01_dot_54_bar__minus_01_dot_59) + (pickupable Mug_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_36) + (pickupable Pen_bar__minus_00_dot_81_bar__plus_01_dot_54_bar__minus_01_dot_63) + (pickupable BasketBall_bar__minus_01_dot_66_bar__plus_00_dot_13_bar__minus_00_dot_09) + (pickupable Laptop_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_75) + (pickupable Bowl_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_36) + (pickupable Pillow_bar__minus_01_dot_16_bar__plus_00_dot_95_bar__plus_02_dot_33) + (pickupable CD_bar__minus_00_dot_62_bar__plus_01_dot_54_bar__minus_01_dot_67) + (pickupable CD_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_61) + (pickupable CreditCard_bar__minus_00_dot_43_bar__plus_01_dot_54_bar__minus_01_dot_71) + (pickupable Pencil_bar__minus_00_dot_06_bar__plus_00_dot_09_bar__minus_01_dot_61) + (pickupable AlarmClock_bar__minus_01_dot_38_bar__plus_01_dot_54_bar__minus_01_dot_59) + (pickupable Bowl_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_44) + (pickupable Book_bar__minus_00_dot_94_bar__plus_02_dot_05_bar__plus_01_dot_75) + (pickupable KeyChain_bar__minus_00_dot_79_bar__plus_00_dot_98_bar__minus_01_dot_36) + (isReceptacleObject Box_bar__plus_01_dot_56_bar__plus_00_dot_29_bar__minus_01_dot_07) + (isReceptacleObject Mug_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_36) + (isReceptacleObject Bowl_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_36) + (isReceptacleObject Bowl_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_44) + + + (atLocation agent1 loc_bar_6_bar_6_bar_2_bar_30) + + (cleanable Mug_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_36) + (cleanable Bowl_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_36) + (cleanable Bowl_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_44) + + (heatable Mug_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_36) + (coolable Mug_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_36) + (coolable Bowl_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_36) + (coolable Bowl_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_44) + + + (toggleable DeskLamp_bar__minus_00_dot_35_bar__plus_01_dot_53_bar__minus_01_dot_56) + + + + + (inReceptacle Laptop_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_75 Bed_bar__minus_01_dot_31_bar__plus_00_dot_69_bar__plus_01_dot_47) + (inReceptacle Pillow_bar__minus_01_dot_16_bar__plus_00_dot_95_bar__plus_02_dot_33 Bed_bar__minus_01_dot_31_bar__plus_00_dot_69_bar__plus_01_dot_47) + (inReceptacle Bowl_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_44 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41) + (inReceptacle CellPhone_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_52 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41) + (inReceptacle Mug_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_36 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41) + (inReceptacle KeyChain_bar__minus_00_dot_79_bar__plus_00_dot_98_bar__minus_01_dot_36 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41) + (inReceptacle Bowl_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_36 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41) + (inReceptacle AlarmClock_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_61 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41) + (inReceptacle CD_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_61 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41) + (inReceptacle Book_bar__minus_00_dot_94_bar__plus_02_dot_05_bar__plus_01_dot_75 Bed_bar__minus_01_dot_31_bar__plus_01_dot_93_bar__plus_01_dot_47) + (inReceptacle Pencil_bar__minus_01_dot_50_bar__plus_00_dot_74_bar__minus_01_dot_39 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_83_bar__minus_01_dot_34) + (inReceptacle DeskLamp_bar__minus_00_dot_35_bar__plus_01_dot_53_bar__minus_01_dot_56 Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59) + (inReceptacle Pen_bar__minus_00_dot_81_bar__plus_01_dot_54_bar__minus_01_dot_63 Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59) + (inReceptacle CreditCard_bar__minus_00_dot_43_bar__plus_01_dot_54_bar__minus_01_dot_71 Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59) + (inReceptacle KeyChain_bar__minus_00_dot_62_bar__plus_01_dot_54_bar__minus_01_dot_51 Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59) + (inReceptacle AlarmClock_bar__minus_01_dot_38_bar__plus_01_dot_54_bar__minus_01_dot_59 Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59) + (inReceptacle CD_bar__minus_00_dot_62_bar__plus_01_dot_54_bar__minus_01_dot_67 Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59) + (inReceptacle Statue_bar__minus_01_dot_19_bar__plus_01_dot_54_bar__minus_01_dot_59 Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59) + (inReceptacle Pencil_bar__minus_00_dot_06_bar__plus_00_dot_09_bar__minus_01_dot_61 GarbageCan_bar__minus_00_dot_04_bar__plus_00_dot_01_bar__minus_01_dot_53) + + + (receptacleAtLocation Bed_bar__minus_01_dot_31_bar__plus_00_dot_69_bar__plus_01_dot_47 loc_bar__minus_1_bar_6_bar_3_bar_45) + (receptacleAtLocation Bed_bar__minus_01_dot_31_bar__plus_01_dot_93_bar__plus_01_dot_47 loc_bar_2_bar_6_bar_3_bar__minus_15) + (receptacleAtLocation Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_41_bar__plus_00_dot_22_bar__minus_01_dot_34 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_41_bar__plus_00_dot_54_bar__minus_01_dot_34 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_41_bar__plus_00_dot_83_bar__minus_01_dot_34 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_04_bar__plus_00_dot_01_bar__minus_01_dot_53 loc_bar_0_bar__minus_4_bar_2_bar_60) + (receptacleAtLocation LaundryHamper_bar__plus_00_dot_00_bar__plus_00_dot_01_bar__plus_02_dot_52 loc_bar_0_bar_8_bar_0_bar_60) + (receptacleAtLocation Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59 loc_bar__minus_4_bar__minus_3_bar_2_bar_15) + (objectAtLocation AlarmClock_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_61 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation CD_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_61 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation Bowl_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_36 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation KeyChain_bar__minus_00_dot_62_bar__plus_01_dot_54_bar__minus_01_dot_51 loc_bar__minus_4_bar__minus_3_bar_2_bar_15) + (objectAtLocation Pencil_bar__minus_01_dot_50_bar__plus_00_dot_74_bar__minus_01_dot_39 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation Mirror_bar__plus_01_dot_91_bar__plus_01_dot_39_bar__plus_00_dot_97 loc_bar_5_bar_4_bar_1_bar_15) + (objectAtLocation Book_bar__minus_00_dot_94_bar__plus_02_dot_05_bar__plus_01_dot_75 loc_bar_2_bar_6_bar_3_bar__minus_15) + (objectAtLocation Box_bar__plus_01_dot_56_bar__plus_00_dot_29_bar__minus_01_dot_07 loc_bar_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation Chair_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__minus_01_dot_21 loc_bar__minus_4_bar__minus_3_bar_2_bar_60) + (objectAtLocation LaundryHamperLid_bar_00_dot_00_bar__plus_00_dot_48_bar__plus_02_dot_52 loc_bar_0_bar_8_bar_0_bar_60) + (objectAtLocation Chair_bar__plus_00_dot_89_bar__plus_00_dot_01_bar__minus_01_dot_44 loc_bar_4_bar__minus_3_bar_2_bar_60) + (objectAtLocation BasketBall_bar__minus_01_dot_66_bar__plus_00_dot_13_bar__minus_00_dot_09 loc_bar__minus_5_bar__minus_1_bar_3_bar_60) + (objectAtLocation Pen_bar__minus_00_dot_81_bar__plus_01_dot_54_bar__minus_01_dot_63 loc_bar__minus_4_bar__minus_3_bar_2_bar_15) + (objectAtLocation Pencil_bar__minus_00_dot_06_bar__plus_00_dot_09_bar__minus_01_dot_61 loc_bar_0_bar__minus_4_bar_2_bar_60) + (objectAtLocation Laptop_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_75 loc_bar__minus_1_bar_6_bar_3_bar_45) + (objectAtLocation Pillow_bar__minus_01_dot_16_bar__plus_00_dot_95_bar__plus_02_dot_33 loc_bar__minus_1_bar_6_bar_3_bar_45) + (objectAtLocation DeskLamp_bar__minus_00_dot_35_bar__plus_01_dot_53_bar__minus_01_dot_56 loc_bar__minus_4_bar__minus_3_bar_2_bar_15) + (objectAtLocation KeyChain_bar__minus_00_dot_79_bar__plus_00_dot_98_bar__minus_01_dot_36 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation Bowl_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_44 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_43_bar__plus_01_dot_54_bar__minus_01_dot_71 loc_bar__minus_4_bar__minus_3_bar_2_bar_15) + (objectAtLocation CellPhone_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_52 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation CD_bar__minus_00_dot_62_bar__plus_01_dot_54_bar__minus_01_dot_67 loc_bar__minus_4_bar__minus_3_bar_2_bar_15) + (objectAtLocation AlarmClock_bar__minus_01_dot_38_bar__plus_01_dot_54_bar__minus_01_dot_59 loc_bar__minus_4_bar__minus_3_bar_2_bar_15) + (objectAtLocation Window_bar__plus_01_dot_01_bar__plus_01_dot_52_bar__minus_02_dot_09 loc_bar_4_bar__minus_3_bar_2_bar_0) + (objectAtLocation LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_20_bar__plus_02_dot_73 loc_bar_2_bar_9_bar_0_bar_45) + (objectAtLocation Mug_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_36 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation Statue_bar__minus_01_dot_19_bar__plus_01_dot_54_bar__minus_01_dot_59 loc_bar__minus_4_bar__minus_3_bar_2_bar_15) + (objectAtLocation Blinds_bar__plus_01_dot_06_bar__plus_02_dot_38_bar__minus_02_dot_09 loc_bar_4_bar__minus_3_bar_2_bar__minus_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 BasketBallType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-BasketBall-None-DeskLamp-304/trial_T20190906_174752_165600/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-BasketBall-None-DeskLamp-304/trial_T20190906_174752_165600/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..e7886e3992091686ffa8b74dd45bea902d71838b --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-BasketBall-None-DeskLamp-304/trial_T20190906_174752_165600/traj_data.json @@ -0,0 +1,2350 @@ +{ + "images": 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"position": { + "x": -1.16304755, + "y": 0.9529948, + "z": 2.33237052 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_666099e9", + "position": { + "x": -0.6210288, + "y": 1.53667235, + "z": -1.5147109 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_02cd1747", + "position": { + "x": -1.40073812, + "y": 0.982098043, + "z": -1.36252964 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_8cd9998a", + "position": { + "x": -0.430743635, + "y": 1.53652143, + "z": -1.71043372 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CellPhone_6e288678", + "position": { + "x": -1.19809616, + "y": 0.982426941, + "z": -1.5249877 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CD_dc6e6a5d", + "position": { + "x": -1.40073812, + "y": 0.9811067, + "z": -1.60621667 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "AlarmClock_8fa1421f", + "position": { + "x": -1.6033802, + "y": 0.9820463, + "z": -1.60621667 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_9c9dffb8", + "position": { + "x": -0.387528062, + "y": 0.980398655, + "z": -1.36252964 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_f17ac2ff", + "position": { + "x": -1.19188428, + "y": 1.54382181, + "z": -1.593 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [ + { + "isOn": false, + "objectType": "DeskLamp" + } + ], + "random_seed": 977129871, + "scene_num": 304 + }, + "task_id": "trial_T20190906_174752_165600", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A28HB7240OFGEW_3XC1O3LBOV33W8EPB0GG1MRHB7ITLZ", + "high_descs": [ + "Walk forward, turn right, walk forward, turn right, stand in front of the basket ball.", + "Pick up the basket ball from the floor.", + "Turn around, walk forward, stand in front of the garbage can.", + "Raise the ball up high into the air." + ], + "task_desc": "Pick up the basketball from the floor to hold it above the trash can.", + "votes": [ + 1, + 1, + 1, + 1, + 1, + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1GVTH5YS3WOK0_3EO896NRAZCX1IQP8F43L7EP7IWTJG", + "high_descs": [ + "Walk towards the white box on the floor, turn right towards the the basketball on the floor.", + "Pick up the basketball on the floor.", + "Turn around, walk towards the metal bin on the right.", + "Lift the basketball up while facing the bin on the floor." + ], + "task_desc": "Attempt to throw the basketball into the bin.", + "votes": [ + 1, + 1, + 1, + 0, + 1, + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2A4UAFZ5LW71K_34Z02EIMIVUQZCP3M7UX32ZUBIY0TB", + "high_descs": [ + "walk forwards towards the box, turn right, walk across to the wall, turn right", + "pick up the basketball that is on the floor", + "turn right, walk forward, turn right after the desk", + "hold ball up to the lamp, turn the lamp on" + ], + "task_desc": "examine a basketball with a lamp", + "votes": [ + 1, + 1, + 0 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CD-None-DeskLamp-328/trial_T20190908_004526_651155/game.tw-pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CD-None-DeskLamp-328/trial_T20190908_004526_651155/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..74b259cb2ffcf25f805c135edb38217b4faba8d7 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CD-None-DeskLamp-328/trial_T20190908_004526_651155/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: examine the cd with the desklamp.\"\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_004526_651155)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n AlarmClock_bar__plus_01_dot_11_bar__plus_00_dot_51_bar__minus_01_dot_67 - object\n Blinds_bar__plus_00_dot_67_bar__plus_01_dot_99_bar__minus_01_dot_86 - object\n Blinds_bar__plus_01_dot_78_bar__plus_01_dot_99_bar__minus_01_dot_86 - object\n Book_bar__plus_00_dot_55_bar__plus_00_dot_57_bar__minus_00_dot_46 - object\n CD_bar__plus_01_dot_80_bar__plus_00_dot_79_bar__minus_01_dot_42 - object\n CellPhone_bar__plus_01_dot_35_bar__plus_00_dot_28_bar__minus_01_dot_61 - object\n CellPhone_bar__minus_00_dot_10_bar__plus_00_dot_57_bar__minus_01_dot_35 - object\n Chair_bar__plus_02_dot_22_bar__plus_00_dot_00_bar__minus_01_dot_47 - object\n CreditCard_bar__plus_01_dot_32_bar__plus_00_dot_52_bar__minus_01_dot_79 - object\n CreditCard_bar__plus_02_dot_93_bar__plus_00_dot_55_bar__minus_01_dot_46 - object\n DeskLamp_bar__plus_03_dot_16_bar__plus_00_dot_79_bar__minus_01_dot_66 - object\n HousePlant_bar__minus_00_dot_83_bar__plus_00_dot_00_bar__plus_00_dot_84 - object\n KeyChain_bar__plus_01_dot_24_bar__plus_00_dot_28_bar__minus_01_dot_59 - object\n Laptop_bar__plus_02_dot_36_bar__plus_00_dot_79_bar__minus_01_dot_54 - object\n LightSwitch_bar__plus_02_dot_01_bar__plus_01_dot_13_bar__plus_01_dot_03 - object\n Mirror_bar__plus_00_dot_62_bar__plus_01_dot_26_bar__plus_01_dot_03 - object\n Mug_bar__plus_01_dot_39_bar__plus_00_dot_52_bar__minus_01_dot_59 - object\n Mug_bar__plus_03_dot_15_bar__plus_00_dot_54_bar__minus_01_dot_44 - object\n Pencil_bar__plus_01_dot_24_bar__plus_00_dot_52_bar__minus_01_dot_59 - object\n Pencil_bar__plus_02_dot_82_bar__plus_00_dot_80_bar__minus_01_dot_43 - object\n Pen_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_67 - object\n Pillow_bar__plus_00_dot_23_bar__plus_00_dot_67_bar__minus_00_dot_91 - object\n Pillow_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__minus_01_dot_56 - object\n TeddyBear_bar__minus_00_dot_08_bar__plus_00_dot_56_bar__minus_00_dot_27 - object\n TennisRacket_bar__minus_00_dot_92_bar__plus_00_dot_34_bar__plus_00_dot_39 - object\n TissueBox_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_36 - object\n Window_bar__plus_00_dot_69_bar__plus_01_dot_36_bar__minus_01_dot_94 - object\n Window_bar__plus_01_dot_80_bar__plus_01_dot_68_bar__minus_01_dot_94 - object\n Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95 - receptacle\n Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59 - receptacle\n Drawer_bar__plus_01_dot_24_bar__plus_00_dot_13_bar__minus_01_dot_60 - receptacle\n Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60 - receptacle\n GarbageCan_bar__plus_03_dot_17_bar__plus_00_dot_00_bar__minus_00_dot_27 - receptacle\n Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44 - receptacle\n SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67 - receptacle\n loc_bar_7_bar__minus_3_bar_2_bar_60 - location\n loc_bar_9_bar__minus_3_bar_3_bar_45 - location\n loc_bar__minus_2_bar_2_bar_3_bar_60 - location\n loc_bar_2_bar_2_bar_0_bar_30 - location\n loc_bar_5_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar_6_bar__minus_5_bar_2_bar_0 - location\n loc_bar_10_bar__minus_2_bar_2_bar_60 - location\n loc_bar_11_bar__minus_2_bar_2_bar_45 - location\n loc_bar__minus_2_bar_2_bar_0_bar_60 - location\n loc_bar_7_bar__minus_2_bar_2_bar_60 - location\n loc_bar_5_bar__minus_5_bar_2_bar_30 - location\n loc_bar_9_bar__minus_3_bar_1_bar_60 - location\n loc_bar_9_bar__minus_3_bar_2_bar_60 - location\n loc_bar_8_bar_2_bar_0_bar_45 - location\n loc_bar_6_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar_6_bar__minus_4_bar_3_bar_45 - location\n loc_bar_11_bar_0_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95 BedType)\n (receptacleType Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_24_bar__plus_00_dot_13_bar__minus_01_dot_60 DrawerType)\n (receptacleType Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59 DeskType)\n (receptacleType GarbageCan_bar__plus_03_dot_17_bar__plus_00_dot_00_bar__minus_00_dot_27 GarbageCanType)\n (receptacleType Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44 ShelfType)\n (receptacleType SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67 SideTableType)\n (objectType Mirror_bar__plus_00_dot_62_bar__plus_01_dot_26_bar__plus_01_dot_03 MirrorType)\n (objectType Blinds_bar__plus_00_dot_67_bar__plus_01_dot_99_bar__minus_01_dot_86 BlindsType)\n (objectType CellPhone_bar__plus_01_dot_35_bar__plus_00_dot_28_bar__minus_01_dot_61 CellPhoneType)\n (objectType Book_bar__plus_00_dot_55_bar__plus_00_dot_57_bar__minus_00_dot_46 BookType)\n (objectType CD_bar__plus_01_dot_80_bar__plus_00_dot_79_bar__minus_01_dot_42 CDType)\n (objectType Window_bar__plus_00_dot_69_bar__plus_01_dot_36_bar__minus_01_dot_94 WindowType)\n (objectType Pillow_bar__plus_00_dot_23_bar__plus_00_dot_67_bar__minus_00_dot_91 PillowType)\n (objectType KeyChain_bar__plus_01_dot_24_bar__plus_00_dot_28_bar__minus_01_dot_59 KeyChainType)\n (objectType CreditCard_bar__plus_02_dot_93_bar__plus_00_dot_55_bar__minus_01_dot_46 CreditCardType)\n (objectType AlarmClock_bar__plus_01_dot_11_bar__plus_00_dot_51_bar__minus_01_dot_67 AlarmClockType)\n (objectType Chair_bar__plus_02_dot_22_bar__plus_00_dot_00_bar__minus_01_dot_47 ChairType)\n (objectType TennisRacket_bar__minus_00_dot_92_bar__plus_00_dot_34_bar__plus_00_dot_39 TennisRacketType)\n (objectType Window_bar__plus_01_dot_80_bar__plus_01_dot_68_bar__minus_01_dot_94 WindowType)\n (objectType DeskLamp_bar__plus_03_dot_16_bar__plus_00_dot_79_bar__minus_01_dot_66 DeskLampType)\n (objectType Pencil_bar__plus_01_dot_24_bar__plus_00_dot_52_bar__minus_01_dot_59 PencilType)\n (objectType LightSwitch_bar__plus_02_dot_01_bar__plus_01_dot_13_bar__plus_01_dot_03 LightSwitchType)\n (objectType Laptop_bar__plus_02_dot_36_bar__plus_00_dot_79_bar__minus_01_dot_54 LaptopType)\n (objectType Mug_bar__plus_01_dot_39_bar__plus_00_dot_52_bar__minus_01_dot_59 MugType)\n (objectType CellPhone_bar__minus_00_dot_10_bar__plus_00_dot_57_bar__minus_01_dot_35 CellPhoneType)\n (objectType Pen_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_67 PenType)\n (objectType Mug_bar__plus_03_dot_15_bar__plus_00_dot_54_bar__minus_01_dot_44 MugType)\n (objectType TeddyBear_bar__minus_00_dot_08_bar__plus_00_dot_56_bar__minus_00_dot_27 TeddyBearType)\n (objectType CreditCard_bar__plus_01_dot_32_bar__plus_00_dot_52_bar__minus_01_dot_79 CreditCardType)\n (objectType Pencil_bar__plus_02_dot_82_bar__plus_00_dot_80_bar__minus_01_dot_43 PencilType)\n (objectType Pillow_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__minus_01_dot_56 PillowType)\n (objectType Blinds_bar__plus_01_dot_78_bar__plus_01_dot_99_bar__minus_01_dot_86 BlindsType)\n (objectType HousePlant_bar__minus_00_dot_83_bar__plus_00_dot_00_bar__plus_00_dot_84 HousePlantType)\n (objectType TissueBox_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_36 TissueBoxType)\n (canContain BedType TennisRacketType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DeskType PenType)\n (canContain DeskType BookType)\n (canContain DeskType CDType)\n (canContain DeskType MugType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType TennisRacketType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType TissueBoxType)\n (canContain DeskType AlarmClockType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType PencilType)\n (canContain GarbageCanType TissueBoxType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType AlarmClockType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType CDType)\n (canContain SideTableType MugType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType TennisRacketType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType TissueBoxType)\n (canContain SideTableType AlarmClockType)\n (pickupable CellPhone_bar__plus_01_dot_35_bar__plus_00_dot_28_bar__minus_01_dot_61)\n (pickupable Book_bar__plus_00_dot_55_bar__plus_00_dot_57_bar__minus_00_dot_46)\n (pickupable CD_bar__plus_01_dot_80_bar__plus_00_dot_79_bar__minus_01_dot_42)\n (pickupable Pillow_bar__plus_00_dot_23_bar__plus_00_dot_67_bar__minus_00_dot_91)\n (pickupable KeyChain_bar__plus_01_dot_24_bar__plus_00_dot_28_bar__minus_01_dot_59)\n (pickupable CreditCard_bar__plus_02_dot_93_bar__plus_00_dot_55_bar__minus_01_dot_46)\n (pickupable AlarmClock_bar__plus_01_dot_11_bar__plus_00_dot_51_bar__minus_01_dot_67)\n (pickupable TennisRacket_bar__minus_00_dot_92_bar__plus_00_dot_34_bar__plus_00_dot_39)\n (pickupable Pencil_bar__plus_01_dot_24_bar__plus_00_dot_52_bar__minus_01_dot_59)\n (pickupable Laptop_bar__plus_02_dot_36_bar__plus_00_dot_79_bar__minus_01_dot_54)\n (pickupable Mug_bar__plus_01_dot_39_bar__plus_00_dot_52_bar__minus_01_dot_59)\n (pickupable CellPhone_bar__minus_00_dot_10_bar__plus_00_dot_57_bar__minus_01_dot_35)\n (pickupable Pen_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_67)\n (pickupable Mug_bar__plus_03_dot_15_bar__plus_00_dot_54_bar__minus_01_dot_44)\n (pickupable TeddyBear_bar__minus_00_dot_08_bar__plus_00_dot_56_bar__minus_00_dot_27)\n (pickupable CreditCard_bar__plus_01_dot_32_bar__plus_00_dot_52_bar__minus_01_dot_79)\n (pickupable Pencil_bar__plus_02_dot_82_bar__plus_00_dot_80_bar__minus_01_dot_43)\n (pickupable Pillow_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__minus_01_dot_56)\n (pickupable TissueBox_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_36)\n (isReceptacleObject Mug_bar__plus_01_dot_39_bar__plus_00_dot_52_bar__minus_01_dot_59)\n (isReceptacleObject Mug_bar__plus_03_dot_15_bar__plus_00_dot_54_bar__minus_01_dot_44)\n (openable Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60)\n (openable Drawer_bar__plus_01_dot_24_bar__plus_00_dot_13_bar__minus_01_dot_60)\n \n (atLocation agent1 loc_bar_11_bar_0_bar_2_bar_30)\n \n (cleanable Mug_bar__plus_01_dot_39_bar__plus_00_dot_52_bar__minus_01_dot_59)\n (cleanable Mug_bar__plus_03_dot_15_bar__plus_00_dot_54_bar__minus_01_dot_44)\n \n (heatable Mug_bar__plus_01_dot_39_bar__plus_00_dot_52_bar__minus_01_dot_59)\n (heatable Mug_bar__plus_03_dot_15_bar__plus_00_dot_54_bar__minus_01_dot_44)\n (coolable Mug_bar__plus_01_dot_39_bar__plus_00_dot_52_bar__minus_01_dot_59)\n (coolable Mug_bar__plus_03_dot_15_bar__plus_00_dot_54_bar__minus_01_dot_44)\n \n \n (toggleable DeskLamp_bar__plus_03_dot_16_bar__plus_00_dot_79_bar__minus_01_dot_66)\n \n \n \n \n (inReceptacle Pencil_bar__plus_02_dot_82_bar__plus_00_dot_80_bar__minus_01_dot_43 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59)\n (inReceptacle CD_bar__plus_01_dot_80_bar__plus_00_dot_79_bar__minus_01_dot_42 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59)\n (inReceptacle Pen_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_67 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59)\n (inReceptacle DeskLamp_bar__plus_03_dot_16_bar__plus_00_dot_79_bar__minus_01_dot_66 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59)\n (inReceptacle TissueBox_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_36 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59)\n (inReceptacle Laptop_bar__plus_02_dot_36_bar__plus_00_dot_79_bar__minus_01_dot_54 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59)\n (inReceptacle Book_bar__plus_00_dot_55_bar__plus_00_dot_57_bar__minus_00_dot_46 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95)\n (inReceptacle CellPhone_bar__minus_00_dot_10_bar__plus_00_dot_57_bar__minus_01_dot_35 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95)\n (inReceptacle Pillow_bar__plus_00_dot_23_bar__plus_00_dot_67_bar__minus_00_dot_91 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95)\n (inReceptacle Pillow_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__minus_01_dot_56 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95)\n (inReceptacle TeddyBear_bar__minus_00_dot_08_bar__plus_00_dot_56_bar__minus_00_dot_27 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95)\n (inReceptacle Mug_bar__plus_01_dot_39_bar__plus_00_dot_52_bar__minus_01_dot_59 SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67)\n (inReceptacle Pencil_bar__plus_01_dot_24_bar__plus_00_dot_52_bar__minus_01_dot_59 SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67)\n (inReceptacle AlarmClock_bar__plus_01_dot_11_bar__plus_00_dot_51_bar__minus_01_dot_67 SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67)\n (inReceptacle CreditCard_bar__plus_01_dot_32_bar__plus_00_dot_52_bar__minus_01_dot_79 SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67)\n (inReceptacle KeyChain_bar__plus_01_dot_24_bar__plus_00_dot_28_bar__minus_01_dot_59 Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60)\n (inReceptacle CellPhone_bar__plus_01_dot_35_bar__plus_00_dot_28_bar__minus_01_dot_61 Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60)\n (inReceptacle Mug_bar__plus_03_dot_15_bar__plus_00_dot_54_bar__minus_01_dot_44 Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44)\n (inReceptacle CreditCard_bar__plus_02_dot_93_bar__plus_00_dot_55_bar__minus_01_dot_46 Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44)\n \n \n (receptacleAtLocation Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95 loc_bar_6_bar__minus_4_bar_3_bar_45)\n (receptacleAtLocation Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_24_bar__plus_00_dot_13_bar__minus_01_dot_60 loc_bar_7_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60 loc_bar_9_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation GarbageCan_bar__plus_03_dot_17_bar__plus_00_dot_00_bar__minus_00_dot_27 loc_bar_9_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44 loc_bar_11_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67 loc_bar_7_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Mug_bar__plus_01_dot_39_bar__plus_00_dot_52_bar__minus_01_dot_59 loc_bar_7_bar__minus_3_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__plus_01_dot_35_bar__plus_00_dot_28_bar__minus_01_dot_61 loc_bar_9_bar__minus_3_bar_3_bar_45)\n (objectAtLocation Pillow_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__minus_01_dot_56 loc_bar_6_bar__minus_4_bar_3_bar_45)\n (objectAtLocation CreditCard_bar__plus_02_dot_93_bar__plus_00_dot_55_bar__minus_01_dot_46 loc_bar_11_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Pencil_bar__plus_02_dot_82_bar__plus_00_dot_80_bar__minus_01_dot_43 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Book_bar__plus_00_dot_55_bar__plus_00_dot_57_bar__minus_00_dot_46 loc_bar_6_bar__minus_4_bar_3_bar_45)\n (objectAtLocation Mirror_bar__plus_00_dot_62_bar__plus_01_dot_26_bar__plus_01_dot_03 loc_bar_2_bar_2_bar_0_bar_30)\n (objectAtLocation Chair_bar__plus_02_dot_22_bar__plus_00_dot_00_bar__minus_01_dot_47 loc_bar_9_bar__minus_3_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__plus_01_dot_24_bar__plus_00_dot_28_bar__minus_01_dot_59 loc_bar_9_bar__minus_3_bar_3_bar_45)\n (objectAtLocation TissueBox_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_36 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation TeddyBear_bar__minus_00_dot_08_bar__plus_00_dot_56_bar__minus_00_dot_27 loc_bar_6_bar__minus_4_bar_3_bar_45)\n (objectAtLocation DeskLamp_bar__plus_03_dot_16_bar__plus_00_dot_79_bar__minus_01_dot_66 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Pencil_bar__plus_01_dot_24_bar__plus_00_dot_52_bar__minus_01_dot_59 loc_bar_7_bar__minus_3_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__plus_01_dot_32_bar__plus_00_dot_52_bar__minus_01_dot_79 loc_bar_7_bar__minus_3_bar_2_bar_60)\n (objectAtLocation TennisRacket_bar__minus_00_dot_92_bar__plus_00_dot_34_bar__plus_00_dot_39 loc_bar__minus_2_bar_2_bar_3_bar_60)\n (objectAtLocation HousePlant_bar__minus_00_dot_83_bar__plus_00_dot_00_bar__plus_00_dot_84 loc_bar__minus_2_bar_2_bar_0_bar_60)\n (objectAtLocation Laptop_bar__plus_02_dot_36_bar__plus_00_dot_79_bar__minus_01_dot_54 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation AlarmClock_bar__plus_01_dot_11_bar__plus_00_dot_51_bar__minus_01_dot_67 loc_bar_7_bar__minus_3_bar_2_bar_60)\n (objectAtLocation LightSwitch_bar__plus_02_dot_01_bar__plus_01_dot_13_bar__plus_01_dot_03 loc_bar_8_bar_2_bar_0_bar_45)\n (objectAtLocation Pen_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_67 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Pillow_bar__plus_00_dot_23_bar__plus_00_dot_67_bar__minus_00_dot_91 loc_bar_6_bar__minus_4_bar_3_bar_45)\n (objectAtLocation CellPhone_bar__minus_00_dot_10_bar__plus_00_dot_57_bar__minus_01_dot_35 loc_bar_6_bar__minus_4_bar_3_bar_45)\n (objectAtLocation CD_bar__plus_01_dot_80_bar__plus_00_dot_79_bar__minus_01_dot_42 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Window_bar__plus_01_dot_80_bar__plus_01_dot_68_bar__minus_01_dot_94 loc_bar_6_bar__minus_5_bar_2_bar_0)\n (objectAtLocation Window_bar__plus_00_dot_69_bar__plus_01_dot_36_bar__minus_01_dot_94 loc_bar_5_bar__minus_5_bar_2_bar_30)\n (objectAtLocation Mug_bar__plus_03_dot_15_bar__plus_00_dot_54_bar__minus_01_dot_44 loc_bar_11_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Blinds_bar__plus_01_dot_78_bar__plus_01_dot_99_bar__minus_01_dot_86 loc_bar_6_bar__minus_5_bar_2_bar__minus_30)\n (objectAtLocation Blinds_bar__plus_00_dot_67_bar__plus_01_dot_99_bar__minus_01_dot_86 loc_bar_5_bar__minus_5_bar_2_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?ot - object\n ?r - receptacle\n ?a - agent\n ?l - location)\n (and\n (objectType ?ot DeskLampType)\n (toggleable ?ot)\n (isToggled ?ot)\n (receptacleAtLocation ?r ?l)\n (atLocation ?a ?l)\n (inReceptacle ?ot ?r)\n )\n )\n (exists (?o - object\n ?a - agent)\n (and\n (objectType ?o CDType)\n (holds ?a ?o)\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to desk 1", "use desklamp 1", "take cd 1 from desk 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CD-None-DeskLamp-328/trial_T20190908_004526_651155/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CD-None-DeskLamp-328/trial_T20190908_004526_651155/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..83fbb5277448af4f705eb822609d08c8760d24e5 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CD-None-DeskLamp-328/trial_T20190908_004526_651155/initial_state.pddl @@ -0,0 +1,472 @@ + +(define (problem plan_trial_T20190908_004526_651155) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + AlarmClock_bar__plus_01_dot_11_bar__plus_00_dot_51_bar__minus_01_dot_67 - object + Blinds_bar__plus_00_dot_67_bar__plus_01_dot_99_bar__minus_01_dot_86 - object + Blinds_bar__plus_01_dot_78_bar__plus_01_dot_99_bar__minus_01_dot_86 - object + Book_bar__plus_00_dot_55_bar__plus_00_dot_57_bar__minus_00_dot_46 - object + CD_bar__plus_01_dot_80_bar__plus_00_dot_79_bar__minus_01_dot_42 - object + CellPhone_bar__plus_01_dot_35_bar__plus_00_dot_28_bar__minus_01_dot_61 - object + CellPhone_bar__minus_00_dot_10_bar__plus_00_dot_57_bar__minus_01_dot_35 - object + Chair_bar__plus_02_dot_22_bar__plus_00_dot_00_bar__minus_01_dot_47 - object + CreditCard_bar__plus_01_dot_32_bar__plus_00_dot_52_bar__minus_01_dot_79 - object + CreditCard_bar__plus_02_dot_93_bar__plus_00_dot_55_bar__minus_01_dot_46 - object + DeskLamp_bar__plus_03_dot_16_bar__plus_00_dot_79_bar__minus_01_dot_66 - object + HousePlant_bar__minus_00_dot_83_bar__plus_00_dot_00_bar__plus_00_dot_84 - object + KeyChain_bar__plus_01_dot_24_bar__plus_00_dot_28_bar__minus_01_dot_59 - object + Laptop_bar__plus_02_dot_36_bar__plus_00_dot_79_bar__minus_01_dot_54 - object + LightSwitch_bar__plus_02_dot_01_bar__plus_01_dot_13_bar__plus_01_dot_03 - object + Mirror_bar__plus_00_dot_62_bar__plus_01_dot_26_bar__plus_01_dot_03 - object + Mug_bar__plus_01_dot_39_bar__plus_00_dot_52_bar__minus_01_dot_59 - object + Mug_bar__plus_03_dot_15_bar__plus_00_dot_54_bar__minus_01_dot_44 - object + Pencil_bar__plus_01_dot_24_bar__plus_00_dot_52_bar__minus_01_dot_59 - object + Pencil_bar__plus_02_dot_82_bar__plus_00_dot_80_bar__minus_01_dot_43 - object + Pen_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_67 - object + Pillow_bar__plus_00_dot_23_bar__plus_00_dot_67_bar__minus_00_dot_91 - object + Pillow_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__minus_01_dot_56 - object + TeddyBear_bar__minus_00_dot_08_bar__plus_00_dot_56_bar__minus_00_dot_27 - object + TennisRacket_bar__minus_00_dot_92_bar__plus_00_dot_34_bar__plus_00_dot_39 - object + TissueBox_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_36 - object + Window_bar__plus_00_dot_69_bar__plus_01_dot_36_bar__minus_01_dot_94 - object + Window_bar__plus_01_dot_80_bar__plus_01_dot_68_bar__minus_01_dot_94 - object + Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95 - receptacle + Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59 - receptacle + Drawer_bar__plus_01_dot_24_bar__plus_00_dot_13_bar__minus_01_dot_60 - receptacle + Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60 - receptacle + GarbageCan_bar__plus_03_dot_17_bar__plus_00_dot_00_bar__minus_00_dot_27 - receptacle + Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44 - receptacle + SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67 - receptacle + loc_bar_7_bar__minus_3_bar_2_bar_60 - location + loc_bar_9_bar__minus_3_bar_3_bar_45 - location + loc_bar__minus_2_bar_2_bar_3_bar_60 - location + loc_bar_2_bar_2_bar_0_bar_30 - location + loc_bar_5_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_6_bar__minus_5_bar_2_bar_0 - location + loc_bar_10_bar__minus_2_bar_2_bar_60 - location + loc_bar_11_bar__minus_2_bar_2_bar_45 - location + loc_bar__minus_2_bar_2_bar_0_bar_60 - location + loc_bar_7_bar__minus_2_bar_2_bar_60 - location + loc_bar_5_bar__minus_5_bar_2_bar_30 - location + loc_bar_9_bar__minus_3_bar_1_bar_60 - location + loc_bar_9_bar__minus_3_bar_2_bar_60 - location + loc_bar_8_bar_2_bar_0_bar_45 - location + loc_bar_6_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_6_bar__minus_4_bar_3_bar_45 - location + loc_bar_11_bar_0_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95 BedType) + (receptacleType Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_24_bar__plus_00_dot_13_bar__minus_01_dot_60 DrawerType) + (receptacleType Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59 DeskType) + (receptacleType GarbageCan_bar__plus_03_dot_17_bar__plus_00_dot_00_bar__minus_00_dot_27 GarbageCanType) + (receptacleType Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44 ShelfType) + (receptacleType SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67 SideTableType) + (objectType Mirror_bar__plus_00_dot_62_bar__plus_01_dot_26_bar__plus_01_dot_03 MirrorType) + (objectType Blinds_bar__plus_00_dot_67_bar__plus_01_dot_99_bar__minus_01_dot_86 BlindsType) + (objectType CellPhone_bar__plus_01_dot_35_bar__plus_00_dot_28_bar__minus_01_dot_61 CellPhoneType) + (objectType Book_bar__plus_00_dot_55_bar__plus_00_dot_57_bar__minus_00_dot_46 BookType) + (objectType CD_bar__plus_01_dot_80_bar__plus_00_dot_79_bar__minus_01_dot_42 CDType) + (objectType Window_bar__plus_00_dot_69_bar__plus_01_dot_36_bar__minus_01_dot_94 WindowType) + (objectType Pillow_bar__plus_00_dot_23_bar__plus_00_dot_67_bar__minus_00_dot_91 PillowType) + (objectType KeyChain_bar__plus_01_dot_24_bar__plus_00_dot_28_bar__minus_01_dot_59 KeyChainType) + (objectType CreditCard_bar__plus_02_dot_93_bar__plus_00_dot_55_bar__minus_01_dot_46 CreditCardType) + (objectType AlarmClock_bar__plus_01_dot_11_bar__plus_00_dot_51_bar__minus_01_dot_67 AlarmClockType) + (objectType Chair_bar__plus_02_dot_22_bar__plus_00_dot_00_bar__minus_01_dot_47 ChairType) + (objectType TennisRacket_bar__minus_00_dot_92_bar__plus_00_dot_34_bar__plus_00_dot_39 TennisRacketType) + (objectType Window_bar__plus_01_dot_80_bar__plus_01_dot_68_bar__minus_01_dot_94 WindowType) + (objectType DeskLamp_bar__plus_03_dot_16_bar__plus_00_dot_79_bar__minus_01_dot_66 DeskLampType) + (objectType Pencil_bar__plus_01_dot_24_bar__plus_00_dot_52_bar__minus_01_dot_59 PencilType) + (objectType LightSwitch_bar__plus_02_dot_01_bar__plus_01_dot_13_bar__plus_01_dot_03 LightSwitchType) + (objectType Laptop_bar__plus_02_dot_36_bar__plus_00_dot_79_bar__minus_01_dot_54 LaptopType) + (objectType Mug_bar__plus_01_dot_39_bar__plus_00_dot_52_bar__minus_01_dot_59 MugType) + (objectType CellPhone_bar__minus_00_dot_10_bar__plus_00_dot_57_bar__minus_01_dot_35 CellPhoneType) + (objectType Pen_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_67 PenType) + (objectType Mug_bar__plus_03_dot_15_bar__plus_00_dot_54_bar__minus_01_dot_44 MugType) + (objectType TeddyBear_bar__minus_00_dot_08_bar__plus_00_dot_56_bar__minus_00_dot_27 TeddyBearType) + (objectType CreditCard_bar__plus_01_dot_32_bar__plus_00_dot_52_bar__minus_01_dot_79 CreditCardType) + (objectType Pencil_bar__plus_02_dot_82_bar__plus_00_dot_80_bar__minus_01_dot_43 PencilType) + (objectType Pillow_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__minus_01_dot_56 PillowType) + (objectType Blinds_bar__plus_01_dot_78_bar__plus_01_dot_99_bar__minus_01_dot_86 BlindsType) + (objectType HousePlant_bar__minus_00_dot_83_bar__plus_00_dot_00_bar__plus_00_dot_84 HousePlantType) + (objectType TissueBox_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_36 TissueBoxType) + (canContain BedType TennisRacketType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType TissueBoxType) + (canContain DeskType PenType) + (canContain DeskType BookType) + (canContain DeskType CDType) + (canContain DeskType MugType) + (canContain DeskType CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (canContain DeskType TennisRacketType) + (canContain DeskType LaptopType) + (canContain DeskType PencilType) + (canContain DeskType TissueBoxType) + (canContain DeskType AlarmClockType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType CDType) + (canContain GarbageCanType PencilType) + (canContain GarbageCanType TissueBoxType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType CDType) + (canContain ShelfType MugType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType AlarmClockType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType CDType) + (canContain SideTableType MugType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType TennisRacketType) + (canContain SideTableType LaptopType) + (canContain SideTableType PencilType) + (canContain SideTableType TissueBoxType) + (canContain SideTableType AlarmClockType) + (pickupable CellPhone_bar__plus_01_dot_35_bar__plus_00_dot_28_bar__minus_01_dot_61) + (pickupable Book_bar__plus_00_dot_55_bar__plus_00_dot_57_bar__minus_00_dot_46) + (pickupable CD_bar__plus_01_dot_80_bar__plus_00_dot_79_bar__minus_01_dot_42) + (pickupable Pillow_bar__plus_00_dot_23_bar__plus_00_dot_67_bar__minus_00_dot_91) + (pickupable KeyChain_bar__plus_01_dot_24_bar__plus_00_dot_28_bar__minus_01_dot_59) + (pickupable CreditCard_bar__plus_02_dot_93_bar__plus_00_dot_55_bar__minus_01_dot_46) + (pickupable AlarmClock_bar__plus_01_dot_11_bar__plus_00_dot_51_bar__minus_01_dot_67) + (pickupable TennisRacket_bar__minus_00_dot_92_bar__plus_00_dot_34_bar__plus_00_dot_39) + (pickupable Pencil_bar__plus_01_dot_24_bar__plus_00_dot_52_bar__minus_01_dot_59) + (pickupable Laptop_bar__plus_02_dot_36_bar__plus_00_dot_79_bar__minus_01_dot_54) + (pickupable Mug_bar__plus_01_dot_39_bar__plus_00_dot_52_bar__minus_01_dot_59) + (pickupable CellPhone_bar__minus_00_dot_10_bar__plus_00_dot_57_bar__minus_01_dot_35) + (pickupable Pen_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_67) + (pickupable Mug_bar__plus_03_dot_15_bar__plus_00_dot_54_bar__minus_01_dot_44) + (pickupable TeddyBear_bar__minus_00_dot_08_bar__plus_00_dot_56_bar__minus_00_dot_27) + (pickupable CreditCard_bar__plus_01_dot_32_bar__plus_00_dot_52_bar__minus_01_dot_79) + (pickupable Pencil_bar__plus_02_dot_82_bar__plus_00_dot_80_bar__minus_01_dot_43) + (pickupable Pillow_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__minus_01_dot_56) + (pickupable TissueBox_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_36) + (isReceptacleObject Mug_bar__plus_01_dot_39_bar__plus_00_dot_52_bar__minus_01_dot_59) + (isReceptacleObject Mug_bar__plus_03_dot_15_bar__plus_00_dot_54_bar__minus_01_dot_44) + (openable Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60) + (openable Drawer_bar__plus_01_dot_24_bar__plus_00_dot_13_bar__minus_01_dot_60) + + (atLocation agent1 loc_bar_11_bar_0_bar_2_bar_30) + + (cleanable Mug_bar__plus_01_dot_39_bar__plus_00_dot_52_bar__minus_01_dot_59) + (cleanable Mug_bar__plus_03_dot_15_bar__plus_00_dot_54_bar__minus_01_dot_44) + + (heatable Mug_bar__plus_01_dot_39_bar__plus_00_dot_52_bar__minus_01_dot_59) + (heatable Mug_bar__plus_03_dot_15_bar__plus_00_dot_54_bar__minus_01_dot_44) + (coolable Mug_bar__plus_01_dot_39_bar__plus_00_dot_52_bar__minus_01_dot_59) + (coolable Mug_bar__plus_03_dot_15_bar__plus_00_dot_54_bar__minus_01_dot_44) + + + (toggleable DeskLamp_bar__plus_03_dot_16_bar__plus_00_dot_79_bar__minus_01_dot_66) + + + + + (inReceptacle Pencil_bar__plus_02_dot_82_bar__plus_00_dot_80_bar__minus_01_dot_43 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59) + (inReceptacle CD_bar__plus_01_dot_80_bar__plus_00_dot_79_bar__minus_01_dot_42 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59) + (inReceptacle Pen_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_67 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59) + (inReceptacle DeskLamp_bar__plus_03_dot_16_bar__plus_00_dot_79_bar__minus_01_dot_66 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59) + (inReceptacle TissueBox_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_36 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59) + (inReceptacle Laptop_bar__plus_02_dot_36_bar__plus_00_dot_79_bar__minus_01_dot_54 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59) + (inReceptacle Book_bar__plus_00_dot_55_bar__plus_00_dot_57_bar__minus_00_dot_46 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle CellPhone_bar__minus_00_dot_10_bar__plus_00_dot_57_bar__minus_01_dot_35 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle Pillow_bar__plus_00_dot_23_bar__plus_00_dot_67_bar__minus_00_dot_91 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle Pillow_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__minus_01_dot_56 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle TeddyBear_bar__minus_00_dot_08_bar__plus_00_dot_56_bar__minus_00_dot_27 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle Mug_bar__plus_01_dot_39_bar__plus_00_dot_52_bar__minus_01_dot_59 SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67) + (inReceptacle Pencil_bar__plus_01_dot_24_bar__plus_00_dot_52_bar__minus_01_dot_59 SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67) + (inReceptacle AlarmClock_bar__plus_01_dot_11_bar__plus_00_dot_51_bar__minus_01_dot_67 SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67) + (inReceptacle CreditCard_bar__plus_01_dot_32_bar__plus_00_dot_52_bar__minus_01_dot_79 SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67) + (inReceptacle KeyChain_bar__plus_01_dot_24_bar__plus_00_dot_28_bar__minus_01_dot_59 Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60) + (inReceptacle CellPhone_bar__plus_01_dot_35_bar__plus_00_dot_28_bar__minus_01_dot_61 Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60) + (inReceptacle Mug_bar__plus_03_dot_15_bar__plus_00_dot_54_bar__minus_01_dot_44 Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44) + (inReceptacle CreditCard_bar__plus_02_dot_93_bar__plus_00_dot_55_bar__minus_01_dot_46 Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44) + + + (receptacleAtLocation Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95 loc_bar_6_bar__minus_4_bar_3_bar_45) + (receptacleAtLocation Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59 loc_bar_10_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_24_bar__plus_00_dot_13_bar__minus_01_dot_60 loc_bar_7_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60 loc_bar_9_bar__minus_3_bar_3_bar_45) + (receptacleAtLocation GarbageCan_bar__plus_03_dot_17_bar__plus_00_dot_00_bar__minus_00_dot_27 loc_bar_9_bar__minus_3_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44 loc_bar_11_bar__minus_2_bar_2_bar_45) + (receptacleAtLocation SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67 loc_bar_7_bar__minus_3_bar_2_bar_60) + (objectAtLocation Mug_bar__plus_01_dot_39_bar__plus_00_dot_52_bar__minus_01_dot_59 loc_bar_7_bar__minus_3_bar_2_bar_60) + (objectAtLocation CellPhone_bar__plus_01_dot_35_bar__plus_00_dot_28_bar__minus_01_dot_61 loc_bar_9_bar__minus_3_bar_3_bar_45) + (objectAtLocation Pillow_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__minus_01_dot_56 loc_bar_6_bar__minus_4_bar_3_bar_45) + (objectAtLocation CreditCard_bar__plus_02_dot_93_bar__plus_00_dot_55_bar__minus_01_dot_46 loc_bar_11_bar__minus_2_bar_2_bar_45) + (objectAtLocation Pencil_bar__plus_02_dot_82_bar__plus_00_dot_80_bar__minus_01_dot_43 loc_bar_10_bar__minus_2_bar_2_bar_60) + (objectAtLocation Book_bar__plus_00_dot_55_bar__plus_00_dot_57_bar__minus_00_dot_46 loc_bar_6_bar__minus_4_bar_3_bar_45) + (objectAtLocation Mirror_bar__plus_00_dot_62_bar__plus_01_dot_26_bar__plus_01_dot_03 loc_bar_2_bar_2_bar_0_bar_30) + (objectAtLocation Chair_bar__plus_02_dot_22_bar__plus_00_dot_00_bar__minus_01_dot_47 loc_bar_9_bar__minus_3_bar_2_bar_60) + (objectAtLocation KeyChain_bar__plus_01_dot_24_bar__plus_00_dot_28_bar__minus_01_dot_59 loc_bar_9_bar__minus_3_bar_3_bar_45) + (objectAtLocation TissueBox_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_36 loc_bar_10_bar__minus_2_bar_2_bar_60) + (objectAtLocation TeddyBear_bar__minus_00_dot_08_bar__plus_00_dot_56_bar__minus_00_dot_27 loc_bar_6_bar__minus_4_bar_3_bar_45) + (objectAtLocation DeskLamp_bar__plus_03_dot_16_bar__plus_00_dot_79_bar__minus_01_dot_66 loc_bar_10_bar__minus_2_bar_2_bar_60) + (objectAtLocation Pencil_bar__plus_01_dot_24_bar__plus_00_dot_52_bar__minus_01_dot_59 loc_bar_7_bar__minus_3_bar_2_bar_60) + (objectAtLocation CreditCard_bar__plus_01_dot_32_bar__plus_00_dot_52_bar__minus_01_dot_79 loc_bar_7_bar__minus_3_bar_2_bar_60) + (objectAtLocation TennisRacket_bar__minus_00_dot_92_bar__plus_00_dot_34_bar__plus_00_dot_39 loc_bar__minus_2_bar_2_bar_3_bar_60) + (objectAtLocation HousePlant_bar__minus_00_dot_83_bar__plus_00_dot_00_bar__plus_00_dot_84 loc_bar__minus_2_bar_2_bar_0_bar_60) + (objectAtLocation Laptop_bar__plus_02_dot_36_bar__plus_00_dot_79_bar__minus_01_dot_54 loc_bar_10_bar__minus_2_bar_2_bar_60) + (objectAtLocation AlarmClock_bar__plus_01_dot_11_bar__plus_00_dot_51_bar__minus_01_dot_67 loc_bar_7_bar__minus_3_bar_2_bar_60) + (objectAtLocation LightSwitch_bar__plus_02_dot_01_bar__plus_01_dot_13_bar__plus_01_dot_03 loc_bar_8_bar_2_bar_0_bar_45) + (objectAtLocation Pen_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_67 loc_bar_10_bar__minus_2_bar_2_bar_60) + (objectAtLocation Pillow_bar__plus_00_dot_23_bar__plus_00_dot_67_bar__minus_00_dot_91 loc_bar_6_bar__minus_4_bar_3_bar_45) + (objectAtLocation CellPhone_bar__minus_00_dot_10_bar__plus_00_dot_57_bar__minus_01_dot_35 loc_bar_6_bar__minus_4_bar_3_bar_45) + (objectAtLocation CD_bar__plus_01_dot_80_bar__plus_00_dot_79_bar__minus_01_dot_42 loc_bar_10_bar__minus_2_bar_2_bar_60) + (objectAtLocation Window_bar__plus_01_dot_80_bar__plus_01_dot_68_bar__minus_01_dot_94 loc_bar_6_bar__minus_5_bar_2_bar_0) + (objectAtLocation Window_bar__plus_00_dot_69_bar__plus_01_dot_36_bar__minus_01_dot_94 loc_bar_5_bar__minus_5_bar_2_bar_30) + (objectAtLocation Mug_bar__plus_03_dot_15_bar__plus_00_dot_54_bar__minus_01_dot_44 loc_bar_11_bar__minus_2_bar_2_bar_45) + (objectAtLocation Blinds_bar__plus_01_dot_78_bar__plus_01_dot_99_bar__minus_01_dot_86 loc_bar_6_bar__minus_5_bar_2_bar__minus_30) + (objectAtLocation Blinds_bar__plus_00_dot_67_bar__plus_01_dot_99_bar__minus_01_dot_86 loc_bar_5_bar__minus_5_bar_2_bar__minus_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 CDType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CD-None-DeskLamp-328/trial_T20190908_004526_651155/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CD-None-DeskLamp-328/trial_T20190908_004526_651155/traj_data.json new file mode 100644 index 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"y": 0.7969379, + "z": -1.66727781 + }, + "rotation": { + "x": 0.00154846581, + "y": 9.560656e-07, + "z": 0.04475519 + } + }, + { + "objectName": "Pillow_b9c16add", + "position": { + "x": 0.2994393, + "y": 0.643, + "z": -1.5575825 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CellPhone_948924de", + "position": { + "x": 1.35298324, + "y": 0.2833479, + "z": -1.61413622 + }, + "rotation": { + "x": 0.0, + "y": 180.000259, + "z": 0.0 + } + }, + { + "objectName": "CD_e348100e", + "position": { + "x": 1.79970086, + "y": 0.7925867, + "z": -1.42419982 + }, + "rotation": { + "x": -5.071748e-05, + "y": 0.000230518912, + "z": -0.000111599576 + } + }, + { + "objectName": "Mug_e2689221", + "position": { + "x": 1.39439368, + "y": 0.5154606, + "z": -1.59148741 + }, + "rotation": { + "x": 0.0, + "y": 90.00059, + "z": 0.0 + } + } + ], + "object_toggles": [ + { + "isOn": false, + "objectType": "DeskLamp" + } + ], + "random_seed": 2705132834, + "scene_num": 328 + }, + "task_id": "trial_T20190908_004526_651155", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1DMXEJGJY02E1_3CN4LGXD5053FM6YFE4YNMHM7XAY4U", + "high_descs": [ + "Walk to the corner of the desk closest to the bed.", + "Pick up the CD from the desk.", + "Move to the other end of the desk.", + "Turn on the lamp." + ], + "task_desc": "Look at a CD by lamp light.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AD0NVUGLDYDYN_3E47SOBEYTDKKQ484BODKWZM9RZICR", + "high_descs": [ + "turn right, walk to the bed, turn left, walk to the night stand, turn left", + "grab the disc at the edge of the table, ", + "turn left, walk to the other side of the table", + "turn on the lamp" + ], + "task_desc": "grab the disc on the table, turn on the lamp", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A6U2C66WQ7QQN_3FIJLY1B6XLJ4OBM884Y1ZL1SI9PF8", + "high_descs": [ + "Head to the large desk", + "Pick up the CD, turn around", + "Head to the green trash can, turn to the right", + "Turn on the lamp " + ], + "task_desc": "Take the CD from the desk, turn on the lamp", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CD-None-DeskLamp-328/trial_T20190908_004539_969224/game.tw-pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CD-None-DeskLamp-328/trial_T20190908_004539_969224/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..31f46f485c0bbddf7aa959be598966ba0ed8c1d3 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CD-None-DeskLamp-328/trial_T20190908_004539_969224/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: look at cd under the desklamp.\"\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_004539_969224)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n AlarmClock_bar__plus_01_dot_11_bar__plus_00_dot_51_bar__minus_01_dot_68 - object\n Blinds_bar__plus_00_dot_67_bar__plus_01_dot_99_bar__minus_01_dot_86 - object\n Blinds_bar__plus_01_dot_78_bar__plus_01_dot_99_bar__minus_01_dot_86 - object\n Book_bar__plus_00_dot_39_bar__plus_00_dot_57_bar__minus_00_dot_91 - object\n CD_bar__plus_01_dot_24_bar__plus_00_dot_06_bar__minus_01_dot_61 - object\n CD_bar__plus_01_dot_32_bar__plus_00_dot_52_bar__minus_01_dot_63 - object\n CD_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_63 - object\n CD_bar__plus_03_dot_16_bar__plus_00_dot_08_bar__minus_00_dot_27 - object\n CellPhone_bar__plus_00_dot_39_bar__plus_00_dot_57_bar__minus_01_dot_35 - object\n CellPhone_bar__plus_01_dot_13_bar__plus_00_dot_28_bar__minus_01_dot_61 - object\n Chair_bar__plus_02_dot_22_bar__plus_00_dot_00_bar__minus_01_dot_47 - object\n CreditCard_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_73 - object\n DeskLamp_bar__plus_03_dot_16_bar__plus_00_dot_79_bar__minus_01_dot_66 - object\n HousePlant_bar__minus_00_dot_83_bar__plus_00_dot_00_bar__plus_00_dot_84 - object\n KeyChain_bar__plus_01_dot_41_bar__plus_00_dot_28_bar__minus_01_dot_64 - object\n KeyChain_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_48 - object\n KeyChain_bar__plus_03_dot_10_bar__plus_00_dot_80_bar__minus_01_dot_36 - object\n Laptop_bar__plus_00_dot_23_bar__plus_00_dot_57_bar__minus_00_dot_46 - object\n Laptop_bar__plus_02_dot_36_bar__plus_00_dot_79_bar__minus_01_dot_54 - object\n LightSwitch_bar__plus_02_dot_01_bar__plus_01_dot_13_bar__plus_01_dot_03 - object\n Mirror_bar__plus_00_dot_62_bar__plus_01_dot_26_bar__plus_01_dot_03 - object\n Mug_bar__plus_02_dot_88_bar__plus_00_dot_54_bar__minus_01_dot_44 - object\n Mug_bar__plus_03_dot_21_bar__plus_00_dot_54_bar__minus_01_dot_46 - object\n Pencil_bar__plus_01_dot_24_bar__plus_00_dot_52_bar__minus_01_dot_71 - object\n Pencil_bar__plus_02_dot_83_bar__plus_00_dot_80_bar__minus_01_dot_43 - object\n Pen_bar__plus_03_dot_04_bar__plus_00_dot_55_bar__minus_01_dot_40 - object\n Pillow_bar__minus_00_dot_10_bar__plus_00_dot_67_bar__minus_00_dot_91 - object\n TeddyBear_bar__minus_00_dot_08_bar__plus_00_dot_56_bar__minus_00_dot_27 - object\n TennisRacket_bar__minus_00_dot_92_bar__plus_00_dot_34_bar__plus_00_dot_39 - object\n TissueBox_bar__plus_02_dot_90_bar__plus_00_dot_80_bar__minus_01_dot_61 - object\n Window_bar__plus_00_dot_69_bar__plus_01_dot_36_bar__minus_01_dot_94 - object\n Window_bar__plus_01_dot_80_bar__plus_01_dot_68_bar__minus_01_dot_94 - object\n Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95 - receptacle\n Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59 - receptacle\n Drawer_bar__plus_01_dot_24_bar__plus_00_dot_13_bar__minus_01_dot_60 - receptacle\n Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60 - receptacle\n GarbageCan_bar__plus_03_dot_17_bar__plus_00_dot_00_bar__minus_00_dot_27 - receptacle\n Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44 - receptacle\n SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67 - receptacle\n loc_bar_5_bar__minus_5_bar_2_bar_60 - location\n loc_bar_7_bar__minus_3_bar_2_bar_60 - location\n loc_bar_9_bar__minus_3_bar_3_bar_45 - location\n loc_bar__minus_2_bar_2_bar_3_bar_60 - location\n loc_bar_2_bar_2_bar_0_bar_30 - location\n loc_bar_5_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar_6_bar__minus_5_bar_2_bar_0 - location\n loc_bar_10_bar__minus_2_bar_2_bar_60 - location\n loc_bar_11_bar__minus_2_bar_2_bar_45 - location\n loc_bar__minus_2_bar_2_bar_0_bar_60 - location\n loc_bar_7_bar__minus_2_bar_2_bar_60 - location\n loc_bar_5_bar__minus_5_bar_2_bar_30 - location\n loc_bar_9_bar__minus_3_bar_1_bar_60 - location\n loc_bar_11_bar__minus_1_bar_1_bar_60 - location\n loc_bar_9_bar__minus_3_bar_2_bar_60 - location\n loc_bar_8_bar_2_bar_0_bar_45 - location\n loc_bar_6_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar_6_bar__minus_4_bar_3_bar_45 - location\n loc_bar_9_bar_2_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95 BedType)\n (receptacleType Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_24_bar__plus_00_dot_13_bar__minus_01_dot_60 DrawerType)\n (receptacleType Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59 DeskType)\n (receptacleType GarbageCan_bar__plus_03_dot_17_bar__plus_00_dot_00_bar__minus_00_dot_27 GarbageCanType)\n (receptacleType Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44 ShelfType)\n (receptacleType SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67 SideTableType)\n (objectType Mirror_bar__plus_00_dot_62_bar__plus_01_dot_26_bar__plus_01_dot_03 MirrorType)\n (objectType Blinds_bar__plus_00_dot_67_bar__plus_01_dot_99_bar__minus_01_dot_86 BlindsType)\n (objectType Mug_bar__plus_03_dot_21_bar__plus_00_dot_54_bar__minus_01_dot_46 MugType)\n (objectType TissueBox_bar__plus_02_dot_90_bar__plus_00_dot_80_bar__minus_01_dot_61 TissueBoxType)\n (objectType Window_bar__plus_00_dot_69_bar__plus_01_dot_36_bar__minus_01_dot_94 WindowType)\n (objectType Laptop_bar__plus_00_dot_23_bar__plus_00_dot_57_bar__minus_00_dot_46 LaptopType)\n (objectType Book_bar__plus_00_dot_39_bar__plus_00_dot_57_bar__minus_00_dot_91 BookType)\n (objectType Pillow_bar__minus_00_dot_10_bar__plus_00_dot_67_bar__minus_00_dot_91 PillowType)\n (objectType AlarmClock_bar__plus_01_dot_11_bar__plus_00_dot_51_bar__minus_01_dot_68 AlarmClockType)\n (objectType Pen_bar__plus_03_dot_04_bar__plus_00_dot_55_bar__minus_01_dot_40 PenType)\n (objectType Mug_bar__plus_02_dot_88_bar__plus_00_dot_54_bar__minus_01_dot_44 MugType)\n (objectType Chair_bar__plus_02_dot_22_bar__plus_00_dot_00_bar__minus_01_dot_47 ChairType)\n (objectType TennisRacket_bar__minus_00_dot_92_bar__plus_00_dot_34_bar__plus_00_dot_39 TennisRacketType)\n (objectType CellPhone_bar__plus_00_dot_39_bar__plus_00_dot_57_bar__minus_01_dot_35 CellPhoneType)\n (objectType Window_bar__plus_01_dot_80_bar__plus_01_dot_68_bar__minus_01_dot_94 WindowType)\n (objectType DeskLamp_bar__plus_03_dot_16_bar__plus_00_dot_79_bar__minus_01_dot_66 DeskLampType)\n (objectType LightSwitch_bar__plus_02_dot_01_bar__plus_01_dot_13_bar__plus_01_dot_03 LightSwitchType)\n (objectType Laptop_bar__plus_02_dot_36_bar__plus_00_dot_79_bar__minus_01_dot_54 LaptopType)\n (objectType CD_bar__plus_01_dot_32_bar__plus_00_dot_52_bar__minus_01_dot_63 CDType)\n (objectType Pencil_bar__plus_02_dot_83_bar__plus_00_dot_80_bar__minus_01_dot_43 PencilType)\n (objectType CD_bar__plus_03_dot_16_bar__plus_00_dot_08_bar__minus_00_dot_27 CDType)\n (objectType Pencil_bar__plus_01_dot_24_bar__plus_00_dot_52_bar__minus_01_dot_71 PencilType)\n (objectType KeyChain_bar__plus_03_dot_10_bar__plus_00_dot_80_bar__minus_01_dot_36 KeyChainType)\n (objectType CellPhone_bar__plus_01_dot_13_bar__plus_00_dot_28_bar__minus_01_dot_61 CellPhoneType)\n (objectType KeyChain_bar__plus_01_dot_41_bar__plus_00_dot_28_bar__minus_01_dot_64 KeyChainType)\n (objectType TeddyBear_bar__minus_00_dot_08_bar__plus_00_dot_56_bar__minus_00_dot_27 TeddyBearType)\n (objectType CreditCard_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_73 CreditCardType)\n (objectType Blinds_bar__plus_01_dot_78_bar__plus_01_dot_99_bar__minus_01_dot_86 BlindsType)\n (objectType CD_bar__plus_01_dot_24_bar__plus_00_dot_06_bar__minus_01_dot_61 CDType)\n (objectType KeyChain_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_48 KeyChainType)\n (objectType HousePlant_bar__minus_00_dot_83_bar__plus_00_dot_00_bar__plus_00_dot_84 HousePlantType)\n (objectType CD_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_63 CDType)\n (canContain BedType TennisRacketType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DeskType PenType)\n (canContain DeskType BookType)\n (canContain DeskType CDType)\n (canContain DeskType MugType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType TennisRacketType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType TissueBoxType)\n (canContain DeskType AlarmClockType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType PencilType)\n (canContain GarbageCanType TissueBoxType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType AlarmClockType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType CDType)\n (canContain SideTableType MugType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType TennisRacketType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType TissueBoxType)\n (canContain SideTableType AlarmClockType)\n (pickupable Mug_bar__plus_03_dot_21_bar__plus_00_dot_54_bar__minus_01_dot_46)\n (pickupable TissueBox_bar__plus_02_dot_90_bar__plus_00_dot_80_bar__minus_01_dot_61)\n (pickupable Laptop_bar__plus_00_dot_23_bar__plus_00_dot_57_bar__minus_00_dot_46)\n (pickupable Book_bar__plus_00_dot_39_bar__plus_00_dot_57_bar__minus_00_dot_91)\n (pickupable Pillow_bar__minus_00_dot_10_bar__plus_00_dot_67_bar__minus_00_dot_91)\n (pickupable AlarmClock_bar__plus_01_dot_11_bar__plus_00_dot_51_bar__minus_01_dot_68)\n (pickupable Pen_bar__plus_03_dot_04_bar__plus_00_dot_55_bar__minus_01_dot_40)\n (pickupable Mug_bar__plus_02_dot_88_bar__plus_00_dot_54_bar__minus_01_dot_44)\n (pickupable TennisRacket_bar__minus_00_dot_92_bar__plus_00_dot_34_bar__plus_00_dot_39)\n (pickupable CellPhone_bar__plus_00_dot_39_bar__plus_00_dot_57_bar__minus_01_dot_35)\n (pickupable Laptop_bar__plus_02_dot_36_bar__plus_00_dot_79_bar__minus_01_dot_54)\n (pickupable CD_bar__plus_01_dot_32_bar__plus_00_dot_52_bar__minus_01_dot_63)\n (pickupable Pencil_bar__plus_02_dot_83_bar__plus_00_dot_80_bar__minus_01_dot_43)\n (pickupable CD_bar__plus_03_dot_16_bar__plus_00_dot_08_bar__minus_00_dot_27)\n (pickupable Pencil_bar__plus_01_dot_24_bar__plus_00_dot_52_bar__minus_01_dot_71)\n (pickupable KeyChain_bar__plus_03_dot_10_bar__plus_00_dot_80_bar__minus_01_dot_36)\n (pickupable CellPhone_bar__plus_01_dot_13_bar__plus_00_dot_28_bar__minus_01_dot_61)\n (pickupable KeyChain_bar__plus_01_dot_41_bar__plus_00_dot_28_bar__minus_01_dot_64)\n (pickupable TeddyBear_bar__minus_00_dot_08_bar__plus_00_dot_56_bar__minus_00_dot_27)\n (pickupable CreditCard_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_73)\n (pickupable CD_bar__plus_01_dot_24_bar__plus_00_dot_06_bar__minus_01_dot_61)\n (pickupable KeyChain_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_48)\n (pickupable CD_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_63)\n (isReceptacleObject Mug_bar__plus_03_dot_21_bar__plus_00_dot_54_bar__minus_01_dot_46)\n (isReceptacleObject Mug_bar__plus_02_dot_88_bar__plus_00_dot_54_bar__minus_01_dot_44)\n (openable Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60)\n (openable Drawer_bar__plus_01_dot_24_bar__plus_00_dot_13_bar__minus_01_dot_60)\n \n (atLocation agent1 loc_bar_9_bar_2_bar_3_bar_30)\n \n (cleanable Mug_bar__plus_03_dot_21_bar__plus_00_dot_54_bar__minus_01_dot_46)\n (cleanable Mug_bar__plus_02_dot_88_bar__plus_00_dot_54_bar__minus_01_dot_44)\n \n (heatable Mug_bar__plus_03_dot_21_bar__plus_00_dot_54_bar__minus_01_dot_46)\n (heatable Mug_bar__plus_02_dot_88_bar__plus_00_dot_54_bar__minus_01_dot_44)\n (coolable Mug_bar__plus_03_dot_21_bar__plus_00_dot_54_bar__minus_01_dot_46)\n (coolable Mug_bar__plus_02_dot_88_bar__plus_00_dot_54_bar__minus_01_dot_44)\n \n \n (toggleable DeskLamp_bar__plus_03_dot_16_bar__plus_00_dot_79_bar__minus_01_dot_66)\n \n \n \n \n (inReceptacle Pencil_bar__plus_02_dot_83_bar__plus_00_dot_80_bar__minus_01_dot_43 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59)\n (inReceptacle TissueBox_bar__plus_02_dot_90_bar__plus_00_dot_80_bar__minus_01_dot_61 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59)\n (inReceptacle CreditCard_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_73 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59)\n (inReceptacle KeyChain_bar__plus_03_dot_10_bar__plus_00_dot_80_bar__minus_01_dot_36 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59)\n (inReceptacle KeyChain_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_48 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59)\n (inReceptacle DeskLamp_bar__plus_03_dot_16_bar__plus_00_dot_79_bar__minus_01_dot_66 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59)\n (inReceptacle Laptop_bar__plus_02_dot_36_bar__plus_00_dot_79_bar__minus_01_dot_54 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59)\n (inReceptacle Laptop_bar__plus_00_dot_23_bar__plus_00_dot_57_bar__minus_00_dot_46 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95)\n (inReceptacle CellPhone_bar__plus_00_dot_39_bar__plus_00_dot_57_bar__minus_01_dot_35 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95)\n (inReceptacle Book_bar__plus_00_dot_39_bar__plus_00_dot_57_bar__minus_00_dot_91 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95)\n (inReceptacle Pillow_bar__minus_00_dot_10_bar__plus_00_dot_67_bar__minus_00_dot_91 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95)\n (inReceptacle TeddyBear_bar__minus_00_dot_08_bar__plus_00_dot_56_bar__minus_00_dot_27 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95)\n (inReceptacle CD_bar__plus_01_dot_24_bar__plus_00_dot_06_bar__minus_01_dot_61 Drawer_bar__plus_01_dot_24_bar__plus_00_dot_13_bar__minus_01_dot_60)\n (inReceptacle AlarmClock_bar__plus_01_dot_11_bar__plus_00_dot_51_bar__minus_01_dot_68 SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67)\n (inReceptacle CD_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_63 SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67)\n (inReceptacle CD_bar__plus_01_dot_32_bar__plus_00_dot_52_bar__minus_01_dot_63 SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67)\n (inReceptacle CellPhone_bar__plus_01_dot_13_bar__plus_00_dot_28_bar__minus_01_dot_61 Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60)\n (inReceptacle KeyChain_bar__plus_01_dot_41_bar__plus_00_dot_28_bar__minus_01_dot_64 Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60)\n (inReceptacle Pen_bar__plus_03_dot_04_bar__plus_00_dot_55_bar__minus_01_dot_40 Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44)\n (inReceptacle Mug_bar__plus_03_dot_21_bar__plus_00_dot_54_bar__minus_01_dot_46 Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44)\n (inReceptacle Mug_bar__plus_02_dot_88_bar__plus_00_dot_54_bar__minus_01_dot_44 Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44)\n \n \n (receptacleAtLocation Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95 loc_bar_6_bar__minus_4_bar_3_bar_45)\n (receptacleAtLocation Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_24_bar__plus_00_dot_13_bar__minus_01_dot_60 loc_bar_7_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60 loc_bar_9_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation GarbageCan_bar__plus_03_dot_17_bar__plus_00_dot_00_bar__minus_00_dot_27 loc_bar_9_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44 loc_bar_11_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67 loc_bar_7_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Mug_bar__plus_03_dot_21_bar__plus_00_dot_54_bar__minus_01_dot_46 loc_bar_11_bar__minus_2_bar_2_bar_45)\n (objectAtLocation CD_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_63 loc_bar_7_bar__minus_3_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__plus_00_dot_39_bar__plus_00_dot_57_bar__minus_01_dot_35 loc_bar_6_bar__minus_4_bar_3_bar_45)\n (objectAtLocation Laptop_bar__plus_02_dot_36_bar__plus_00_dot_79_bar__minus_01_dot_54 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Pencil_bar__plus_02_dot_83_bar__plus_00_dot_80_bar__minus_01_dot_43 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__plus_01_dot_41_bar__plus_00_dot_28_bar__minus_01_dot_64 loc_bar_9_bar__minus_3_bar_3_bar_45)\n (objectAtLocation KeyChain_bar__plus_03_dot_10_bar__plus_00_dot_80_bar__minus_01_dot_36 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation CD_bar__plus_01_dot_32_bar__plus_00_dot_52_bar__minus_01_dot_63 loc_bar_7_bar__minus_3_bar_2_bar_60)\n (objectAtLocation CD_bar__plus_03_dot_16_bar__plus_00_dot_08_bar__minus_00_dot_27 loc_bar_11_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Book_bar__plus_00_dot_39_bar__plus_00_dot_57_bar__minus_00_dot_91 loc_bar_6_bar__minus_4_bar_3_bar_45)\n (objectAtLocation Mirror_bar__plus_00_dot_62_bar__plus_01_dot_26_bar__plus_01_dot_03 loc_bar_2_bar_2_bar_0_bar_30)\n (objectAtLocation Chair_bar__plus_02_dot_22_bar__plus_00_dot_00_bar__minus_01_dot_47 loc_bar_9_bar__minus_3_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_48 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation TissueBox_bar__plus_02_dot_90_bar__plus_00_dot_80_bar__minus_01_dot_61 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation TeddyBear_bar__minus_00_dot_08_bar__plus_00_dot_56_bar__minus_00_dot_27 loc_bar_6_bar__minus_4_bar_3_bar_45)\n (objectAtLocation DeskLamp_bar__plus_03_dot_16_bar__plus_00_dot_79_bar__minus_01_dot_66 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Pencil_bar__plus_01_dot_24_bar__plus_00_dot_52_bar__minus_01_dot_71 loc_bar_5_bar__minus_5_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_73 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation TennisRacket_bar__minus_00_dot_92_bar__plus_00_dot_34_bar__plus_00_dot_39 loc_bar__minus_2_bar_2_bar_3_bar_60)\n (objectAtLocation HousePlant_bar__minus_00_dot_83_bar__plus_00_dot_00_bar__plus_00_dot_84 loc_bar__minus_2_bar_2_bar_0_bar_60)\n (objectAtLocation Laptop_bar__plus_00_dot_23_bar__plus_00_dot_57_bar__minus_00_dot_46 loc_bar_6_bar__minus_4_bar_3_bar_45)\n (objectAtLocation AlarmClock_bar__plus_01_dot_11_bar__plus_00_dot_51_bar__minus_01_dot_68 loc_bar_7_bar__minus_3_bar_2_bar_60)\n (objectAtLocation LightSwitch_bar__plus_02_dot_01_bar__plus_01_dot_13_bar__plus_01_dot_03 loc_bar_8_bar_2_bar_0_bar_45)\n (objectAtLocation Pen_bar__plus_03_dot_04_bar__plus_00_dot_55_bar__minus_01_dot_40 loc_bar_11_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Pillow_bar__minus_00_dot_10_bar__plus_00_dot_67_bar__minus_00_dot_91 loc_bar_6_bar__minus_4_bar_3_bar_45)\n (objectAtLocation CellPhone_bar__plus_01_dot_13_bar__plus_00_dot_28_bar__minus_01_dot_61 loc_bar_9_bar__minus_3_bar_3_bar_45)\n (objectAtLocation CD_bar__plus_01_dot_24_bar__plus_00_dot_06_bar__minus_01_dot_61 loc_bar_7_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Window_bar__plus_01_dot_80_bar__plus_01_dot_68_bar__minus_01_dot_94 loc_bar_6_bar__minus_5_bar_2_bar_0)\n (objectAtLocation Window_bar__plus_00_dot_69_bar__plus_01_dot_36_bar__minus_01_dot_94 loc_bar_5_bar__minus_5_bar_2_bar_30)\n (objectAtLocation Mug_bar__plus_02_dot_88_bar__plus_00_dot_54_bar__minus_01_dot_44 loc_bar_11_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Blinds_bar__plus_01_dot_78_bar__plus_01_dot_99_bar__minus_01_dot_86 loc_bar_6_bar__minus_5_bar_2_bar__minus_30)\n (objectAtLocation Blinds_bar__plus_00_dot_67_bar__plus_01_dot_99_bar__minus_01_dot_86 loc_bar_5_bar__minus_5_bar_2_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?ot - object\n ?r - receptacle\n ?a - agent\n ?l - location)\n (and\n (objectType ?ot DeskLampType)\n (toggleable ?ot)\n (isToggled ?ot)\n (receptacleAtLocation ?r ?l)\n (atLocation ?a ?l)\n (inReceptacle ?ot ?r)\n )\n )\n (exists (?o - object\n ?a - agent)\n (and\n (objectType ?o CDType)\n (holds ?a ?o)\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sidetable 1", "take cd 3 from sidetable 1", "go to desk 1", "use desklamp 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CD-None-DeskLamp-328/trial_T20190908_004539_969224/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CD-None-DeskLamp-328/trial_T20190908_004539_969224/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..8961a4c2e6f76fc27209a59716e1f3a667e01334 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CD-None-DeskLamp-328/trial_T20190908_004539_969224/initial_state.pddl @@ -0,0 +1,492 @@ + +(define (problem plan_trial_T20190908_004539_969224) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + AlarmClock_bar__plus_01_dot_11_bar__plus_00_dot_51_bar__minus_01_dot_68 - object + Blinds_bar__plus_00_dot_67_bar__plus_01_dot_99_bar__minus_01_dot_86 - object + Blinds_bar__plus_01_dot_78_bar__plus_01_dot_99_bar__minus_01_dot_86 - object + Book_bar__plus_00_dot_39_bar__plus_00_dot_57_bar__minus_00_dot_91 - object + CD_bar__plus_01_dot_24_bar__plus_00_dot_06_bar__minus_01_dot_61 - object + CD_bar__plus_01_dot_32_bar__plus_00_dot_52_bar__minus_01_dot_63 - object + CD_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_63 - object + CD_bar__plus_03_dot_16_bar__plus_00_dot_08_bar__minus_00_dot_27 - object + CellPhone_bar__plus_00_dot_39_bar__plus_00_dot_57_bar__minus_01_dot_35 - object + CellPhone_bar__plus_01_dot_13_bar__plus_00_dot_28_bar__minus_01_dot_61 - object + Chair_bar__plus_02_dot_22_bar__plus_00_dot_00_bar__minus_01_dot_47 - object + CreditCard_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_73 - object + DeskLamp_bar__plus_03_dot_16_bar__plus_00_dot_79_bar__minus_01_dot_66 - object + HousePlant_bar__minus_00_dot_83_bar__plus_00_dot_00_bar__plus_00_dot_84 - object + KeyChain_bar__plus_01_dot_41_bar__plus_00_dot_28_bar__minus_01_dot_64 - object + KeyChain_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_48 - object + KeyChain_bar__plus_03_dot_10_bar__plus_00_dot_80_bar__minus_01_dot_36 - object + Laptop_bar__plus_00_dot_23_bar__plus_00_dot_57_bar__minus_00_dot_46 - object + Laptop_bar__plus_02_dot_36_bar__plus_00_dot_79_bar__minus_01_dot_54 - object + LightSwitch_bar__plus_02_dot_01_bar__plus_01_dot_13_bar__plus_01_dot_03 - object + Mirror_bar__plus_00_dot_62_bar__plus_01_dot_26_bar__plus_01_dot_03 - object + Mug_bar__plus_02_dot_88_bar__plus_00_dot_54_bar__minus_01_dot_44 - object + Mug_bar__plus_03_dot_21_bar__plus_00_dot_54_bar__minus_01_dot_46 - object + Pencil_bar__plus_01_dot_24_bar__plus_00_dot_52_bar__minus_01_dot_71 - object + Pencil_bar__plus_02_dot_83_bar__plus_00_dot_80_bar__minus_01_dot_43 - object + Pen_bar__plus_03_dot_04_bar__plus_00_dot_55_bar__minus_01_dot_40 - object + Pillow_bar__minus_00_dot_10_bar__plus_00_dot_67_bar__minus_00_dot_91 - object + TeddyBear_bar__minus_00_dot_08_bar__plus_00_dot_56_bar__minus_00_dot_27 - object + TennisRacket_bar__minus_00_dot_92_bar__plus_00_dot_34_bar__plus_00_dot_39 - object + TissueBox_bar__plus_02_dot_90_bar__plus_00_dot_80_bar__minus_01_dot_61 - object + Window_bar__plus_00_dot_69_bar__plus_01_dot_36_bar__minus_01_dot_94 - object + Window_bar__plus_01_dot_80_bar__plus_01_dot_68_bar__minus_01_dot_94 - object + Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95 - receptacle + Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59 - receptacle + Drawer_bar__plus_01_dot_24_bar__plus_00_dot_13_bar__minus_01_dot_60 - receptacle + Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60 - receptacle + GarbageCan_bar__plus_03_dot_17_bar__plus_00_dot_00_bar__minus_00_dot_27 - receptacle + Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44 - receptacle + SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67 - receptacle + loc_bar_5_bar__minus_5_bar_2_bar_60 - location + loc_bar_7_bar__minus_3_bar_2_bar_60 - location + loc_bar_9_bar__minus_3_bar_3_bar_45 - location + loc_bar__minus_2_bar_2_bar_3_bar_60 - location + loc_bar_2_bar_2_bar_0_bar_30 - location + loc_bar_5_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_6_bar__minus_5_bar_2_bar_0 - location + loc_bar_10_bar__minus_2_bar_2_bar_60 - location + loc_bar_11_bar__minus_2_bar_2_bar_45 - location + loc_bar__minus_2_bar_2_bar_0_bar_60 - location + loc_bar_7_bar__minus_2_bar_2_bar_60 - location + loc_bar_5_bar__minus_5_bar_2_bar_30 - location + loc_bar_9_bar__minus_3_bar_1_bar_60 - location + loc_bar_11_bar__minus_1_bar_1_bar_60 - location + loc_bar_9_bar__minus_3_bar_2_bar_60 - location + loc_bar_8_bar_2_bar_0_bar_45 - location + loc_bar_6_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_6_bar__minus_4_bar_3_bar_45 - location + loc_bar_9_bar_2_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95 BedType) + (receptacleType Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_24_bar__plus_00_dot_13_bar__minus_01_dot_60 DrawerType) + (receptacleType Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59 DeskType) + (receptacleType GarbageCan_bar__plus_03_dot_17_bar__plus_00_dot_00_bar__minus_00_dot_27 GarbageCanType) + (receptacleType Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44 ShelfType) + (receptacleType SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67 SideTableType) + (objectType Mirror_bar__plus_00_dot_62_bar__plus_01_dot_26_bar__plus_01_dot_03 MirrorType) + (objectType Blinds_bar__plus_00_dot_67_bar__plus_01_dot_99_bar__minus_01_dot_86 BlindsType) + (objectType Mug_bar__plus_03_dot_21_bar__plus_00_dot_54_bar__minus_01_dot_46 MugType) + (objectType TissueBox_bar__plus_02_dot_90_bar__plus_00_dot_80_bar__minus_01_dot_61 TissueBoxType) + (objectType Window_bar__plus_00_dot_69_bar__plus_01_dot_36_bar__minus_01_dot_94 WindowType) + (objectType Laptop_bar__plus_00_dot_23_bar__plus_00_dot_57_bar__minus_00_dot_46 LaptopType) + (objectType Book_bar__plus_00_dot_39_bar__plus_00_dot_57_bar__minus_00_dot_91 BookType) + (objectType Pillow_bar__minus_00_dot_10_bar__plus_00_dot_67_bar__minus_00_dot_91 PillowType) + (objectType AlarmClock_bar__plus_01_dot_11_bar__plus_00_dot_51_bar__minus_01_dot_68 AlarmClockType) + (objectType Pen_bar__plus_03_dot_04_bar__plus_00_dot_55_bar__minus_01_dot_40 PenType) + (objectType Mug_bar__plus_02_dot_88_bar__plus_00_dot_54_bar__minus_01_dot_44 MugType) + (objectType Chair_bar__plus_02_dot_22_bar__plus_00_dot_00_bar__minus_01_dot_47 ChairType) + (objectType TennisRacket_bar__minus_00_dot_92_bar__plus_00_dot_34_bar__plus_00_dot_39 TennisRacketType) + (objectType CellPhone_bar__plus_00_dot_39_bar__plus_00_dot_57_bar__minus_01_dot_35 CellPhoneType) + (objectType Window_bar__plus_01_dot_80_bar__plus_01_dot_68_bar__minus_01_dot_94 WindowType) + (objectType DeskLamp_bar__plus_03_dot_16_bar__plus_00_dot_79_bar__minus_01_dot_66 DeskLampType) + (objectType LightSwitch_bar__plus_02_dot_01_bar__plus_01_dot_13_bar__plus_01_dot_03 LightSwitchType) + (objectType Laptop_bar__plus_02_dot_36_bar__plus_00_dot_79_bar__minus_01_dot_54 LaptopType) + (objectType CD_bar__plus_01_dot_32_bar__plus_00_dot_52_bar__minus_01_dot_63 CDType) + (objectType Pencil_bar__plus_02_dot_83_bar__plus_00_dot_80_bar__minus_01_dot_43 PencilType) + (objectType CD_bar__plus_03_dot_16_bar__plus_00_dot_08_bar__minus_00_dot_27 CDType) + (objectType Pencil_bar__plus_01_dot_24_bar__plus_00_dot_52_bar__minus_01_dot_71 PencilType) + (objectType KeyChain_bar__plus_03_dot_10_bar__plus_00_dot_80_bar__minus_01_dot_36 KeyChainType) + (objectType CellPhone_bar__plus_01_dot_13_bar__plus_00_dot_28_bar__minus_01_dot_61 CellPhoneType) + (objectType KeyChain_bar__plus_01_dot_41_bar__plus_00_dot_28_bar__minus_01_dot_64 KeyChainType) + (objectType TeddyBear_bar__minus_00_dot_08_bar__plus_00_dot_56_bar__minus_00_dot_27 TeddyBearType) + (objectType CreditCard_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_73 CreditCardType) + (objectType Blinds_bar__plus_01_dot_78_bar__plus_01_dot_99_bar__minus_01_dot_86 BlindsType) + (objectType CD_bar__plus_01_dot_24_bar__plus_00_dot_06_bar__minus_01_dot_61 CDType) + (objectType KeyChain_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_48 KeyChainType) + (objectType HousePlant_bar__minus_00_dot_83_bar__plus_00_dot_00_bar__plus_00_dot_84 HousePlantType) + (objectType CD_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_63 CDType) + (canContain BedType TennisRacketType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType TissueBoxType) + (canContain DeskType PenType) + (canContain DeskType BookType) + (canContain DeskType CDType) + (canContain DeskType MugType) + (canContain DeskType CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (canContain DeskType TennisRacketType) + (canContain DeskType LaptopType) + (canContain DeskType PencilType) + (canContain DeskType TissueBoxType) + (canContain DeskType AlarmClockType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType CDType) + (canContain GarbageCanType PencilType) + (canContain GarbageCanType TissueBoxType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType CDType) + (canContain ShelfType MugType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType AlarmClockType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType CDType) + (canContain SideTableType MugType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType TennisRacketType) + (canContain SideTableType LaptopType) + (canContain SideTableType PencilType) + (canContain SideTableType TissueBoxType) + (canContain SideTableType AlarmClockType) + (pickupable Mug_bar__plus_03_dot_21_bar__plus_00_dot_54_bar__minus_01_dot_46) + (pickupable TissueBox_bar__plus_02_dot_90_bar__plus_00_dot_80_bar__minus_01_dot_61) + (pickupable Laptop_bar__plus_00_dot_23_bar__plus_00_dot_57_bar__minus_00_dot_46) + (pickupable Book_bar__plus_00_dot_39_bar__plus_00_dot_57_bar__minus_00_dot_91) + (pickupable Pillow_bar__minus_00_dot_10_bar__plus_00_dot_67_bar__minus_00_dot_91) + (pickupable AlarmClock_bar__plus_01_dot_11_bar__plus_00_dot_51_bar__minus_01_dot_68) + (pickupable Pen_bar__plus_03_dot_04_bar__plus_00_dot_55_bar__minus_01_dot_40) + (pickupable Mug_bar__plus_02_dot_88_bar__plus_00_dot_54_bar__minus_01_dot_44) + (pickupable TennisRacket_bar__minus_00_dot_92_bar__plus_00_dot_34_bar__plus_00_dot_39) + (pickupable CellPhone_bar__plus_00_dot_39_bar__plus_00_dot_57_bar__minus_01_dot_35) + (pickupable Laptop_bar__plus_02_dot_36_bar__plus_00_dot_79_bar__minus_01_dot_54) + (pickupable CD_bar__plus_01_dot_32_bar__plus_00_dot_52_bar__minus_01_dot_63) + (pickupable Pencil_bar__plus_02_dot_83_bar__plus_00_dot_80_bar__minus_01_dot_43) + (pickupable CD_bar__plus_03_dot_16_bar__plus_00_dot_08_bar__minus_00_dot_27) + (pickupable Pencil_bar__plus_01_dot_24_bar__plus_00_dot_52_bar__minus_01_dot_71) + (pickupable KeyChain_bar__plus_03_dot_10_bar__plus_00_dot_80_bar__minus_01_dot_36) + (pickupable CellPhone_bar__plus_01_dot_13_bar__plus_00_dot_28_bar__minus_01_dot_61) + (pickupable KeyChain_bar__plus_01_dot_41_bar__plus_00_dot_28_bar__minus_01_dot_64) + (pickupable TeddyBear_bar__minus_00_dot_08_bar__plus_00_dot_56_bar__minus_00_dot_27) + (pickupable CreditCard_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_73) + (pickupable CD_bar__plus_01_dot_24_bar__plus_00_dot_06_bar__minus_01_dot_61) + (pickupable KeyChain_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_48) + (pickupable CD_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_63) + (isReceptacleObject Mug_bar__plus_03_dot_21_bar__plus_00_dot_54_bar__minus_01_dot_46) + (isReceptacleObject Mug_bar__plus_02_dot_88_bar__plus_00_dot_54_bar__minus_01_dot_44) + (openable Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60) + (openable Drawer_bar__plus_01_dot_24_bar__plus_00_dot_13_bar__minus_01_dot_60) + + (atLocation agent1 loc_bar_9_bar_2_bar_3_bar_30) + + (cleanable Mug_bar__plus_03_dot_21_bar__plus_00_dot_54_bar__minus_01_dot_46) + (cleanable Mug_bar__plus_02_dot_88_bar__plus_00_dot_54_bar__minus_01_dot_44) + + (heatable Mug_bar__plus_03_dot_21_bar__plus_00_dot_54_bar__minus_01_dot_46) + (heatable Mug_bar__plus_02_dot_88_bar__plus_00_dot_54_bar__minus_01_dot_44) + (coolable Mug_bar__plus_03_dot_21_bar__plus_00_dot_54_bar__minus_01_dot_46) + (coolable Mug_bar__plus_02_dot_88_bar__plus_00_dot_54_bar__minus_01_dot_44) + + + (toggleable DeskLamp_bar__plus_03_dot_16_bar__plus_00_dot_79_bar__minus_01_dot_66) + + + + + (inReceptacle Pencil_bar__plus_02_dot_83_bar__plus_00_dot_80_bar__minus_01_dot_43 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59) + (inReceptacle TissueBox_bar__plus_02_dot_90_bar__plus_00_dot_80_bar__minus_01_dot_61 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59) + (inReceptacle CreditCard_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_73 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59) + (inReceptacle KeyChain_bar__plus_03_dot_10_bar__plus_00_dot_80_bar__minus_01_dot_36 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59) + (inReceptacle KeyChain_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_48 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59) + (inReceptacle DeskLamp_bar__plus_03_dot_16_bar__plus_00_dot_79_bar__minus_01_dot_66 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59) + (inReceptacle Laptop_bar__plus_02_dot_36_bar__plus_00_dot_79_bar__minus_01_dot_54 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59) + (inReceptacle Laptop_bar__plus_00_dot_23_bar__plus_00_dot_57_bar__minus_00_dot_46 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle CellPhone_bar__plus_00_dot_39_bar__plus_00_dot_57_bar__minus_01_dot_35 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle Book_bar__plus_00_dot_39_bar__plus_00_dot_57_bar__minus_00_dot_91 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle Pillow_bar__minus_00_dot_10_bar__plus_00_dot_67_bar__minus_00_dot_91 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle TeddyBear_bar__minus_00_dot_08_bar__plus_00_dot_56_bar__minus_00_dot_27 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle CD_bar__plus_01_dot_24_bar__plus_00_dot_06_bar__minus_01_dot_61 Drawer_bar__plus_01_dot_24_bar__plus_00_dot_13_bar__minus_01_dot_60) + (inReceptacle AlarmClock_bar__plus_01_dot_11_bar__plus_00_dot_51_bar__minus_01_dot_68 SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67) + (inReceptacle CD_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_63 SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67) + (inReceptacle CD_bar__plus_01_dot_32_bar__plus_00_dot_52_bar__minus_01_dot_63 SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67) + (inReceptacle CellPhone_bar__plus_01_dot_13_bar__plus_00_dot_28_bar__minus_01_dot_61 Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60) + (inReceptacle KeyChain_bar__plus_01_dot_41_bar__plus_00_dot_28_bar__minus_01_dot_64 Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60) + (inReceptacle Pen_bar__plus_03_dot_04_bar__plus_00_dot_55_bar__minus_01_dot_40 Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44) + (inReceptacle Mug_bar__plus_03_dot_21_bar__plus_00_dot_54_bar__minus_01_dot_46 Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44) + (inReceptacle Mug_bar__plus_02_dot_88_bar__plus_00_dot_54_bar__minus_01_dot_44 Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44) + + + (receptacleAtLocation Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95 loc_bar_6_bar__minus_4_bar_3_bar_45) + (receptacleAtLocation Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59 loc_bar_10_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_24_bar__plus_00_dot_13_bar__minus_01_dot_60 loc_bar_7_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60 loc_bar_9_bar__minus_3_bar_3_bar_45) + (receptacleAtLocation GarbageCan_bar__plus_03_dot_17_bar__plus_00_dot_00_bar__minus_00_dot_27 loc_bar_9_bar__minus_3_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44 loc_bar_11_bar__minus_2_bar_2_bar_45) + (receptacleAtLocation SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67 loc_bar_7_bar__minus_3_bar_2_bar_60) + (objectAtLocation Mug_bar__plus_03_dot_21_bar__plus_00_dot_54_bar__minus_01_dot_46 loc_bar_11_bar__minus_2_bar_2_bar_45) + (objectAtLocation CD_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_63 loc_bar_7_bar__minus_3_bar_2_bar_60) + (objectAtLocation CellPhone_bar__plus_00_dot_39_bar__plus_00_dot_57_bar__minus_01_dot_35 loc_bar_6_bar__minus_4_bar_3_bar_45) + (objectAtLocation Laptop_bar__plus_02_dot_36_bar__plus_00_dot_79_bar__minus_01_dot_54 loc_bar_10_bar__minus_2_bar_2_bar_60) + (objectAtLocation Pencil_bar__plus_02_dot_83_bar__plus_00_dot_80_bar__minus_01_dot_43 loc_bar_10_bar__minus_2_bar_2_bar_60) + (objectAtLocation KeyChain_bar__plus_01_dot_41_bar__plus_00_dot_28_bar__minus_01_dot_64 loc_bar_9_bar__minus_3_bar_3_bar_45) + (objectAtLocation KeyChain_bar__plus_03_dot_10_bar__plus_00_dot_80_bar__minus_01_dot_36 loc_bar_10_bar__minus_2_bar_2_bar_60) + (objectAtLocation CD_bar__plus_01_dot_32_bar__plus_00_dot_52_bar__minus_01_dot_63 loc_bar_7_bar__minus_3_bar_2_bar_60) + (objectAtLocation CD_bar__plus_03_dot_16_bar__plus_00_dot_08_bar__minus_00_dot_27 loc_bar_11_bar__minus_1_bar_1_bar_60) + (objectAtLocation Book_bar__plus_00_dot_39_bar__plus_00_dot_57_bar__minus_00_dot_91 loc_bar_6_bar__minus_4_bar_3_bar_45) + (objectAtLocation Mirror_bar__plus_00_dot_62_bar__plus_01_dot_26_bar__plus_01_dot_03 loc_bar_2_bar_2_bar_0_bar_30) + (objectAtLocation Chair_bar__plus_02_dot_22_bar__plus_00_dot_00_bar__minus_01_dot_47 loc_bar_9_bar__minus_3_bar_2_bar_60) + (objectAtLocation KeyChain_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_48 loc_bar_10_bar__minus_2_bar_2_bar_60) + (objectAtLocation TissueBox_bar__plus_02_dot_90_bar__plus_00_dot_80_bar__minus_01_dot_61 loc_bar_10_bar__minus_2_bar_2_bar_60) + (objectAtLocation TeddyBear_bar__minus_00_dot_08_bar__plus_00_dot_56_bar__minus_00_dot_27 loc_bar_6_bar__minus_4_bar_3_bar_45) + (objectAtLocation DeskLamp_bar__plus_03_dot_16_bar__plus_00_dot_79_bar__minus_01_dot_66 loc_bar_10_bar__minus_2_bar_2_bar_60) + (objectAtLocation Pencil_bar__plus_01_dot_24_bar__plus_00_dot_52_bar__minus_01_dot_71 loc_bar_5_bar__minus_5_bar_2_bar_60) + (objectAtLocation CreditCard_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_73 loc_bar_10_bar__minus_2_bar_2_bar_60) + (objectAtLocation TennisRacket_bar__minus_00_dot_92_bar__plus_00_dot_34_bar__plus_00_dot_39 loc_bar__minus_2_bar_2_bar_3_bar_60) + (objectAtLocation HousePlant_bar__minus_00_dot_83_bar__plus_00_dot_00_bar__plus_00_dot_84 loc_bar__minus_2_bar_2_bar_0_bar_60) + (objectAtLocation Laptop_bar__plus_00_dot_23_bar__plus_00_dot_57_bar__minus_00_dot_46 loc_bar_6_bar__minus_4_bar_3_bar_45) + (objectAtLocation AlarmClock_bar__plus_01_dot_11_bar__plus_00_dot_51_bar__minus_01_dot_68 loc_bar_7_bar__minus_3_bar_2_bar_60) + (objectAtLocation LightSwitch_bar__plus_02_dot_01_bar__plus_01_dot_13_bar__plus_01_dot_03 loc_bar_8_bar_2_bar_0_bar_45) + (objectAtLocation Pen_bar__plus_03_dot_04_bar__plus_00_dot_55_bar__minus_01_dot_40 loc_bar_11_bar__minus_2_bar_2_bar_45) + (objectAtLocation Pillow_bar__minus_00_dot_10_bar__plus_00_dot_67_bar__minus_00_dot_91 loc_bar_6_bar__minus_4_bar_3_bar_45) + (objectAtLocation CellPhone_bar__plus_01_dot_13_bar__plus_00_dot_28_bar__minus_01_dot_61 loc_bar_9_bar__minus_3_bar_3_bar_45) + (objectAtLocation CD_bar__plus_01_dot_24_bar__plus_00_dot_06_bar__minus_01_dot_61 loc_bar_7_bar__minus_2_bar_2_bar_60) + (objectAtLocation Window_bar__plus_01_dot_80_bar__plus_01_dot_68_bar__minus_01_dot_94 loc_bar_6_bar__minus_5_bar_2_bar_0) + (objectAtLocation Window_bar__plus_00_dot_69_bar__plus_01_dot_36_bar__minus_01_dot_94 loc_bar_5_bar__minus_5_bar_2_bar_30) + (objectAtLocation Mug_bar__plus_02_dot_88_bar__plus_00_dot_54_bar__minus_01_dot_44 loc_bar_11_bar__minus_2_bar_2_bar_45) + (objectAtLocation Blinds_bar__plus_01_dot_78_bar__plus_01_dot_99_bar__minus_01_dot_86 loc_bar_6_bar__minus_5_bar_2_bar__minus_30) + (objectAtLocation Blinds_bar__plus_00_dot_67_bar__plus_01_dot_99_bar__minus_01_dot_86 loc_bar_5_bar__minus_5_bar_2_bar__minus_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 CDType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CD-None-DeskLamp-328/trial_T20190908_004539_969224/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CD-None-DeskLamp-328/trial_T20190908_004539_969224/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..3a6feaefc21476759b6788432a5fba2e75947d3f --- /dev/null +++ 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", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CD-None-DeskLamp-328/trial_T20190908_004550_893141/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CD-None-DeskLamp-328/trial_T20190908_004550_893141/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..79f0abc907f1642a5726553b6273b9cc1d31167c --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CD-None-DeskLamp-328/trial_T20190908_004550_893141/initial_state.pddl @@ -0,0 +1,482 @@ + +(define (problem plan_trial_T20190908_004550_893141) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + AlarmClock_bar__plus_01_dot_11_bar__plus_00_dot_51_bar__minus_01_dot_67 - object + Blinds_bar__plus_00_dot_67_bar__plus_01_dot_99_bar__minus_01_dot_86 - object + Blinds_bar__plus_01_dot_78_bar__plus_01_dot_99_bar__minus_01_dot_86 - object + Book_bar__plus_00_dot_06_bar__plus_00_dot_57_bar__minus_00_dot_91 - object + CD_bar__plus_03_dot_19_bar__plus_00_dot_08_bar__minus_00_dot_27 - object + CellPhone_bar__plus_00_dot_23_bar__plus_00_dot_57_bar__minus_00_dot_68 - object + CellPhone_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_61 - object + CellPhone_bar__minus_00_dot_26_bar__plus_00_dot_57_bar__minus_00_dot_68 - object + Chair_bar__plus_02_dot_22_bar__plus_00_dot_00_bar__minus_01_dot_47 - object + CreditCard_bar__plus_01_dot_32_bar__plus_00_dot_52_bar__minus_01_dot_79 - object + CreditCard_bar__plus_01_dot_41_bar__plus_00_dot_28_bar__minus_01_dot_61 - object + CreditCard_bar__plus_02_dot_88_bar__plus_00_dot_55_bar__minus_01_dot_42 - object + DeskLamp_bar__plus_03_dot_16_bar__plus_00_dot_79_bar__minus_01_dot_66 - object + HousePlant_bar__minus_00_dot_83_bar__plus_00_dot_00_bar__plus_00_dot_84 - object + KeyChain_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_55 - object + Laptop_bar__plus_00_dot_23_bar__plus_00_dot_57_bar__minus_00_dot_46 - object + Laptop_bar__plus_02_dot_36_bar__plus_00_dot_79_bar__minus_01_dot_54 - object + LightSwitch_bar__plus_02_dot_01_bar__plus_01_dot_13_bar__plus_01_dot_03 - object + Mirror_bar__plus_00_dot_62_bar__plus_01_dot_26_bar__plus_01_dot_03 - object + Mug_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_42 - object + Mug_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_54 - object + Pencil_bar__plus_02_dot_93_bar__plus_00_dot_55_bar__minus_01_dot_38 - object + Pen_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_42 - object + Pen_bar__plus_02_dot_93_bar__plus_00_dot_55_bar__minus_01_dot_49 - object + Pillow_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__minus_01_dot_56 - object + TeddyBear_bar__minus_00_dot_08_bar__plus_00_dot_56_bar__minus_00_dot_27 - object + TennisRacket_bar__minus_00_dot_92_bar__plus_00_dot_34_bar__plus_00_dot_39 - object + TissueBox_bar__plus_03_dot_07_bar__plus_00_dot_54_bar__minus_01_dot_42 - object + Window_bar__plus_00_dot_69_bar__plus_01_dot_36_bar__minus_01_dot_94 - object + Window_bar__plus_01_dot_80_bar__plus_01_dot_68_bar__minus_01_dot_94 - object + Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95 - receptacle + Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59 - receptacle + Drawer_bar__plus_01_dot_24_bar__plus_00_dot_13_bar__minus_01_dot_60 - receptacle + Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60 - receptacle + GarbageCan_bar__plus_03_dot_17_bar__plus_00_dot_00_bar__minus_00_dot_27 - receptacle + Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44 - receptacle + SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67 - receptacle + loc_bar_7_bar__minus_3_bar_2_bar_60 - location + loc_bar_9_bar__minus_3_bar_3_bar_45 - location + loc_bar__minus_2_bar_2_bar_3_bar_60 - location + loc_bar_2_bar_2_bar_0_bar_30 - location + loc_bar_5_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_11_bar__minus_4_bar_2_bar_60 - location + loc_bar_10_bar__minus_2_bar_2_bar_60 - location + loc_bar_6_bar__minus_5_bar_2_bar_0 - location + loc_bar_11_bar__minus_2_bar_2_bar_45 - location + loc_bar__minus_2_bar_2_bar_0_bar_60 - location + loc_bar_7_bar__minus_2_bar_2_bar_60 - location + loc_bar_5_bar__minus_5_bar_2_bar_30 - location + loc_bar_9_bar__minus_3_bar_1_bar_60 - location + loc_bar_11_bar__minus_1_bar_1_bar_60 - location + loc_bar_9_bar__minus_3_bar_2_bar_60 - location + loc_bar_8_bar_2_bar_0_bar_45 - location + loc_bar_6_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_6_bar__minus_4_bar_3_bar_45 - location + loc_bar_5_bar__minus_4_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95 BedType) + (receptacleType Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_24_bar__plus_00_dot_13_bar__minus_01_dot_60 DrawerType) + (receptacleType Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59 DeskType) + (receptacleType GarbageCan_bar__plus_03_dot_17_bar__plus_00_dot_00_bar__minus_00_dot_27 GarbageCanType) + (receptacleType Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44 ShelfType) + (receptacleType SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67 SideTableType) + (objectType Mirror_bar__plus_00_dot_62_bar__plus_01_dot_26_bar__plus_01_dot_03 MirrorType) + (objectType Blinds_bar__plus_00_dot_67_bar__plus_01_dot_99_bar__minus_01_dot_86 BlindsType) + (objectType CreditCard_bar__plus_01_dot_41_bar__plus_00_dot_28_bar__minus_01_dot_61 CreditCardType) + (objectType Pen_bar__plus_02_dot_93_bar__plus_00_dot_55_bar__minus_01_dot_49 PenType) + (objectType Window_bar__plus_00_dot_69_bar__plus_01_dot_36_bar__minus_01_dot_94 WindowType) + (objectType Laptop_bar__plus_00_dot_23_bar__plus_00_dot_57_bar__minus_00_dot_46 LaptopType) + (objectType CreditCard_bar__plus_02_dot_88_bar__plus_00_dot_55_bar__minus_01_dot_42 CreditCardType) + (objectType Mug_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_42 MugType) + (objectType AlarmClock_bar__plus_01_dot_11_bar__plus_00_dot_51_bar__minus_01_dot_67 AlarmClockType) + (objectType Chair_bar__plus_02_dot_22_bar__plus_00_dot_00_bar__minus_01_dot_47 ChairType) + (objectType TennisRacket_bar__minus_00_dot_92_bar__plus_00_dot_34_bar__plus_00_dot_39 TennisRacketType) + (objectType TissueBox_bar__plus_03_dot_07_bar__plus_00_dot_54_bar__minus_01_dot_42 TissueBoxType) + (objectType Window_bar__plus_01_dot_80_bar__plus_01_dot_68_bar__minus_01_dot_94 WindowType) + (objectType DeskLamp_bar__plus_03_dot_16_bar__plus_00_dot_79_bar__minus_01_dot_66 DeskLampType) + (objectType Pencil_bar__plus_02_dot_93_bar__plus_00_dot_55_bar__minus_01_dot_38 PencilType) + (objectType CellPhone_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_61 CellPhoneType) + (objectType Laptop_bar__plus_02_dot_36_bar__plus_00_dot_79_bar__minus_01_dot_54 LaptopType) + (objectType LightSwitch_bar__plus_02_dot_01_bar__plus_01_dot_13_bar__plus_01_dot_03 LightSwitchType) + (objectType Pen_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_42 PenType) + (objectType CellPhone_bar__plus_00_dot_23_bar__plus_00_dot_57_bar__minus_00_dot_68 CellPhoneType) + (objectType CD_bar__plus_03_dot_19_bar__plus_00_dot_08_bar__minus_00_dot_27 CDType) + (objectType Book_bar__plus_00_dot_06_bar__plus_00_dot_57_bar__minus_00_dot_91 BookType) + (objectType TeddyBear_bar__minus_00_dot_08_bar__plus_00_dot_56_bar__minus_00_dot_27 TeddyBearType) + (objectType CreditCard_bar__plus_01_dot_32_bar__plus_00_dot_52_bar__minus_01_dot_79 CreditCardType) + (objectType CellPhone_bar__minus_00_dot_26_bar__plus_00_dot_57_bar__minus_00_dot_68 CellPhoneType) + (objectType Pillow_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__minus_01_dot_56 PillowType) + (objectType Blinds_bar__plus_01_dot_78_bar__plus_01_dot_99_bar__minus_01_dot_86 BlindsType) + (objectType Mug_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_54 MugType) + (objectType HousePlant_bar__minus_00_dot_83_bar__plus_00_dot_00_bar__plus_00_dot_84 HousePlantType) + (objectType KeyChain_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_55 KeyChainType) + (canContain BedType TennisRacketType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType TissueBoxType) + (canContain DeskType PenType) + (canContain DeskType BookType) + (canContain DeskType CDType) + (canContain DeskType MugType) + (canContain DeskType CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (canContain DeskType TennisRacketType) + (canContain DeskType LaptopType) + (canContain DeskType PencilType) + (canContain DeskType TissueBoxType) + (canContain DeskType AlarmClockType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType CDType) + (canContain GarbageCanType PencilType) + (canContain GarbageCanType TissueBoxType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType CDType) + (canContain ShelfType MugType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType AlarmClockType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType CDType) + (canContain SideTableType MugType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType TennisRacketType) + (canContain SideTableType LaptopType) + (canContain SideTableType PencilType) + (canContain SideTableType TissueBoxType) + (canContain SideTableType AlarmClockType) + (pickupable CreditCard_bar__plus_01_dot_41_bar__plus_00_dot_28_bar__minus_01_dot_61) + (pickupable Pen_bar__plus_02_dot_93_bar__plus_00_dot_55_bar__minus_01_dot_49) + (pickupable Laptop_bar__plus_00_dot_23_bar__plus_00_dot_57_bar__minus_00_dot_46) + (pickupable CreditCard_bar__plus_02_dot_88_bar__plus_00_dot_55_bar__minus_01_dot_42) + (pickupable Mug_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_42) + (pickupable AlarmClock_bar__plus_01_dot_11_bar__plus_00_dot_51_bar__minus_01_dot_67) + (pickupable TennisRacket_bar__minus_00_dot_92_bar__plus_00_dot_34_bar__plus_00_dot_39) + (pickupable TissueBox_bar__plus_03_dot_07_bar__plus_00_dot_54_bar__minus_01_dot_42) + (pickupable Pencil_bar__plus_02_dot_93_bar__plus_00_dot_55_bar__minus_01_dot_38) + (pickupable CellPhone_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_61) + (pickupable Laptop_bar__plus_02_dot_36_bar__plus_00_dot_79_bar__minus_01_dot_54) + (pickupable Pen_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_42) + (pickupable CellPhone_bar__plus_00_dot_23_bar__plus_00_dot_57_bar__minus_00_dot_68) + (pickupable CD_bar__plus_03_dot_19_bar__plus_00_dot_08_bar__minus_00_dot_27) + (pickupable Book_bar__plus_00_dot_06_bar__plus_00_dot_57_bar__minus_00_dot_91) + (pickupable TeddyBear_bar__minus_00_dot_08_bar__plus_00_dot_56_bar__minus_00_dot_27) + (pickupable CreditCard_bar__plus_01_dot_32_bar__plus_00_dot_52_bar__minus_01_dot_79) + (pickupable CellPhone_bar__minus_00_dot_26_bar__plus_00_dot_57_bar__minus_00_dot_68) + (pickupable Pillow_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__minus_01_dot_56) + (pickupable Mug_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_54) + (pickupable KeyChain_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_55) + (isReceptacleObject Mug_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_42) + (isReceptacleObject Mug_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_54) + (openable Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60) + (openable Drawer_bar__plus_01_dot_24_bar__plus_00_dot_13_bar__minus_01_dot_60) + + (atLocation agent1 loc_bar_5_bar__minus_4_bar_1_bar_30) + + (cleanable Mug_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_42) + (cleanable Mug_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_54) + + (heatable Mug_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_42) + (heatable Mug_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_54) + (coolable Mug_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_42) + (coolable Mug_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_54) + + + (toggleable DeskLamp_bar__plus_03_dot_16_bar__plus_00_dot_79_bar__minus_01_dot_66) + + + + + (inReceptacle Pen_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_42 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59) + (inReceptacle Mug_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_54 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59) + (inReceptacle DeskLamp_bar__plus_03_dot_16_bar__plus_00_dot_79_bar__minus_01_dot_66 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59) + (inReceptacle Mug_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_42 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59) + (inReceptacle CellPhone_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_61 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59) + (inReceptacle Laptop_bar__plus_02_dot_36_bar__plus_00_dot_79_bar__minus_01_dot_54 Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59) + (inReceptacle CellPhone_bar__minus_00_dot_26_bar__plus_00_dot_57_bar__minus_00_dot_68 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle Laptop_bar__plus_00_dot_23_bar__plus_00_dot_57_bar__minus_00_dot_46 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle Pillow_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__minus_01_dot_56 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle CellPhone_bar__plus_00_dot_23_bar__plus_00_dot_57_bar__minus_00_dot_68 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle Book_bar__plus_00_dot_06_bar__plus_00_dot_57_bar__minus_00_dot_91 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle TeddyBear_bar__minus_00_dot_08_bar__plus_00_dot_56_bar__minus_00_dot_27 Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle AlarmClock_bar__plus_01_dot_11_bar__plus_00_dot_51_bar__minus_01_dot_67 SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67) + (inReceptacle KeyChain_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_55 SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67) + (inReceptacle CreditCard_bar__plus_01_dot_32_bar__plus_00_dot_52_bar__minus_01_dot_79 SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67) + (inReceptacle CreditCard_bar__plus_01_dot_41_bar__plus_00_dot_28_bar__minus_01_dot_61 Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60) + (inReceptacle CreditCard_bar__plus_02_dot_88_bar__plus_00_dot_55_bar__minus_01_dot_42 Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44) + (inReceptacle TissueBox_bar__plus_03_dot_07_bar__plus_00_dot_54_bar__minus_01_dot_42 Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44) + (inReceptacle Pen_bar__plus_02_dot_93_bar__plus_00_dot_55_bar__minus_01_dot_49 Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44) + + + (receptacleAtLocation Bed_bar__plus_00_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_95 loc_bar_6_bar__minus_4_bar_3_bar_45) + (receptacleAtLocation Desk_bar__plus_02_dot_49_bar__plus_00_dot_00_bar__minus_01_dot_59 loc_bar_10_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_24_bar__plus_00_dot_13_bar__minus_01_dot_60 loc_bar_7_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_24_bar__plus_00_dot_35_bar__minus_01_dot_60 loc_bar_9_bar__minus_3_bar_3_bar_45) + (receptacleAtLocation GarbageCan_bar__plus_03_dot_17_bar__plus_00_dot_00_bar__minus_00_dot_27 loc_bar_9_bar__minus_3_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__plus_03_dot_04_bar__plus_00_dot_54_bar__minus_01_dot_44 loc_bar_11_bar__minus_2_bar_2_bar_45) + (receptacleAtLocation SideTable_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_67 loc_bar_7_bar__minus_3_bar_2_bar_60) + (objectAtLocation Mug_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_54 loc_bar_10_bar__minus_2_bar_2_bar_60) + (objectAtLocation CellPhone_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_61 loc_bar_10_bar__minus_2_bar_2_bar_60) + (objectAtLocation Pen_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_42 loc_bar_10_bar__minus_2_bar_2_bar_60) + (objectAtLocation Laptop_bar__plus_02_dot_36_bar__plus_00_dot_79_bar__minus_01_dot_54 loc_bar_10_bar__minus_2_bar_2_bar_60) + (objectAtLocation CreditCard_bar__plus_01_dot_41_bar__plus_00_dot_28_bar__minus_01_dot_61 loc_bar_9_bar__minus_3_bar_3_bar_45) + (objectAtLocation CreditCard_bar__plus_02_dot_88_bar__plus_00_dot_55_bar__minus_01_dot_42 loc_bar_11_bar__minus_2_bar_2_bar_45) + (objectAtLocation CellPhone_bar__minus_00_dot_26_bar__plus_00_dot_57_bar__minus_00_dot_68 loc_bar_6_bar__minus_4_bar_3_bar_45) + (objectAtLocation Book_bar__plus_00_dot_06_bar__plus_00_dot_57_bar__minus_00_dot_91 loc_bar_6_bar__minus_4_bar_3_bar_45) + (objectAtLocation Mirror_bar__plus_00_dot_62_bar__plus_01_dot_26_bar__plus_01_dot_03 loc_bar_2_bar_2_bar_0_bar_30) + (objectAtLocation Chair_bar__plus_02_dot_22_bar__plus_00_dot_00_bar__minus_01_dot_47 loc_bar_9_bar__minus_3_bar_2_bar_60) + (objectAtLocation KeyChain_bar__plus_01_dot_47_bar__plus_00_dot_52_bar__minus_01_dot_55 loc_bar_7_bar__minus_3_bar_2_bar_60) + (objectAtLocation TissueBox_bar__plus_03_dot_07_bar__plus_00_dot_54_bar__minus_01_dot_42 loc_bar_11_bar__minus_2_bar_2_bar_45) + (objectAtLocation TeddyBear_bar__minus_00_dot_08_bar__plus_00_dot_56_bar__minus_00_dot_27 loc_bar_6_bar__minus_4_bar_3_bar_45) + (objectAtLocation DeskLamp_bar__plus_03_dot_16_bar__plus_00_dot_79_bar__minus_01_dot_66 loc_bar_10_bar__minus_2_bar_2_bar_60) + (objectAtLocation Pencil_bar__plus_02_dot_93_bar__plus_00_dot_55_bar__minus_01_dot_38 loc_bar_11_bar__minus_4_bar_2_bar_60) + (objectAtLocation CreditCard_bar__plus_01_dot_32_bar__plus_00_dot_52_bar__minus_01_dot_79 loc_bar_7_bar__minus_3_bar_2_bar_60) + (objectAtLocation TennisRacket_bar__minus_00_dot_92_bar__plus_00_dot_34_bar__plus_00_dot_39 loc_bar__minus_2_bar_2_bar_3_bar_60) + (objectAtLocation HousePlant_bar__minus_00_dot_83_bar__plus_00_dot_00_bar__plus_00_dot_84 loc_bar__minus_2_bar_2_bar_0_bar_60) + (objectAtLocation Laptop_bar__plus_00_dot_23_bar__plus_00_dot_57_bar__minus_00_dot_46 loc_bar_6_bar__minus_4_bar_3_bar_45) + (objectAtLocation AlarmClock_bar__plus_01_dot_11_bar__plus_00_dot_51_bar__minus_01_dot_67 loc_bar_7_bar__minus_3_bar_2_bar_60) + (objectAtLocation LightSwitch_bar__plus_02_dot_01_bar__plus_01_dot_13_bar__plus_01_dot_03 loc_bar_8_bar_2_bar_0_bar_45) + (objectAtLocation Pen_bar__plus_02_dot_93_bar__plus_00_dot_55_bar__minus_01_dot_49 loc_bar_11_bar__minus_2_bar_2_bar_45) + (objectAtLocation Pillow_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__minus_01_dot_56 loc_bar_6_bar__minus_4_bar_3_bar_45) + (objectAtLocation CellPhone_bar__plus_00_dot_23_bar__plus_00_dot_57_bar__minus_00_dot_68 loc_bar_6_bar__minus_4_bar_3_bar_45) + (objectAtLocation CD_bar__plus_03_dot_19_bar__plus_00_dot_08_bar__minus_00_dot_27 loc_bar_11_bar__minus_1_bar_1_bar_60) + (objectAtLocation Window_bar__plus_01_dot_80_bar__plus_01_dot_68_bar__minus_01_dot_94 loc_bar_6_bar__minus_5_bar_2_bar_0) + (objectAtLocation Window_bar__plus_00_dot_69_bar__plus_01_dot_36_bar__minus_01_dot_94 loc_bar_5_bar__minus_5_bar_2_bar_30) + (objectAtLocation Mug_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_01_dot_42 loc_bar_10_bar__minus_2_bar_2_bar_60) + (objectAtLocation Blinds_bar__plus_01_dot_78_bar__plus_01_dot_99_bar__minus_01_dot_86 loc_bar_6_bar__minus_5_bar_2_bar__minus_30) + (objectAtLocation Blinds_bar__plus_00_dot_67_bar__plus_01_dot_99_bar__minus_01_dot_86 loc_bar_5_bar__minus_5_bar_2_bar__minus_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 CDType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CD-None-DeskLamp-328/trial_T20190908_004550_893141/traj_data.json 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"task_id": "trial_T20190908_004550_893141", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A320QA9HJFUOZO_39KFRKBFIQC7JFGGYYJ71KNROPQYOM", + "high_descs": [ + "Move a few feet left then turn right and walk to the green trash bin on the floor", + "Pick up the CD from the trash bin", + "Turn right and walk forward to the left side of the wooden desk", + "Turn on the small lamp on the desk" + ], + "task_desc": "Examine the CD under the light of the small lamp", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3R19ZA45J8915_3DYGAII7POPGVD1VMOFSDYPFZL4QPR", + "high_descs": [ + "Walk up to the green trash bin.", + "Pick up the CD that is in the trash bin.", + "Turn to your right and walk up to the desk.", + "Turn on the lamp that is on the desk." + ], + "task_desc": "Move a CD from the trash bin to the desk.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A6U2C66WQ7QQN_3TAYZSBPLOPWGMF2CUTLCLWN6ZZS2X", + "high_descs": [ + "Turn around, head to the green trash can", + "Take the CD out of the trash", + "Head right to the desk", + "Turn on the lamp" + ], + "task_desc": "Take the CD out of the trash, turn on the lamp", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CellPhone-None-DeskLamp-318/trial_T20190909_005855_117187/game.tw-pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CellPhone-None-DeskLamp-318/trial_T20190909_005855_117187/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..6b0b9c1343e69ebec2e66d81b145bdf69a5d0968 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CellPhone-None-DeskLamp-318/trial_T20190909_005855_117187/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: look at cellphone under the desklamp.\"\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_005855_117187)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n AlarmClock_bar__plus_01_dot_61_bar__plus_00_dot_73_bar__plus_00_dot_73 - object\n Blinds_bar__plus_01_dot_55_bar__plus_02_dot_44_bar__minus_01_dot_89 - object\n Book_bar__minus_00_dot_69_bar__plus_00_dot_68_bar__plus_01_dot_99 - object\n Book_bar__minus_00_dot_73_bar__plus_01_dot_50_bar__minus_01_dot_17 - object\n Book_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 - object\n Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29 - object\n CD_bar__plus_02_dot_00_bar__plus_00_dot_73_bar__plus_00_dot_24 - object\n CD_bar__minus_00_dot_70_bar__plus_00_dot_09_bar__minus_01_dot_32 - object\n CellPhone_bar__plus_01_dot_42_bar__plus_00_dot_43_bar__plus_01_dot_70 - object\n CellPhone_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__plus_01_dot_88 - object\n Chair_bar__plus_01_dot_48_bar__plus_00_dot_43_bar__plus_00_dot_22 - object\n Chair_bar__minus_00_dot_25_bar__plus_00_dot_43_bar__plus_01_dot_46 - object\n CreditCard_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_02_dot_82 - object\n DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 - object\n KeyChain_bar__plus_01_dot_50_bar__plus_00_dot_11_bar__minus_00_dot_69 - object\n KeyChain_bar__plus_01_dot_71_bar__plus_00_dot_73_bar__minus_00_dot_50 - object\n KeyChain_bar__plus_01_dot_76_bar__plus_00_dot_44_bar__plus_01_dot_79 - object\n Laptop_bar__plus_01_dot_67_bar__plus_00_dot_45_bar__plus_01_dot_61 - object\n Laptop_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_01_dot_25 - object\n LightSwitch_bar__plus_02_dot_20_bar__plus_01_dot_26_bar__plus_01_dot_99 - object\n Mirror_bar__plus_02_dot_23_bar__plus_01_dot_26_bar__plus_02_dot_66 - object\n Mug_bar__minus_00_dot_53_bar__plus_00_dot_06_bar__plus_02_dot_02 - object\n Mug_bar__minus_00_dot_82_bar__plus_00_dot_06_bar__plus_02_dot_31 - object\n Mug_bar__minus_00_dot_87_bar__plus_00_dot_68_bar__plus_02_dot_36 - object\n Painting_bar__plus_02_dot_20_bar__plus_01_dot_77_bar__minus_00_dot_10 - object\n Pencil_bar__minus_00_dot_59_bar__plus_00_dot_29_bar__plus_03_dot_13 - object\n Pencil_bar__minus_00_dot_66_bar__plus_00_dot_10_bar__minus_01_dot_15 - object\n Pen_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_23 - object\n Pen_bar__minus_00_dot_59_bar__plus_00_dot_07_bar__plus_03_dot_04 - object\n Pen_bar__minus_00_dot_69_bar__plus_00_dot_68_bar__plus_01_dot_43 - object\n Pillow_bar__minus_00_dot_60_bar__plus_01_dot_59_bar__minus_00_dot_72 - object\n Pillow_bar__minus_00_dot_83_bar__plus_01_dot_55_bar__minus_01_dot_53 - object\n TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23 - object\n Window_bar__plus_01_dot_58_bar__plus_01_dot_56_bar__minus_01_dot_95 - object\n ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61 - receptacle\n Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92 - receptacle\n Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17 - receptacle\n Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53 - receptacle\n Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12 - receptacle\n Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80 - receptacle\n Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36 - receptacle\n Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78 - receptacle\n Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36 - receptacle\n Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78 - receptacle\n Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36 - receptacle\n Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78 - receptacle\n Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24 - receptacle\n Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96 - receptacle\n Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96 - receptacle\n Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96 - receptacle\n Drawer_bar__minus_00_dot_70_bar__plus_00_dot_22_bar__minus_01_dot_32 - receptacle\n Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32 - receptacle\n Drawer_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_01_dot_32 - receptacle\n Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97 - receptacle\n Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31 - receptacle\n GarbageCan_bar__plus_02_dot_03_bar__plus_00_dot_00_bar__minus_01_dot_19 - receptacle\n loc_bar_1_bar_7_bar_0_bar_45 - location\n loc_bar_2_bar__minus_4_bar_1_bar_60 - location\n loc_bar_1_bar__minus_5_bar_3_bar_60 - location\n loc_bar_1_bar__minus_1_bar_3_bar_60 - location\n loc_bar__minus_4_bar_2_bar_3_bar_60 - location\n loc_bar_2_bar__minus_1_bar_1_bar_45 - location\n loc_bar_6_bar__minus_5_bar_2_bar_15 - location\n loc_bar_3_bar__minus_3_bar_1_bar_45 - location\n loc_bar_1_bar_5_bar_0_bar_45 - location\n loc_bar_7_bar_10_bar_2_bar_45 - location\n loc_bar_4_bar_0_bar_1_bar_0 - location\n loc_bar_6_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar_2_bar_11_bar_3_bar_45 - location\n loc_bar_1_bar__minus_5_bar_3_bar_45 - location\n loc_bar_1_bar_6_bar_3_bar_60 - location\n loc_bar_4_bar_1_bar_1_bar_60 - location\n loc_bar_1_bar_7_bar_3_bar_60 - location\n loc_bar_7_bar_11_bar_1_bar_45 - location\n loc_bar_2_bar__minus_3_bar_1_bar_45 - location\n loc_bar_2_bar__minus_1_bar_1_bar_60 - location\n loc_bar_4_bar_9_bar_3_bar_0 - location\n loc_bar_4_bar_6_bar_1_bar_60 - location\n loc_bar_3_bar__minus_2_bar_1_bar_45 - location\n loc_bar_2_bar_7_bar_3_bar_60 - location\n loc_bar_1_bar_12_bar_3_bar_60 - location\n loc_bar_1_bar__minus_3_bar_3_bar_60 - location\n loc_bar_1_bar_8_bar_0_bar_60 - location\n loc_bar_6_bar__minus_5_bar_1_bar_60 - location\n loc_bar_3_bar__minus_5_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_01_dot_32 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96 DrawerType)\n (receptacleType Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31 DresserType)\n (receptacleType GarbageCan_bar__plus_02_dot_03_bar__plus_00_dot_00_bar__minus_01_dot_19 GarbageCanType)\n (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_70_bar__plus_00_dot_22_bar__minus_01_dot_32 DrawerType)\n (receptacleType Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17 BedType)\n (receptacleType Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97 DresserType)\n (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32 DrawerType)\n (receptacleType Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12 DeskType)\n (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53 CabinetType)\n (receptacleType Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92 BedType)\n (receptacleType Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80 DeskType)\n (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96 DrawerType)\n (receptacleType ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61 ArmChairType)\n (objectType Laptop_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_01_dot_25 LaptopType)\n (objectType CellPhone_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__plus_01_dot_88 CellPhoneType)\n (objectType KeyChain_bar__plus_01_dot_76_bar__plus_00_dot_44_bar__plus_01_dot_79 KeyChainType)\n (objectType Book_bar__minus_00_dot_73_bar__plus_01_dot_50_bar__minus_01_dot_17 BookType)\n (objectType Chair_bar__minus_00_dot_25_bar__plus_00_dot_43_bar__plus_01_dot_46 ChairType)\n (objectType Pencil_bar__minus_00_dot_59_bar__plus_00_dot_29_bar__plus_03_dot_13 PencilType)\n (objectType KeyChain_bar__plus_01_dot_50_bar__plus_00_dot_11_bar__minus_00_dot_69 KeyChainType)\n (objectType Mug_bar__minus_00_dot_53_bar__plus_00_dot_06_bar__plus_02_dot_02 MugType)\n (objectType Mug_bar__minus_00_dot_82_bar__plus_00_dot_06_bar__plus_02_dot_31 MugType)\n (objectType DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 DeskLampType)\n (objectType Pencil_bar__minus_00_dot_66_bar__plus_00_dot_10_bar__minus_01_dot_15 PencilType)\n (objectType Chair_bar__plus_01_dot_48_bar__plus_00_dot_43_bar__plus_00_dot_22 ChairType)\n (objectType Pillow_bar__minus_00_dot_60_bar__plus_01_dot_59_bar__minus_00_dot_72 PillowType)\n (objectType Window_bar__plus_01_dot_58_bar__plus_01_dot_56_bar__minus_01_dot_95 WindowType)\n (objectType Painting_bar__plus_02_dot_20_bar__plus_01_dot_77_bar__minus_00_dot_10 PaintingType)\n (objectType AlarmClock_bar__plus_01_dot_61_bar__plus_00_dot_73_bar__plus_00_dot_73 AlarmClockType)\n (objectType Book_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 BookType)\n (objectType CreditCard_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_02_dot_82 CreditCardType)\n (objectType LightSwitch_bar__plus_02_dot_20_bar__plus_01_dot_26_bar__plus_01_dot_99 LightSwitchType)\n (objectType Laptop_bar__plus_01_dot_67_bar__plus_00_dot_45_bar__plus_01_dot_61 LaptopType)\n (objectType CD_bar__minus_00_dot_70_bar__plus_00_dot_09_bar__minus_01_dot_32 CDType)\n (objectType KeyChain_bar__plus_01_dot_71_bar__plus_00_dot_73_bar__minus_00_dot_50 KeyChainType)\n (objectType Book_bar__minus_00_dot_69_bar__plus_00_dot_68_bar__plus_01_dot_99 BookType)\n (objectType Pen_bar__minus_00_dot_59_bar__plus_00_dot_07_bar__plus_03_dot_04 PenType)\n (objectType Mirror_bar__plus_02_dot_23_bar__plus_01_dot_26_bar__plus_02_dot_66 MirrorType)\n (objectType Blinds_bar__plus_01_dot_55_bar__plus_02_dot_44_bar__minus_01_dot_89 BlindsType)\n (objectType Pillow_bar__minus_00_dot_83_bar__plus_01_dot_55_bar__minus_01_dot_53 PillowType)\n (objectType TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23 TennisRacketType)\n (objectType Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29 BoxType)\n (objectType Mug_bar__minus_00_dot_87_bar__plus_00_dot_68_bar__plus_02_dot_36 MugType)\n (objectType CD_bar__plus_02_dot_00_bar__plus_00_dot_73_bar__plus_00_dot_24 CDType)\n (objectType Pen_bar__minus_00_dot_69_bar__plus_00_dot_68_bar__plus_01_dot_43 PenType)\n (objectType Pen_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_23 PenType)\n (objectType CellPhone_bar__plus_01_dot_42_bar__plus_00_dot_43_bar__plus_01_dot_70 CellPhoneType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DresserType PenType)\n (canContain DresserType BookType)\n (canContain DresserType CDType)\n (canContain DresserType MugType)\n (canContain DresserType BoxType)\n (canContain DresserType CellPhoneType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType TennisRacketType)\n (canContain DresserType LaptopType)\n (canContain DresserType PencilType)\n (canContain DresserType AlarmClockType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain BedType TennisRacketType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain DresserType PenType)\n (canContain DresserType BookType)\n (canContain DresserType CDType)\n (canContain DresserType MugType)\n (canContain DresserType BoxType)\n (canContain DresserType CellPhoneType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType TennisRacketType)\n (canContain DresserType LaptopType)\n (canContain DresserType PencilType)\n (canContain DresserType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DeskType PenType)\n (canContain DeskType BookType)\n (canContain DeskType CDType)\n (canContain DeskType MugType)\n (canContain DeskType BoxType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType TennisRacketType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType MugType)\n (canContain CabinetType BoxType)\n (canContain BedType TennisRacketType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain DeskType PenType)\n (canContain DeskType BookType)\n (canContain DeskType CDType)\n (canContain DeskType MugType)\n (canContain DeskType BoxType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType TennisRacketType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType BookType)\n (canContain ArmChairType CellPhoneType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType CreditCardType)\n (pickupable Laptop_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_01_dot_25)\n (pickupable CellPhone_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__plus_01_dot_88)\n (pickupable KeyChain_bar__plus_01_dot_76_bar__plus_00_dot_44_bar__plus_01_dot_79)\n (pickupable Book_bar__minus_00_dot_73_bar__plus_01_dot_50_bar__minus_01_dot_17)\n (pickupable Pencil_bar__minus_00_dot_59_bar__plus_00_dot_29_bar__plus_03_dot_13)\n (pickupable KeyChain_bar__plus_01_dot_50_bar__plus_00_dot_11_bar__minus_00_dot_69)\n (pickupable Mug_bar__minus_00_dot_53_bar__plus_00_dot_06_bar__plus_02_dot_02)\n (pickupable Mug_bar__minus_00_dot_82_bar__plus_00_dot_06_bar__plus_02_dot_31)\n (pickupable Pencil_bar__minus_00_dot_66_bar__plus_00_dot_10_bar__minus_01_dot_15)\n (pickupable Pillow_bar__minus_00_dot_60_bar__plus_01_dot_59_bar__minus_00_dot_72)\n (pickupable AlarmClock_bar__plus_01_dot_61_bar__plus_00_dot_73_bar__plus_00_dot_73)\n (pickupable Book_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16)\n (pickupable CreditCard_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_02_dot_82)\n (pickupable Laptop_bar__plus_01_dot_67_bar__plus_00_dot_45_bar__plus_01_dot_61)\n (pickupable CD_bar__minus_00_dot_70_bar__plus_00_dot_09_bar__minus_01_dot_32)\n (pickupable KeyChain_bar__plus_01_dot_71_bar__plus_00_dot_73_bar__minus_00_dot_50)\n (pickupable Book_bar__minus_00_dot_69_bar__plus_00_dot_68_bar__plus_01_dot_99)\n (pickupable Pen_bar__minus_00_dot_59_bar__plus_00_dot_07_bar__plus_03_dot_04)\n (pickupable Pillow_bar__minus_00_dot_83_bar__plus_01_dot_55_bar__minus_01_dot_53)\n (pickupable TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23)\n (pickupable Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29)\n (pickupable Mug_bar__minus_00_dot_87_bar__plus_00_dot_68_bar__plus_02_dot_36)\n (pickupable CD_bar__plus_02_dot_00_bar__plus_00_dot_73_bar__plus_00_dot_24)\n (pickupable Pen_bar__minus_00_dot_69_bar__plus_00_dot_68_bar__plus_01_dot_43)\n (pickupable Pen_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_23)\n (pickupable CellPhone_bar__plus_01_dot_42_bar__plus_00_dot_43_bar__plus_01_dot_70)\n (isReceptacleObject Mug_bar__minus_00_dot_53_bar__plus_00_dot_06_bar__plus_02_dot_02)\n (isReceptacleObject Mug_bar__minus_00_dot_82_bar__plus_00_dot_06_bar__plus_02_dot_31)\n (isReceptacleObject Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29)\n (isReceptacleObject Mug_bar__minus_00_dot_87_bar__plus_00_dot_68_bar__plus_02_dot_36)\n (openable Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96)\n (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36)\n (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78)\n (openable Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24)\n (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78)\n (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36)\n (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78)\n (openable Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96)\n (openable Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53)\n (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36)\n (openable Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96)\n \n (atLocation agent1 loc_bar_3_bar__minus_5_bar_3_bar_30)\n \n (cleanable Mug_bar__minus_00_dot_53_bar__plus_00_dot_06_bar__plus_02_dot_02)\n (cleanable Mug_bar__minus_00_dot_82_bar__plus_00_dot_06_bar__plus_02_dot_31)\n (cleanable Mug_bar__minus_00_dot_87_bar__plus_00_dot_68_bar__plus_02_dot_36)\n \n (heatable Mug_bar__minus_00_dot_53_bar__plus_00_dot_06_bar__plus_02_dot_02)\n (heatable Mug_bar__minus_00_dot_82_bar__plus_00_dot_06_bar__plus_02_dot_31)\n (heatable Mug_bar__minus_00_dot_87_bar__plus_00_dot_68_bar__plus_02_dot_36)\n (coolable Mug_bar__minus_00_dot_53_bar__plus_00_dot_06_bar__plus_02_dot_02)\n (coolable Mug_bar__minus_00_dot_82_bar__plus_00_dot_06_bar__plus_02_dot_31)\n (coolable Mug_bar__minus_00_dot_87_bar__plus_00_dot_68_bar__plus_02_dot_36)\n \n \n (toggleable DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71)\n \n \n \n \n (inReceptacle Pencil_bar__minus_00_dot_66_bar__plus_00_dot_10_bar__minus_01_dot_15 Drawer_bar__minus_00_dot_70_bar__plus_00_dot_22_bar__minus_01_dot_32)\n (inReceptacle CD_bar__minus_00_dot_70_bar__plus_00_dot_09_bar__minus_01_dot_32 Drawer_bar__minus_00_dot_70_bar__plus_00_dot_22_bar__minus_01_dot_32)\n (inReceptacle CellPhone_bar__plus_01_dot_42_bar__plus_00_dot_43_bar__plus_01_dot_70 ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61)\n (inReceptacle KeyChain_bar__plus_01_dot_76_bar__plus_00_dot_44_bar__plus_01_dot_79 ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61)\n (inReceptacle Laptop_bar__plus_01_dot_67_bar__plus_00_dot_45_bar__plus_01_dot_61 ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61)\n (inReceptacle CellPhone_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__plus_01_dot_88 ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61)\n (inReceptacle Mug_bar__minus_00_dot_53_bar__plus_00_dot_06_bar__plus_02_dot_02 Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53)\n (inReceptacle Mug_bar__minus_00_dot_82_bar__plus_00_dot_06_bar__plus_02_dot_31 Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53)\n (inReceptacle Pen_bar__minus_00_dot_69_bar__plus_00_dot_68_bar__plus_01_dot_43 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80)\n (inReceptacle Laptop_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_01_dot_25 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80)\n (inReceptacle Mug_bar__minus_00_dot_87_bar__plus_00_dot_68_bar__plus_02_dot_36 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80)\n (inReceptacle Book_bar__minus_00_dot_69_bar__plus_00_dot_68_bar__plus_01_dot_99 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80)\n (inReceptacle Book_bar__minus_00_dot_73_bar__plus_01_dot_50_bar__minus_01_dot_17 Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92)\n (inReceptacle Pillow_bar__minus_00_dot_83_bar__plus_01_dot_55_bar__minus_01_dot_53 Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92)\n (inReceptacle Pillow_bar__minus_00_dot_60_bar__plus_01_dot_59_bar__minus_00_dot_72 Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92)\n (inReceptacle Book_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97)\n (inReceptacle CreditCard_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_02_dot_82 Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97)\n (inReceptacle Pen_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_23 Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31)\n (inReceptacle Pen_bar__minus_00_dot_59_bar__plus_00_dot_07_bar__plus_03_dot_04 Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96)\n (inReceptacle AlarmClock_bar__plus_01_dot_61_bar__plus_00_dot_73_bar__plus_00_dot_73 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12)\n (inReceptacle DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12)\n (inReceptacle CD_bar__plus_02_dot_00_bar__plus_00_dot_73_bar__plus_00_dot_24 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12)\n (inReceptacle KeyChain_bar__plus_01_dot_71_bar__plus_00_dot_73_bar__minus_00_dot_50 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12)\n (inReceptacle KeyChain_bar__plus_01_dot_50_bar__plus_00_dot_11_bar__minus_00_dot_69 Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78)\n (inReceptacle Pencil_bar__minus_00_dot_59_bar__plus_00_dot_29_bar__plus_03_dot_13 Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96)\n \n \n (receptacleAtLocation ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61 loc_bar_4_bar_6_bar_1_bar_60)\n (receptacleAtLocation Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92 loc_bar_1_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17 loc_bar_4_bar_9_bar_3_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53 loc_bar_2_bar_7_bar_3_bar_60)\n (receptacleAtLocation Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12 loc_bar_4_bar_1_bar_1_bar_60)\n (receptacleAtLocation Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80 loc_bar_1_bar_7_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36 loc_bar_2_bar__minus_4_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78 loc_bar_2_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36 loc_bar_2_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78 loc_bar_2_bar__minus_1_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36 loc_bar_3_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78 loc_bar_3_bar__minus_2_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24 loc_bar_1_bar_5_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96 loc_bar_1_bar_7_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96 loc_bar_1_bar_8_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96 loc_bar_2_bar_11_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_22_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_45)\n (receptacleAtLocation Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97 loc_bar_1_bar_12_bar_3_bar_60)\n (receptacleAtLocation Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31 loc_bar_1_bar__minus_5_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_02_dot_03_bar__plus_00_dot_00_bar__minus_01_dot_19 loc_bar_6_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Mug_bar__minus_00_dot_82_bar__plus_00_dot_06_bar__plus_02_dot_31 loc_bar_2_bar_7_bar_3_bar_60)\n (objectAtLocation Laptop_bar__plus_01_dot_67_bar__plus_00_dot_45_bar__plus_01_dot_61 loc_bar_4_bar_6_bar_1_bar_60)\n (objectAtLocation Pencil_bar__minus_00_dot_66_bar__plus_00_dot_10_bar__minus_01_dot_15 loc_bar_1_bar__minus_5_bar_3_bar_60)\n (objectAtLocation CD_bar__plus_02_dot_00_bar__plus_00_dot_73_bar__plus_00_dot_24 loc_bar_4_bar_1_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__plus_01_dot_76_bar__plus_00_dot_44_bar__plus_01_dot_79 loc_bar_4_bar_6_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__plus_01_dot_42_bar__plus_00_dot_43_bar__plus_01_dot_70 loc_bar_4_bar_6_bar_1_bar_60)\n (objectAtLocation Pen_bar__minus_00_dot_69_bar__plus_00_dot_68_bar__plus_01_dot_43 loc_bar_1_bar_7_bar_3_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 loc_bar_1_bar_12_bar_3_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_73_bar__plus_01_dot_50_bar__minus_01_dot_17 loc_bar_1_bar__minus_3_bar_3_bar_60)\n (objectAtLocation KeyChain_bar__plus_01_dot_71_bar__plus_00_dot_73_bar__minus_00_dot_50 loc_bar_4_bar_1_bar_1_bar_60)\n (objectAtLocation Pen_bar__minus_00_dot_59_bar__plus_00_dot_07_bar__plus_03_dot_04 loc_bar_1_bar_7_bar_0_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_53_bar__plus_00_dot_06_bar__plus_02_dot_02 loc_bar_2_bar_7_bar_3_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_25_bar__plus_00_dot_43_bar__plus_01_dot_46 loc_bar_1_bar_6_bar_3_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_69_bar__plus_00_dot_68_bar__plus_01_dot_99 loc_bar_1_bar_7_bar_3_bar_60)\n (objectAtLocation Chair_bar__plus_01_dot_48_bar__plus_00_dot_43_bar__plus_00_dot_22 loc_bar_4_bar_1_bar_1_bar_60)\n (objectAtLocation Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29 loc_bar_1_bar__minus_1_bar_3_bar_60)\n (objectAtLocation DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 loc_bar_4_bar_1_bar_1_bar_60)\n (objectAtLocation TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23 loc_bar__minus_4_bar_2_bar_3_bar_60)\n (objectAtLocation Pen_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_23 loc_bar_1_bar__minus_5_bar_3_bar_60)\n (objectAtLocation AlarmClock_bar__plus_01_dot_61_bar__plus_00_dot_73_bar__plus_00_dot_73 loc_bar_4_bar_1_bar_1_bar_60)\n (objectAtLocation Pillow_bar__minus_00_dot_60_bar__plus_01_dot_59_bar__minus_00_dot_72 loc_bar_1_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Pillow_bar__minus_00_dot_83_bar__plus_01_dot_55_bar__minus_01_dot_53 loc_bar_1_bar__minus_3_bar_3_bar_60)\n (objectAtLocation CellPhone_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__plus_01_dot_88 loc_bar_4_bar_6_bar_1_bar_60)\n (objectAtLocation Painting_bar__plus_02_dot_20_bar__plus_01_dot_77_bar__minus_00_dot_10 loc_bar_4_bar_0_bar_1_bar_0)\n (objectAtLocation KeyChain_bar__plus_01_dot_50_bar__plus_00_dot_11_bar__minus_00_dot_69 loc_bar_2_bar__minus_1_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_02_dot_82 loc_bar_1_bar_12_bar_3_bar_60)\n (objectAtLocation Mirror_bar__plus_02_dot_23_bar__plus_01_dot_26_bar__plus_02_dot_66 loc_bar_7_bar_11_bar_1_bar_45)\n (objectAtLocation CD_bar__minus_00_dot_70_bar__plus_00_dot_09_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_60)\n (objectAtLocation LightSwitch_bar__plus_02_dot_20_bar__plus_01_dot_26_bar__plus_01_dot_99 loc_bar_7_bar_10_bar_2_bar_45)\n (objectAtLocation Window_bar__plus_01_dot_58_bar__plus_01_dot_56_bar__minus_01_dot_95 loc_bar_6_bar__minus_5_bar_2_bar_15)\n (objectAtLocation Pencil_bar__minus_00_dot_59_bar__plus_00_dot_29_bar__plus_03_dot_13 loc_bar_1_bar_8_bar_0_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_01_dot_25 loc_bar_1_bar_7_bar_3_bar_60)\n (objectAtLocation Mug_bar__minus_00_dot_87_bar__plus_00_dot_68_bar__plus_02_dot_36 loc_bar_1_bar_7_bar_3_bar_60)\n (objectAtLocation Blinds_bar__plus_01_dot_55_bar__plus_02_dot_44_bar__minus_01_dot_89 loc_bar_6_bar__minus_5_bar_2_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?ot - object\n ?r - receptacle\n ?a - agent\n ?l - location)\n (and\n (objectType ?ot DeskLampType)\n (toggleable ?ot)\n (isToggled ?ot)\n (receptacleAtLocation ?r ?l)\n (atLocation ?a ?l)\n (inReceptacle ?ot ?r)\n )\n )\n (exists (?o - object\n ?a - agent)\n (and\n (objectType ?o CellPhoneType)\n (holds ?a ?o)\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to armchair 1", "take cellphone 2 from armchair 1", "go to desk 1", "use desklamp 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CellPhone-None-DeskLamp-318/trial_T20190909_005855_117187/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CellPhone-None-DeskLamp-318/trial_T20190909_005855_117187/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..160e1ac9a88ae1e13576bb0e31c01053afc359d5 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CellPhone-None-DeskLamp-318/trial_T20190909_005855_117187/initial_state.pddl @@ -0,0 +1,678 @@ + +(define (problem plan_trial_T20190909_005855_117187) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + AlarmClock_bar__plus_01_dot_61_bar__plus_00_dot_73_bar__plus_00_dot_73 - object + Blinds_bar__plus_01_dot_55_bar__plus_02_dot_44_bar__minus_01_dot_89 - object + Book_bar__minus_00_dot_69_bar__plus_00_dot_68_bar__plus_01_dot_99 - object + Book_bar__minus_00_dot_73_bar__plus_01_dot_50_bar__minus_01_dot_17 - object + Book_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 - object + Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29 - object + CD_bar__plus_02_dot_00_bar__plus_00_dot_73_bar__plus_00_dot_24 - object + CD_bar__minus_00_dot_70_bar__plus_00_dot_09_bar__minus_01_dot_32 - object + CellPhone_bar__plus_01_dot_42_bar__plus_00_dot_43_bar__plus_01_dot_70 - object + CellPhone_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__plus_01_dot_88 - object + Chair_bar__plus_01_dot_48_bar__plus_00_dot_43_bar__plus_00_dot_22 - object + Chair_bar__minus_00_dot_25_bar__plus_00_dot_43_bar__plus_01_dot_46 - object + CreditCard_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_02_dot_82 - object + DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 - object + KeyChain_bar__plus_01_dot_50_bar__plus_00_dot_11_bar__minus_00_dot_69 - object + KeyChain_bar__plus_01_dot_71_bar__plus_00_dot_73_bar__minus_00_dot_50 - object + KeyChain_bar__plus_01_dot_76_bar__plus_00_dot_44_bar__plus_01_dot_79 - object + Laptop_bar__plus_01_dot_67_bar__plus_00_dot_45_bar__plus_01_dot_61 - object + Laptop_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_01_dot_25 - object + LightSwitch_bar__plus_02_dot_20_bar__plus_01_dot_26_bar__plus_01_dot_99 - object + Mirror_bar__plus_02_dot_23_bar__plus_01_dot_26_bar__plus_02_dot_66 - object + Mug_bar__minus_00_dot_53_bar__plus_00_dot_06_bar__plus_02_dot_02 - object + Mug_bar__minus_00_dot_82_bar__plus_00_dot_06_bar__plus_02_dot_31 - object + Mug_bar__minus_00_dot_87_bar__plus_00_dot_68_bar__plus_02_dot_36 - object + Painting_bar__plus_02_dot_20_bar__plus_01_dot_77_bar__minus_00_dot_10 - object + Pencil_bar__minus_00_dot_59_bar__plus_00_dot_29_bar__plus_03_dot_13 - object + Pencil_bar__minus_00_dot_66_bar__plus_00_dot_10_bar__minus_01_dot_15 - object + Pen_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_23 - object + Pen_bar__minus_00_dot_59_bar__plus_00_dot_07_bar__plus_03_dot_04 - object + Pen_bar__minus_00_dot_69_bar__plus_00_dot_68_bar__plus_01_dot_43 - object + Pillow_bar__minus_00_dot_60_bar__plus_01_dot_59_bar__minus_00_dot_72 - object + Pillow_bar__minus_00_dot_83_bar__plus_01_dot_55_bar__minus_01_dot_53 - object + TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23 - object + Window_bar__plus_01_dot_58_bar__plus_01_dot_56_bar__minus_01_dot_95 - object + ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61 - receptacle + Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92 - receptacle + Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17 - receptacle + Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53 - receptacle + Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12 - receptacle + Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80 - receptacle + Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36 - receptacle + Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78 - receptacle + Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36 - receptacle + Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78 - receptacle + Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36 - receptacle + Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78 - receptacle + Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24 - receptacle + Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96 - receptacle + Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96 - receptacle + Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96 - receptacle + Drawer_bar__minus_00_dot_70_bar__plus_00_dot_22_bar__minus_01_dot_32 - receptacle + Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32 - receptacle + Drawer_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_01_dot_32 - receptacle + Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97 - receptacle + Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31 - receptacle + GarbageCan_bar__plus_02_dot_03_bar__plus_00_dot_00_bar__minus_01_dot_19 - receptacle + loc_bar_1_bar_7_bar_0_bar_45 - location + loc_bar_2_bar__minus_4_bar_1_bar_60 - location + loc_bar_1_bar__minus_5_bar_3_bar_60 - location + loc_bar_1_bar__minus_1_bar_3_bar_60 - location + loc_bar__minus_4_bar_2_bar_3_bar_60 - location + loc_bar_2_bar__minus_1_bar_1_bar_45 - location + loc_bar_6_bar__minus_5_bar_2_bar_15 - location + loc_bar_3_bar__minus_3_bar_1_bar_45 - location + loc_bar_1_bar_5_bar_0_bar_45 - location + loc_bar_7_bar_10_bar_2_bar_45 - location + loc_bar_4_bar_0_bar_1_bar_0 - location + loc_bar_6_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_2_bar_11_bar_3_bar_45 - location + loc_bar_1_bar__minus_5_bar_3_bar_45 - location + loc_bar_1_bar_6_bar_3_bar_60 - location + loc_bar_4_bar_1_bar_1_bar_60 - location + loc_bar_1_bar_7_bar_3_bar_60 - location + loc_bar_7_bar_11_bar_1_bar_45 - location + loc_bar_2_bar__minus_3_bar_1_bar_45 - location + loc_bar_2_bar__minus_1_bar_1_bar_60 - location + loc_bar_4_bar_9_bar_3_bar_0 - location + loc_bar_4_bar_6_bar_1_bar_60 - location + loc_bar_3_bar__minus_2_bar_1_bar_45 - location + loc_bar_2_bar_7_bar_3_bar_60 - location + loc_bar_1_bar_12_bar_3_bar_60 - location + loc_bar_1_bar__minus_3_bar_3_bar_60 - location + loc_bar_1_bar_8_bar_0_bar_60 - location + loc_bar_6_bar__minus_5_bar_1_bar_60 - location + loc_bar_3_bar__minus_5_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_01_dot_32 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96 DrawerType) + (receptacleType Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31 DresserType) + (receptacleType GarbageCan_bar__plus_02_dot_03_bar__plus_00_dot_00_bar__minus_01_dot_19 GarbageCanType) + (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_70_bar__plus_00_dot_22_bar__minus_01_dot_32 DrawerType) + (receptacleType Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17 BedType) + (receptacleType Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97 DresserType) + (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32 DrawerType) + (receptacleType Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12 DeskType) + (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96 DrawerType) + (receptacleType Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53 CabinetType) + (receptacleType Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92 BedType) + (receptacleType Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80 DeskType) + (receptacleType 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Book_bar__minus_00_dot_73_bar__plus_01_dot_50_bar__minus_01_dot_17 Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92) + (inReceptacle Pillow_bar__minus_00_dot_83_bar__plus_01_dot_55_bar__minus_01_dot_53 Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92) + (inReceptacle Pillow_bar__minus_00_dot_60_bar__plus_01_dot_59_bar__minus_00_dot_72 Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92) + (inReceptacle Book_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97) + (inReceptacle CreditCard_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_02_dot_82 Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97) + (inReceptacle Pen_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_23 Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31) + (inReceptacle Pen_bar__minus_00_dot_59_bar__plus_00_dot_07_bar__plus_03_dot_04 Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96) + (inReceptacle AlarmClock_bar__plus_01_dot_61_bar__plus_00_dot_73_bar__plus_00_dot_73 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12) + (inReceptacle DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12) + (inReceptacle CD_bar__plus_02_dot_00_bar__plus_00_dot_73_bar__plus_00_dot_24 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12) + (inReceptacle KeyChain_bar__plus_01_dot_71_bar__plus_00_dot_73_bar__minus_00_dot_50 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12) + (inReceptacle KeyChain_bar__plus_01_dot_50_bar__plus_00_dot_11_bar__minus_00_dot_69 Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78) + (inReceptacle Pencil_bar__minus_00_dot_59_bar__plus_00_dot_29_bar__plus_03_dot_13 Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96) + + + (receptacleAtLocation ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61 loc_bar_4_bar_6_bar_1_bar_60) + (receptacleAtLocation Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92 loc_bar_1_bar__minus_3_bar_3_bar_60) + (receptacleAtLocation Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17 loc_bar_4_bar_9_bar_3_bar_0) + (receptacleAtLocation Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53 loc_bar_2_bar_7_bar_3_bar_60) + (receptacleAtLocation Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12 loc_bar_4_bar_1_bar_1_bar_60) + (receptacleAtLocation Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80 loc_bar_1_bar_7_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36 loc_bar_2_bar__minus_4_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78 loc_bar_2_bar__minus_1_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36 loc_bar_2_bar__minus_3_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78 loc_bar_2_bar__minus_1_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36 loc_bar_3_bar__minus_3_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78 loc_bar_3_bar__minus_2_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24 loc_bar_1_bar_5_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96 loc_bar_1_bar_7_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96 loc_bar_1_bar_8_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96 loc_bar_2_bar_11_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_22_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_45) + (receptacleAtLocation Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97 loc_bar_1_bar_12_bar_3_bar_60) + (receptacleAtLocation Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31 loc_bar_1_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_02_dot_03_bar__plus_00_dot_00_bar__minus_01_dot_19 loc_bar_6_bar__minus_5_bar_1_bar_60) + (objectAtLocation Mug_bar__minus_00_dot_82_bar__plus_00_dot_06_bar__plus_02_dot_31 loc_bar_2_bar_7_bar_3_bar_60) + (objectAtLocation Laptop_bar__plus_01_dot_67_bar__plus_00_dot_45_bar__plus_01_dot_61 loc_bar_4_bar_6_bar_1_bar_60) + (objectAtLocation Pencil_bar__minus_00_dot_66_bar__plus_00_dot_10_bar__minus_01_dot_15 loc_bar_1_bar__minus_5_bar_3_bar_60) + (objectAtLocation CD_bar__plus_02_dot_00_bar__plus_00_dot_73_bar__plus_00_dot_24 loc_bar_4_bar_1_bar_1_bar_60) + (objectAtLocation KeyChain_bar__plus_01_dot_76_bar__plus_00_dot_44_bar__plus_01_dot_79 loc_bar_4_bar_6_bar_1_bar_60) + (objectAtLocation CellPhone_bar__plus_01_dot_42_bar__plus_00_dot_43_bar__plus_01_dot_70 loc_bar_4_bar_6_bar_1_bar_60) + (objectAtLocation Pen_bar__minus_00_dot_69_bar__plus_00_dot_68_bar__plus_01_dot_43 loc_bar_1_bar_7_bar_3_bar_60) + (objectAtLocation Book_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 loc_bar_1_bar_12_bar_3_bar_60) + (objectAtLocation Book_bar__minus_00_dot_73_bar__plus_01_dot_50_bar__minus_01_dot_17 loc_bar_1_bar__minus_3_bar_3_bar_60) + (objectAtLocation KeyChain_bar__plus_01_dot_71_bar__plus_00_dot_73_bar__minus_00_dot_50 loc_bar_4_bar_1_bar_1_bar_60) + (objectAtLocation Pen_bar__minus_00_dot_59_bar__plus_00_dot_07_bar__plus_03_dot_04 loc_bar_1_bar_7_bar_0_bar_45) + (objectAtLocation Mug_bar__minus_00_dot_53_bar__plus_00_dot_06_bar__plus_02_dot_02 loc_bar_2_bar_7_bar_3_bar_60) + (objectAtLocation Chair_bar__minus_00_dot_25_bar__plus_00_dot_43_bar__plus_01_dot_46 loc_bar_1_bar_6_bar_3_bar_60) + (objectAtLocation Book_bar__minus_00_dot_69_bar__plus_00_dot_68_bar__plus_01_dot_99 loc_bar_1_bar_7_bar_3_bar_60) + (objectAtLocation Chair_bar__plus_01_dot_48_bar__plus_00_dot_43_bar__plus_00_dot_22 loc_bar_4_bar_1_bar_1_bar_60) + (objectAtLocation Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29 loc_bar_1_bar__minus_1_bar_3_bar_60) + (objectAtLocation DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 loc_bar_4_bar_1_bar_1_bar_60) + (objectAtLocation TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23 loc_bar__minus_4_bar_2_bar_3_bar_60) + (objectAtLocation Pen_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_23 loc_bar_1_bar__minus_5_bar_3_bar_60) + (objectAtLocation AlarmClock_bar__plus_01_dot_61_bar__plus_00_dot_73_bar__plus_00_dot_73 loc_bar_4_bar_1_bar_1_bar_60) + (objectAtLocation Pillow_bar__minus_00_dot_60_bar__plus_01_dot_59_bar__minus_00_dot_72 loc_bar_1_bar__minus_3_bar_3_bar_60) + (objectAtLocation Pillow_bar__minus_00_dot_83_bar__plus_01_dot_55_bar__minus_01_dot_53 loc_bar_1_bar__minus_3_bar_3_bar_60) + (objectAtLocation CellPhone_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__plus_01_dot_88 loc_bar_4_bar_6_bar_1_bar_60) + (objectAtLocation Painting_bar__plus_02_dot_20_bar__plus_01_dot_77_bar__minus_00_dot_10 loc_bar_4_bar_0_bar_1_bar_0) + (objectAtLocation KeyChain_bar__plus_01_dot_50_bar__plus_00_dot_11_bar__minus_00_dot_69 loc_bar_2_bar__minus_1_bar_1_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_02_dot_82 loc_bar_1_bar_12_bar_3_bar_60) + (objectAtLocation Mirror_bar__plus_02_dot_23_bar__plus_01_dot_26_bar__plus_02_dot_66 loc_bar_7_bar_11_bar_1_bar_45) + (objectAtLocation CD_bar__minus_00_dot_70_bar__plus_00_dot_09_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_60) + (objectAtLocation LightSwitch_bar__plus_02_dot_20_bar__plus_01_dot_26_bar__plus_01_dot_99 loc_bar_7_bar_10_bar_2_bar_45) + (objectAtLocation Window_bar__plus_01_dot_58_bar__plus_01_dot_56_bar__minus_01_dot_95 loc_bar_6_bar__minus_5_bar_2_bar_15) + (objectAtLocation Pencil_bar__minus_00_dot_59_bar__plus_00_dot_29_bar__plus_03_dot_13 loc_bar_1_bar_8_bar_0_bar_60) + (objectAtLocation Laptop_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_01_dot_25 loc_bar_1_bar_7_bar_3_bar_60) + (objectAtLocation Mug_bar__minus_00_dot_87_bar__plus_00_dot_68_bar__plus_02_dot_36 loc_bar_1_bar_7_bar_3_bar_60) + (objectAtLocation Blinds_bar__plus_01_dot_55_bar__plus_02_dot_44_bar__minus_01_dot_89 loc_bar_6_bar__minus_5_bar_2_bar__minus_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 CellPhoneType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CellPhone-None-DeskLamp-318/trial_T20190909_005855_117187/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CellPhone-None-DeskLamp-318/trial_T20190909_005855_117187/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..6f988ef96fbd379f251b876f1b7d75ad9f548873 --- /dev/null +++ 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", + "Pick up the cell phone closest to the edge of the chair. ", + "Move to the left side of the desk to the right. ", + "Turn on the lamp. " + ], + "task_desc": "Pick up a cell phone and turn on the lamp. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A24RGLS3BRZ60J_3OWEPKL08C3E7Z616IIBA4NRO2X7N5", + "high_descs": [ + "Turn to the right and move across the room. Turn right to face the flowered chair.", + "Pick up the cell phone from the front of the chair.", + "Hold the cell phone and turn to the right and face the desk on the left in front of the clock.", + "Hold the cell phone and turn on the lamp." + ], + "task_desc": "Hold a phone and turn on the lamp.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2A028LRDJB7ZB_3VHHR074H68OJZ3GU52WXCJ2J7ZL7J", + "high_descs": [ + "Turn right walk straight face the couch on your right ", + "Pick up the cell phone on the edge of the couch", + "Turn right walk straight to the desk with lamp", + "Turn on the lamp" + ], + "task_desc": "Examine the cell phone by the light", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CellPhone-None-DeskLamp-318/trial_T20190909_005910_895239/game.tw-pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CellPhone-None-DeskLamp-318/trial_T20190909_005910_895239/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..d13bf15d010216f943180bcde854eb9de11f0f81 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CellPhone-None-DeskLamp-318/trial_T20190909_005910_895239/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: look at cellphone under the desklamp.\"\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_005910_895239)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n AlarmClock_bar__plus_01_dot_61_bar__plus_00_dot_73_bar__minus_00_dot_26 - object\n AlarmClock_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_08 - object\n Blinds_bar__plus_01_dot_55_bar__plus_02_dot_44_bar__minus_01_dot_89 - object\n Book_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_62 - object\n Book_bar__minus_00_dot_60_bar__plus_00_dot_07_bar__plus_02_dot_24 - object\n Book_bar__minus_00_dot_60_bar__plus_01_dot_50_bar__minus_00_dot_27 - object\n Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29 - object\n CD_bar__plus_01_dot_67_bar__plus_00_dot_44_bar__plus_01_dot_79 - object\n CD_bar__minus_00_dot_70_bar__plus_00_dot_42_bar__minus_01_dot_32 - object\n CD_bar__minus_00_dot_89_bar__plus_00_dot_07_bar__plus_02_dot_31 - object\n CellPhone_bar__plus_01_dot_76_bar__plus_00_dot_44_bar__plus_01_dot_88 - object\n Chair_bar__plus_01_dot_48_bar__plus_00_dot_43_bar__plus_00_dot_22 - object\n Chair_bar__minus_00_dot_25_bar__plus_00_dot_43_bar__plus_01_dot_46 - object\n CreditCard_bar__plus_01_dot_61_bar__plus_00_dot_73_bar__plus_00_dot_73 - object\n CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_06_bar__plus_02_dot_96 - object\n CreditCard_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_02_dot_73 - object\n DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 - object\n KeyChain_bar__plus_01_dot_42_bar__plus_00_dot_43_bar__plus_01_dot_79 - object\n KeyChain_bar__plus_01_dot_59_bar__plus_00_dot_43_bar__plus_01_dot_33 - object\n KeyChain_bar__plus_01_dot_59_bar__plus_00_dot_43_bar__plus_01_dot_42 - object\n Laptop_bar__minus_00_dot_60_bar__plus_01_dot_50_bar__minus_00_dot_94 - object\n Laptop_bar__minus_00_dot_78_bar__plus_00_dot_68_bar__plus_02_dot_18 - object\n LightSwitch_bar__plus_02_dot_20_bar__plus_01_dot_26_bar__plus_01_dot_99 - object\n Mirror_bar__plus_02_dot_23_bar__plus_01_dot_26_bar__plus_02_dot_66 - object\n Mug_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_99 - object\n Painting_bar__plus_02_dot_20_bar__plus_01_dot_77_bar__minus_00_dot_10 - object\n Pencil_bar__plus_02_dot_10_bar__plus_00_dot_73_bar__plus_00_dot_48 - object\n Pencil_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_42 - object\n Pencil_bar__minus_00_dot_75_bar__plus_00_dot_42_bar__minus_01_dot_49 - object\n Pen_bar__plus_01_dot_61_bar__plus_00_dot_11_bar__minus_00_dot_32 - object\n Pillow_bar__minus_00_dot_63_bar__plus_01_dot_87_bar__plus_03_dot_05 - object\n Pillow_bar__minus_01_dot_14_bar__plus_01_dot_59_bar__minus_00_dot_50 - object\n TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23 - object\n Window_bar__plus_01_dot_58_bar__plus_01_dot_56_bar__minus_01_dot_95 - object\n ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61 - receptacle\n Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92 - receptacle\n Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17 - receptacle\n Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53 - receptacle\n Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12 - receptacle\n Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80 - receptacle\n Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36 - receptacle\n Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78 - receptacle\n Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36 - receptacle\n Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78 - receptacle\n Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36 - receptacle\n Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78 - receptacle\n Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24 - receptacle\n Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96 - receptacle\n Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96 - receptacle\n Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96 - receptacle\n Drawer_bar__minus_00_dot_70_bar__plus_00_dot_22_bar__minus_01_dot_32 - receptacle\n Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32 - receptacle\n Drawer_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_01_dot_32 - receptacle\n Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97 - receptacle\n Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31 - receptacle\n GarbageCan_bar__plus_02_dot_03_bar__plus_00_dot_00_bar__minus_01_dot_19 - receptacle\n loc_bar_1_bar_7_bar_0_bar_45 - location\n loc_bar_2_bar__minus_4_bar_1_bar_60 - location\n loc_bar_1_bar__minus_5_bar_3_bar_60 - location\n loc_bar_1_bar__minus_1_bar_3_bar_60 - location\n loc_bar__minus_4_bar_2_bar_3_bar_60 - location\n loc_bar_2_bar__minus_1_bar_1_bar_45 - location\n loc_bar_6_bar__minus_5_bar_2_bar_15 - location\n loc_bar_3_bar__minus_3_bar_1_bar_45 - location\n loc_bar_1_bar_5_bar_0_bar_45 - location\n loc_bar_7_bar_10_bar_2_bar_45 - location\n loc_bar_4_bar_0_bar_1_bar_0 - location\n loc_bar_6_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar_2_bar_11_bar_3_bar_45 - location\n loc_bar_1_bar__minus_5_bar_3_bar_45 - location\n loc_bar_1_bar_6_bar_3_bar_60 - location\n loc_bar_4_bar_1_bar_1_bar_60 - location\n loc_bar_1_bar_7_bar_3_bar_60 - location\n loc_bar_7_bar_11_bar_1_bar_45 - location\n loc_bar_2_bar__minus_3_bar_1_bar_45 - location\n loc_bar_2_bar__minus_1_bar_1_bar_60 - location\n loc_bar_4_bar_9_bar_3_bar_0 - location\n loc_bar_4_bar_6_bar_1_bar_60 - location\n loc_bar_3_bar__minus_2_bar_1_bar_45 - location\n loc_bar_2_bar_7_bar_3_bar_60 - location\n loc_bar_1_bar_9_bar_3_bar_60 - location\n loc_bar_1_bar_12_bar_3_bar_60 - location\n loc_bar_1_bar__minus_3_bar_3_bar_60 - location\n loc_bar_1_bar_8_bar_0_bar_60 - location\n loc_bar_6_bar__minus_5_bar_1_bar_60 - location\n loc_bar_2_bar_7_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_01_dot_32 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96 DrawerType)\n (receptacleType Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31 DresserType)\n (receptacleType GarbageCan_bar__plus_02_dot_03_bar__plus_00_dot_00_bar__minus_01_dot_19 GarbageCanType)\n (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_70_bar__plus_00_dot_22_bar__minus_01_dot_32 DrawerType)\n (receptacleType Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17 BedType)\n (receptacleType Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97 DresserType)\n (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32 DrawerType)\n (receptacleType Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12 DeskType)\n (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53 CabinetType)\n (receptacleType Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92 BedType)\n (receptacleType Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80 DeskType)\n (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96 DrawerType)\n (receptacleType ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61 ArmChairType)\n (objectType CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_06_bar__plus_02_dot_96 CreditCardType)\n (objectType CD_bar__plus_01_dot_67_bar__plus_00_dot_44_bar__plus_01_dot_79 CDType)\n (objectType Laptop_bar__minus_00_dot_60_bar__plus_01_dot_50_bar__minus_00_dot_94 LaptopType)\n (objectType Chair_bar__minus_00_dot_25_bar__plus_00_dot_43_bar__plus_01_dot_46 ChairType)\n (objectType Book_bar__minus_00_dot_60_bar__plus_01_dot_50_bar__minus_00_dot_27 BookType)\n (objectType Pen_bar__plus_01_dot_61_bar__plus_00_dot_11_bar__minus_00_dot_32 PenType)\n (objectType Pencil_bar__minus_00_dot_75_bar__plus_00_dot_42_bar__minus_01_dot_49 PencilType)\n (objectType DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 DeskLampType)\n (objectType AlarmClock_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_08 AlarmClockType)\n (objectType KeyChain_bar__plus_01_dot_59_bar__plus_00_dot_43_bar__plus_01_dot_42 KeyChainType)\n (objectType KeyChain_bar__plus_01_dot_59_bar__plus_00_dot_43_bar__plus_01_dot_33 KeyChainType)\n (objectType Chair_bar__plus_01_dot_48_bar__plus_00_dot_43_bar__plus_00_dot_22 ChairType)\n (objectType Window_bar__plus_01_dot_58_bar__plus_01_dot_56_bar__minus_01_dot_95 WindowType)\n (objectType CD_bar__minus_00_dot_89_bar__plus_00_dot_07_bar__plus_02_dot_31 CDType)\n (objectType Laptop_bar__minus_00_dot_78_bar__plus_00_dot_68_bar__plus_02_dot_18 LaptopType)\n (objectType Painting_bar__plus_02_dot_20_bar__plus_01_dot_77_bar__minus_00_dot_10 PaintingType)\n (objectType Pencil_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_42 PencilType)\n (objectType Book_bar__minus_00_dot_60_bar__plus_00_dot_07_bar__plus_02_dot_24 BookType)\n (objectType Pillow_bar__minus_00_dot_63_bar__plus_01_dot_87_bar__plus_03_dot_05 PillowType)\n (objectType CD_bar__minus_00_dot_70_bar__plus_00_dot_42_bar__minus_01_dot_32 CDType)\n (objectType LightSwitch_bar__plus_02_dot_20_bar__plus_01_dot_26_bar__plus_01_dot_99 LightSwitchType)\n (objectType Book_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_62 BookType)\n (objectType Pencil_bar__plus_02_dot_10_bar__plus_00_dot_73_bar__plus_00_dot_48 PencilType)\n (objectType Mirror_bar__plus_02_dot_23_bar__plus_01_dot_26_bar__plus_02_dot_66 MirrorType)\n (objectType Blinds_bar__plus_01_dot_55_bar__plus_02_dot_44_bar__minus_01_dot_89 BlindsType)\n (objectType TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23 TennisRacketType)\n (objectType Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29 BoxType)\n (objectType Pillow_bar__minus_01_dot_14_bar__plus_01_dot_59_bar__minus_00_dot_50 PillowType)\n (objectType KeyChain_bar__plus_01_dot_42_bar__plus_00_dot_43_bar__plus_01_dot_79 KeyChainType)\n (objectType AlarmClock_bar__plus_01_dot_61_bar__plus_00_dot_73_bar__minus_00_dot_26 AlarmClockType)\n (objectType CreditCard_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_02_dot_73 CreditCardType)\n (objectType Mug_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_99 MugType)\n (objectType CellPhone_bar__plus_01_dot_76_bar__plus_00_dot_44_bar__plus_01_dot_88 CellPhoneType)\n (objectType CreditCard_bar__plus_01_dot_61_bar__plus_00_dot_73_bar__plus_00_dot_73 CreditCardType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DresserType PenType)\n (canContain DresserType BookType)\n (canContain DresserType CDType)\n (canContain DresserType MugType)\n (canContain DresserType BoxType)\n (canContain DresserType CellPhoneType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType TennisRacketType)\n (canContain DresserType LaptopType)\n (canContain DresserType PencilType)\n (canContain DresserType AlarmClockType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain BedType TennisRacketType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain DresserType PenType)\n (canContain DresserType BookType)\n (canContain DresserType CDType)\n (canContain DresserType MugType)\n (canContain DresserType BoxType)\n (canContain DresserType CellPhoneType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType TennisRacketType)\n (canContain DresserType LaptopType)\n (canContain DresserType PencilType)\n (canContain DresserType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DeskType PenType)\n (canContain DeskType BookType)\n (canContain DeskType CDType)\n (canContain DeskType MugType)\n (canContain DeskType BoxType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType TennisRacketType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType MugType)\n (canContain CabinetType BoxType)\n (canContain BedType TennisRacketType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain DeskType PenType)\n (canContain DeskType BookType)\n (canContain DeskType CDType)\n (canContain DeskType MugType)\n (canContain DeskType BoxType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType TennisRacketType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType BookType)\n (canContain ArmChairType CellPhoneType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType CreditCardType)\n (pickupable CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_06_bar__plus_02_dot_96)\n (pickupable CD_bar__plus_01_dot_67_bar__plus_00_dot_44_bar__plus_01_dot_79)\n (pickupable Laptop_bar__minus_00_dot_60_bar__plus_01_dot_50_bar__minus_00_dot_94)\n (pickupable Book_bar__minus_00_dot_60_bar__plus_01_dot_50_bar__minus_00_dot_27)\n (pickupable Pen_bar__plus_01_dot_61_bar__plus_00_dot_11_bar__minus_00_dot_32)\n (pickupable Pencil_bar__minus_00_dot_75_bar__plus_00_dot_42_bar__minus_01_dot_49)\n (pickupable AlarmClock_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_08)\n (pickupable KeyChain_bar__plus_01_dot_59_bar__plus_00_dot_43_bar__plus_01_dot_42)\n (pickupable KeyChain_bar__plus_01_dot_59_bar__plus_00_dot_43_bar__plus_01_dot_33)\n (pickupable CD_bar__minus_00_dot_89_bar__plus_00_dot_07_bar__plus_02_dot_31)\n (pickupable Laptop_bar__minus_00_dot_78_bar__plus_00_dot_68_bar__plus_02_dot_18)\n (pickupable Pencil_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_42)\n (pickupable Book_bar__minus_00_dot_60_bar__plus_00_dot_07_bar__plus_02_dot_24)\n (pickupable Pillow_bar__minus_00_dot_63_bar__plus_01_dot_87_bar__plus_03_dot_05)\n (pickupable CD_bar__minus_00_dot_70_bar__plus_00_dot_42_bar__minus_01_dot_32)\n (pickupable Book_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_62)\n (pickupable Pencil_bar__plus_02_dot_10_bar__plus_00_dot_73_bar__plus_00_dot_48)\n (pickupable TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23)\n (pickupable Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29)\n (pickupable Pillow_bar__minus_01_dot_14_bar__plus_01_dot_59_bar__minus_00_dot_50)\n (pickupable KeyChain_bar__plus_01_dot_42_bar__plus_00_dot_43_bar__plus_01_dot_79)\n (pickupable AlarmClock_bar__plus_01_dot_61_bar__plus_00_dot_73_bar__minus_00_dot_26)\n (pickupable CreditCard_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_02_dot_73)\n (pickupable Mug_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_99)\n (pickupable CellPhone_bar__plus_01_dot_76_bar__plus_00_dot_44_bar__plus_01_dot_88)\n (pickupable CreditCard_bar__plus_01_dot_61_bar__plus_00_dot_73_bar__plus_00_dot_73)\n (isReceptacleObject Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29)\n (isReceptacleObject Mug_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_99)\n (openable Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96)\n (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36)\n (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78)\n (openable Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24)\n (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78)\n (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36)\n (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78)\n (openable Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96)\n (openable Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53)\n (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36)\n (openable Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96)\n \n (atLocation agent1 loc_bar_2_bar_7_bar_3_bar_30)\n \n (cleanable Mug_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_99)\n \n (heatable Mug_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_99)\n (coolable Mug_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_99)\n \n \n (toggleable DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71)\n \n \n \n \n (inReceptacle Pen_bar__plus_01_dot_61_bar__plus_00_dot_11_bar__minus_00_dot_32 Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36)\n (inReceptacle Pillow_bar__minus_00_dot_63_bar__plus_01_dot_87_bar__plus_03_dot_05 Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17)\n (inReceptacle CD_bar__plus_01_dot_67_bar__plus_00_dot_44_bar__plus_01_dot_79 ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61)\n (inReceptacle KeyChain_bar__plus_01_dot_59_bar__plus_00_dot_43_bar__plus_01_dot_42 ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61)\n (inReceptacle KeyChain_bar__plus_01_dot_42_bar__plus_00_dot_43_bar__plus_01_dot_79 ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61)\n (inReceptacle KeyChain_bar__plus_01_dot_59_bar__plus_00_dot_43_bar__plus_01_dot_33 ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61)\n (inReceptacle CellPhone_bar__plus_01_dot_76_bar__plus_00_dot_44_bar__plus_01_dot_88 ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61)\n (inReceptacle Book_bar__minus_00_dot_60_bar__plus_00_dot_07_bar__plus_02_dot_24 Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53)\n (inReceptacle Book_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_62 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80)\n (inReceptacle Mug_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_99 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80)\n (inReceptacle Laptop_bar__minus_00_dot_78_bar__plus_00_dot_68_bar__plus_02_dot_18 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80)\n (inReceptacle Pillow_bar__minus_01_dot_14_bar__plus_01_dot_59_bar__minus_00_dot_50 Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92)\n (inReceptacle Laptop_bar__minus_00_dot_60_bar__plus_01_dot_50_bar__minus_00_dot_94 Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92)\n (inReceptacle Book_bar__minus_00_dot_60_bar__plus_01_dot_50_bar__minus_00_dot_27 Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92)\n (inReceptacle CD_bar__minus_00_dot_70_bar__plus_00_dot_42_bar__minus_01_dot_32 Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32)\n (inReceptacle Pencil_bar__minus_00_dot_75_bar__plus_00_dot_42_bar__minus_01_dot_49 Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32)\n (inReceptacle AlarmClock_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_08 Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97)\n (inReceptacle CreditCard_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_02_dot_73 Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97)\n (inReceptacle Pencil_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_42 Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31)\n (inReceptacle CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_06_bar__plus_02_dot_96 Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96)\n (inReceptacle AlarmClock_bar__plus_01_dot_61_bar__plus_00_dot_73_bar__minus_00_dot_26 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12)\n (inReceptacle DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12)\n (inReceptacle Pencil_bar__plus_02_dot_10_bar__plus_00_dot_73_bar__plus_00_dot_48 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12)\n (inReceptacle CreditCard_bar__plus_01_dot_61_bar__plus_00_dot_73_bar__plus_00_dot_73 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12)\n \n \n (receptacleAtLocation ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61 loc_bar_4_bar_6_bar_1_bar_60)\n (receptacleAtLocation Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92 loc_bar_1_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17 loc_bar_4_bar_9_bar_3_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53 loc_bar_2_bar_7_bar_3_bar_60)\n (receptacleAtLocation Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12 loc_bar_4_bar_1_bar_1_bar_60)\n (receptacleAtLocation Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80 loc_bar_1_bar_7_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36 loc_bar_2_bar__minus_4_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78 loc_bar_2_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36 loc_bar_2_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78 loc_bar_2_bar__minus_1_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36 loc_bar_3_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78 loc_bar_3_bar__minus_2_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24 loc_bar_1_bar_5_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96 loc_bar_1_bar_7_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96 loc_bar_1_bar_8_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96 loc_bar_2_bar_11_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_22_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_45)\n (receptacleAtLocation Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97 loc_bar_1_bar_12_bar_3_bar_60)\n (receptacleAtLocation Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31 loc_bar_1_bar__minus_5_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_02_dot_03_bar__plus_00_dot_00_bar__minus_01_dot_19 loc_bar_6_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_78_bar__plus_00_dot_68_bar__plus_02_dot_18 loc_bar_1_bar_7_bar_3_bar_60)\n (objectAtLocation Pencil_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_42 loc_bar_1_bar__minus_5_bar_3_bar_60)\n (objectAtLocation CD_bar__minus_00_dot_89_bar__plus_00_dot_07_bar__plus_02_dot_31 loc_bar_1_bar_9_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__plus_01_dot_61_bar__plus_00_dot_73_bar__plus_00_dot_73 loc_bar_4_bar_1_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__plus_01_dot_59_bar__plus_00_dot_43_bar__plus_01_dot_42 loc_bar_4_bar_6_bar_1_bar_60)\n (objectAtLocation AlarmClock_bar__plus_01_dot_61_bar__plus_00_dot_73_bar__minus_00_dot_26 loc_bar_4_bar_1_bar_1_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_60_bar__plus_00_dot_07_bar__plus_02_dot_24 loc_bar_2_bar_7_bar_3_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_62 loc_bar_1_bar_7_bar_3_bar_60)\n (objectAtLocation KeyChain_bar__plus_01_dot_42_bar__plus_00_dot_43_bar__plus_01_dot_79 loc_bar_4_bar_6_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_06_bar__plus_02_dot_96 loc_bar_1_bar_7_bar_0_bar_45)\n (objectAtLocation Pencil_bar__plus_02_dot_10_bar__plus_00_dot_73_bar__plus_00_dot_48 loc_bar_4_bar_1_bar_1_bar_60)\n (objectAtLocation CD_bar__minus_00_dot_70_bar__plus_00_dot_42_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_45)\n (objectAtLocation Chair_bar__minus_00_dot_25_bar__plus_00_dot_43_bar__plus_01_dot_46 loc_bar_1_bar_6_bar_3_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_60_bar__plus_01_dot_50_bar__minus_00_dot_27 loc_bar_1_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Chair_bar__plus_01_dot_48_bar__plus_00_dot_43_bar__plus_00_dot_22 loc_bar_4_bar_1_bar_1_bar_60)\n (objectAtLocation Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29 loc_bar_1_bar__minus_1_bar_3_bar_60)\n (objectAtLocation DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 loc_bar_4_bar_1_bar_1_bar_60)\n (objectAtLocation TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23 loc_bar__minus_4_bar_2_bar_3_bar_60)\n (objectAtLocation Pen_bar__plus_01_dot_61_bar__plus_00_dot_11_bar__minus_00_dot_32 loc_bar_2_bar__minus_4_bar_1_bar_60)\n (objectAtLocation AlarmClock_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_08 loc_bar_1_bar_12_bar_3_bar_60)\n (objectAtLocation Pillow_bar__minus_00_dot_63_bar__plus_01_dot_87_bar__plus_03_dot_05 loc_bar_4_bar_9_bar_3_bar_0)\n (objectAtLocation Pillow_bar__minus_01_dot_14_bar__plus_01_dot_59_bar__minus_00_dot_50 loc_bar_1_bar__minus_3_bar_3_bar_60)\n (objectAtLocation CellPhone_bar__plus_01_dot_76_bar__plus_00_dot_44_bar__plus_01_dot_88 loc_bar_4_bar_6_bar_1_bar_60)\n (objectAtLocation Painting_bar__plus_02_dot_20_bar__plus_01_dot_77_bar__minus_00_dot_10 loc_bar_4_bar_0_bar_1_bar_0)\n (objectAtLocation KeyChain_bar__plus_01_dot_59_bar__plus_00_dot_43_bar__plus_01_dot_33 loc_bar_4_bar_6_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_02_dot_73 loc_bar_1_bar_12_bar_3_bar_60)\n (objectAtLocation Mirror_bar__plus_02_dot_23_bar__plus_01_dot_26_bar__plus_02_dot_66 loc_bar_7_bar_11_bar_1_bar_45)\n (objectAtLocation CD_bar__plus_01_dot_67_bar__plus_00_dot_44_bar__plus_01_dot_79 loc_bar_4_bar_6_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__plus_02_dot_20_bar__plus_01_dot_26_bar__plus_01_dot_99 loc_bar_7_bar_10_bar_2_bar_45)\n (objectAtLocation Window_bar__plus_01_dot_58_bar__plus_01_dot_56_bar__minus_01_dot_95 loc_bar_6_bar__minus_5_bar_2_bar_15)\n (objectAtLocation Pencil_bar__minus_00_dot_75_bar__plus_00_dot_42_bar__minus_01_dot_49 loc_bar_1_bar__minus_5_bar_3_bar_45)\n (objectAtLocation Laptop_bar__minus_00_dot_60_bar__plus_01_dot_50_bar__minus_00_dot_94 loc_bar_1_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Mug_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_99 loc_bar_1_bar_7_bar_3_bar_60)\n (objectAtLocation Blinds_bar__plus_01_dot_55_bar__plus_02_dot_44_bar__minus_01_dot_89 loc_bar_6_bar__minus_5_bar_2_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?ot - object\n ?r - receptacle\n ?a - agent\n ?l - location)\n (and\n (objectType ?ot DeskLampType)\n (toggleable ?ot)\n (isToggled ?ot)\n (receptacleAtLocation ?r ?l)\n (atLocation ?a ?l)\n (inReceptacle ?ot ?r)\n )\n )\n (exists (?o - object\n ?a - agent)\n (and\n (objectType ?o CellPhoneType)\n (holds ?a ?o)\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to armchair 1", "take cellphone 1 from armchair 1", "go to desk 1", "use desklamp 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CellPhone-None-DeskLamp-318/trial_T20190909_005910_895239/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CellPhone-None-DeskLamp-318/trial_T20190909_005910_895239/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..aba340abf64f1978e4483410299dbd56ed06e569 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CellPhone-None-DeskLamp-318/trial_T20190909_005910_895239/initial_state.pddl @@ -0,0 +1,670 @@ + +(define (problem plan_trial_T20190909_005910_895239) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + AlarmClock_bar__plus_01_dot_61_bar__plus_00_dot_73_bar__minus_00_dot_26 - object + AlarmClock_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_08 - object + Blinds_bar__plus_01_dot_55_bar__plus_02_dot_44_bar__minus_01_dot_89 - object + Book_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_62 - object + Book_bar__minus_00_dot_60_bar__plus_00_dot_07_bar__plus_02_dot_24 - object + Book_bar__minus_00_dot_60_bar__plus_01_dot_50_bar__minus_00_dot_27 - object + Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29 - object + CD_bar__plus_01_dot_67_bar__plus_00_dot_44_bar__plus_01_dot_79 - object + CD_bar__minus_00_dot_70_bar__plus_00_dot_42_bar__minus_01_dot_32 - object + CD_bar__minus_00_dot_89_bar__plus_00_dot_07_bar__plus_02_dot_31 - object + CellPhone_bar__plus_01_dot_76_bar__plus_00_dot_44_bar__plus_01_dot_88 - object + Chair_bar__plus_01_dot_48_bar__plus_00_dot_43_bar__plus_00_dot_22 - object + Chair_bar__minus_00_dot_25_bar__plus_00_dot_43_bar__plus_01_dot_46 - object + CreditCard_bar__plus_01_dot_61_bar__plus_00_dot_73_bar__plus_00_dot_73 - object + CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_06_bar__plus_02_dot_96 - object + CreditCard_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_02_dot_73 - object + DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 - object + KeyChain_bar__plus_01_dot_42_bar__plus_00_dot_43_bar__plus_01_dot_79 - object + KeyChain_bar__plus_01_dot_59_bar__plus_00_dot_43_bar__plus_01_dot_33 - object + KeyChain_bar__plus_01_dot_59_bar__plus_00_dot_43_bar__plus_01_dot_42 - object + Laptop_bar__minus_00_dot_60_bar__plus_01_dot_50_bar__minus_00_dot_94 - object + Laptop_bar__minus_00_dot_78_bar__plus_00_dot_68_bar__plus_02_dot_18 - object + LightSwitch_bar__plus_02_dot_20_bar__plus_01_dot_26_bar__plus_01_dot_99 - object + Mirror_bar__plus_02_dot_23_bar__plus_01_dot_26_bar__plus_02_dot_66 - object + Mug_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_99 - object + Painting_bar__plus_02_dot_20_bar__plus_01_dot_77_bar__minus_00_dot_10 - object + Pencil_bar__plus_02_dot_10_bar__plus_00_dot_73_bar__plus_00_dot_48 - object + Pencil_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_42 - object + Pencil_bar__minus_00_dot_75_bar__plus_00_dot_42_bar__minus_01_dot_49 - object + Pen_bar__plus_01_dot_61_bar__plus_00_dot_11_bar__minus_00_dot_32 - object + Pillow_bar__minus_00_dot_63_bar__plus_01_dot_87_bar__plus_03_dot_05 - object + Pillow_bar__minus_01_dot_14_bar__plus_01_dot_59_bar__minus_00_dot_50 - object + TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23 - object + Window_bar__plus_01_dot_58_bar__plus_01_dot_56_bar__minus_01_dot_95 - object + ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61 - receptacle + Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92 - receptacle + Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17 - receptacle + Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53 - receptacle + Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12 - receptacle + Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80 - receptacle + Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36 - receptacle + Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78 - receptacle + Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36 - receptacle + Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78 - receptacle + Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36 - receptacle + Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78 - receptacle + Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24 - receptacle + Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96 - receptacle + Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96 - receptacle + Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96 - receptacle + Drawer_bar__minus_00_dot_70_bar__plus_00_dot_22_bar__minus_01_dot_32 - receptacle + Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32 - receptacle + Drawer_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_01_dot_32 - receptacle + Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97 - receptacle + Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31 - receptacle + GarbageCan_bar__plus_02_dot_03_bar__plus_00_dot_00_bar__minus_01_dot_19 - receptacle + loc_bar_1_bar_7_bar_0_bar_45 - location + loc_bar_2_bar__minus_4_bar_1_bar_60 - location + loc_bar_1_bar__minus_5_bar_3_bar_60 - location + loc_bar_1_bar__minus_1_bar_3_bar_60 - location + loc_bar__minus_4_bar_2_bar_3_bar_60 - location + loc_bar_2_bar__minus_1_bar_1_bar_45 - location + loc_bar_6_bar__minus_5_bar_2_bar_15 - location + loc_bar_3_bar__minus_3_bar_1_bar_45 - location + loc_bar_1_bar_5_bar_0_bar_45 - location + loc_bar_7_bar_10_bar_2_bar_45 - location + loc_bar_4_bar_0_bar_1_bar_0 - location + loc_bar_6_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_2_bar_11_bar_3_bar_45 - location + loc_bar_1_bar__minus_5_bar_3_bar_45 - location + loc_bar_1_bar_6_bar_3_bar_60 - location + loc_bar_4_bar_1_bar_1_bar_60 - location + loc_bar_1_bar_7_bar_3_bar_60 - location + loc_bar_7_bar_11_bar_1_bar_45 - location + loc_bar_2_bar__minus_3_bar_1_bar_45 - location + loc_bar_2_bar__minus_1_bar_1_bar_60 - location + loc_bar_4_bar_9_bar_3_bar_0 - location + loc_bar_4_bar_6_bar_1_bar_60 - location + loc_bar_3_bar__minus_2_bar_1_bar_45 - location + loc_bar_2_bar_7_bar_3_bar_60 - location + loc_bar_1_bar_9_bar_3_bar_60 - location + loc_bar_1_bar_12_bar_3_bar_60 - location + loc_bar_1_bar__minus_3_bar_3_bar_60 - location + loc_bar_1_bar_8_bar_0_bar_60 - location + loc_bar_6_bar__minus_5_bar_1_bar_60 - location + loc_bar_2_bar_7_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_01_dot_32 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96 DrawerType) + (receptacleType Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31 DresserType) + (receptacleType GarbageCan_bar__plus_02_dot_03_bar__plus_00_dot_00_bar__minus_01_dot_19 GarbageCanType) + (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_70_bar__plus_00_dot_22_bar__minus_01_dot_32 DrawerType) + (receptacleType Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17 BedType) + (receptacleType Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97 DresserType) + (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32 DrawerType) + (receptacleType Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12 DeskType) + (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96 DrawerType) + (receptacleType Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53 CabinetType) + (receptacleType Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92 BedType) + (receptacleType Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80 DeskType) + (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96 DrawerType) + (receptacleType ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61 ArmChairType) + (objectType CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_06_bar__plus_02_dot_96 CreditCardType) + (objectType CD_bar__plus_01_dot_67_bar__plus_00_dot_44_bar__plus_01_dot_79 CDType) + (objectType Laptop_bar__minus_00_dot_60_bar__plus_01_dot_50_bar__minus_00_dot_94 LaptopType) + (objectType Chair_bar__minus_00_dot_25_bar__plus_00_dot_43_bar__plus_01_dot_46 ChairType) + (objectType Book_bar__minus_00_dot_60_bar__plus_01_dot_50_bar__minus_00_dot_27 BookType) + (objectType Pen_bar__plus_01_dot_61_bar__plus_00_dot_11_bar__minus_00_dot_32 PenType) + (objectType Pencil_bar__minus_00_dot_75_bar__plus_00_dot_42_bar__minus_01_dot_49 PencilType) + (objectType DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 DeskLampType) + (objectType AlarmClock_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_08 AlarmClockType) + (objectType KeyChain_bar__plus_01_dot_59_bar__plus_00_dot_43_bar__plus_01_dot_42 KeyChainType) + (objectType KeyChain_bar__plus_01_dot_59_bar__plus_00_dot_43_bar__plus_01_dot_33 KeyChainType) + (objectType Chair_bar__plus_01_dot_48_bar__plus_00_dot_43_bar__plus_00_dot_22 ChairType) + (objectType Window_bar__plus_01_dot_58_bar__plus_01_dot_56_bar__minus_01_dot_95 WindowType) + (objectType CD_bar__minus_00_dot_89_bar__plus_00_dot_07_bar__plus_02_dot_31 CDType) + (objectType Laptop_bar__minus_00_dot_78_bar__plus_00_dot_68_bar__plus_02_dot_18 LaptopType) + (objectType Painting_bar__plus_02_dot_20_bar__plus_01_dot_77_bar__minus_00_dot_10 PaintingType) + (objectType Pencil_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_42 PencilType) + (objectType Book_bar__minus_00_dot_60_bar__plus_00_dot_07_bar__plus_02_dot_24 BookType) + (objectType Pillow_bar__minus_00_dot_63_bar__plus_01_dot_87_bar__plus_03_dot_05 PillowType) + (objectType CD_bar__minus_00_dot_70_bar__plus_00_dot_42_bar__minus_01_dot_32 CDType) + (objectType LightSwitch_bar__plus_02_dot_20_bar__plus_01_dot_26_bar__plus_01_dot_99 LightSwitchType) + (objectType Book_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_62 BookType) + (objectType Pencil_bar__plus_02_dot_10_bar__plus_00_dot_73_bar__plus_00_dot_48 PencilType) + (objectType Mirror_bar__plus_02_dot_23_bar__plus_01_dot_26_bar__plus_02_dot_66 MirrorType) + (objectType Blinds_bar__plus_01_dot_55_bar__plus_02_dot_44_bar__minus_01_dot_89 BlindsType) + (objectType TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23 TennisRacketType) + (objectType Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29 BoxType) + (objectType Pillow_bar__minus_01_dot_14_bar__plus_01_dot_59_bar__minus_00_dot_50 PillowType) + (objectType KeyChain_bar__plus_01_dot_42_bar__plus_00_dot_43_bar__plus_01_dot_79 KeyChainType) + (objectType AlarmClock_bar__plus_01_dot_61_bar__plus_00_dot_73_bar__minus_00_dot_26 AlarmClockType) + (objectType CreditCard_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_02_dot_73 CreditCardType) + (objectType Mug_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_99 MugType) + (objectType CellPhone_bar__plus_01_dot_76_bar__plus_00_dot_44_bar__plus_01_dot_88 CellPhoneType) + (objectType CreditCard_bar__plus_01_dot_61_bar__plus_00_dot_73_bar__plus_00_dot_73 CreditCardType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DresserType PenType) + (canContain DresserType BookType) + (canContain DresserType CDType) + (canContain DresserType MugType) + (canContain DresserType BoxType) + (canContain DresserType CellPhoneType) + (canContain DresserType KeyChainType) + (canContain DresserType CreditCardType) + (canContain DresserType TennisRacketType) + (canContain DresserType LaptopType) + (canContain DresserType PencilType) + (canContain DresserType AlarmClockType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType CDType) + (canContain GarbageCanType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain BedType TennisRacketType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (canContain DresserType PenType) + (canContain DresserType BookType) + (canContain DresserType CDType) + (canContain DresserType MugType) + (canContain DresserType BoxType) + (canContain DresserType CellPhoneType) + (canContain DresserType KeyChainType) + (canContain DresserType CreditCardType) + (canContain DresserType TennisRacketType) + (canContain DresserType LaptopType) + (canContain DresserType PencilType) + (canContain DresserType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DeskType PenType) + (canContain DeskType BookType) + (canContain DeskType CDType) + (canContain DeskType MugType) + (canContain DeskType BoxType) + (canContain DeskType CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (canContain DeskType TennisRacketType) + (canContain DeskType LaptopType) + (canContain DeskType PencilType) + (canContain DeskType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain CabinetType BookType) + (canContain CabinetType CDType) + (canContain CabinetType MugType) + (canContain CabinetType BoxType) + (canContain BedType TennisRacketType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (canContain DeskType PenType) + (canContain DeskType BookType) + (canContain DeskType CDType) + (canContain DeskType MugType) + (canContain DeskType BoxType) + (canContain DeskType CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (canContain DeskType TennisRacketType) + (canContain DeskType LaptopType) + (canContain DeskType PencilType) + (canContain DeskType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType BookType) + (canContain ArmChairType CellPhoneType) + (canContain ArmChairType PillowType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (pickupable CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_06_bar__plus_02_dot_96) + (pickupable CD_bar__plus_01_dot_67_bar__plus_00_dot_44_bar__plus_01_dot_79) + (pickupable Laptop_bar__minus_00_dot_60_bar__plus_01_dot_50_bar__minus_00_dot_94) + (pickupable Book_bar__minus_00_dot_60_bar__plus_01_dot_50_bar__minus_00_dot_27) + (pickupable Pen_bar__plus_01_dot_61_bar__plus_00_dot_11_bar__minus_00_dot_32) + (pickupable Pencil_bar__minus_00_dot_75_bar__plus_00_dot_42_bar__minus_01_dot_49) + (pickupable AlarmClock_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_08) + (pickupable KeyChain_bar__plus_01_dot_59_bar__plus_00_dot_43_bar__plus_01_dot_42) + (pickupable KeyChain_bar__plus_01_dot_59_bar__plus_00_dot_43_bar__plus_01_dot_33) + (pickupable CD_bar__minus_00_dot_89_bar__plus_00_dot_07_bar__plus_02_dot_31) + (pickupable Laptop_bar__minus_00_dot_78_bar__plus_00_dot_68_bar__plus_02_dot_18) + (pickupable Pencil_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_42) + (pickupable Book_bar__minus_00_dot_60_bar__plus_00_dot_07_bar__plus_02_dot_24) + (pickupable Pillow_bar__minus_00_dot_63_bar__plus_01_dot_87_bar__plus_03_dot_05) + (pickupable CD_bar__minus_00_dot_70_bar__plus_00_dot_42_bar__minus_01_dot_32) + (pickupable Book_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_62) + (pickupable Pencil_bar__plus_02_dot_10_bar__plus_00_dot_73_bar__plus_00_dot_48) + (pickupable TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23) + (pickupable Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29) + (pickupable Pillow_bar__minus_01_dot_14_bar__plus_01_dot_59_bar__minus_00_dot_50) + (pickupable KeyChain_bar__plus_01_dot_42_bar__plus_00_dot_43_bar__plus_01_dot_79) + (pickupable AlarmClock_bar__plus_01_dot_61_bar__plus_00_dot_73_bar__minus_00_dot_26) + (pickupable CreditCard_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_02_dot_73) + (pickupable Mug_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_99) + (pickupable CellPhone_bar__plus_01_dot_76_bar__plus_00_dot_44_bar__plus_01_dot_88) + (pickupable CreditCard_bar__plus_01_dot_61_bar__plus_00_dot_73_bar__plus_00_dot_73) + (isReceptacleObject Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29) + (isReceptacleObject Mug_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_99) + (openable Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96) + (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36) + (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78) + (openable Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24) + (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78) + (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36) + (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78) + (openable Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96) + (openable Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53) + (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36) + (openable Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96) + + (atLocation agent1 loc_bar_2_bar_7_bar_3_bar_30) + + (cleanable Mug_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_99) + + (heatable Mug_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_99) + (coolable Mug_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_99) + + + (toggleable DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71) + + + + + (inReceptacle Pen_bar__plus_01_dot_61_bar__plus_00_dot_11_bar__minus_00_dot_32 Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36) + (inReceptacle Pillow_bar__minus_00_dot_63_bar__plus_01_dot_87_bar__plus_03_dot_05 Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17) + (inReceptacle CD_bar__plus_01_dot_67_bar__plus_00_dot_44_bar__plus_01_dot_79 ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61) + (inReceptacle KeyChain_bar__plus_01_dot_59_bar__plus_00_dot_43_bar__plus_01_dot_42 ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61) + (inReceptacle KeyChain_bar__plus_01_dot_42_bar__plus_00_dot_43_bar__plus_01_dot_79 ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61) + (inReceptacle KeyChain_bar__plus_01_dot_59_bar__plus_00_dot_43_bar__plus_01_dot_33 ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61) + (inReceptacle CellPhone_bar__plus_01_dot_76_bar__plus_00_dot_44_bar__plus_01_dot_88 ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61) + (inReceptacle Book_bar__minus_00_dot_60_bar__plus_00_dot_07_bar__plus_02_dot_24 Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53) + (inReceptacle Book_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_62 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80) + (inReceptacle Mug_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_99 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80) + (inReceptacle Laptop_bar__minus_00_dot_78_bar__plus_00_dot_68_bar__plus_02_dot_18 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80) + (inReceptacle Pillow_bar__minus_01_dot_14_bar__plus_01_dot_59_bar__minus_00_dot_50 Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92) + (inReceptacle Laptop_bar__minus_00_dot_60_bar__plus_01_dot_50_bar__minus_00_dot_94 Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92) + (inReceptacle Book_bar__minus_00_dot_60_bar__plus_01_dot_50_bar__minus_00_dot_27 Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92) + (inReceptacle CD_bar__minus_00_dot_70_bar__plus_00_dot_42_bar__minus_01_dot_32 Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32) + (inReceptacle Pencil_bar__minus_00_dot_75_bar__plus_00_dot_42_bar__minus_01_dot_49 Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32) + (inReceptacle AlarmClock_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_08 Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97) + (inReceptacle CreditCard_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_02_dot_73 Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97) + (inReceptacle Pencil_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_42 Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31) + (inReceptacle CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_06_bar__plus_02_dot_96 Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96) + (inReceptacle AlarmClock_bar__plus_01_dot_61_bar__plus_00_dot_73_bar__minus_00_dot_26 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12) + (inReceptacle DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12) + (inReceptacle Pencil_bar__plus_02_dot_10_bar__plus_00_dot_73_bar__plus_00_dot_48 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12) + (inReceptacle CreditCard_bar__plus_01_dot_61_bar__plus_00_dot_73_bar__plus_00_dot_73 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12) + + + (receptacleAtLocation ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61 loc_bar_4_bar_6_bar_1_bar_60) + (receptacleAtLocation Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92 loc_bar_1_bar__minus_3_bar_3_bar_60) + (receptacleAtLocation Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17 loc_bar_4_bar_9_bar_3_bar_0) + (receptacleAtLocation Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53 loc_bar_2_bar_7_bar_3_bar_60) + (receptacleAtLocation Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12 loc_bar_4_bar_1_bar_1_bar_60) + (receptacleAtLocation Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80 loc_bar_1_bar_7_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36 loc_bar_2_bar__minus_4_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78 loc_bar_2_bar__minus_1_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36 loc_bar_2_bar__minus_3_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78 loc_bar_2_bar__minus_1_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36 loc_bar_3_bar__minus_3_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78 loc_bar_3_bar__minus_2_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24 loc_bar_1_bar_5_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96 loc_bar_1_bar_7_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96 loc_bar_1_bar_8_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96 loc_bar_2_bar_11_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_22_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_45) + (receptacleAtLocation Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97 loc_bar_1_bar_12_bar_3_bar_60) + (receptacleAtLocation Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31 loc_bar_1_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_02_dot_03_bar__plus_00_dot_00_bar__minus_01_dot_19 loc_bar_6_bar__minus_5_bar_1_bar_60) + (objectAtLocation Laptop_bar__minus_00_dot_78_bar__plus_00_dot_68_bar__plus_02_dot_18 loc_bar_1_bar_7_bar_3_bar_60) + (objectAtLocation Pencil_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_42 loc_bar_1_bar__minus_5_bar_3_bar_60) + (objectAtLocation CD_bar__minus_00_dot_89_bar__plus_00_dot_07_bar__plus_02_dot_31 loc_bar_1_bar_9_bar_3_bar_60) + (objectAtLocation CreditCard_bar__plus_01_dot_61_bar__plus_00_dot_73_bar__plus_00_dot_73 loc_bar_4_bar_1_bar_1_bar_60) + (objectAtLocation KeyChain_bar__plus_01_dot_59_bar__plus_00_dot_43_bar__plus_01_dot_42 loc_bar_4_bar_6_bar_1_bar_60) + (objectAtLocation AlarmClock_bar__plus_01_dot_61_bar__plus_00_dot_73_bar__minus_00_dot_26 loc_bar_4_bar_1_bar_1_bar_60) + (objectAtLocation Book_bar__minus_00_dot_60_bar__plus_00_dot_07_bar__plus_02_dot_24 loc_bar_2_bar_7_bar_3_bar_60) + (objectAtLocation Book_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_62 loc_bar_1_bar_7_bar_3_bar_60) + (objectAtLocation KeyChain_bar__plus_01_dot_42_bar__plus_00_dot_43_bar__plus_01_dot_79 loc_bar_4_bar_6_bar_1_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_06_bar__plus_02_dot_96 loc_bar_1_bar_7_bar_0_bar_45) + (objectAtLocation Pencil_bar__plus_02_dot_10_bar__plus_00_dot_73_bar__plus_00_dot_48 loc_bar_4_bar_1_bar_1_bar_60) + (objectAtLocation CD_bar__minus_00_dot_70_bar__plus_00_dot_42_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_45) + (objectAtLocation Chair_bar__minus_00_dot_25_bar__plus_00_dot_43_bar__plus_01_dot_46 loc_bar_1_bar_6_bar_3_bar_60) + (objectAtLocation Book_bar__minus_00_dot_60_bar__plus_01_dot_50_bar__minus_00_dot_27 loc_bar_1_bar__minus_3_bar_3_bar_60) + (objectAtLocation Chair_bar__plus_01_dot_48_bar__plus_00_dot_43_bar__plus_00_dot_22 loc_bar_4_bar_1_bar_1_bar_60) + (objectAtLocation Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29 loc_bar_1_bar__minus_1_bar_3_bar_60) + (objectAtLocation DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 loc_bar_4_bar_1_bar_1_bar_60) + (objectAtLocation TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23 loc_bar__minus_4_bar_2_bar_3_bar_60) + (objectAtLocation Pen_bar__plus_01_dot_61_bar__plus_00_dot_11_bar__minus_00_dot_32 loc_bar_2_bar__minus_4_bar_1_bar_60) + (objectAtLocation AlarmClock_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_08 loc_bar_1_bar_12_bar_3_bar_60) + (objectAtLocation Pillow_bar__minus_00_dot_63_bar__plus_01_dot_87_bar__plus_03_dot_05 loc_bar_4_bar_9_bar_3_bar_0) + (objectAtLocation Pillow_bar__minus_01_dot_14_bar__plus_01_dot_59_bar__minus_00_dot_50 loc_bar_1_bar__minus_3_bar_3_bar_60) + (objectAtLocation CellPhone_bar__plus_01_dot_76_bar__plus_00_dot_44_bar__plus_01_dot_88 loc_bar_4_bar_6_bar_1_bar_60) + (objectAtLocation Painting_bar__plus_02_dot_20_bar__plus_01_dot_77_bar__minus_00_dot_10 loc_bar_4_bar_0_bar_1_bar_0) + (objectAtLocation KeyChain_bar__plus_01_dot_59_bar__plus_00_dot_43_bar__plus_01_dot_33 loc_bar_4_bar_6_bar_1_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_02_dot_73 loc_bar_1_bar_12_bar_3_bar_60) + (objectAtLocation Mirror_bar__plus_02_dot_23_bar__plus_01_dot_26_bar__plus_02_dot_66 loc_bar_7_bar_11_bar_1_bar_45) + (objectAtLocation CD_bar__plus_01_dot_67_bar__plus_00_dot_44_bar__plus_01_dot_79 loc_bar_4_bar_6_bar_1_bar_60) + (objectAtLocation LightSwitch_bar__plus_02_dot_20_bar__plus_01_dot_26_bar__plus_01_dot_99 loc_bar_7_bar_10_bar_2_bar_45) + (objectAtLocation Window_bar__plus_01_dot_58_bar__plus_01_dot_56_bar__minus_01_dot_95 loc_bar_6_bar__minus_5_bar_2_bar_15) + (objectAtLocation Pencil_bar__minus_00_dot_75_bar__plus_00_dot_42_bar__minus_01_dot_49 loc_bar_1_bar__minus_5_bar_3_bar_45) + (objectAtLocation Laptop_bar__minus_00_dot_60_bar__plus_01_dot_50_bar__minus_00_dot_94 loc_bar_1_bar__minus_3_bar_3_bar_60) + (objectAtLocation Mug_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_99 loc_bar_1_bar_7_bar_3_bar_60) + (objectAtLocation Blinds_bar__plus_01_dot_55_bar__plus_02_dot_44_bar__minus_01_dot_89 loc_bar_6_bar__minus_5_bar_2_bar__minus_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 CellPhoneType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CellPhone-None-DeskLamp-318/trial_T20190909_005910_895239/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CellPhone-None-DeskLamp-318/trial_T20190909_005910_895239/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..566b03c4cd8432bfde89d7d025a196ab1411dcc4 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CellPhone-None-DeskLamp-318/trial_T20190909_005910_895239/traj_data.json @@ -0,0 +1,2274 @@ +{ + "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": "000000004.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000005.png", + "low_idx": 0 + }, + { + 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-0.4963799 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CellPhone_4ae13037", + "position": { + "x": 1.75690246, + "y": 0.439713478, + "z": 1.88345289 + }, + "rotation": { + "x": 0.0, + "y": 179.999954, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_268d954a", + "position": { + "x": 1.58726239, + "y": 0.433147073, + "z": 1.41951656 + }, + "rotation": { + "x": 0.0, + "y": 179.999954, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_7ad6fb52", + "position": { + "x": 1.61263728, + "y": 0.726979434, + "z": 0.728532434 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "CD_e7609414", + "position": { + "x": -0.8900442, + "y": 0.0654450953, + "z": 2.307938 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pencil_1ecf44c2", + "position": { + "x": -0.626557052, + "y": 0.982123256, + "z": -1.41610873 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Laptop_425b94ea", + "position": { + "x": -0.782409132, + "y": 0.675700068, + "z": 2.17795181 + }, + "rotation": { + "x": 0.0, + "y": 89.9998245, + "z": 0.0 + } + }, + { + "objectName": "Mug_31b7f025", + "position": { + "x": -0.5135485, + "y": 0.6757, + "z": 1.99140644 + }, + "rotation": { + "x": 0.0, + "y": 89.9998245, + "z": 0.0 + } + } + ], + "object_toggles": [ + { + "isOn": false, + "objectType": "DeskLamp" + } + ], + "random_seed": 1880243514, + "scene_num": 318 + }, + "task_id": "trial_T20190909_005910_895239", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3R19ZA45J8915_31Z0PCVWUN6C2CBL3E4NJ3TJDJ4T7B", + "high_descs": [ + "Turn right, walk to the wall, turn right again, walk to the mirror, then turn right again to face the side of the chair. ", + "Pick up the cell phone that is sitting on the chair. ", + "Turn right, walk a few steps, turn left, walk forward a bit, then turn left to face the desk.", + "Turn on the lamp that is sitting on the desk." + ], + "task_desc": "Examine a cell phone using the light of a lamp. ", + "votes": [ + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_3KMS4QQVK5HQEM04ROO764J4SUVFKU", + "high_descs": [ + "Turn right and walk towards the wall, the hang a right and walk over to the side of the chair.", + "Pick up the phone off of the seat of the chair.", + "Turn right and walk forward, then hang a left and walk over to the left side of the wooden desk.", + "Turn on the small lamp on the wooden desk." + ], + "task_desc": "Examine a phone in the light of a small lamp.", + "votes": [ + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A12HZGOZQD5YK7_3NS0A6KXC7ZRHHVL29XZB47TXRXGZN", + "high_descs": [ + "Turn around, go toward the door and then turn right to face the chair.", + "Pick up the phone on the chair.", + "Go around the front of the chair to the desk.", + "Turn on the lamp on the desk." + ], + "task_desc": "Examine the phone with light of the lamp.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CellPhone-None-DeskLamp-318/trial_T20190909_005934_726946/game.tw-pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CellPhone-None-DeskLamp-318/trial_T20190909_005934_726946/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..d5646ed921d837f418ac5f2d37ec604b7f66bc1c --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CellPhone-None-DeskLamp-318/trial_T20190909_005934_726946/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: examine the cellphone with the desklamp.\"\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_005934_726946)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n AlarmClock_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_01_dot_43 - object\n AlarmClock_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_02_dot_36 - object\n Blinds_bar__plus_01_dot_55_bar__plus_02_dot_44_bar__minus_01_dot_89 - object\n Book_bar__plus_01_dot_91_bar__plus_00_dot_73_bar__minus_00_dot_75 - object\n Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29 - object\n CD_bar__plus_01_dot_61_bar__plus_00_dot_11_bar__minus_00_dot_41 - object\n CD_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_32 - object\n CD_bar__minus_00_dot_82_bar__plus_00_dot_07_bar__plus_02_dot_31 - object\n CellPhone_bar__plus_01_dot_84_bar__plus_00_dot_44_bar__plus_01_dot_88 - object\n CellPhone_bar__plus_01_dot_91_bar__plus_00_dot_73_bar__plus_00_dot_48 - object\n CellPhone_bar__minus_00_dot_48_bar__plus_00_dot_52_bar__plus_02_dot_09 - object\n Chair_bar__plus_01_dot_48_bar__plus_00_dot_43_bar__plus_00_dot_22 - object\n Chair_bar__minus_00_dot_25_bar__plus_00_dot_43_bar__plus_01_dot_46 - object\n CreditCard_bar__plus_01_dot_50_bar__plus_00_dot_52_bar__minus_00_dot_73 - object\n CreditCard_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_02_dot_18 - object\n CreditCard_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_01_dot_99 - object\n DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 - object\n KeyChain_bar__plus_01_dot_76_bar__plus_00_dot_44_bar__plus_01_dot_33 - object\n KeyChain_bar__minus_00_dot_49_bar__plus_00_dot_29_bar__plus_02_dot_96 - object\n KeyChain_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_42 - object\n Laptop_bar__plus_01_dot_67_bar__plus_00_dot_45_bar__plus_01_dot_61 - object\n Laptop_bar__minus_00_dot_63_bar__plus_01_dot_84_bar__plus_02_dot_48 - object\n LightSwitch_bar__plus_02_dot_20_bar__plus_01_dot_26_bar__plus_01_dot_99 - object\n Mirror_bar__plus_02_dot_23_bar__plus_01_dot_26_bar__plus_02_dot_66 - object\n Mug_bar__plus_01_dot_52_bar__plus_00_dot_72_bar__minus_00_dot_26 - object\n Mug_bar__minus_00_dot_67_bar__plus_00_dot_06_bar__plus_02_dot_02 - object\n Painting_bar__plus_02_dot_20_bar__plus_01_dot_77_bar__minus_00_dot_10 - object\n Pencil_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_60 - object\n Pencil_bar__minus_00_dot_67_bar__plus_00_dot_98_bar__minus_01_dot_13 - object\n Pen_bar__plus_01_dot_61_bar__plus_00_dot_73_bar__minus_00_dot_26 - object\n Pen_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_80 - object\n Pen_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_02_dot_18 - object\n Pillow_bar__minus_00_dot_60_bar__plus_01_dot_59_bar__minus_00_dot_94 - object\n Pillow_bar__minus_00_dot_60_bar__plus_01_dot_59_bar__minus_01_dot_39 - object\n TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23 - object\n Window_bar__plus_01_dot_58_bar__plus_01_dot_56_bar__minus_01_dot_95 - object\n ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61 - receptacle\n Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92 - receptacle\n Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17 - receptacle\n Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53 - receptacle\n Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12 - receptacle\n Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80 - receptacle\n Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36 - receptacle\n Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78 - receptacle\n Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36 - receptacle\n Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78 - receptacle\n Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36 - receptacle\n Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78 - receptacle\n Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24 - receptacle\n Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96 - receptacle\n Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96 - receptacle\n Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96 - receptacle\n Drawer_bar__minus_00_dot_70_bar__plus_00_dot_22_bar__minus_01_dot_32 - receptacle\n Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32 - receptacle\n Drawer_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_01_dot_32 - receptacle\n Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97 - receptacle\n Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31 - receptacle\n GarbageCan_bar__plus_02_dot_03_bar__plus_00_dot_00_bar__minus_01_dot_19 - receptacle\n loc_bar_1_bar_7_bar_0_bar_45 - location\n loc_bar_2_bar__minus_4_bar_1_bar_60 - location\n loc_bar_1_bar__minus_5_bar_3_bar_60 - location\n loc_bar_1_bar__minus_1_bar_3_bar_60 - location\n loc_bar__minus_4_bar_2_bar_3_bar_60 - location\n loc_bar_2_bar__minus_1_bar_1_bar_45 - location\n loc_bar_6_bar__minus_5_bar_2_bar_15 - location\n loc_bar_3_bar__minus_3_bar_1_bar_45 - location\n loc_bar_1_bar_5_bar_0_bar_45 - location\n loc_bar_7_bar_10_bar_2_bar_45 - location\n loc_bar_4_bar_0_bar_1_bar_0 - location\n loc_bar_6_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar_2_bar_11_bar_3_bar_45 - location\n loc_bar_1_bar__minus_5_bar_3_bar_45 - location\n loc_bar_1_bar_6_bar_3_bar_60 - location\n loc_bar_4_bar_1_bar_1_bar_60 - location\n loc_bar_1_bar_7_bar_3_bar_60 - location\n loc_bar_7_bar_11_bar_1_bar_45 - location\n loc_bar_2_bar__minus_3_bar_1_bar_45 - location\n loc_bar_2_bar__minus_1_bar_1_bar_60 - location\n loc_bar_4_bar_9_bar_3_bar_0 - location\n loc_bar_4_bar_6_bar_1_bar_60 - location\n loc_bar_3_bar__minus_2_bar_1_bar_45 - location\n loc_bar_2_bar_7_bar_3_bar_60 - location\n loc_bar_1_bar_9_bar_3_bar_60 - location\n loc_bar_1_bar_12_bar_3_bar_60 - location\n loc_bar_1_bar__minus_3_bar_3_bar_60 - location\n loc_bar_1_bar_8_bar_0_bar_60 - location\n loc_bar_6_bar__minus_5_bar_1_bar_60 - location\n loc_bar__minus_2_bar_1_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_01_dot_32 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96 DrawerType)\n (receptacleType Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31 DresserType)\n (receptacleType GarbageCan_bar__plus_02_dot_03_bar__plus_00_dot_00_bar__minus_01_dot_19 GarbageCanType)\n (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_70_bar__plus_00_dot_22_bar__minus_01_dot_32 DrawerType)\n (receptacleType Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17 BedType)\n (receptacleType Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97 DresserType)\n (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32 DrawerType)\n (receptacleType Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12 DeskType)\n (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53 CabinetType)\n (receptacleType Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92 BedType)\n (receptacleType Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80 DeskType)\n (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96 DrawerType)\n (receptacleType ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61 ArmChairType)\n (objectType Pen_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_02_dot_18 PenType)\n (objectType Mug_bar__plus_01_dot_52_bar__plus_00_dot_72_bar__minus_00_dot_26 MugType)\n (objectType CD_bar__plus_01_dot_61_bar__plus_00_dot_11_bar__minus_00_dot_41 CDType)\n (objectType Pillow_bar__minus_00_dot_60_bar__plus_01_dot_59_bar__minus_00_dot_94 PillowType)\n (objectType Mug_bar__minus_00_dot_67_bar__plus_00_dot_06_bar__plus_02_dot_02 MugType)\n (objectType Chair_bar__minus_00_dot_25_bar__plus_00_dot_43_bar__plus_01_dot_46 ChairType)\n (objectType CellPhone_bar__plus_01_dot_84_bar__plus_00_dot_44_bar__plus_01_dot_88 CellPhoneType)\n (objectType CreditCard_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_01_dot_99 CreditCardType)\n (objectType DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 DeskLampType)\n (objectType Pen_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_80 PenType)\n (objectType AlarmClock_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_02_dot_36 AlarmClockType)\n (objectType CellPhone_bar__minus_00_dot_48_bar__plus_00_dot_52_bar__plus_02_dot_09 CellPhoneType)\n (objectType Chair_bar__plus_01_dot_48_bar__plus_00_dot_43_bar__plus_00_dot_22 ChairType)\n (objectType Pillow_bar__minus_00_dot_60_bar__plus_01_dot_59_bar__minus_01_dot_39 PillowType)\n (objectType Window_bar__plus_01_dot_58_bar__plus_01_dot_56_bar__minus_01_dot_95 WindowType)\n (objectType Painting_bar__plus_02_dot_20_bar__plus_01_dot_77_bar__minus_00_dot_10 PaintingType)\n (objectType AlarmClock_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_01_dot_43 AlarmClockType)\n (objectType Pencil_bar__minus_00_dot_67_bar__plus_00_dot_98_bar__minus_01_dot_13 PencilType)\n (objectType CellPhone_bar__plus_01_dot_91_bar__plus_00_dot_73_bar__plus_00_dot_48 CellPhoneType)\n (objectType CreditCard_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_02_dot_18 CreditCardType)\n (objectType Pencil_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_60 PencilType)\n (objectType LightSwitch_bar__plus_02_dot_20_bar__plus_01_dot_26_bar__plus_01_dot_99 LightSwitchType)\n (objectType Book_bar__plus_01_dot_91_bar__plus_00_dot_73_bar__minus_00_dot_75 BookType)\n (objectType Laptop_bar__plus_01_dot_67_bar__plus_00_dot_45_bar__plus_01_dot_61 LaptopType)\n (objectType CD_bar__minus_00_dot_82_bar__plus_00_dot_07_bar__plus_02_dot_31 CDType)\n (objectType Mirror_bar__plus_02_dot_23_bar__plus_01_dot_26_bar__plus_02_dot_66 MirrorType)\n (objectType Laptop_bar__minus_00_dot_63_bar__plus_01_dot_84_bar__plus_02_dot_48 LaptopType)\n (objectType Blinds_bar__plus_01_dot_55_bar__plus_02_dot_44_bar__minus_01_dot_89 BlindsType)\n (objectType TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23 TennisRacketType)\n (objectType Pen_bar__plus_01_dot_61_bar__plus_00_dot_73_bar__minus_00_dot_26 PenType)\n (objectType Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29 BoxType)\n (objectType KeyChain_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_42 KeyChainType)\n (objectType KeyChain_bar__plus_01_dot_76_bar__plus_00_dot_44_bar__plus_01_dot_33 KeyChainType)\n (objectType CD_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_32 CDType)\n (objectType KeyChain_bar__minus_00_dot_49_bar__plus_00_dot_29_bar__plus_02_dot_96 KeyChainType)\n (objectType CreditCard_bar__plus_01_dot_50_bar__plus_00_dot_52_bar__minus_00_dot_73 CreditCardType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DresserType PenType)\n (canContain DresserType BookType)\n (canContain DresserType CDType)\n (canContain DresserType MugType)\n (canContain DresserType BoxType)\n (canContain DresserType CellPhoneType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType TennisRacketType)\n (canContain DresserType LaptopType)\n (canContain DresserType PencilType)\n (canContain DresserType AlarmClockType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain BedType TennisRacketType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain DresserType PenType)\n (canContain DresserType BookType)\n (canContain DresserType CDType)\n (canContain DresserType MugType)\n (canContain DresserType BoxType)\n (canContain DresserType CellPhoneType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType TennisRacketType)\n (canContain DresserType LaptopType)\n (canContain DresserType PencilType)\n (canContain DresserType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DeskType PenType)\n (canContain DeskType BookType)\n (canContain DeskType CDType)\n (canContain DeskType MugType)\n (canContain DeskType BoxType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType TennisRacketType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType MugType)\n (canContain CabinetType BoxType)\n (canContain BedType TennisRacketType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain DeskType PenType)\n (canContain DeskType BookType)\n (canContain DeskType CDType)\n (canContain DeskType MugType)\n (canContain DeskType BoxType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType TennisRacketType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType BookType)\n (canContain ArmChairType CellPhoneType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType CreditCardType)\n (pickupable Pen_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_02_dot_18)\n (pickupable Mug_bar__plus_01_dot_52_bar__plus_00_dot_72_bar__minus_00_dot_26)\n (pickupable CD_bar__plus_01_dot_61_bar__plus_00_dot_11_bar__minus_00_dot_41)\n (pickupable Pillow_bar__minus_00_dot_60_bar__plus_01_dot_59_bar__minus_00_dot_94)\n (pickupable Mug_bar__minus_00_dot_67_bar__plus_00_dot_06_bar__plus_02_dot_02)\n (pickupable CellPhone_bar__plus_01_dot_84_bar__plus_00_dot_44_bar__plus_01_dot_88)\n (pickupable CreditCard_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_01_dot_99)\n (pickupable Pen_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_80)\n (pickupable AlarmClock_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_02_dot_36)\n (pickupable CellPhone_bar__minus_00_dot_48_bar__plus_00_dot_52_bar__plus_02_dot_09)\n (pickupable Pillow_bar__minus_00_dot_60_bar__plus_01_dot_59_bar__minus_01_dot_39)\n (pickupable AlarmClock_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_01_dot_43)\n (pickupable Pencil_bar__minus_00_dot_67_bar__plus_00_dot_98_bar__minus_01_dot_13)\n (pickupable CellPhone_bar__plus_01_dot_91_bar__plus_00_dot_73_bar__plus_00_dot_48)\n (pickupable CreditCard_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_02_dot_18)\n (pickupable Pencil_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_60)\n (pickupable Book_bar__plus_01_dot_91_bar__plus_00_dot_73_bar__minus_00_dot_75)\n (pickupable Laptop_bar__plus_01_dot_67_bar__plus_00_dot_45_bar__plus_01_dot_61)\n (pickupable CD_bar__minus_00_dot_82_bar__plus_00_dot_07_bar__plus_02_dot_31)\n (pickupable Laptop_bar__minus_00_dot_63_bar__plus_01_dot_84_bar__plus_02_dot_48)\n (pickupable TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23)\n (pickupable Pen_bar__plus_01_dot_61_bar__plus_00_dot_73_bar__minus_00_dot_26)\n (pickupable Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29)\n (pickupable KeyChain_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_42)\n (pickupable KeyChain_bar__plus_01_dot_76_bar__plus_00_dot_44_bar__plus_01_dot_33)\n (pickupable CD_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_32)\n (pickupable KeyChain_bar__minus_00_dot_49_bar__plus_00_dot_29_bar__plus_02_dot_96)\n (pickupable CreditCard_bar__plus_01_dot_50_bar__plus_00_dot_52_bar__minus_00_dot_73)\n (isReceptacleObject Mug_bar__plus_01_dot_52_bar__plus_00_dot_72_bar__minus_00_dot_26)\n (isReceptacleObject Mug_bar__minus_00_dot_67_bar__plus_00_dot_06_bar__plus_02_dot_02)\n (isReceptacleObject Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29)\n (openable Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96)\n (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36)\n (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78)\n (openable Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24)\n (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78)\n (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36)\n (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78)\n (openable Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96)\n (openable Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53)\n (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36)\n (openable Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96)\n \n (atLocation agent1 loc_bar__minus_2_bar_1_bar_3_bar_30)\n \n (cleanable Mug_bar__plus_01_dot_52_bar__plus_00_dot_72_bar__minus_00_dot_26)\n (cleanable Mug_bar__minus_00_dot_67_bar__plus_00_dot_06_bar__plus_02_dot_02)\n \n (heatable Mug_bar__plus_01_dot_52_bar__plus_00_dot_72_bar__minus_00_dot_26)\n (heatable Mug_bar__minus_00_dot_67_bar__plus_00_dot_06_bar__plus_02_dot_02)\n (coolable Mug_bar__plus_01_dot_52_bar__plus_00_dot_72_bar__minus_00_dot_26)\n (coolable Mug_bar__minus_00_dot_67_bar__plus_00_dot_06_bar__plus_02_dot_02)\n \n \n (toggleable DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71)\n \n \n \n \n (inReceptacle CD_bar__plus_01_dot_61_bar__plus_00_dot_11_bar__minus_00_dot_41 Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36)\n (inReceptacle CellPhone_bar__minus_00_dot_48_bar__plus_00_dot_52_bar__plus_02_dot_09 Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24)\n (inReceptacle Laptop_bar__minus_00_dot_63_bar__plus_01_dot_84_bar__plus_02_dot_48 Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17)\n (inReceptacle CellPhone_bar__plus_01_dot_84_bar__plus_00_dot_44_bar__plus_01_dot_88 ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61)\n (inReceptacle KeyChain_bar__plus_01_dot_76_bar__plus_00_dot_44_bar__plus_01_dot_33 ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61)\n (inReceptacle Laptop_bar__plus_01_dot_67_bar__plus_00_dot_45_bar__plus_01_dot_61 ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61)\n (inReceptacle Mug_bar__minus_00_dot_67_bar__plus_00_dot_06_bar__plus_02_dot_02 Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53)\n (inReceptacle CreditCard_bar__plus_01_dot_50_bar__plus_00_dot_52_bar__minus_00_dot_73 Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78)\n (inReceptacle Pen_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_02_dot_18 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80)\n (inReceptacle CreditCard_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_02_dot_18 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80)\n (inReceptacle Pen_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_80 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80)\n (inReceptacle AlarmClock_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_02_dot_36 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80)\n (inReceptacle AlarmClock_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_01_dot_43 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80)\n (inReceptacle CreditCard_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_01_dot_99 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80)\n (inReceptacle Pillow_bar__minus_00_dot_60_bar__plus_01_dot_59_bar__minus_01_dot_39 Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92)\n (inReceptacle Pillow_bar__minus_00_dot_60_bar__plus_01_dot_59_bar__minus_00_dot_94 Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92)\n (inReceptacle Pencil_bar__minus_00_dot_67_bar__plus_00_dot_98_bar__minus_01_dot_13 Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31)\n (inReceptacle Pencil_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_60 Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31)\n (inReceptacle CD_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_32 Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31)\n (inReceptacle KeyChain_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_42 Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31)\n (inReceptacle DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12)\n (inReceptacle Mug_bar__plus_01_dot_52_bar__plus_00_dot_72_bar__minus_00_dot_26 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12)\n (inReceptacle Pen_bar__plus_01_dot_61_bar__plus_00_dot_73_bar__minus_00_dot_26 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12)\n (inReceptacle Book_bar__plus_01_dot_91_bar__plus_00_dot_73_bar__minus_00_dot_75 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12)\n (inReceptacle CellPhone_bar__plus_01_dot_91_bar__plus_00_dot_73_bar__plus_00_dot_48 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12)\n (inReceptacle KeyChain_bar__minus_00_dot_49_bar__plus_00_dot_29_bar__plus_02_dot_96 Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96)\n \n \n (receptacleAtLocation ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61 loc_bar_4_bar_6_bar_1_bar_60)\n (receptacleAtLocation Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92 loc_bar_1_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17 loc_bar_4_bar_9_bar_3_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53 loc_bar_2_bar_7_bar_3_bar_60)\n (receptacleAtLocation Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12 loc_bar_4_bar_1_bar_1_bar_60)\n (receptacleAtLocation Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80 loc_bar_1_bar_7_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36 loc_bar_2_bar__minus_4_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78 loc_bar_2_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36 loc_bar_2_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78 loc_bar_2_bar__minus_1_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36 loc_bar_3_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78 loc_bar_3_bar__minus_2_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24 loc_bar_1_bar_5_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96 loc_bar_1_bar_7_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96 loc_bar_1_bar_8_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96 loc_bar_2_bar_11_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_22_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_45)\n (receptacleAtLocation Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97 loc_bar_1_bar_12_bar_3_bar_60)\n (receptacleAtLocation Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31 loc_bar_1_bar__minus_5_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_02_dot_03_bar__plus_00_dot_00_bar__minus_01_dot_19 loc_bar_6_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Mug_bar__minus_00_dot_67_bar__plus_00_dot_06_bar__plus_02_dot_02 loc_bar_2_bar_7_bar_3_bar_60)\n (objectAtLocation Laptop_bar__plus_01_dot_67_bar__plus_00_dot_45_bar__plus_01_dot_61 loc_bar_4_bar_6_bar_1_bar_60)\n (objectAtLocation Pencil_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_60 loc_bar_1_bar__minus_5_bar_3_bar_60)\n (objectAtLocation CD_bar__plus_01_dot_61_bar__plus_00_dot_11_bar__minus_00_dot_41 loc_bar_2_bar__minus_4_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_01_dot_99 loc_bar_1_bar_7_bar_3_bar_60)\n (objectAtLocation KeyChain_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_42 loc_bar_1_bar__minus_5_bar_3_bar_60)\n (objectAtLocation CellPhone_bar__minus_00_dot_48_bar__plus_00_dot_52_bar__plus_02_dot_09 loc_bar_1_bar_5_bar_0_bar_45)\n (objectAtLocation AlarmClock_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_01_dot_43 loc_bar_1_bar_7_bar_3_bar_60)\n (objectAtLocation Pen_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_02_dot_18 loc_bar_1_bar_7_bar_3_bar_60)\n (objectAtLocation KeyChain_bar__plus_01_dot_76_bar__plus_00_dot_44_bar__plus_01_dot_33 loc_bar_4_bar_6_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__plus_01_dot_50_bar__plus_00_dot_52_bar__minus_00_dot_73 loc_bar_3_bar__minus_2_bar_1_bar_45)\n (objectAtLocation Pen_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_80 loc_bar_1_bar_7_bar_3_bar_60)\n (objectAtLocation CellPhone_bar__plus_01_dot_84_bar__plus_00_dot_44_bar__plus_01_dot_88 loc_bar_4_bar_6_bar_1_bar_60)\n (objectAtLocation CD_bar__minus_00_dot_82_bar__plus_00_dot_07_bar__plus_02_dot_31 loc_bar_1_bar_9_bar_3_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_25_bar__plus_00_dot_43_bar__plus_01_dot_46 loc_bar_1_bar_6_bar_3_bar_60)\n (objectAtLocation Book_bar__plus_01_dot_91_bar__plus_00_dot_73_bar__minus_00_dot_75 loc_bar_4_bar_1_bar_1_bar_60)\n (objectAtLocation Chair_bar__plus_01_dot_48_bar__plus_00_dot_43_bar__plus_00_dot_22 loc_bar_4_bar_1_bar_1_bar_60)\n (objectAtLocation Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29 loc_bar_1_bar__minus_1_bar_3_bar_60)\n (objectAtLocation DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 loc_bar_4_bar_1_bar_1_bar_60)\n (objectAtLocation TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23 loc_bar__minus_4_bar_2_bar_3_bar_60)\n (objectAtLocation Pen_bar__plus_01_dot_61_bar__plus_00_dot_73_bar__minus_00_dot_26 loc_bar_4_bar_1_bar_1_bar_60)\n (objectAtLocation AlarmClock_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_02_dot_36 loc_bar_1_bar_7_bar_3_bar_60)\n (objectAtLocation Pillow_bar__minus_00_dot_60_bar__plus_01_dot_59_bar__minus_01_dot_39 loc_bar_1_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Pillow_bar__minus_00_dot_60_bar__plus_01_dot_59_bar__minus_00_dot_94 loc_bar_1_bar__minus_3_bar_3_bar_60)\n (objectAtLocation CellPhone_bar__plus_01_dot_91_bar__plus_00_dot_73_bar__plus_00_dot_48 loc_bar_4_bar_1_bar_1_bar_60)\n (objectAtLocation Painting_bar__plus_02_dot_20_bar__plus_01_dot_77_bar__minus_00_dot_10 loc_bar_4_bar_0_bar_1_bar_0)\n (objectAtLocation KeyChain_bar__minus_00_dot_49_bar__plus_00_dot_29_bar__plus_02_dot_96 loc_bar_1_bar_8_bar_0_bar_60)\n (objectAtLocation CreditCard_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_02_dot_18 loc_bar_1_bar_7_bar_3_bar_60)\n (objectAtLocation Mirror_bar__plus_02_dot_23_bar__plus_01_dot_26_bar__plus_02_dot_66 loc_bar_7_bar_11_bar_1_bar_45)\n (objectAtLocation CD_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_60)\n (objectAtLocation LightSwitch_bar__plus_02_dot_20_bar__plus_01_dot_26_bar__plus_01_dot_99 loc_bar_7_bar_10_bar_2_bar_45)\n (objectAtLocation Window_bar__plus_01_dot_58_bar__plus_01_dot_56_bar__minus_01_dot_95 loc_bar_6_bar__minus_5_bar_2_bar_15)\n (objectAtLocation Pencil_bar__minus_00_dot_67_bar__plus_00_dot_98_bar__minus_01_dot_13 loc_bar_1_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_63_bar__plus_01_dot_84_bar__plus_02_dot_48 loc_bar_4_bar_9_bar_3_bar_0)\n (objectAtLocation Mug_bar__plus_01_dot_52_bar__plus_00_dot_72_bar__minus_00_dot_26 loc_bar_4_bar_1_bar_1_bar_60)\n (objectAtLocation Blinds_bar__plus_01_dot_55_bar__plus_02_dot_44_bar__minus_01_dot_89 loc_bar_6_bar__minus_5_bar_2_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?ot - object\n ?r - receptacle\n ?a - agent\n ?l - location)\n (and\n (objectType ?ot DeskLampType)\n (toggleable ?ot)\n (isToggled ?ot)\n (receptacleAtLocation ?r ?l)\n (atLocation ?a ?l)\n (inReceptacle ?ot ?r)\n )\n )\n (exists (?o - object\n ?a - agent)\n (and\n (objectType ?o CellPhoneType)\n (holds ?a ?o)\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to desk 1", "use desklamp 1", "take cellphone 1 from desk 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CellPhone-None-DeskLamp-318/trial_T20190909_005934_726946/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CellPhone-None-DeskLamp-318/trial_T20190909_005934_726946/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..f41d2a4b07a894b930cb06e83675d9088b9c264a --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CellPhone-None-DeskLamp-318/trial_T20190909_005934_726946/initial_state.pddl @@ -0,0 +1,684 @@ + +(define (problem plan_trial_T20190909_005934_726946) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + AlarmClock_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_01_dot_43 - object + AlarmClock_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_02_dot_36 - object + Blinds_bar__plus_01_dot_55_bar__plus_02_dot_44_bar__minus_01_dot_89 - object + Book_bar__plus_01_dot_91_bar__plus_00_dot_73_bar__minus_00_dot_75 - object + Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29 - object + CD_bar__plus_01_dot_61_bar__plus_00_dot_11_bar__minus_00_dot_41 - object + CD_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_32 - object + CD_bar__minus_00_dot_82_bar__plus_00_dot_07_bar__plus_02_dot_31 - object + CellPhone_bar__plus_01_dot_84_bar__plus_00_dot_44_bar__plus_01_dot_88 - object + CellPhone_bar__plus_01_dot_91_bar__plus_00_dot_73_bar__plus_00_dot_48 - object + CellPhone_bar__minus_00_dot_48_bar__plus_00_dot_52_bar__plus_02_dot_09 - object + Chair_bar__plus_01_dot_48_bar__plus_00_dot_43_bar__plus_00_dot_22 - object + Chair_bar__minus_00_dot_25_bar__plus_00_dot_43_bar__plus_01_dot_46 - object + CreditCard_bar__plus_01_dot_50_bar__plus_00_dot_52_bar__minus_00_dot_73 - object + CreditCard_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_02_dot_18 - object + CreditCard_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_01_dot_99 - object + DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 - object + KeyChain_bar__plus_01_dot_76_bar__plus_00_dot_44_bar__plus_01_dot_33 - object + KeyChain_bar__minus_00_dot_49_bar__plus_00_dot_29_bar__plus_02_dot_96 - object + KeyChain_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_42 - object + Laptop_bar__plus_01_dot_67_bar__plus_00_dot_45_bar__plus_01_dot_61 - object + Laptop_bar__minus_00_dot_63_bar__plus_01_dot_84_bar__plus_02_dot_48 - object + LightSwitch_bar__plus_02_dot_20_bar__plus_01_dot_26_bar__plus_01_dot_99 - object + Mirror_bar__plus_02_dot_23_bar__plus_01_dot_26_bar__plus_02_dot_66 - object + Mug_bar__plus_01_dot_52_bar__plus_00_dot_72_bar__minus_00_dot_26 - object + Mug_bar__minus_00_dot_67_bar__plus_00_dot_06_bar__plus_02_dot_02 - object + Painting_bar__plus_02_dot_20_bar__plus_01_dot_77_bar__minus_00_dot_10 - object + Pencil_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_60 - object + Pencil_bar__minus_00_dot_67_bar__plus_00_dot_98_bar__minus_01_dot_13 - object + Pen_bar__plus_01_dot_61_bar__plus_00_dot_73_bar__minus_00_dot_26 - object + Pen_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_80 - object + Pen_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_02_dot_18 - object + Pillow_bar__minus_00_dot_60_bar__plus_01_dot_59_bar__minus_00_dot_94 - object + Pillow_bar__minus_00_dot_60_bar__plus_01_dot_59_bar__minus_01_dot_39 - object + TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23 - object + Window_bar__plus_01_dot_58_bar__plus_01_dot_56_bar__minus_01_dot_95 - object + ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61 - receptacle + Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92 - receptacle + Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17 - receptacle + 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Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96 - receptacle + Drawer_bar__minus_00_dot_70_bar__plus_00_dot_22_bar__minus_01_dot_32 - receptacle + Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32 - receptacle + Drawer_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_01_dot_32 - receptacle + Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97 - receptacle + Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31 - receptacle + GarbageCan_bar__plus_02_dot_03_bar__plus_00_dot_00_bar__minus_01_dot_19 - receptacle + loc_bar_1_bar_7_bar_0_bar_45 - location + loc_bar_2_bar__minus_4_bar_1_bar_60 - location + loc_bar_1_bar__minus_5_bar_3_bar_60 - location + loc_bar_1_bar__minus_1_bar_3_bar_60 - location + loc_bar__minus_4_bar_2_bar_3_bar_60 - location + loc_bar_2_bar__minus_1_bar_1_bar_45 - location + loc_bar_6_bar__minus_5_bar_2_bar_15 - location + loc_bar_3_bar__minus_3_bar_1_bar_45 - location + loc_bar_1_bar_5_bar_0_bar_45 - location + loc_bar_7_bar_10_bar_2_bar_45 - location + loc_bar_4_bar_0_bar_1_bar_0 - location + loc_bar_6_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_2_bar_11_bar_3_bar_45 - location + loc_bar_1_bar__minus_5_bar_3_bar_45 - location + loc_bar_1_bar_6_bar_3_bar_60 - location + loc_bar_4_bar_1_bar_1_bar_60 - location + loc_bar_1_bar_7_bar_3_bar_60 - location + loc_bar_7_bar_11_bar_1_bar_45 - location + loc_bar_2_bar__minus_3_bar_1_bar_45 - location + loc_bar_2_bar__minus_1_bar_1_bar_60 - location + loc_bar_4_bar_9_bar_3_bar_0 - location + loc_bar_4_bar_6_bar_1_bar_60 - location + loc_bar_3_bar__minus_2_bar_1_bar_45 - location + loc_bar_2_bar_7_bar_3_bar_60 - location + loc_bar_1_bar_9_bar_3_bar_60 - location + loc_bar_1_bar_12_bar_3_bar_60 - location + loc_bar_1_bar__minus_3_bar_3_bar_60 - location + loc_bar_1_bar_8_bar_0_bar_60 - location + loc_bar_6_bar__minus_5_bar_1_bar_60 - location + loc_bar__minus_2_bar_1_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_01_dot_32 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96 DrawerType) + (receptacleType Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31 DresserType) + (receptacleType GarbageCan_bar__plus_02_dot_03_bar__plus_00_dot_00_bar__minus_01_dot_19 GarbageCanType) + (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_70_bar__plus_00_dot_22_bar__minus_01_dot_32 DrawerType) + (receptacleType Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17 BedType) + (receptacleType Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97 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(canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType BookType) + (canContain ArmChairType CellPhoneType) + (canContain ArmChairType PillowType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (pickupable Pen_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_02_dot_18) + (pickupable Mug_bar__plus_01_dot_52_bar__plus_00_dot_72_bar__minus_00_dot_26) + (pickupable CD_bar__plus_01_dot_61_bar__plus_00_dot_11_bar__minus_00_dot_41) + (pickupable Pillow_bar__minus_00_dot_60_bar__plus_01_dot_59_bar__minus_00_dot_94) + (pickupable Mug_bar__minus_00_dot_67_bar__plus_00_dot_06_bar__plus_02_dot_02) + (pickupable CellPhone_bar__plus_01_dot_84_bar__plus_00_dot_44_bar__plus_01_dot_88) + (pickupable CreditCard_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_01_dot_99) + (pickupable Pen_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_80) + (pickupable AlarmClock_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_02_dot_36) + (pickupable CellPhone_bar__minus_00_dot_48_bar__plus_00_dot_52_bar__plus_02_dot_09) + (pickupable Pillow_bar__minus_00_dot_60_bar__plus_01_dot_59_bar__minus_01_dot_39) + (pickupable AlarmClock_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_01_dot_43) + (pickupable Pencil_bar__minus_00_dot_67_bar__plus_00_dot_98_bar__minus_01_dot_13) + (pickupable CellPhone_bar__plus_01_dot_91_bar__plus_00_dot_73_bar__plus_00_dot_48) + (pickupable CreditCard_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_02_dot_18) + (pickupable Pencil_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_60) + (pickupable Book_bar__plus_01_dot_91_bar__plus_00_dot_73_bar__minus_00_dot_75) + (pickupable Laptop_bar__plus_01_dot_67_bar__plus_00_dot_45_bar__plus_01_dot_61) + (pickupable CD_bar__minus_00_dot_82_bar__plus_00_dot_07_bar__plus_02_dot_31) + (pickupable Laptop_bar__minus_00_dot_63_bar__plus_01_dot_84_bar__plus_02_dot_48) + (pickupable TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23) + (pickupable Pen_bar__plus_01_dot_61_bar__plus_00_dot_73_bar__minus_00_dot_26) + (pickupable Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29) + (pickupable KeyChain_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_42) + (pickupable KeyChain_bar__plus_01_dot_76_bar__plus_00_dot_44_bar__plus_01_dot_33) + (pickupable CD_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_32) + (pickupable KeyChain_bar__minus_00_dot_49_bar__plus_00_dot_29_bar__plus_02_dot_96) + (pickupable CreditCard_bar__plus_01_dot_50_bar__plus_00_dot_52_bar__minus_00_dot_73) + (isReceptacleObject Mug_bar__plus_01_dot_52_bar__plus_00_dot_72_bar__minus_00_dot_26) + (isReceptacleObject Mug_bar__minus_00_dot_67_bar__plus_00_dot_06_bar__plus_02_dot_02) + (isReceptacleObject Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29) + (openable Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96) + (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36) + (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78) + (openable Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24) + (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78) + (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36) + (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78) + (openable Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96) + (openable Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53) + (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36) + (openable Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96) + + (atLocation agent1 loc_bar__minus_2_bar_1_bar_3_bar_30) + + (cleanable Mug_bar__plus_01_dot_52_bar__plus_00_dot_72_bar__minus_00_dot_26) + (cleanable Mug_bar__minus_00_dot_67_bar__plus_00_dot_06_bar__plus_02_dot_02) + + (heatable Mug_bar__plus_01_dot_52_bar__plus_00_dot_72_bar__minus_00_dot_26) + (heatable Mug_bar__minus_00_dot_67_bar__plus_00_dot_06_bar__plus_02_dot_02) + (coolable Mug_bar__plus_01_dot_52_bar__plus_00_dot_72_bar__minus_00_dot_26) + (coolable Mug_bar__minus_00_dot_67_bar__plus_00_dot_06_bar__plus_02_dot_02) + + + (toggleable DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71) + + + + + (inReceptacle CD_bar__plus_01_dot_61_bar__plus_00_dot_11_bar__minus_00_dot_41 Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36) + (inReceptacle CellPhone_bar__minus_00_dot_48_bar__plus_00_dot_52_bar__plus_02_dot_09 Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24) + (inReceptacle Laptop_bar__minus_00_dot_63_bar__plus_01_dot_84_bar__plus_02_dot_48 Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17) + (inReceptacle CellPhone_bar__plus_01_dot_84_bar__plus_00_dot_44_bar__plus_01_dot_88 ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61) + (inReceptacle KeyChain_bar__plus_01_dot_76_bar__plus_00_dot_44_bar__plus_01_dot_33 ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61) + (inReceptacle Laptop_bar__plus_01_dot_67_bar__plus_00_dot_45_bar__plus_01_dot_61 ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61) + (inReceptacle Mug_bar__minus_00_dot_67_bar__plus_00_dot_06_bar__plus_02_dot_02 Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53) + (inReceptacle CreditCard_bar__plus_01_dot_50_bar__plus_00_dot_52_bar__minus_00_dot_73 Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78) + (inReceptacle Pen_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_02_dot_18 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80) + (inReceptacle CreditCard_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_02_dot_18 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80) + (inReceptacle Pen_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_80 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80) + (inReceptacle AlarmClock_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_02_dot_36 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80) + (inReceptacle AlarmClock_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_01_dot_43 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80) + (inReceptacle CreditCard_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_01_dot_99 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80) + (inReceptacle Pillow_bar__minus_00_dot_60_bar__plus_01_dot_59_bar__minus_01_dot_39 Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92) + (inReceptacle Pillow_bar__minus_00_dot_60_bar__plus_01_dot_59_bar__minus_00_dot_94 Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92) + (inReceptacle Pencil_bar__minus_00_dot_67_bar__plus_00_dot_98_bar__minus_01_dot_13 Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31) + (inReceptacle Pencil_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_60 Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31) + (inReceptacle CD_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_32 Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31) + (inReceptacle KeyChain_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_42 Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31) + (inReceptacle DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12) + (inReceptacle Mug_bar__plus_01_dot_52_bar__plus_00_dot_72_bar__minus_00_dot_26 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12) + (inReceptacle Pen_bar__plus_01_dot_61_bar__plus_00_dot_73_bar__minus_00_dot_26 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12) + (inReceptacle Book_bar__plus_01_dot_91_bar__plus_00_dot_73_bar__minus_00_dot_75 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12) + (inReceptacle CellPhone_bar__plus_01_dot_91_bar__plus_00_dot_73_bar__plus_00_dot_48 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12) + (inReceptacle KeyChain_bar__minus_00_dot_49_bar__plus_00_dot_29_bar__plus_02_dot_96 Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96) + + + (receptacleAtLocation ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61 loc_bar_4_bar_6_bar_1_bar_60) + (receptacleAtLocation Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92 loc_bar_1_bar__minus_3_bar_3_bar_60) + (receptacleAtLocation Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17 loc_bar_4_bar_9_bar_3_bar_0) + (receptacleAtLocation Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53 loc_bar_2_bar_7_bar_3_bar_60) + (receptacleAtLocation Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12 loc_bar_4_bar_1_bar_1_bar_60) + (receptacleAtLocation Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80 loc_bar_1_bar_7_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36 loc_bar_2_bar__minus_4_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78 loc_bar_2_bar__minus_1_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36 loc_bar_2_bar__minus_3_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78 loc_bar_2_bar__minus_1_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36 loc_bar_3_bar__minus_3_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78 loc_bar_3_bar__minus_2_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24 loc_bar_1_bar_5_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96 loc_bar_1_bar_7_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96 loc_bar_1_bar_8_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96 loc_bar_2_bar_11_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_22_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_45) + (receptacleAtLocation Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97 loc_bar_1_bar_12_bar_3_bar_60) + (receptacleAtLocation Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31 loc_bar_1_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_02_dot_03_bar__plus_00_dot_00_bar__minus_01_dot_19 loc_bar_6_bar__minus_5_bar_1_bar_60) + (objectAtLocation Mug_bar__minus_00_dot_67_bar__plus_00_dot_06_bar__plus_02_dot_02 loc_bar_2_bar_7_bar_3_bar_60) + (objectAtLocation Laptop_bar__plus_01_dot_67_bar__plus_00_dot_45_bar__plus_01_dot_61 loc_bar_4_bar_6_bar_1_bar_60) + (objectAtLocation Pencil_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_60 loc_bar_1_bar__minus_5_bar_3_bar_60) + (objectAtLocation CD_bar__plus_01_dot_61_bar__plus_00_dot_11_bar__minus_00_dot_41 loc_bar_2_bar__minus_4_bar_1_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_01_dot_99 loc_bar_1_bar_7_bar_3_bar_60) + (objectAtLocation KeyChain_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_42 loc_bar_1_bar__minus_5_bar_3_bar_60) + (objectAtLocation CellPhone_bar__minus_00_dot_48_bar__plus_00_dot_52_bar__plus_02_dot_09 loc_bar_1_bar_5_bar_0_bar_45) + (objectAtLocation AlarmClock_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_01_dot_43 loc_bar_1_bar_7_bar_3_bar_60) + (objectAtLocation Pen_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_02_dot_18 loc_bar_1_bar_7_bar_3_bar_60) + (objectAtLocation KeyChain_bar__plus_01_dot_76_bar__plus_00_dot_44_bar__plus_01_dot_33 loc_bar_4_bar_6_bar_1_bar_60) + (objectAtLocation CreditCard_bar__plus_01_dot_50_bar__plus_00_dot_52_bar__minus_00_dot_73 loc_bar_3_bar__minus_2_bar_1_bar_45) + (objectAtLocation Pen_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_80 loc_bar_1_bar_7_bar_3_bar_60) + (objectAtLocation CellPhone_bar__plus_01_dot_84_bar__plus_00_dot_44_bar__plus_01_dot_88 loc_bar_4_bar_6_bar_1_bar_60) + (objectAtLocation CD_bar__minus_00_dot_82_bar__plus_00_dot_07_bar__plus_02_dot_31 loc_bar_1_bar_9_bar_3_bar_60) + (objectAtLocation Chair_bar__minus_00_dot_25_bar__plus_00_dot_43_bar__plus_01_dot_46 loc_bar_1_bar_6_bar_3_bar_60) + (objectAtLocation Book_bar__plus_01_dot_91_bar__plus_00_dot_73_bar__minus_00_dot_75 loc_bar_4_bar_1_bar_1_bar_60) + (objectAtLocation Chair_bar__plus_01_dot_48_bar__plus_00_dot_43_bar__plus_00_dot_22 loc_bar_4_bar_1_bar_1_bar_60) + (objectAtLocation Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29 loc_bar_1_bar__minus_1_bar_3_bar_60) + (objectAtLocation DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 loc_bar_4_bar_1_bar_1_bar_60) + (objectAtLocation TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23 loc_bar__minus_4_bar_2_bar_3_bar_60) + (objectAtLocation Pen_bar__plus_01_dot_61_bar__plus_00_dot_73_bar__minus_00_dot_26 loc_bar_4_bar_1_bar_1_bar_60) + (objectAtLocation AlarmClock_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_02_dot_36 loc_bar_1_bar_7_bar_3_bar_60) + (objectAtLocation Pillow_bar__minus_00_dot_60_bar__plus_01_dot_59_bar__minus_01_dot_39 loc_bar_1_bar__minus_3_bar_3_bar_60) + (objectAtLocation Pillow_bar__minus_00_dot_60_bar__plus_01_dot_59_bar__minus_00_dot_94 loc_bar_1_bar__minus_3_bar_3_bar_60) + (objectAtLocation CellPhone_bar__plus_01_dot_91_bar__plus_00_dot_73_bar__plus_00_dot_48 loc_bar_4_bar_1_bar_1_bar_60) + (objectAtLocation Painting_bar__plus_02_dot_20_bar__plus_01_dot_77_bar__minus_00_dot_10 loc_bar_4_bar_0_bar_1_bar_0) + (objectAtLocation KeyChain_bar__minus_00_dot_49_bar__plus_00_dot_29_bar__plus_02_dot_96 loc_bar_1_bar_8_bar_0_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_02_dot_18 loc_bar_1_bar_7_bar_3_bar_60) + (objectAtLocation Mirror_bar__plus_02_dot_23_bar__plus_01_dot_26_bar__plus_02_dot_66 loc_bar_7_bar_11_bar_1_bar_45) + (objectAtLocation CD_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_60) + (objectAtLocation LightSwitch_bar__plus_02_dot_20_bar__plus_01_dot_26_bar__plus_01_dot_99 loc_bar_7_bar_10_bar_2_bar_45) + (objectAtLocation Window_bar__plus_01_dot_58_bar__plus_01_dot_56_bar__minus_01_dot_95 loc_bar_6_bar__minus_5_bar_2_bar_15) + (objectAtLocation Pencil_bar__minus_00_dot_67_bar__plus_00_dot_98_bar__minus_01_dot_13 loc_bar_1_bar__minus_5_bar_3_bar_60) + (objectAtLocation Laptop_bar__minus_00_dot_63_bar__plus_01_dot_84_bar__plus_02_dot_48 loc_bar_4_bar_9_bar_3_bar_0) + (objectAtLocation Mug_bar__plus_01_dot_52_bar__plus_00_dot_72_bar__minus_00_dot_26 loc_bar_4_bar_1_bar_1_bar_60) + (objectAtLocation Blinds_bar__plus_01_dot_55_bar__plus_02_dot_44_bar__minus_01_dot_89 loc_bar_6_bar__minus_5_bar_2_bar__minus_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 CellPhoneType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CellPhone-None-DeskLamp-318/trial_T20190909_005934_726946/traj_data.json 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"position": { + "x": -0.482898355, + "y": 0.517912745, + "z": 2.09440637 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_268d954a", + "position": { + "x": -0.5848998, + "y": 0.978594959, + "z": -1.41610873 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_7ad6fb52", + "position": { + "x": -0.961648643, + "y": 0.677696, + "z": 1.991405 + }, + "rotation": { + "x": 0.0, + "y": 89.9998245, + "z": 0.0 + } + }, + { + "objectName": "CD_e7609414", + "position": { + "x": 1.6087718, + "y": 0.106447518, + "z": -0.408762574 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Pencil_1ecf44c2", + "position": { + "x": -0.5848998, + "y": 0.982123256, + "z": -1.603857 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Laptop_425b94ea", + "position": { + "x": 1.67208242, + "y": 0.449967772, + "z": 1.60509109 + }, + "rotation": { + "x": 0.0, + "y": 179.999954, + "z": 0.0 + } + }, + { + "objectName": "Mug_31b7f025", + "position": { + "x": -0.672662556, + "y": 0.06383839, + "z": 2.01972532 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [ + { + "isOn": false, + "objectType": "DeskLamp" + } + ], + "random_seed": 2146546766, + "scene_num": 318 + }, + "task_id": "trial_T20190909_005934_726946", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A31681CCEVDIH3_373ERPL3YRZMKVV0CS2TOKKJEVXTR9", + "high_descs": [ + "Make a right and walk across the room to the desk next to the floral couch.", + "Pick up the smartphone on the desk.", + "Turn to face the desk.", + "Turn on the lamp that is on the desk." + ], + "task_desc": "Pick up a smartphone, turn on a lamp.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A272X64FOZFYLB_3L70J4KAZJDN4PDMORGSOQDNB5JDA0", + "high_descs": [ + "Turn around and walk across the room to the brown desk.", + "Pick up the cell phone from the desk.", + "Walk slightly to the left and stand in front of the lamp on the desk.", + "Turn on the lamp." + ], + "task_desc": "Examine a cell phone by the light of a desk lamp.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3MLUEOP3CCLXL_3S4AW7T80E9R0CLXS74PU0ZSS4SL4G", + "high_descs": [ + "Turn around and head to the desk in front of you", + "Pick up the white cell phone that is sitting on the desk", + "Take a step to the left and continue to face the desk", + "Turn on the lamp that is sitting on the desk" + ], + "task_desc": "Examine a phone by lamp light", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CreditCard-None-FloorLamp-208/trial_T20190906_205556_975377/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CreditCard-None-FloorLamp-208/trial_T20190906_205556_975377/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..93a7923d468fccf030c35e6d439a16a2c1417d4c --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CreditCard-None-FloorLamp-208/trial_T20190906_205556_975377/initial_state.pddl @@ -0,0 +1,528 @@ + +(define (problem plan_trial_T20190906_205556_975377) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Box_bar__minus_00_dot_56_bar__plus_00_dot_12_bar__minus_02_dot_75 - object + Chair_bar__minus_02_dot_69_bar__plus_00_dot_00_bar__minus_03_dot_30 - object + Chair_bar__minus_03_dot_13_bar__plus_00_dot_00_bar__minus_04_dot_42 - object + Chair_bar__minus_03_dot_18_bar__plus_00_dot_00_bar__minus_02_dot_81 - object + Chair_bar__minus_03_dot_50_bar__plus_00_dot_00_bar__minus_03_dot_72 - object + CreditCard_bar__plus_01_dot_73_bar__plus_00_dot_88_bar__plus_00_dot_88 - object + CreditCard_bar__minus_00_dot_25_bar__plus_00_dot_43_bar__plus_00_dot_99 - object + CreditCard_bar__minus_02_dot_07_bar__plus_00_dot_18_bar__plus_00_dot_34 - object + CreditCard_bar__minus_03_dot_22_bar__plus_00_dot_78_bar__minus_04_dot_28 - object + FloorLamp_bar__plus_01_dot_71_bar__plus_00_dot_00_bar__plus_00_dot_37 - object + HousePlant_bar__plus_00_dot_51_bar__plus_01_dot_09_bar__plus_02_dot_24 - object + KeyChain_bar__plus_01_dot_85_bar__plus_00_dot_88_bar__plus_01_dot_09 - object + KeyChain_bar__minus_00_dot_79_bar__plus_00_dot_43_bar__plus_01_dot_18 - object + KeyChain_bar__minus_03_dot_47_bar__plus_00_dot_78_bar__minus_03_dot_61 - object + Laptop_bar__plus_00_dot_44_bar__plus_00_dot_47_bar__minus_00_dot_68 - object + Laptop_bar__minus_00_dot_54_bar__plus_00_dot_39_bar__plus_01_dot_87 - object + Laptop_bar__minus_02_dot_85_bar__plus_00_dot_78_bar__minus_04_dot_28 - object + LightSwitch_bar__minus_02_dot_60_bar__plus_01_dot_26_bar__minus_00_dot_78 - object + Painting_bar__minus_00_dot_51_bar__plus_01_dot_74_bar__plus_02_dot_40 - object + Painting_bar__minus_05_dot_00_bar__plus_01_dot_63_bar__minus_03_dot_55 - object + Pillow_bar__plus_01_dot_04_bar__plus_00_dot_58_bar__minus_00_dot_21 - object + RemoteControl_bar__plus_00_dot_83_bar__plus_00_dot_47_bar__minus_00_dot_51 - object + RemoteControl_bar__minus_02_dot_85_bar__plus_00_dot_79_bar__minus_03_dot_61 - object + Statue_bar__minus_02_dot_98_bar__plus_00_dot_79_bar__minus_03_dot_39 - object + Statue_bar__minus_03_dot_04_bar__plus_00_dot_78_bar__minus_03_dot_75 - object + Statue_bar__minus_03_dot_35_bar__plus_00_dot_79_bar__minus_03_dot_84 - object + Television_bar__minus_02_dot_25_bar__plus_01_dot_24_bar__plus_00_dot_76 - object + Vase_bar__minus_02_dot_40_bar__plus_00_dot_76_bar__plus_00_dot_31 - object + Vase_bar__minus_03_dot_47_bar__plus_00_dot_79_bar__minus_02_dot_95 - object + ArmChair_bar__minus_00_dot_56_bar__plus_00_dot_00_bar__plus_01_dot_95 - receptacle + DiningTable_bar__minus_03_dot_10_bar__plus_00_dot_00_bar__minus_03_dot_61 - receptacle + Drawer_bar__plus_01_dot_75_bar__plus_00_dot_78_bar__plus_01_dot_09 - receptacle + GarbageCan_bar__minus_01_dot_34_bar__plus_00_dot_00_bar__minus_04_dot_83 - receptacle + Ottoman_bar__minus_00_dot_58_bar__plus_00_dot_01_bar__plus_01_dot_05 - receptacle + Shelf_bar__minus_00_dot_61_bar__plus_00_dot_88_bar__minus_02_dot_83 - receptacle + Shelf_bar__minus_00_dot_61_bar__plus_01_dot_32_bar__minus_02_dot_83 - receptacle + Shelf_bar__minus_02_dot_08_bar__plus_00_dot_17_bar__plus_01_dot_14 - receptacle + Shelf_bar__minus_02_dot_09_bar__plus_00_dot_17_bar__plus_00_dot_40 - receptacle + Shelf_bar__minus_02_dot_09_bar__plus_00_dot_41_bar__plus_00_dot_40 - receptacle + Shelf_bar__minus_02_dot_10_bar__plus_00_dot_47_bar__plus_01_dot_14 - receptacle + Shelf_bar__minus_02_dot_13_bar__plus_00_dot_56_bar__plus_00_dot_40 - receptacle + Shelf_bar__minus_02_dot_24_bar__plus_00_dot_17_bar__plus_00_dot_77 - receptacle + SideTable_bar__plus_01_dot_83_bar__plus_00_dot_00_bar__plus_01_dot_09 - receptacle + Sofa_bar__plus_00_dot_78_bar__plus_00_dot_00_bar__minus_00_dot_51 - receptacle + TVStand_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_00_dot_76 - receptacle + loc_bar__minus_8_bar__minus_3_bar_3_bar_30 - location + loc_bar__minus_16_bar__minus_15_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_3_bar_1_bar_45 - location + loc_bar__minus_2_bar__minus_8_bar_2_bar_45 - location + loc_bar__minus_4_bar_2_bar_3_bar_60 - location + loc_bar_3_bar_6_bar_0_bar_30 - location + loc_bar_5_bar_4_bar_1_bar_60 - location + loc_bar_3_bar_2_bar_1_bar_60 - location + loc_bar__minus_5_bar_8_bar_1_bar_0 - location + loc_bar__minus_4_bar_2_bar_3_bar_45 - location + loc_bar__minus_2_bar__minus_8_bar_2_bar_60 - location + loc_bar__minus_2_bar_2_bar_0_bar_60 - location + loc_bar__minus_4_bar_0_bar_3_bar_60 - location + loc_bar__minus_11_bar__minus_10_bar_3_bar_60 - location + loc_bar__minus_9_bar__minus_17_bar_1_bar_60 - location + loc_bar__minus_5_bar_3_bar_3_bar_60 - location + loc_bar__minus_9_bar__minus_14_bar_3_bar_60 - location + loc_bar__minus_17_bar__minus_14_bar_3_bar_0 - location + loc_bar__minus_2_bar__minus_8_bar_2_bar_15 - location + loc_bar__minus_7_bar_7_bar_1_bar_60 - location + loc_bar__minus_5_bar_3_bar_3_bar_45 - location + loc_bar_4_bar_4_bar_1_bar_45 - location + loc_bar__minus_16_bar__minus_18_bar_1_bar_60 - location + loc_bar__minus_1_bar_1_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Shelf_bar__minus_02_dot_09_bar__plus_00_dot_41_bar__plus_00_dot_40 ShelfType) + (receptacleType GarbageCan_bar__minus_01_dot_34_bar__plus_00_dot_00_bar__minus_04_dot_83 GarbageCanType) + (receptacleType Shelf_bar__minus_02_dot_09_bar__plus_00_dot_17_bar__plus_00_dot_40 ShelfType) + (receptacleType Drawer_bar__plus_01_dot_75_bar__plus_00_dot_78_bar__plus_01_dot_09 DrawerType) + (receptacleType DiningTable_bar__minus_03_dot_10_bar__plus_00_dot_00_bar__minus_03_dot_61 DiningTableType) + (receptacleType ArmChair_bar__minus_00_dot_56_bar__plus_00_dot_00_bar__plus_01_dot_95 ArmChairType) + (receptacleType Shelf_bar__minus_02_dot_24_bar__plus_00_dot_17_bar__plus_00_dot_77 ShelfType) + (receptacleType Ottoman_bar__minus_00_dot_58_bar__plus_00_dot_01_bar__plus_01_dot_05 OttomanType) + (receptacleType Shelf_bar__minus_02_dot_08_bar__plus_00_dot_17_bar__plus_01_dot_14 ShelfType) + (receptacleType Sofa_bar__plus_00_dot_78_bar__plus_00_dot_00_bar__minus_00_dot_51 SofaType) + (receptacleType Shelf_bar__minus_02_dot_10_bar__plus_00_dot_47_bar__plus_01_dot_14 ShelfType) + (receptacleType Shelf_bar__minus_00_dot_61_bar__plus_00_dot_88_bar__minus_02_dot_83 ShelfType) + (receptacleType Shelf_bar__minus_02_dot_13_bar__plus_00_dot_56_bar__plus_00_dot_40 ShelfType) + (receptacleType TVStand_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_00_dot_76 TVStandType) + (receptacleType SideTable_bar__plus_01_dot_83_bar__plus_00_dot_00_bar__plus_01_dot_09 SideTableType) + (receptacleType Shelf_bar__minus_00_dot_61_bar__plus_01_dot_32_bar__minus_02_dot_83 ShelfType) + (objectType Chair_bar__minus_03_dot_13_bar__plus_00_dot_00_bar__minus_04_dot_42 ChairType) + (objectType Box_bar__minus_00_dot_56_bar__plus_00_dot_12_bar__minus_02_dot_75 BoxType) + (objectType KeyChain_bar__minus_03_dot_47_bar__plus_00_dot_78_bar__minus_03_dot_61 KeyChainType) + (objectType CreditCard_bar__minus_00_dot_25_bar__plus_00_dot_43_bar__plus_00_dot_99 CreditCardType) + (objectType KeyChain_bar__minus_00_dot_79_bar__plus_00_dot_43_bar__plus_01_dot_18 KeyChainType) + (objectType Statue_bar__minus_03_dot_04_bar__plus_00_dot_78_bar__minus_03_dot_75 StatueType) + (objectType FloorLamp_bar__plus_01_dot_71_bar__plus_00_dot_00_bar__plus_00_dot_37 FloorLampType) + (objectType Statue_bar__minus_03_dot_35_bar__plus_00_dot_79_bar__minus_03_dot_84 StatueType) + (objectType Vase_bar__minus_02_dot_40_bar__plus_00_dot_76_bar__plus_00_dot_31 VaseType) + (objectType Laptop_bar__minus_00_dot_54_bar__plus_00_dot_39_bar__plus_01_dot_87 LaptopType) + (objectType RemoteControl_bar__plus_00_dot_83_bar__plus_00_dot_47_bar__minus_00_dot_51 RemoteControlType) + (objectType Painting_bar__minus_00_dot_51_bar__plus_01_dot_74_bar__plus_02_dot_40 PaintingType) + (objectType CreditCard_bar__plus_01_dot_73_bar__plus_00_dot_88_bar__plus_00_dot_88 CreditCardType) + (objectType LightSwitch_bar__minus_02_dot_60_bar__plus_01_dot_26_bar__minus_00_dot_78 LightSwitchType) + (objectType Painting_bar__minus_05_dot_00_bar__plus_01_dot_63_bar__minus_03_dot_55 PaintingType) + (objectType Chair_bar__minus_02_dot_69_bar__plus_00_dot_00_bar__minus_03_dot_30 ChairType) + (objectType Laptop_bar__plus_00_dot_44_bar__plus_00_dot_47_bar__minus_00_dot_68 LaptopType) + (objectType Statue_bar__minus_02_dot_98_bar__plus_00_dot_79_bar__minus_03_dot_39 StatueType) + (objectType KeyChain_bar__plus_01_dot_85_bar__plus_00_dot_88_bar__plus_01_dot_09 KeyChainType) + (objectType Pillow_bar__plus_01_dot_04_bar__plus_00_dot_58_bar__minus_00_dot_21 PillowType) + (objectType HousePlant_bar__plus_00_dot_51_bar__plus_01_dot_09_bar__plus_02_dot_24 HousePlantType) + (objectType CreditCard_bar__minus_02_dot_07_bar__plus_00_dot_18_bar__plus_00_dot_34 CreditCardType) + (objectType Chair_bar__minus_03_dot_18_bar__plus_00_dot_00_bar__minus_02_dot_81 ChairType) + (objectType RemoteControl_bar__minus_02_dot_85_bar__plus_00_dot_79_bar__minus_03_dot_61 RemoteControlType) + (objectType Television_bar__minus_02_dot_25_bar__plus_01_dot_24_bar__plus_00_dot_76 TelevisionType) + (objectType Chair_bar__minus_03_dot_50_bar__plus_00_dot_00_bar__minus_03_dot_72 ChairType) + (objectType CreditCard_bar__minus_03_dot_22_bar__plus_00_dot_78_bar__minus_04_dot_28 CreditCardType) + (objectType Vase_bar__minus_03_dot_47_bar__plus_00_dot_79_bar__minus_02_dot_95 VaseType) + (objectType Laptop_bar__minus_02_dot_85_bar__plus_00_dot_78_bar__minus_04_dot_28 LaptopType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DiningTableType VaseType) + (canContain DiningTableType BoxType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType StatueType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain OttomanType BoxType) + (canContain OttomanType LaptopType) + (canContain OttomanType PillowType) + (canContain OttomanType RemoteControlType) + (canContain OttomanType KeyChainType) + (canContain OttomanType CreditCardType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType CreditCardType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain SideTableType VaseType) + (canContain SideTableType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType StatueType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (pickupable Box_bar__minus_00_dot_56_bar__plus_00_dot_12_bar__minus_02_dot_75) + (pickupable KeyChain_bar__minus_03_dot_47_bar__plus_00_dot_78_bar__minus_03_dot_61) + (pickupable CreditCard_bar__minus_00_dot_25_bar__plus_00_dot_43_bar__plus_00_dot_99) + (pickupable KeyChain_bar__minus_00_dot_79_bar__plus_00_dot_43_bar__plus_01_dot_18) + (pickupable Statue_bar__minus_03_dot_04_bar__plus_00_dot_78_bar__minus_03_dot_75) + (pickupable Statue_bar__minus_03_dot_35_bar__plus_00_dot_79_bar__minus_03_dot_84) + (pickupable Vase_bar__minus_02_dot_40_bar__plus_00_dot_76_bar__plus_00_dot_31) + (pickupable Laptop_bar__minus_00_dot_54_bar__plus_00_dot_39_bar__plus_01_dot_87) + (pickupable RemoteControl_bar__plus_00_dot_83_bar__plus_00_dot_47_bar__minus_00_dot_51) + (pickupable CreditCard_bar__plus_01_dot_73_bar__plus_00_dot_88_bar__plus_00_dot_88) + (pickupable Laptop_bar__plus_00_dot_44_bar__plus_00_dot_47_bar__minus_00_dot_68) + (pickupable Statue_bar__minus_02_dot_98_bar__plus_00_dot_79_bar__minus_03_dot_39) + (pickupable KeyChain_bar__plus_01_dot_85_bar__plus_00_dot_88_bar__plus_01_dot_09) + (pickupable Pillow_bar__plus_01_dot_04_bar__plus_00_dot_58_bar__minus_00_dot_21) + (pickupable CreditCard_bar__minus_02_dot_07_bar__plus_00_dot_18_bar__plus_00_dot_34) + (pickupable RemoteControl_bar__minus_02_dot_85_bar__plus_00_dot_79_bar__minus_03_dot_61) + (pickupable CreditCard_bar__minus_03_dot_22_bar__plus_00_dot_78_bar__minus_04_dot_28) + (pickupable Vase_bar__minus_03_dot_47_bar__plus_00_dot_79_bar__minus_02_dot_95) + (pickupable Laptop_bar__minus_02_dot_85_bar__plus_00_dot_78_bar__minus_04_dot_28) + (isReceptacleObject Box_bar__minus_00_dot_56_bar__plus_00_dot_12_bar__minus_02_dot_75) + (openable Drawer_bar__plus_01_dot_75_bar__plus_00_dot_78_bar__plus_01_dot_09) + + (atLocation agent1 loc_bar__minus_1_bar_1_bar_0_bar_30) + + + + + + + + (toggleable FloorLamp_bar__plus_01_dot_71_bar__plus_00_dot_00_bar__plus_00_dot_37) + + + + + (inReceptacle Pillow_bar__plus_01_dot_04_bar__plus_00_dot_58_bar__minus_00_dot_21 Sofa_bar__plus_00_dot_78_bar__plus_00_dot_00_bar__minus_00_dot_51) + (inReceptacle Laptop_bar__plus_00_dot_44_bar__plus_00_dot_47_bar__minus_00_dot_68 Sofa_bar__plus_00_dot_78_bar__plus_00_dot_00_bar__minus_00_dot_51) + (inReceptacle RemoteControl_bar__plus_00_dot_83_bar__plus_00_dot_47_bar__minus_00_dot_51 Sofa_bar__plus_00_dot_78_bar__plus_00_dot_00_bar__minus_00_dot_51) + (inReceptacle CreditCard_bar__minus_00_dot_25_bar__plus_00_dot_43_bar__plus_00_dot_99 Ottoman_bar__minus_00_dot_58_bar__plus_00_dot_01_bar__plus_01_dot_05) + (inReceptacle KeyChain_bar__minus_00_dot_79_bar__plus_00_dot_43_bar__plus_01_dot_18 Ottoman_bar__minus_00_dot_58_bar__plus_00_dot_01_bar__plus_01_dot_05) + (inReceptacle Laptop_bar__minus_00_dot_54_bar__plus_00_dot_39_bar__plus_01_dot_87 ArmChair_bar__minus_00_dot_56_bar__plus_00_dot_00_bar__plus_01_dot_95) + (inReceptacle RemoteControl_bar__minus_02_dot_85_bar__plus_00_dot_79_bar__minus_03_dot_61 DiningTable_bar__minus_03_dot_10_bar__plus_00_dot_00_bar__minus_03_dot_61) + (inReceptacle KeyChain_bar__minus_03_dot_47_bar__plus_00_dot_78_bar__minus_03_dot_61 DiningTable_bar__minus_03_dot_10_bar__plus_00_dot_00_bar__minus_03_dot_61) + (inReceptacle Statue_bar__minus_02_dot_98_bar__plus_00_dot_79_bar__minus_03_dot_39 DiningTable_bar__minus_03_dot_10_bar__plus_00_dot_00_bar__minus_03_dot_61) + (inReceptacle Statue_bar__minus_03_dot_04_bar__plus_00_dot_78_bar__minus_03_dot_75 DiningTable_bar__minus_03_dot_10_bar__plus_00_dot_00_bar__minus_03_dot_61) + (inReceptacle CreditCard_bar__minus_03_dot_22_bar__plus_00_dot_78_bar__minus_04_dot_28 DiningTable_bar__minus_03_dot_10_bar__plus_00_dot_00_bar__minus_03_dot_61) + (inReceptacle Statue_bar__minus_03_dot_35_bar__plus_00_dot_79_bar__minus_03_dot_84 DiningTable_bar__minus_03_dot_10_bar__plus_00_dot_00_bar__minus_03_dot_61) + (inReceptacle Vase_bar__minus_03_dot_47_bar__plus_00_dot_79_bar__minus_02_dot_95 DiningTable_bar__minus_03_dot_10_bar__plus_00_dot_00_bar__minus_03_dot_61) + (inReceptacle Laptop_bar__minus_02_dot_85_bar__plus_00_dot_78_bar__minus_04_dot_28 DiningTable_bar__minus_03_dot_10_bar__plus_00_dot_00_bar__minus_03_dot_61) + (inReceptacle KeyChain_bar__plus_01_dot_85_bar__plus_00_dot_88_bar__plus_01_dot_09 SideTable_bar__plus_01_dot_83_bar__plus_00_dot_00_bar__plus_01_dot_09) + (inReceptacle CreditCard_bar__plus_01_dot_73_bar__plus_00_dot_88_bar__plus_00_dot_88 SideTable_bar__plus_01_dot_83_bar__plus_00_dot_00_bar__plus_01_dot_09) + (inReceptacle Television_bar__minus_02_dot_25_bar__plus_01_dot_24_bar__plus_00_dot_76 TVStand_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_00_dot_76) + (inReceptacle Vase_bar__minus_02_dot_40_bar__plus_00_dot_76_bar__plus_00_dot_31 TVStand_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_00_dot_76) + (inReceptacle CreditCard_bar__minus_02_dot_07_bar__plus_00_dot_18_bar__plus_00_dot_34 Shelf_bar__minus_02_dot_09_bar__plus_00_dot_17_bar__plus_00_dot_40) + + + (receptacleAtLocation ArmChair_bar__minus_00_dot_56_bar__plus_00_dot_00_bar__plus_01_dot_95 loc_bar__minus_7_bar_7_bar_1_bar_60) + (receptacleAtLocation DiningTable_bar__minus_03_dot_10_bar__plus_00_dot_00_bar__minus_03_dot_61 loc_bar__minus_16_bar__minus_15_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_75_bar__plus_00_dot_78_bar__plus_01_dot_09 loc_bar_4_bar_4_bar_1_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_01_dot_34_bar__plus_00_dot_00_bar__minus_04_dot_83 loc_bar__minus_9_bar__minus_17_bar_1_bar_60) + (receptacleAtLocation Ottoman_bar__minus_00_dot_58_bar__plus_00_dot_01_bar__plus_01_dot_05 loc_bar__minus_2_bar_2_bar_0_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_61_bar__plus_00_dot_88_bar__minus_02_dot_83 loc_bar__minus_2_bar__minus_8_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__minus_00_dot_61_bar__plus_01_dot_32_bar__minus_02_dot_83 loc_bar__minus_2_bar__minus_8_bar_2_bar_15) + (receptacleAtLocation Shelf_bar__minus_02_dot_08_bar__plus_00_dot_17_bar__plus_01_dot_14 loc_bar__minus_4_bar_2_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__minus_02_dot_09_bar__plus_00_dot_17_bar__plus_00_dot_40 loc_bar__minus_4_bar_0_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__minus_02_dot_09_bar__plus_00_dot_41_bar__plus_00_dot_40 loc_bar__minus_5_bar_3_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__minus_02_dot_10_bar__plus_00_dot_47_bar__plus_01_dot_14 loc_bar__minus_5_bar_3_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__minus_02_dot_13_bar__plus_00_dot_56_bar__plus_00_dot_40 loc_bar__minus_5_bar_3_bar_3_bar_45) + (receptacleAtLocation Shelf_bar__minus_02_dot_24_bar__plus_00_dot_17_bar__plus_00_dot_77 loc_bar__minus_4_bar_2_bar_3_bar_45) + (receptacleAtLocation SideTable_bar__plus_01_dot_83_bar__plus_00_dot_00_bar__plus_01_dot_09 loc_bar_5_bar_4_bar_1_bar_60) + (receptacleAtLocation Sofa_bar__plus_00_dot_78_bar__plus_00_dot_00_bar__minus_00_dot_51 loc_bar__minus_2_bar__minus_3_bar_1_bar_45) + (receptacleAtLocation TVStand_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_00_dot_76 loc_bar__minus_5_bar_3_bar_3_bar_60) + (objectAtLocation Vase_bar__minus_03_dot_47_bar__plus_00_dot_79_bar__minus_02_dot_95 loc_bar__minus_16_bar__minus_15_bar_1_bar_60) + (objectAtLocation CreditCard_bar__minus_03_dot_22_bar__plus_00_dot_78_bar__minus_04_dot_28 loc_bar__minus_16_bar__minus_15_bar_1_bar_60) + (objectAtLocation RemoteControl_bar__minus_02_dot_85_bar__plus_00_dot_79_bar__minus_03_dot_61 loc_bar__minus_16_bar__minus_15_bar_1_bar_60) + (objectAtLocation Laptop_bar__plus_00_dot_44_bar__plus_00_dot_47_bar__minus_00_dot_68 loc_bar__minus_2_bar__minus_3_bar_1_bar_45) + (objectAtLocation KeyChain_bar__plus_01_dot_85_bar__plus_00_dot_88_bar__plus_01_dot_09 loc_bar_5_bar_4_bar_1_bar_60) + (objectAtLocation Laptop_bar__minus_00_dot_54_bar__plus_00_dot_39_bar__plus_01_dot_87 loc_bar__minus_7_bar_7_bar_1_bar_60) + (objectAtLocation CreditCard_bar__plus_01_dot_73_bar__plus_00_dot_88_bar__plus_00_dot_88 loc_bar_5_bar_4_bar_1_bar_60) + (objectAtLocation CreditCard_bar__minus_02_dot_07_bar__plus_00_dot_18_bar__plus_00_dot_34 loc_bar__minus_4_bar_0_bar_3_bar_60) + (objectAtLocation KeyChain_bar__minus_03_dot_47_bar__plus_00_dot_78_bar__minus_03_dot_61 loc_bar__minus_16_bar__minus_15_bar_1_bar_60) + (objectAtLocation Box_bar__minus_00_dot_56_bar__plus_00_dot_12_bar__minus_02_dot_75 loc_bar__minus_2_bar__minus_8_bar_2_bar_60) + (objectAtLocation LightSwitch_bar__minus_02_dot_60_bar__plus_01_dot_26_bar__minus_00_dot_78 loc_bar__minus_8_bar__minus_3_bar_3_bar_30) + (objectAtLocation HousePlant_bar__plus_00_dot_51_bar__plus_01_dot_09_bar__plus_02_dot_24 loc_bar_3_bar_6_bar_0_bar_30) + (objectAtLocation KeyChain_bar__minus_00_dot_79_bar__plus_00_dot_43_bar__plus_01_dot_18 loc_bar__minus_2_bar_2_bar_0_bar_60) + (objectAtLocation Laptop_bar__minus_02_dot_85_bar__plus_00_dot_78_bar__minus_04_dot_28 loc_bar__minus_16_bar__minus_15_bar_1_bar_60) + (objectAtLocation Painting_bar__minus_00_dot_51_bar__plus_01_dot_74_bar__plus_02_dot_40 loc_bar__minus_5_bar_8_bar_1_bar_0) + (objectAtLocation Statue_bar__minus_03_dot_04_bar__plus_00_dot_78_bar__minus_03_dot_75 loc_bar__minus_16_bar__minus_15_bar_1_bar_60) + (objectAtLocation Pillow_bar__plus_01_dot_04_bar__plus_00_dot_58_bar__minus_00_dot_21 loc_bar__minus_2_bar__minus_3_bar_1_bar_45) + (objectAtLocation RemoteControl_bar__plus_00_dot_83_bar__plus_00_dot_47_bar__minus_00_dot_51 loc_bar__minus_2_bar__minus_3_bar_1_bar_45) + (objectAtLocation FloorLamp_bar__plus_01_dot_71_bar__plus_00_dot_00_bar__plus_00_dot_37 loc_bar_3_bar_2_bar_1_bar_60) + (objectAtLocation Painting_bar__minus_05_dot_00_bar__plus_01_dot_63_bar__minus_03_dot_55 loc_bar__minus_17_bar__minus_14_bar_3_bar_0) + (objectAtLocation Statue_bar__minus_02_dot_98_bar__plus_00_dot_79_bar__minus_03_dot_39 loc_bar__minus_16_bar__minus_15_bar_1_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_25_bar__plus_00_dot_43_bar__plus_00_dot_99 loc_bar__minus_2_bar_2_bar_0_bar_60) + (objectAtLocation Television_bar__minus_02_dot_25_bar__plus_01_dot_24_bar__plus_00_dot_76 loc_bar__minus_5_bar_3_bar_3_bar_60) + (objectAtLocation Chair_bar__minus_02_dot_69_bar__plus_00_dot_00_bar__minus_03_dot_30 loc_bar__minus_9_bar__minus_14_bar_3_bar_60) + (objectAtLocation Chair_bar__minus_03_dot_18_bar__plus_00_dot_00_bar__minus_02_dot_81 loc_bar__minus_11_bar__minus_10_bar_3_bar_60) + (objectAtLocation Chair_bar__minus_03_dot_50_bar__plus_00_dot_00_bar__minus_03_dot_72 loc_bar__minus_16_bar__minus_15_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_03_dot_13_bar__plus_00_dot_00_bar__minus_04_dot_42 loc_bar__minus_16_bar__minus_18_bar_1_bar_60) + (objectAtLocation Vase_bar__minus_02_dot_40_bar__plus_00_dot_76_bar__plus_00_dot_31 loc_bar__minus_5_bar_3_bar_3_bar_60) + (objectAtLocation Statue_bar__minus_03_dot_35_bar__plus_00_dot_79_bar__minus_03_dot_84 loc_bar__minus_16_bar__minus_15_bar_1_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 CreditCardType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CreditCard-None-FloorLamp-208/trial_T20190906_205556_975377/traj_data.json 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"A1P0XSCJ9XAV74_3E1QT0TDFSQI8NEVNZ88IA33IUC8IW", + "high_descs": [ + "Look down at the table in front of you.", + "Pick up the credit card sitting on the table.", + "Turn to the right to go towards the chair and then look left. Look straight ahead and go towards the table and lamp. Lift the card up to the lamp shade.", + "Turn on the lamp while holding the card up." + ], + "task_desc": "Pick up a credit card to hold up to the light while turning it on.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AM2KK02JXXW48_3E337GFOLCPPF3V43DXOFVGISA9GNM", + "high_descs": [ + "Move to the table.", + "Pick up the credit card from the table. ", + "Bring the credit card to the lamp.", + "Turn on the lamb. " + ], + "task_desc": "Examine the credit card by the light of the lamp. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1HKHM4NVAO98H_3KGTPGBS602CVZ761ZOLRMEBQNA2UU", + "high_descs": [ + "look down at the chairs foot rest below", + "grab the credit card off of the foot rest below", + "turn right and move to the lamp at the end of the room", + "turn the lamp on at the end of the room" + ], + "task_desc": "turn a lamp on while holding a credit card", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CreditCard-None-FloorLamp-208/trial_T20190906_205634_348095/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CreditCard-None-FloorLamp-208/trial_T20190906_205634_348095/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..089a26d884ab66d0c406c68fcf842eef6b86bc7c --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CreditCard-None-FloorLamp-208/trial_T20190906_205634_348095/initial_state.pddl @@ -0,0 +1,518 @@ + +(define (problem plan_trial_T20190906_205634_348095) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Box_bar__minus_00_dot_56_bar__plus_00_dot_12_bar__minus_02_dot_75 - object + Chair_bar__minus_02_dot_69_bar__plus_00_dot_00_bar__minus_03_dot_30 - object + Chair_bar__minus_03_dot_13_bar__plus_00_dot_00_bar__minus_04_dot_42 - object + Chair_bar__minus_03_dot_18_bar__plus_00_dot_00_bar__minus_02_dot_81 - object + Chair_bar__minus_03_dot_50_bar__plus_00_dot_00_bar__minus_03_dot_72 - object + CreditCard_bar__minus_00_dot_47_bar__plus_00_dot_43_bar__plus_01_dot_12 - object + CreditCard_bar__minus_03_dot_22_bar__plus_00_dot_78_bar__minus_04_dot_28 - object + FloorLamp_bar__plus_01_dot_71_bar__plus_00_dot_00_bar__plus_00_dot_37 - object + HousePlant_bar__plus_00_dot_51_bar__plus_01_dot_09_bar__plus_02_dot_24 - object + KeyChain_bar__plus_01_dot_78_bar__plus_00_dot_77_bar__plus_01_dot_38 - object + KeyChain_bar__minus_00_dot_58_bar__plus_00_dot_43_bar__plus_00_dot_87 - object + KeyChain_bar__minus_02_dot_10_bar__plus_00_dot_18_bar__plus_01_dot_28 - object + Laptop_bar__minus_02_dot_92_bar__plus_00_dot_78_bar__minus_03_dot_09 - object + Laptop_bar__minus_02_dot_98_bar__plus_00_dot_78_bar__minus_04_dot_06 - object + LightSwitch_bar__minus_02_dot_60_bar__plus_01_dot_26_bar__minus_00_dot_78 - object + Painting_bar__minus_00_dot_51_bar__plus_01_dot_74_bar__plus_02_dot_40 - object + Painting_bar__minus_05_dot_00_bar__plus_01_dot_63_bar__minus_03_dot_55 - object + Pillow_bar__plus_01_dot_04_bar__plus_00_dot_58_bar__minus_00_dot_21 - object + RemoteControl_bar__plus_00_dot_46_bar__plus_00_dot_47_bar__minus_00_dot_42 - object + RemoteControl_bar__minus_00_dot_47_bar__plus_00_dot_43_bar__plus_00_dot_93 - object + Statue_bar__minus_00_dot_50_bar__plus_00_dot_89_bar__minus_02_dot_77 - object + Statue_bar__minus_02_dot_48_bar__plus_00_dot_77_bar__plus_00_dot_31 - object + Statue_bar__minus_03_dot_47_bar__plus_00_dot_79_bar__minus_02_dot_95 - object + Television_bar__minus_02_dot_25_bar__plus_01_dot_24_bar__plus_00_dot_76 - object + Vase_bar__plus_01_dot_85_bar__plus_00_dot_88_bar__plus_01_dot_41 - object + Vase_bar__minus_02_dot_73_bar__plus_00_dot_79_bar__minus_04_dot_28 - object + Vase_bar__minus_03_dot_47_bar__plus_00_dot_79_bar__minus_03_dot_17 - object + ArmChair_bar__minus_00_dot_56_bar__plus_00_dot_00_bar__plus_01_dot_95 - receptacle + DiningTable_bar__minus_03_dot_10_bar__plus_00_dot_00_bar__minus_03_dot_61 - receptacle + Drawer_bar__plus_01_dot_75_bar__plus_00_dot_78_bar__plus_01_dot_09 - receptacle + GarbageCan_bar__minus_01_dot_34_bar__plus_00_dot_00_bar__minus_04_dot_83 - receptacle + Ottoman_bar__minus_00_dot_58_bar__plus_00_dot_01_bar__plus_01_dot_05 - receptacle + Shelf_bar__minus_00_dot_61_bar__plus_00_dot_88_bar__minus_02_dot_83 - receptacle + Shelf_bar__minus_00_dot_61_bar__plus_01_dot_32_bar__minus_02_dot_83 - receptacle + Shelf_bar__minus_02_dot_08_bar__plus_00_dot_17_bar__plus_01_dot_14 - receptacle + Shelf_bar__minus_02_dot_09_bar__plus_00_dot_17_bar__plus_00_dot_40 - receptacle + Shelf_bar__minus_02_dot_09_bar__plus_00_dot_41_bar__plus_00_dot_40 - receptacle + Shelf_bar__minus_02_dot_10_bar__plus_00_dot_47_bar__plus_01_dot_14 - receptacle + Shelf_bar__minus_02_dot_13_bar__plus_00_dot_56_bar__plus_00_dot_40 - receptacle + Shelf_bar__minus_02_dot_24_bar__plus_00_dot_17_bar__plus_00_dot_77 - receptacle + SideTable_bar__plus_01_dot_83_bar__plus_00_dot_00_bar__plus_01_dot_09 - receptacle + Sofa_bar__plus_00_dot_78_bar__plus_00_dot_00_bar__minus_00_dot_51 - receptacle + TVStand_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_00_dot_76 - receptacle + loc_bar__minus_8_bar__minus_3_bar_3_bar_30 - location + loc_bar__minus_16_bar__minus_15_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_3_bar_1_bar_45 - location + loc_bar__minus_2_bar__minus_8_bar_2_bar_45 - location + loc_bar__minus_4_bar_2_bar_3_bar_60 - location + loc_bar_3_bar_6_bar_0_bar_30 - location + loc_bar_5_bar_4_bar_1_bar_60 - location + loc_bar_3_bar_2_bar_1_bar_60 - location + loc_bar__minus_5_bar_8_bar_1_bar_0 - location + loc_bar__minus_4_bar_2_bar_3_bar_45 - location + loc_bar__minus_2_bar__minus_8_bar_2_bar_60 - location + loc_bar__minus_2_bar_2_bar_0_bar_60 - location + loc_bar__minus_4_bar_0_bar_3_bar_60 - location + loc_bar__minus_11_bar__minus_10_bar_3_bar_60 - location + loc_bar__minus_9_bar__minus_17_bar_1_bar_60 - location + loc_bar__minus_5_bar_3_bar_3_bar_60 - location + loc_bar__minus_9_bar__minus_14_bar_3_bar_60 - location + loc_bar__minus_17_bar__minus_14_bar_3_bar_0 - location + loc_bar__minus_2_bar__minus_8_bar_2_bar_15 - location + loc_bar__minus_7_bar_7_bar_1_bar_60 - location + loc_bar__minus_5_bar_3_bar_3_bar_45 - location + loc_bar_4_bar_4_bar_1_bar_45 - location + loc_bar__minus_16_bar__minus_18_bar_1_bar_60 - location + loc_bar__minus_7_bar__minus_7_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Shelf_bar__minus_02_dot_09_bar__plus_00_dot_41_bar__plus_00_dot_40 ShelfType) + (receptacleType GarbageCan_bar__minus_01_dot_34_bar__plus_00_dot_00_bar__minus_04_dot_83 GarbageCanType) + (receptacleType Shelf_bar__minus_02_dot_09_bar__plus_00_dot_17_bar__plus_00_dot_40 ShelfType) + (receptacleType Drawer_bar__plus_01_dot_75_bar__plus_00_dot_78_bar__plus_01_dot_09 DrawerType) + (receptacleType DiningTable_bar__minus_03_dot_10_bar__plus_00_dot_00_bar__minus_03_dot_61 DiningTableType) + (receptacleType ArmChair_bar__minus_00_dot_56_bar__plus_00_dot_00_bar__plus_01_dot_95 ArmChairType) + (receptacleType Shelf_bar__minus_02_dot_24_bar__plus_00_dot_17_bar__plus_00_dot_77 ShelfType) + (receptacleType Ottoman_bar__minus_00_dot_58_bar__plus_00_dot_01_bar__plus_01_dot_05 OttomanType) + (receptacleType Shelf_bar__minus_02_dot_08_bar__plus_00_dot_17_bar__plus_01_dot_14 ShelfType) + (receptacleType Sofa_bar__plus_00_dot_78_bar__plus_00_dot_00_bar__minus_00_dot_51 SofaType) + (receptacleType Shelf_bar__minus_02_dot_10_bar__plus_00_dot_47_bar__plus_01_dot_14 ShelfType) + (receptacleType Shelf_bar__minus_00_dot_61_bar__plus_00_dot_88_bar__minus_02_dot_83 ShelfType) + (receptacleType Shelf_bar__minus_02_dot_13_bar__plus_00_dot_56_bar__plus_00_dot_40 ShelfType) + (receptacleType TVStand_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_00_dot_76 TVStandType) + (receptacleType SideTable_bar__plus_01_dot_83_bar__plus_00_dot_00_bar__plus_01_dot_09 SideTableType) + (receptacleType Shelf_bar__minus_00_dot_61_bar__plus_01_dot_32_bar__minus_02_dot_83 ShelfType) + (objectType Chair_bar__minus_03_dot_13_bar__plus_00_dot_00_bar__minus_04_dot_42 ChairType) + (objectType KeyChain_bar__minus_00_dot_58_bar__plus_00_dot_43_bar__plus_00_dot_87 KeyChainType) + (objectType FloorLamp_bar__plus_01_dot_71_bar__plus_00_dot_00_bar__plus_00_dot_37 FloorLampType) + (objectType Statue_bar__minus_03_dot_47_bar__plus_00_dot_79_bar__minus_02_dot_95 StatueType) + (objectType Laptop_bar__minus_02_dot_92_bar__plus_00_dot_78_bar__minus_03_dot_09 LaptopType) + (objectType Vase_bar__minus_02_dot_73_bar__plus_00_dot_79_bar__minus_04_dot_28 VaseType) + (objectType Painting_bar__minus_00_dot_51_bar__plus_01_dot_74_bar__plus_02_dot_40 PaintingType) + (objectType CreditCard_bar__minus_00_dot_47_bar__plus_00_dot_43_bar__plus_01_dot_12 CreditCardType) + (objectType RemoteControl_bar__minus_00_dot_47_bar__plus_00_dot_43_bar__plus_00_dot_93 RemoteControlType) + (objectType LightSwitch_bar__minus_02_dot_60_bar__plus_01_dot_26_bar__minus_00_dot_78 LightSwitchType) + (objectType Painting_bar__minus_05_dot_00_bar__plus_01_dot_63_bar__minus_03_dot_55 PaintingType) + (objectType Chair_bar__minus_02_dot_69_bar__plus_00_dot_00_bar__minus_03_dot_30 ChairType) + (objectType Vase_bar__minus_03_dot_47_bar__plus_00_dot_79_bar__minus_03_dot_17 VaseType) + (objectType Laptop_bar__minus_02_dot_98_bar__plus_00_dot_78_bar__minus_04_dot_06 LaptopType) + (objectType KeyChain_bar__plus_01_dot_78_bar__plus_00_dot_77_bar__plus_01_dot_38 KeyChainType) + (objectType Pillow_bar__plus_01_dot_04_bar__plus_00_dot_58_bar__minus_00_dot_21 PillowType) + (objectType HousePlant_bar__plus_00_dot_51_bar__plus_01_dot_09_bar__plus_02_dot_24 HousePlantType) + (objectType Chair_bar__minus_03_dot_18_bar__plus_00_dot_00_bar__minus_02_dot_81 ChairType) + (objectType RemoteControl_bar__plus_00_dot_46_bar__plus_00_dot_47_bar__minus_00_dot_42 RemoteControlType) + (objectType KeyChain_bar__minus_02_dot_10_bar__plus_00_dot_18_bar__plus_01_dot_28 KeyChainType) + (objectType Television_bar__minus_02_dot_25_bar__plus_01_dot_24_bar__plus_00_dot_76 TelevisionType) + (objectType Chair_bar__minus_03_dot_50_bar__plus_00_dot_00_bar__minus_03_dot_72 ChairType) + (objectType Vase_bar__plus_01_dot_85_bar__plus_00_dot_88_bar__plus_01_dot_41 VaseType) + (objectType CreditCard_bar__minus_03_dot_22_bar__plus_00_dot_78_bar__minus_04_dot_28 CreditCardType) + (objectType Statue_bar__minus_02_dot_48_bar__plus_00_dot_77_bar__plus_00_dot_31 StatueType) + (objectType Statue_bar__minus_00_dot_50_bar__plus_00_dot_89_bar__minus_02_dot_77 StatueType) + (objectType Box_bar__minus_00_dot_56_bar__plus_00_dot_12_bar__minus_02_dot_75 BoxType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DiningTableType VaseType) + (canContain DiningTableType BoxType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType StatueType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain OttomanType BoxType) + (canContain OttomanType LaptopType) + (canContain OttomanType PillowType) + (canContain OttomanType RemoteControlType) + (canContain OttomanType KeyChainType) + (canContain OttomanType CreditCardType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType CreditCardType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain SideTableType VaseType) + (canContain SideTableType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType StatueType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (pickupable KeyChain_bar__minus_00_dot_58_bar__plus_00_dot_43_bar__plus_00_dot_87) + (pickupable Statue_bar__minus_03_dot_47_bar__plus_00_dot_79_bar__minus_02_dot_95) + (pickupable Laptop_bar__minus_02_dot_92_bar__plus_00_dot_78_bar__minus_03_dot_09) + (pickupable Vase_bar__minus_02_dot_73_bar__plus_00_dot_79_bar__minus_04_dot_28) + (pickupable CreditCard_bar__minus_00_dot_47_bar__plus_00_dot_43_bar__plus_01_dot_12) + (pickupable RemoteControl_bar__minus_00_dot_47_bar__plus_00_dot_43_bar__plus_00_dot_93) + (pickupable Vase_bar__minus_03_dot_47_bar__plus_00_dot_79_bar__minus_03_dot_17) + (pickupable Laptop_bar__minus_02_dot_98_bar__plus_00_dot_78_bar__minus_04_dot_06) + (pickupable KeyChain_bar__plus_01_dot_78_bar__plus_00_dot_77_bar__plus_01_dot_38) + (pickupable Pillow_bar__plus_01_dot_04_bar__plus_00_dot_58_bar__minus_00_dot_21) + (pickupable RemoteControl_bar__plus_00_dot_46_bar__plus_00_dot_47_bar__minus_00_dot_42) + (pickupable KeyChain_bar__minus_02_dot_10_bar__plus_00_dot_18_bar__plus_01_dot_28) + (pickupable Vase_bar__plus_01_dot_85_bar__plus_00_dot_88_bar__plus_01_dot_41) + (pickupable CreditCard_bar__minus_03_dot_22_bar__plus_00_dot_78_bar__minus_04_dot_28) + (pickupable Statue_bar__minus_02_dot_48_bar__plus_00_dot_77_bar__plus_00_dot_31) + (pickupable Statue_bar__minus_00_dot_50_bar__plus_00_dot_89_bar__minus_02_dot_77) + (pickupable Box_bar__minus_00_dot_56_bar__plus_00_dot_12_bar__minus_02_dot_75) + (isReceptacleObject Box_bar__minus_00_dot_56_bar__plus_00_dot_12_bar__minus_02_dot_75) + (openable Drawer_bar__plus_01_dot_75_bar__plus_00_dot_78_bar__plus_01_dot_09) + + (atLocation agent1 loc_bar__minus_7_bar__minus_7_bar_2_bar_30) + + + + + + + + (toggleable FloorLamp_bar__plus_01_dot_71_bar__plus_00_dot_00_bar__plus_00_dot_37) + + + + + (inReceptacle KeyChain_bar__plus_01_dot_78_bar__plus_00_dot_77_bar__plus_01_dot_38 Drawer_bar__plus_01_dot_75_bar__plus_00_dot_78_bar__plus_01_dot_09) + (inReceptacle RemoteControl_bar__plus_00_dot_46_bar__plus_00_dot_47_bar__minus_00_dot_42 Sofa_bar__plus_00_dot_78_bar__plus_00_dot_00_bar__minus_00_dot_51) + (inReceptacle Pillow_bar__plus_01_dot_04_bar__plus_00_dot_58_bar__minus_00_dot_21 Sofa_bar__plus_00_dot_78_bar__plus_00_dot_00_bar__minus_00_dot_51) + (inReceptacle CreditCard_bar__minus_00_dot_47_bar__plus_00_dot_43_bar__plus_01_dot_12 Ottoman_bar__minus_00_dot_58_bar__plus_00_dot_01_bar__plus_01_dot_05) + (inReceptacle RemoteControl_bar__minus_00_dot_47_bar__plus_00_dot_43_bar__plus_00_dot_93 Ottoman_bar__minus_00_dot_58_bar__plus_00_dot_01_bar__plus_01_dot_05) + (inReceptacle KeyChain_bar__minus_00_dot_58_bar__plus_00_dot_43_bar__plus_00_dot_87 Ottoman_bar__minus_00_dot_58_bar__plus_00_dot_01_bar__plus_01_dot_05) + (inReceptacle Statue_bar__minus_00_dot_50_bar__plus_00_dot_89_bar__minus_02_dot_77 Shelf_bar__minus_00_dot_61_bar__plus_00_dot_88_bar__minus_02_dot_83) + (inReceptacle Laptop_bar__minus_02_dot_92_bar__plus_00_dot_78_bar__minus_03_dot_09 DiningTable_bar__minus_03_dot_10_bar__plus_00_dot_00_bar__minus_03_dot_61) + (inReceptacle Vase_bar__minus_02_dot_73_bar__plus_00_dot_79_bar__minus_04_dot_28 DiningTable_bar__minus_03_dot_10_bar__plus_00_dot_00_bar__minus_03_dot_61) + (inReceptacle Vase_bar__minus_03_dot_47_bar__plus_00_dot_79_bar__minus_03_dot_17 DiningTable_bar__minus_03_dot_10_bar__plus_00_dot_00_bar__minus_03_dot_61) + (inReceptacle Laptop_bar__minus_02_dot_98_bar__plus_00_dot_78_bar__minus_04_dot_06 DiningTable_bar__minus_03_dot_10_bar__plus_00_dot_00_bar__minus_03_dot_61) + (inReceptacle CreditCard_bar__minus_03_dot_22_bar__plus_00_dot_78_bar__minus_04_dot_28 DiningTable_bar__minus_03_dot_10_bar__plus_00_dot_00_bar__minus_03_dot_61) + (inReceptacle Statue_bar__minus_03_dot_47_bar__plus_00_dot_79_bar__minus_02_dot_95 DiningTable_bar__minus_03_dot_10_bar__plus_00_dot_00_bar__minus_03_dot_61) + (inReceptacle Vase_bar__plus_01_dot_85_bar__plus_00_dot_88_bar__plus_01_dot_41 SideTable_bar__plus_01_dot_83_bar__plus_00_dot_00_bar__plus_01_dot_09) + (inReceptacle KeyChain_bar__minus_02_dot_10_bar__plus_00_dot_18_bar__plus_01_dot_28 Shelf_bar__minus_02_dot_08_bar__plus_00_dot_17_bar__plus_01_dot_14) + (inReceptacle Statue_bar__minus_02_dot_48_bar__plus_00_dot_77_bar__plus_00_dot_31 TVStand_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_00_dot_76) + (inReceptacle Television_bar__minus_02_dot_25_bar__plus_01_dot_24_bar__plus_00_dot_76 TVStand_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_00_dot_76) + + + (receptacleAtLocation ArmChair_bar__minus_00_dot_56_bar__plus_00_dot_00_bar__plus_01_dot_95 loc_bar__minus_7_bar_7_bar_1_bar_60) + (receptacleAtLocation DiningTable_bar__minus_03_dot_10_bar__plus_00_dot_00_bar__minus_03_dot_61 loc_bar__minus_16_bar__minus_15_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_75_bar__plus_00_dot_78_bar__plus_01_dot_09 loc_bar_4_bar_4_bar_1_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_01_dot_34_bar__plus_00_dot_00_bar__minus_04_dot_83 loc_bar__minus_9_bar__minus_17_bar_1_bar_60) + (receptacleAtLocation Ottoman_bar__minus_00_dot_58_bar__plus_00_dot_01_bar__plus_01_dot_05 loc_bar__minus_2_bar_2_bar_0_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_61_bar__plus_00_dot_88_bar__minus_02_dot_83 loc_bar__minus_2_bar__minus_8_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__minus_00_dot_61_bar__plus_01_dot_32_bar__minus_02_dot_83 loc_bar__minus_2_bar__minus_8_bar_2_bar_15) + (receptacleAtLocation Shelf_bar__minus_02_dot_08_bar__plus_00_dot_17_bar__plus_01_dot_14 loc_bar__minus_4_bar_2_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__minus_02_dot_09_bar__plus_00_dot_17_bar__plus_00_dot_40 loc_bar__minus_4_bar_0_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__minus_02_dot_09_bar__plus_00_dot_41_bar__plus_00_dot_40 loc_bar__minus_5_bar_3_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__minus_02_dot_10_bar__plus_00_dot_47_bar__plus_01_dot_14 loc_bar__minus_5_bar_3_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__minus_02_dot_13_bar__plus_00_dot_56_bar__plus_00_dot_40 loc_bar__minus_5_bar_3_bar_3_bar_45) + (receptacleAtLocation Shelf_bar__minus_02_dot_24_bar__plus_00_dot_17_bar__plus_00_dot_77 loc_bar__minus_4_bar_2_bar_3_bar_45) + (receptacleAtLocation SideTable_bar__plus_01_dot_83_bar__plus_00_dot_00_bar__plus_01_dot_09 loc_bar_5_bar_4_bar_1_bar_60) + (receptacleAtLocation Sofa_bar__plus_00_dot_78_bar__plus_00_dot_00_bar__minus_00_dot_51 loc_bar__minus_2_bar__minus_3_bar_1_bar_45) + (receptacleAtLocation TVStand_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_00_dot_76 loc_bar__minus_5_bar_3_bar_3_bar_60) + (objectAtLocation Vase_bar__minus_03_dot_47_bar__plus_00_dot_79_bar__minus_03_dot_17 loc_bar__minus_16_bar__minus_15_bar_1_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_47_bar__plus_00_dot_43_bar__plus_01_dot_12 loc_bar__minus_2_bar_2_bar_0_bar_60) + (objectAtLocation RemoteControl_bar__plus_00_dot_46_bar__plus_00_dot_47_bar__minus_00_dot_42 loc_bar__minus_2_bar__minus_3_bar_1_bar_45) + (objectAtLocation Laptop_bar__minus_02_dot_92_bar__plus_00_dot_78_bar__minus_03_dot_09 loc_bar__minus_16_bar__minus_15_bar_1_bar_60) + (objectAtLocation KeyChain_bar__minus_00_dot_58_bar__plus_00_dot_43_bar__plus_00_dot_87 loc_bar__minus_2_bar_2_bar_0_bar_60) + (objectAtLocation KeyChain_bar__plus_01_dot_78_bar__plus_00_dot_77_bar__plus_01_dot_38 loc_bar_4_bar_4_bar_1_bar_45) + (objectAtLocation Vase_bar__minus_02_dot_73_bar__plus_00_dot_79_bar__minus_04_dot_28 loc_bar__minus_16_bar__minus_15_bar_1_bar_60) + (objectAtLocation Box_bar__minus_00_dot_56_bar__plus_00_dot_12_bar__minus_02_dot_75 loc_bar__minus_2_bar__minus_8_bar_2_bar_60) + (objectAtLocation LightSwitch_bar__minus_02_dot_60_bar__plus_01_dot_26_bar__minus_00_dot_78 loc_bar__minus_8_bar__minus_3_bar_3_bar_30) + (objectAtLocation HousePlant_bar__plus_00_dot_51_bar__plus_01_dot_09_bar__plus_02_dot_24 loc_bar_3_bar_6_bar_0_bar_30) + (objectAtLocation KeyChain_bar__minus_02_dot_10_bar__plus_00_dot_18_bar__plus_01_dot_28 loc_bar__minus_4_bar_2_bar_3_bar_60) + (objectAtLocation Laptop_bar__minus_02_dot_98_bar__plus_00_dot_78_bar__minus_04_dot_06 loc_bar__minus_16_bar__minus_15_bar_1_bar_60) + (objectAtLocation Painting_bar__minus_00_dot_51_bar__plus_01_dot_74_bar__plus_02_dot_40 loc_bar__minus_5_bar_8_bar_1_bar_0) + (objectAtLocation Statue_bar__minus_00_dot_50_bar__plus_00_dot_89_bar__minus_02_dot_77 loc_bar__minus_2_bar__minus_8_bar_2_bar_45) + (objectAtLocation Pillow_bar__plus_01_dot_04_bar__plus_00_dot_58_bar__minus_00_dot_21 loc_bar__minus_2_bar__minus_3_bar_1_bar_45) + (objectAtLocation RemoteControl_bar__minus_00_dot_47_bar__plus_00_dot_43_bar__plus_00_dot_93 loc_bar__minus_2_bar_2_bar_0_bar_60) + (objectAtLocation FloorLamp_bar__plus_01_dot_71_bar__plus_00_dot_00_bar__plus_00_dot_37 loc_bar_3_bar_2_bar_1_bar_60) + (objectAtLocation Painting_bar__minus_05_dot_00_bar__plus_01_dot_63_bar__minus_03_dot_55 loc_bar__minus_17_bar__minus_14_bar_3_bar_0) + (objectAtLocation Statue_bar__minus_03_dot_47_bar__plus_00_dot_79_bar__minus_02_dot_95 loc_bar__minus_16_bar__minus_15_bar_1_bar_60) + (objectAtLocation 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loc_bar__minus_5_bar_3_bar_3_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 CreditCardType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CreditCard-None-FloorLamp-208/trial_T20190906_205634_348095/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CreditCard-None-FloorLamp-208/trial_T20190906_205634_348095/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..c4b97be15aada6701b151b8545d052f64ed05e67 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CreditCard-None-FloorLamp-208/trial_T20190906_205634_348095/traj_data.json @@ -0,0 +1,3080 @@ +{ + "images": [ + 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180.0005, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_dbf90498", + "position": { + "x": 1.78058, + "y": 0.766127348, + "z": 1.37884951 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_1ab24c77", + "position": { + "x": -3.22460175, + "y": 0.783520639, + "z": -4.279763 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "RemoteControl_3d36b2c6", + "position": { + "x": -0.468592167, + "y": 0.426640153, + "z": 0.9279998 + }, + "rotation": { + "x": 7.57165537e-07, + "y": 90.00001, + "z": 1.16198851e-06 + } + }, + { + "objectName": "Laptop_6a05bad5", + "position": { + "x": -2.97740173, + "y": 0.7815247, + "z": -4.05784273 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Box_157553b2", + "position": { + "x": -0.564, + "y": 0.122, + "z": -2.747 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_dbf90498", + 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+ "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_1ab24c77", + "position": { + "x": -0.4685921, + "y": 0.4252727, + "z": 1.1155 + }, + "rotation": { + "x": 7.57165537e-07, + "y": 90.00001, + "z": 1.16198851e-06 + } + }, + { + "objectName": "Vase_df37b229", + "position": { + "x": -3.47179818, + "y": 0.787600756, + "z": -3.17015672 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Statue_4ba07ec1", + "position": { + "x": -2.476015, + "y": 0.767064, + "z": 0.314030647 + }, + "rotation": { + "x": 0.0, + "y": 90.0005, + "z": 0.0 + } + } + ], + "object_toggles": [ + { + "isOn": false, + "objectType": "FloorLamp" + } + ], + "random_seed": 539118426, + "scene_num": 208 + }, + "task_id": "trial_T20190906_205634_348095", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3HL2LL0LEPZT8_323Q6SJS8LXRR7DYPVWTSQJA5FMHFT", + "high_descs": [ + "Turn around, go to the foot stool in front of the chair.", + "Take the credit card from the foot stool.", + "Turn right, go to the black stand next to the piano.", + "Turn the lamp on that is on the right of the stand." + ], + "task_desc": "Inspect a credit card near a lit lamp.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AD0NVUGLDYDYN_3UOUJI6MTGVDWFA3PO9EHC873U0XUL", + "high_descs": [ + "Turn around, walk to the coffee table", + "Grab the credit card on the coffee table", + "Turn right, walk to the black table by the floor lamp", + "Turn on the floor lamp" + ], + "task_desc": "Grab the credit card on the coffee table, turn on the floor lamp", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1ZYJ9H5USAI8P_3TY7ZAOG5I1RWTZGSYG52BCYRT4K0X", + "high_descs": [ + "Turn to the left then turn to left and stop in front of the ottoman.", + "Pick up credit card that is on the ottoman. ", + "Turn right then turn left then turn right to the desk.", + "Put the credit card on the deck." + ], + "task_desc": " Put the credit card on the desk.", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CreditCard-None-FloorLamp-208/trial_T20190906_205653_775860/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CreditCard-None-FloorLamp-208/trial_T20190906_205653_775860/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..b65c88e9450a747f30c1e0fe42c4f9bb220217f3 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CreditCard-None-FloorLamp-208/trial_T20190906_205653_775860/initial_state.pddl @@ -0,0 +1,513 @@ + +(define (problem plan_trial_T20190906_205653_775860) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Box_bar__minus_03_dot_22_bar__plus_00_dot_90_bar__minus_03_dot_39 - object + Chair_bar__minus_02_dot_69_bar__plus_00_dot_00_bar__minus_03_dot_30 - object + Chair_bar__minus_03_dot_13_bar__plus_00_dot_00_bar__minus_04_dot_42 - object + Chair_bar__minus_03_dot_18_bar__plus_00_dot_00_bar__minus_02_dot_81 - object + Chair_bar__minus_03_dot_50_bar__plus_00_dot_00_bar__minus_03_dot_72 - object + CreditCard_bar__plus_01_dot_81_bar__plus_00_dot_77_bar__plus_01_dot_00 - object + CreditCard_bar__minus_00_dot_40_bar__plus_00_dot_39_bar__plus_01_dot_65 - object + CreditCard_bar__minus_00_dot_68_bar__plus_00_dot_39_bar__plus_01_dot_94 - object + FloorLamp_bar__plus_01_dot_71_bar__plus_00_dot_00_bar__plus_00_dot_37 - object + HousePlant_bar__plus_00_dot_51_bar__plus_01_dot_09_bar__plus_02_dot_24 - object + KeyChain_bar__minus_00_dot_47_bar__plus_00_dot_39_bar__plus_01_dot_80 - object + KeyChain_bar__minus_00_dot_54_bar__plus_00_dot_39_bar__plus_02_dot_01 - object + KeyChain_bar__minus_02_dot_08_bar__plus_00_dot_48_bar__plus_00_dot_98 - object + Laptop_bar__minus_03_dot_10_bar__plus_00_dot_78_bar__minus_04_dot_06 - object + LightSwitch_bar__minus_02_dot_60_bar__plus_01_dot_26_bar__minus_00_dot_78 - object + Painting_bar__minus_00_dot_51_bar__plus_01_dot_74_bar__plus_02_dot_40 - object + Painting_bar__minus_05_dot_00_bar__plus_01_dot_63_bar__minus_03_dot_55 - object + Pillow_bar__plus_00_dot_50_bar__plus_00_dot_60_bar__minus_00_dot_73 - object + RemoteControl_bar__plus_00_dot_83_bar__plus_00_dot_47_bar__minus_00_dot_51 - object + RemoteControl_bar__minus_00_dot_40_bar__plus_00_dot_39_bar__plus_02_dot_01 - object + Statue_bar__minus_02_dot_10_bar__plus_00_dot_19_bar__plus_01_dot_13 - object + Statue_bar__minus_02_dot_37_bar__plus_00_dot_19_bar__plus_00_dot_76 - object + Statue_bar__minus_03_dot_47_bar__plus_00_dot_79_bar__minus_03_dot_84 - object + Television_bar__minus_02_dot_25_bar__plus_01_dot_24_bar__plus_00_dot_76 - object + Vase_bar__plus_01_dot_81_bar__plus_00_dot_88_bar__plus_01_dot_30 - object + Vase_bar__minus_02_dot_73_bar__plus_00_dot_79_bar__minus_03_dot_17 - object + ArmChair_bar__minus_00_dot_56_bar__plus_00_dot_00_bar__plus_01_dot_95 - receptacle + DiningTable_bar__minus_03_dot_10_bar__plus_00_dot_00_bar__minus_03_dot_61 - receptacle + Drawer_bar__plus_01_dot_75_bar__plus_00_dot_78_bar__plus_01_dot_09 - receptacle + GarbageCan_bar__minus_01_dot_34_bar__plus_00_dot_00_bar__minus_04_dot_83 - receptacle + Ottoman_bar__minus_00_dot_58_bar__plus_00_dot_01_bar__plus_01_dot_05 - receptacle + Shelf_bar__minus_00_dot_61_bar__plus_00_dot_88_bar__minus_02_dot_83 - receptacle + Shelf_bar__minus_00_dot_61_bar__plus_01_dot_32_bar__minus_02_dot_83 - receptacle + Shelf_bar__minus_02_dot_08_bar__plus_00_dot_17_bar__plus_01_dot_14 - receptacle + Shelf_bar__minus_02_dot_09_bar__plus_00_dot_17_bar__plus_00_dot_40 - receptacle + Shelf_bar__minus_02_dot_09_bar__plus_00_dot_41_bar__plus_00_dot_40 - receptacle + Shelf_bar__minus_02_dot_10_bar__plus_00_dot_47_bar__plus_01_dot_14 - receptacle + Shelf_bar__minus_02_dot_13_bar__plus_00_dot_56_bar__plus_00_dot_40 - receptacle + Shelf_bar__minus_02_dot_24_bar__plus_00_dot_17_bar__plus_00_dot_77 - receptacle + SideTable_bar__plus_01_dot_83_bar__plus_00_dot_00_bar__plus_01_dot_09 - receptacle + Sofa_bar__plus_00_dot_78_bar__plus_00_dot_00_bar__minus_00_dot_51 - receptacle + TVStand_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_00_dot_76 - receptacle + loc_bar__minus_8_bar__minus_3_bar_3_bar_30 - location + loc_bar__minus_16_bar__minus_15_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_3_bar_1_bar_45 - location + loc_bar__minus_2_bar__minus_8_bar_2_bar_45 - location + loc_bar__minus_4_bar_2_bar_3_bar_60 - location + loc_bar_3_bar_6_bar_0_bar_30 - location + loc_bar_5_bar_4_bar_1_bar_60 - location + loc_bar_3_bar_2_bar_1_bar_60 - location + loc_bar__minus_5_bar_8_bar_1_bar_0 - location + loc_bar__minus_4_bar_2_bar_3_bar_45 - location + loc_bar__minus_2_bar_2_bar_0_bar_60 - location + loc_bar__minus_4_bar_0_bar_3_bar_60 - location + loc_bar__minus_5_bar_7_bar_1_bar_60 - location + loc_bar__minus_11_bar__minus_10_bar_3_bar_60 - location + loc_bar__minus_9_bar__minus_17_bar_1_bar_60 - location + loc_bar__minus_5_bar_3_bar_3_bar_60 - location + loc_bar__minus_5_bar_8_bar_1_bar_60 - location + loc_bar__minus_9_bar__minus_14_bar_3_bar_60 - location + loc_bar__minus_17_bar__minus_14_bar_3_bar_0 - location + loc_bar__minus_2_bar__minus_8_bar_2_bar_15 - location + loc_bar__minus_7_bar_7_bar_1_bar_60 - location + loc_bar__minus_5_bar_3_bar_3_bar_45 - location + loc_bar_4_bar_4_bar_1_bar_45 - location + loc_bar__minus_16_bar__minus_18_bar_1_bar_60 - location + loc_bar_7_bar__minus_3_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Shelf_bar__minus_02_dot_09_bar__plus_00_dot_41_bar__plus_00_dot_40 ShelfType) + (receptacleType GarbageCan_bar__minus_01_dot_34_bar__plus_00_dot_00_bar__minus_04_dot_83 GarbageCanType) + (receptacleType Shelf_bar__minus_02_dot_09_bar__plus_00_dot_17_bar__plus_00_dot_40 ShelfType) + (receptacleType Drawer_bar__plus_01_dot_75_bar__plus_00_dot_78_bar__plus_01_dot_09 DrawerType) + (receptacleType DiningTable_bar__minus_03_dot_10_bar__plus_00_dot_00_bar__minus_03_dot_61 DiningTableType) + (receptacleType ArmChair_bar__minus_00_dot_56_bar__plus_00_dot_00_bar__plus_01_dot_95 ArmChairType) + (receptacleType Shelf_bar__minus_02_dot_24_bar__plus_00_dot_17_bar__plus_00_dot_77 ShelfType) + (receptacleType Ottoman_bar__minus_00_dot_58_bar__plus_00_dot_01_bar__plus_01_dot_05 OttomanType) + (receptacleType Shelf_bar__minus_02_dot_08_bar__plus_00_dot_17_bar__plus_01_dot_14 ShelfType) + (receptacleType Sofa_bar__plus_00_dot_78_bar__plus_00_dot_00_bar__minus_00_dot_51 SofaType) + (receptacleType Shelf_bar__minus_02_dot_10_bar__plus_00_dot_47_bar__plus_01_dot_14 ShelfType) + (receptacleType Shelf_bar__minus_00_dot_61_bar__plus_00_dot_88_bar__minus_02_dot_83 ShelfType) + (receptacleType Shelf_bar__minus_02_dot_13_bar__plus_00_dot_56_bar__plus_00_dot_40 ShelfType) + (receptacleType TVStand_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_00_dot_76 TVStandType) + (receptacleType SideTable_bar__plus_01_dot_83_bar__plus_00_dot_00_bar__plus_01_dot_09 SideTableType) + (receptacleType Shelf_bar__minus_00_dot_61_bar__plus_01_dot_32_bar__minus_02_dot_83 ShelfType) + (objectType Chair_bar__minus_03_dot_13_bar__plus_00_dot_00_bar__minus_04_dot_42 ChairType) + (objectType KeyChain_bar__minus_02_dot_08_bar__plus_00_dot_48_bar__plus_00_dot_98 KeyChainType) + (objectType Laptop_bar__minus_03_dot_10_bar__plus_00_dot_78_bar__minus_04_dot_06 LaptopType) + (objectType KeyChain_bar__minus_00_dot_54_bar__plus_00_dot_39_bar__plus_02_dot_01 KeyChainType) + (objectType Statue_bar__minus_02_dot_37_bar__plus_00_dot_19_bar__plus_00_dot_76 StatueType) + (objectType CreditCard_bar__minus_00_dot_68_bar__plus_00_dot_39_bar__plus_01_dot_94 CreditCardType) + (objectType CreditCard_bar__minus_00_dot_40_bar__plus_00_dot_39_bar__plus_01_dot_65 CreditCardType) + (objectType FloorLamp_bar__plus_01_dot_71_bar__plus_00_dot_00_bar__plus_00_dot_37 FloorLampType) + (objectType KeyChain_bar__minus_00_dot_47_bar__plus_00_dot_39_bar__plus_01_dot_80 KeyChainType) + (objectType Statue_bar__minus_02_dot_10_bar__plus_00_dot_19_bar__plus_01_dot_13 StatueType) + (objectType Vase_bar__plus_01_dot_81_bar__plus_00_dot_88_bar__plus_01_dot_30 VaseType) + (objectType RemoteControl_bar__plus_00_dot_83_bar__plus_00_dot_47_bar__minus_00_dot_51 RemoteControlType) + (objectType Painting_bar__minus_00_dot_51_bar__plus_01_dot_74_bar__plus_02_dot_40 PaintingType) + (objectType Pillow_bar__plus_00_dot_50_bar__plus_00_dot_60_bar__minus_00_dot_73 PillowType) + (objectType LightSwitch_bar__minus_02_dot_60_bar__plus_01_dot_26_bar__minus_00_dot_78 LightSwitchType) + (objectType Painting_bar__minus_05_dot_00_bar__plus_01_dot_63_bar__minus_03_dot_55 PaintingType) + (objectType Statue_bar__minus_03_dot_47_bar__plus_00_dot_79_bar__minus_03_dot_84 StatueType) + (objectType Vase_bar__minus_02_dot_73_bar__plus_00_dot_79_bar__minus_03_dot_17 VaseType) + (objectType Chair_bar__minus_02_dot_69_bar__plus_00_dot_00_bar__minus_03_dot_30 ChairType) + (objectType RemoteControl_bar__minus_00_dot_40_bar__plus_00_dot_39_bar__plus_02_dot_01 RemoteControlType) + (objectType HousePlant_bar__plus_00_dot_51_bar__plus_01_dot_09_bar__plus_02_dot_24 HousePlantType) + (objectType Chair_bar__minus_03_dot_18_bar__plus_00_dot_00_bar__minus_02_dot_81 ChairType) + (objectType Television_bar__minus_02_dot_25_bar__plus_01_dot_24_bar__plus_00_dot_76 TelevisionType) + (objectType Box_bar__minus_03_dot_22_bar__plus_00_dot_90_bar__minus_03_dot_39 BoxType) + (objectType Chair_bar__minus_03_dot_50_bar__plus_00_dot_00_bar__minus_03_dot_72 ChairType) + (objectType CreditCard_bar__plus_01_dot_81_bar__plus_00_dot_77_bar__plus_01_dot_00 CreditCardType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DiningTableType VaseType) + (canContain DiningTableType BoxType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType StatueType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain OttomanType BoxType) + (canContain OttomanType LaptopType) + (canContain OttomanType PillowType) + (canContain OttomanType RemoteControlType) + (canContain OttomanType KeyChainType) + (canContain OttomanType CreditCardType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType CreditCardType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain SideTableType VaseType) + (canContain SideTableType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType StatueType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (pickupable KeyChain_bar__minus_02_dot_08_bar__plus_00_dot_48_bar__plus_00_dot_98) + (pickupable Laptop_bar__minus_03_dot_10_bar__plus_00_dot_78_bar__minus_04_dot_06) + (pickupable KeyChain_bar__minus_00_dot_54_bar__plus_00_dot_39_bar__plus_02_dot_01) + (pickupable Statue_bar__minus_02_dot_37_bar__plus_00_dot_19_bar__plus_00_dot_76) + (pickupable CreditCard_bar__minus_00_dot_68_bar__plus_00_dot_39_bar__plus_01_dot_94) + (pickupable CreditCard_bar__minus_00_dot_40_bar__plus_00_dot_39_bar__plus_01_dot_65) + (pickupable KeyChain_bar__minus_00_dot_47_bar__plus_00_dot_39_bar__plus_01_dot_80) + (pickupable Statue_bar__minus_02_dot_10_bar__plus_00_dot_19_bar__plus_01_dot_13) + (pickupable Vase_bar__plus_01_dot_81_bar__plus_00_dot_88_bar__plus_01_dot_30) + (pickupable RemoteControl_bar__plus_00_dot_83_bar__plus_00_dot_47_bar__minus_00_dot_51) + (pickupable Pillow_bar__plus_00_dot_50_bar__plus_00_dot_60_bar__minus_00_dot_73) + (pickupable Statue_bar__minus_03_dot_47_bar__plus_00_dot_79_bar__minus_03_dot_84) + (pickupable Vase_bar__minus_02_dot_73_bar__plus_00_dot_79_bar__minus_03_dot_17) + (pickupable RemoteControl_bar__minus_00_dot_40_bar__plus_00_dot_39_bar__plus_02_dot_01) + (pickupable Box_bar__minus_03_dot_22_bar__plus_00_dot_90_bar__minus_03_dot_39) + (pickupable CreditCard_bar__plus_01_dot_81_bar__plus_00_dot_77_bar__plus_01_dot_00) + (isReceptacleObject Box_bar__minus_03_dot_22_bar__plus_00_dot_90_bar__minus_03_dot_39) + (openable Drawer_bar__plus_01_dot_75_bar__plus_00_dot_78_bar__plus_01_dot_09) + + (atLocation agent1 loc_bar_7_bar__minus_3_bar_0_bar_30) + + + + + + + + (toggleable FloorLamp_bar__plus_01_dot_71_bar__plus_00_dot_00_bar__plus_00_dot_37) + + + + + (inReceptacle CreditCard_bar__plus_01_dot_81_bar__plus_00_dot_77_bar__plus_01_dot_00 Drawer_bar__plus_01_dot_75_bar__plus_00_dot_78_bar__plus_01_dot_09) + (inReceptacle Pillow_bar__plus_00_dot_50_bar__plus_00_dot_60_bar__minus_00_dot_73 Sofa_bar__plus_00_dot_78_bar__plus_00_dot_00_bar__minus_00_dot_51) + (inReceptacle RemoteControl_bar__plus_00_dot_83_bar__plus_00_dot_47_bar__minus_00_dot_51 Sofa_bar__plus_00_dot_78_bar__plus_00_dot_00_bar__minus_00_dot_51) + (inReceptacle RemoteControl_bar__minus_00_dot_40_bar__plus_00_dot_39_bar__plus_02_dot_01 ArmChair_bar__minus_00_dot_56_bar__plus_00_dot_00_bar__plus_01_dot_95) + (inReceptacle CreditCard_bar__minus_00_dot_68_bar__plus_00_dot_39_bar__plus_01_dot_94 ArmChair_bar__minus_00_dot_56_bar__plus_00_dot_00_bar__plus_01_dot_95) + (inReceptacle CreditCard_bar__minus_00_dot_40_bar__plus_00_dot_39_bar__plus_01_dot_65 ArmChair_bar__minus_00_dot_56_bar__plus_00_dot_00_bar__plus_01_dot_95) + (inReceptacle Box_bar__minus_03_dot_22_bar__plus_00_dot_90_bar__minus_03_dot_39 DiningTable_bar__minus_03_dot_10_bar__plus_00_dot_00_bar__minus_03_dot_61) + (inReceptacle Statue_bar__minus_03_dot_47_bar__plus_00_dot_79_bar__minus_03_dot_84 DiningTable_bar__minus_03_dot_10_bar__plus_00_dot_00_bar__minus_03_dot_61) + (inReceptacle Vase_bar__minus_02_dot_73_bar__plus_00_dot_79_bar__minus_03_dot_17 DiningTable_bar__minus_03_dot_10_bar__plus_00_dot_00_bar__minus_03_dot_61) + (inReceptacle Laptop_bar__minus_03_dot_10_bar__plus_00_dot_78_bar__minus_04_dot_06 DiningTable_bar__minus_03_dot_10_bar__plus_00_dot_00_bar__minus_03_dot_61) + (inReceptacle Vase_bar__plus_01_dot_81_bar__plus_00_dot_88_bar__plus_01_dot_30 SideTable_bar__plus_01_dot_83_bar__plus_00_dot_00_bar__plus_01_dot_09) + (inReceptacle KeyChain_bar__minus_02_dot_08_bar__plus_00_dot_48_bar__plus_00_dot_98 Shelf_bar__minus_02_dot_10_bar__plus_00_dot_47_bar__plus_01_dot_14) + (inReceptacle Statue_bar__minus_02_dot_37_bar__plus_00_dot_19_bar__plus_00_dot_76 Shelf_bar__minus_02_dot_24_bar__plus_00_dot_17_bar__plus_00_dot_77) + (inReceptacle Statue_bar__minus_02_dot_10_bar__plus_00_dot_19_bar__plus_01_dot_13 Shelf_bar__minus_02_dot_08_bar__plus_00_dot_17_bar__plus_01_dot_14) + (inReceptacle Television_bar__minus_02_dot_25_bar__plus_01_dot_24_bar__plus_00_dot_76 TVStand_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_00_dot_76) + + + (receptacleAtLocation ArmChair_bar__minus_00_dot_56_bar__plus_00_dot_00_bar__plus_01_dot_95 loc_bar__minus_7_bar_7_bar_1_bar_60) + (receptacleAtLocation DiningTable_bar__minus_03_dot_10_bar__plus_00_dot_00_bar__minus_03_dot_61 loc_bar__minus_16_bar__minus_15_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_75_bar__plus_00_dot_78_bar__plus_01_dot_09 loc_bar_4_bar_4_bar_1_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_01_dot_34_bar__plus_00_dot_00_bar__minus_04_dot_83 loc_bar__minus_9_bar__minus_17_bar_1_bar_60) + (receptacleAtLocation Ottoman_bar__minus_00_dot_58_bar__plus_00_dot_01_bar__plus_01_dot_05 loc_bar__minus_2_bar_2_bar_0_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_61_bar__plus_00_dot_88_bar__minus_02_dot_83 loc_bar__minus_2_bar__minus_8_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__minus_00_dot_61_bar__plus_01_dot_32_bar__minus_02_dot_83 loc_bar__minus_2_bar__minus_8_bar_2_bar_15) + (receptacleAtLocation Shelf_bar__minus_02_dot_08_bar__plus_00_dot_17_bar__plus_01_dot_14 loc_bar__minus_4_bar_2_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__minus_02_dot_09_bar__plus_00_dot_17_bar__plus_00_dot_40 loc_bar__minus_4_bar_0_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__minus_02_dot_09_bar__plus_00_dot_41_bar__plus_00_dot_40 loc_bar__minus_5_bar_3_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__minus_02_dot_10_bar__plus_00_dot_47_bar__plus_01_dot_14 loc_bar__minus_5_bar_3_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__minus_02_dot_13_bar__plus_00_dot_56_bar__plus_00_dot_40 loc_bar__minus_5_bar_3_bar_3_bar_45) + (receptacleAtLocation Shelf_bar__minus_02_dot_24_bar__plus_00_dot_17_bar__plus_00_dot_77 loc_bar__minus_4_bar_2_bar_3_bar_45) + (receptacleAtLocation SideTable_bar__plus_01_dot_83_bar__plus_00_dot_00_bar__plus_01_dot_09 loc_bar_5_bar_4_bar_1_bar_60) + (receptacleAtLocation Sofa_bar__plus_00_dot_78_bar__plus_00_dot_00_bar__minus_00_dot_51 loc_bar__minus_2_bar__minus_3_bar_1_bar_45) + (receptacleAtLocation TVStand_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_00_dot_76 loc_bar__minus_5_bar_3_bar_3_bar_60) + (objectAtLocation Vase_bar__minus_02_dot_73_bar__plus_00_dot_79_bar__minus_03_dot_17 loc_bar__minus_16_bar__minus_15_bar_1_bar_60) + (objectAtLocation CreditCard_bar__plus_01_dot_81_bar__plus_00_dot_77_bar__plus_01_dot_00 loc_bar_4_bar_4_bar_1_bar_45) + (objectAtLocation RemoteControl_bar__plus_00_dot_83_bar__plus_00_dot_47_bar__minus_00_dot_51 loc_bar__minus_2_bar__minus_3_bar_1_bar_45) + (objectAtLocation KeyChain_bar__minus_02_dot_08_bar__plus_00_dot_48_bar__plus_00_dot_98 loc_bar__minus_5_bar_3_bar_3_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_68_bar__plus_00_dot_39_bar__plus_01_dot_94 loc_bar__minus_7_bar_7_bar_1_bar_60) + (objectAtLocation KeyChain_bar__minus_00_dot_47_bar__plus_00_dot_39_bar__plus_01_dot_80 loc_bar__minus_5_bar_7_bar_1_bar_60) + (objectAtLocation Box_bar__minus_03_dot_22_bar__plus_00_dot_90_bar__minus_03_dot_39 loc_bar__minus_16_bar__minus_15_bar_1_bar_60) + (objectAtLocation LightSwitch_bar__minus_02_dot_60_bar__plus_01_dot_26_bar__minus_00_dot_78 loc_bar__minus_8_bar__minus_3_bar_3_bar_30) + (objectAtLocation HousePlant_bar__plus_00_dot_51_bar__plus_01_dot_09_bar__plus_02_dot_24 loc_bar_3_bar_6_bar_0_bar_30) + (objectAtLocation KeyChain_bar__minus_00_dot_54_bar__plus_00_dot_39_bar__plus_02_dot_01 loc_bar__minus_5_bar_8_bar_1_bar_60) + (objectAtLocation Laptop_bar__minus_03_dot_10_bar__plus_00_dot_78_bar__minus_04_dot_06 loc_bar__minus_16_bar__minus_15_bar_1_bar_60) + (objectAtLocation Painting_bar__minus_00_dot_51_bar__plus_01_dot_74_bar__plus_02_dot_40 loc_bar__minus_5_bar_8_bar_1_bar_0) + (objectAtLocation Statue_bar__minus_02_dot_37_bar__plus_00_dot_19_bar__plus_00_dot_76 loc_bar__minus_4_bar_2_bar_3_bar_45) + (objectAtLocation Pillow_bar__plus_00_dot_50_bar__plus_00_dot_60_bar__minus_00_dot_73 loc_bar__minus_2_bar__minus_3_bar_1_bar_45) + (objectAtLocation RemoteControl_bar__minus_00_dot_40_bar__plus_00_dot_39_bar__plus_02_dot_01 loc_bar__minus_7_bar_7_bar_1_bar_60) + (objectAtLocation FloorLamp_bar__plus_01_dot_71_bar__plus_00_dot_00_bar__plus_00_dot_37 loc_bar_3_bar_2_bar_1_bar_60) + (objectAtLocation Painting_bar__minus_05_dot_00_bar__plus_01_dot_63_bar__minus_03_dot_55 loc_bar__minus_17_bar__minus_14_bar_3_bar_0) + (objectAtLocation Statue_bar__minus_03_dot_47_bar__plus_00_dot_79_bar__minus_03_dot_84 loc_bar__minus_16_bar__minus_15_bar_1_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_40_bar__plus_00_dot_39_bar__plus_01_dot_65 loc_bar__minus_7_bar_7_bar_1_bar_60) + (objectAtLocation Television_bar__minus_02_dot_25_bar__plus_01_dot_24_bar__plus_00_dot_76 loc_bar__minus_5_bar_3_bar_3_bar_60) + (objectAtLocation Chair_bar__minus_02_dot_69_bar__plus_00_dot_00_bar__minus_03_dot_30 loc_bar__minus_9_bar__minus_14_bar_3_bar_60) + (objectAtLocation Chair_bar__minus_03_dot_18_bar__plus_00_dot_00_bar__minus_02_dot_81 loc_bar__minus_11_bar__minus_10_bar_3_bar_60) + (objectAtLocation Chair_bar__minus_03_dot_50_bar__plus_00_dot_00_bar__minus_03_dot_72 loc_bar__minus_16_bar__minus_15_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_03_dot_13_bar__plus_00_dot_00_bar__minus_04_dot_42 loc_bar__minus_16_bar__minus_18_bar_1_bar_60) + (objectAtLocation Vase_bar__plus_01_dot_81_bar__plus_00_dot_88_bar__plus_01_dot_30 loc_bar_5_bar_4_bar_1_bar_60) + (objectAtLocation Statue_bar__minus_02_dot_10_bar__plus_00_dot_19_bar__plus_01_dot_13 loc_bar__minus_4_bar_2_bar_3_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 CreditCardType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CreditCard-None-FloorLamp-208/trial_T20190906_205653_775860/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CreditCard-None-FloorLamp-208/trial_T20190906_205653_775860/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..3f5657c1d3b863b217e72f55b0c44f29201f3049 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CreditCard-None-FloorLamp-208/trial_T20190906_205653_775860/traj_data.json @@ -0,0 +1,3676 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000001.png", + "low_idx": 0 + }, + { + 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"assignment_id": "A320QA9HJFUOZO_3OHYZ19UGFM6NXIDIS5RYY5KKL4AOE", + "high_descs": [ + "Walk around the couch to the chair left of the piano.", + "Pick up the credit card nearest the ottoman from the chair.", + "Turn left and approach the floor lamp by the sofa. ", + "Turn on the floor lamp." + ], + "task_desc": "Examine the credit card by light of the floor lamp.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A267GLM78AMQ75_3OS4RQUCRCWH0UACP3MX6FGCA3RFBN", + "high_descs": [ + "Walk to the ottoman in front of you", + "Grab the card from the chair", + "Turn around, walk towards the lamp with the card", + "Turn the lamp light on" + ], + "task_desc": "Turn the lamp light on to see the card", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_3WJ1OXY92DX325VXBBGV1CFK5HC8AN", + "high_descs": [ + "Turn around and walk towards the door, then hang right and begin waking across the room, then hang another right and walk over to the right side of the chair with the keys and credit cards on it.", + "Pick up the credit card that is closest to the front of the chair.", + "Turn left and begin walking to the couch, then hang a left and walk over to the tall lamp.", + "Turn on the light of the tall lamp." + ], + "task_desc": "Examine a credit card in the light of a tall lamp.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-216/trial_T20190907_220638_188496/game.tw-pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-216/trial_T20190907_220638_188496/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..93a07838f4ad05013104ab62833d3f11c1311d6e --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-216/trial_T20190907_220638_188496/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: examine the pillow with the desklamp.\"\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_220638_188496)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Box_bar__minus_03_dot_78_bar__plus_01_dot_31_bar__plus_00_dot_46 - object\n Chair_bar__minus_03_dot_83_bar__plus_00_dot_00_bar__minus_00_dot_22 - object\n Chair_bar__minus_04_dot_40_bar__plus_00_dot_00_bar__plus_00_dot_28 - object\n CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_90_bar__plus_01_dot_28 - object\n DeskLamp_bar__plus_01_dot_66_bar__plus_00_dot_65_bar__minus_01_dot_61 - object\n FloorLamp_bar__minus_04_dot_57_bar__plus_00_dot_00_bar__minus_01_dot_62 - object\n HousePlant_bar__plus_01_dot_56_bar__plus_00_dot_65_bar__plus_01_dot_17 - object\n KeyChain_bar__plus_01_dot_12_bar__plus_00_dot_46_bar__plus_01_dot_22 - object\n KeyChain_bar__minus_00_dot_39_bar__plus_00_dot_13_bar__plus_01_dot_09 - object\n Laptop_bar__plus_00_dot_43_bar__plus_00_dot_54_bar__minus_01_dot_19 - object\n LightSwitch_bar__minus_02_dot_46_bar__plus_01_dot_23_bar__minus_01_dot_95 - object\n Newspaper_bar__minus_00_dot_36_bar__plus_00_dot_90_bar__plus_01_dot_23 - object\n Newspaper_bar__minus_01_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_19 - object\n Painting_bar__minus_00_dot_70_bar__plus_01_dot_84_bar__minus_01_dot_91 - object\n Painting_bar__minus_04_dot_91_bar__plus_01_dot_76_bar__minus_00_dot_10 - object\n Pillow_bar__minus_01_dot_83_bar__plus_00_dot_59_bar__minus_01_dot_25 - object\n RemoteControl_bar__plus_00_dot_74_bar__plus_00_dot_48_bar__minus_01_dot_15 - object\n Statue_bar__plus_01_dot_12_bar__plus_00_dot_76_bar__plus_00_dot_97 - object\n Statue_bar__plus_01_dot_57_bar__plus_00_dot_76_bar__plus_00_dot_97 - object\n Statue_bar__minus_01_dot_23_bar__plus_00_dot_13_bar__plus_01_dot_20 - object\n Television_bar__minus_00_dot_55_bar__plus_01_dot_52_bar__plus_01_dot_45 - object\n TissueBox_bar__plus_00_dot_67_bar__plus_00_dot_66_bar__plus_01_dot_27 - object\n TissueBox_bar__plus_01_dot_41_bar__plus_00_dot_66_bar__minus_01_dot_64 - object\n Vase_bar__plus_00_dot_82_bar__plus_00_dot_67_bar__plus_01_dot_04 - object\n Vase_bar__plus_01_dot_49_bar__plus_00_dot_66_bar__minus_01_dot_41 - object\n Vase_bar__minus_00_dot_18_bar__plus_00_dot_13_bar__plus_01_dot_24 - object\n Window_bar__plus_00_dot_99_bar__plus_01_dot_50_bar__plus_01_dot_47 - object\n Window_bar__minus_02_dot_01_bar__plus_01_dot_50_bar__plus_01_dot_47 - object\n ArmChair_bar__minus_01_dot_83_bar__plus_00_dot_00_bar__minus_01_dot_35 - receptacle\n DiningTable_bar__minus_03_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_26 - receptacle\n Drawer_bar__plus_01_dot_12_bar__plus_00_dot_52_bar__plus_01_dot_07 - receptacle\n Drawer_bar__plus_01_dot_58_bar__plus_00_dot_52_bar__minus_01_dot_46 - receptacle\n Drawer_bar__minus_00_dot_16_bar__plus_00_dot_73_bar__plus_01_dot_03 - receptacle\n Drawer_bar__minus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_03 - receptacle\n GarbageCan_bar__minus_04_dot_58_bar__plus_00_dot_00_bar__plus_01_dot_13 - receptacle\n Shelf_bar__minus_00_dot_63_bar__plus_00_dot_12_bar__plus_01_dot_20 - receptacle\n SideTable_bar__plus_01_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_12 - receptacle\n SideTable_bar__plus_01_dot_58_bar_00_dot_00_bar__minus_01_dot_49 - receptacle\n SideTable_bar__minus_00_dot_59_bar__plus_00_dot_01_bar__plus_01_dot_23 - receptacle\n Sofa_bar__plus_00_dot_06_bar__plus_00_dot_00_bar__minus_01_dot_39 - receptacle\n loc_bar__minus_2_bar_3_bar_0_bar_60 - location\n loc_bar_4_bar_2_bar_0_bar_15 - location\n loc_bar__minus_16_bar_4_bar_3_bar_60 - location\n loc_bar__minus_15_bar__minus_6_bar_3_bar_60 - location\n loc_bar_4_bar_0_bar_0_bar_45 - location\n loc_bar__minus_17_bar__minus_2_bar_3_bar__minus_15 - location\n loc_bar__minus_16_bar__minus_3_bar_0_bar_60 - location\n loc_bar_4_bar__minus_1_bar_2_bar_45 - location\n loc_bar__minus_5_bar_1_bar_0_bar_45 - location\n loc_bar__minus_1_bar_2_bar_0_bar_60 - location\n loc_bar__minus_17_bar__minus_2_bar_0_bar_60 - location\n loc_bar__minus_15_bar__minus_3_bar_0_bar_60 - location\n loc_bar_0_bar_1_bar_0_bar_60 - location\n loc_bar__minus_7_bar__minus_2_bar_2_bar_60 - location\n loc_bar_4_bar_2_bar_0_bar_60 - location\n loc_bar__minus_2_bar_3_bar_0_bar_15 - location\n loc_bar_6_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_3_bar__minus_2_bar_2_bar_0 - location\n loc_bar__minus_11_bar__minus_6_bar_2_bar_45 - location\n loc_bar__minus_2_bar__minus_1_bar_2_bar_60 - location\n loc_bar__minus_8_bar_3_bar_0_bar_15 - location\n loc_bar_3_bar__minus_2_bar_2_bar_60 - location\n loc_bar_0_bar_1_bar_0_bar_45 - location\n loc_bar__minus_2_bar__minus_2_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__plus_01_dot_58_bar__plus_00_dot_52_bar__minus_01_dot_46 DrawerType)\n (receptacleType GarbageCan_bar__minus_04_dot_58_bar__plus_00_dot_00_bar__plus_01_dot_13 GarbageCanType)\n (receptacleType SideTable_bar__plus_01_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_12 SideTableType)\n (receptacleType ArmChair_bar__minus_01_dot_83_bar__plus_00_dot_00_bar__minus_01_dot_35 ArmChairType)\n (receptacleType SideTable_bar__minus_00_dot_59_bar__plus_00_dot_01_bar__plus_01_dot_23 SideTableType)\n (receptacleType SideTable_bar__plus_01_dot_58_bar_00_dot_00_bar__minus_01_dot_49 SideTableType)\n (receptacleType Sofa_bar__plus_00_dot_06_bar__plus_00_dot_00_bar__minus_01_dot_39 SofaType)\n (receptacleType DiningTable_bar__minus_03_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_26 DiningTableType)\n (receptacleType Drawer_bar__minus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_03 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_16_bar__plus_00_dot_73_bar__plus_01_dot_03 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_12_bar__plus_00_dot_52_bar__plus_01_dot_07 DrawerType)\n (receptacleType Shelf_bar__minus_00_dot_63_bar__plus_00_dot_12_bar__plus_01_dot_20 ShelfType)\n (objectType TissueBox_bar__plus_00_dot_67_bar__plus_00_dot_66_bar__plus_01_dot_27 TissueBoxType)\n (objectType Painting_bar__minus_04_dot_91_bar__plus_01_dot_76_bar__minus_00_dot_10 PaintingType)\n (objectType Chair_bar__minus_04_dot_40_bar__plus_00_dot_00_bar__plus_00_dot_28 ChairType)\n (objectType Vase_bar__plus_00_dot_82_bar__plus_00_dot_67_bar__plus_01_dot_04 VaseType)\n (objectType Window_bar__minus_02_dot_01_bar__plus_01_dot_50_bar__plus_01_dot_47 WindowType)\n (objectType Laptop_bar__plus_00_dot_43_bar__plus_00_dot_54_bar__minus_01_dot_19 LaptopType)\n (objectType Vase_bar__plus_01_dot_49_bar__plus_00_dot_66_bar__minus_01_dot_41 VaseType)\n (objectType Statue_bar__minus_01_dot_23_bar__plus_00_dot_13_bar__plus_01_dot_20 StatueType)\n (objectType Newspaper_bar__minus_00_dot_36_bar__plus_00_dot_90_bar__plus_01_dot_23 NewspaperType)\n (objectType Pillow_bar__minus_01_dot_83_bar__plus_00_dot_59_bar__minus_01_dot_25 PillowType)\n (objectType TissueBox_bar__plus_01_dot_41_bar__plus_00_dot_66_bar__minus_01_dot_64 TissueBoxType)\n (objectType DeskLamp_bar__plus_01_dot_66_bar__plus_00_dot_65_bar__minus_01_dot_61 DeskLampType)\n (objectType Chair_bar__minus_03_dot_83_bar__plus_00_dot_00_bar__minus_00_dot_22 ChairType)\n (objectType Window_bar__plus_00_dot_99_bar__plus_01_dot_50_bar__plus_01_dot_47 WindowType)\n (objectType Newspaper_bar__minus_01_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_19 NewspaperType)\n (objectType KeyChain_bar__minus_00_dot_39_bar__plus_00_dot_13_bar__plus_01_dot_09 KeyChainType)\n (objectType KeyChain_bar__plus_01_dot_12_bar__plus_00_dot_46_bar__plus_01_dot_22 KeyChainType)\n (objectType RemoteControl_bar__plus_00_dot_74_bar__plus_00_dot_48_bar__minus_01_dot_15 RemoteControlType)\n (objectType FloorLamp_bar__minus_04_dot_57_bar__plus_00_dot_00_bar__minus_01_dot_62 FloorLampType)\n (objectType Statue_bar__plus_01_dot_12_bar__plus_00_dot_76_bar__plus_00_dot_97 StatueType)\n (objectType HousePlant_bar__plus_01_dot_56_bar__plus_00_dot_65_bar__plus_01_dot_17 HousePlantType)\n (objectType Television_bar__minus_00_dot_55_bar__plus_01_dot_52_bar__plus_01_dot_45 TelevisionType)\n (objectType Painting_bar__minus_00_dot_70_bar__plus_01_dot_84_bar__minus_01_dot_91 PaintingType)\n (objectType LightSwitch_bar__minus_02_dot_46_bar__plus_01_dot_23_bar__minus_01_dot_95 LightSwitchType)\n (objectType Vase_bar__minus_00_dot_18_bar__plus_00_dot_13_bar__plus_01_dot_24 VaseType)\n (objectType CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_90_bar__plus_01_dot_28 CreditCardType)\n (objectType Box_bar__minus_03_dot_78_bar__plus_01_dot_31_bar__plus_00_dot_46 BoxType)\n (objectType Statue_bar__plus_01_dot_57_bar__plus_00_dot_76_bar__plus_00_dot_97 StatueType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain GarbageCanType NewspaperType)\n (canContain GarbageCanType TissueBoxType)\n (canContain SideTableType NewspaperType)\n (canContain SideTableType VaseType)\n (canContain SideTableType BoxType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType TissueBoxType)\n (canContain SideTableType StatueType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType NewspaperType)\n (canContain ArmChairType CreditCardType)\n (canContain SideTableType NewspaperType)\n (canContain SideTableType VaseType)\n (canContain SideTableType BoxType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType TissueBoxType)\n (canContain SideTableType StatueType)\n (canContain SideTableType NewspaperType)\n (canContain SideTableType VaseType)\n (canContain SideTableType BoxType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType TissueBoxType)\n (canContain SideTableType StatueType)\n (canContain SofaType BoxType)\n (canContain SofaType LaptopType)\n (canContain SofaType PillowType)\n (canContain SofaType RemoteControlType)\n (canContain SofaType KeyChainType)\n (canContain SofaType NewspaperType)\n (canContain SofaType CreditCardType)\n (canContain DiningTableType NewspaperType)\n (canContain DiningTableType VaseType)\n (canContain DiningTableType BoxType)\n (canContain DiningTableType KeyChainType)\n (canContain DiningTableType CreditCardType)\n (canContain DiningTableType LaptopType)\n (canContain DiningTableType RemoteControlType)\n (canContain DiningTableType TissueBoxType)\n (canContain DiningTableType StatueType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType VaseType)\n (canContain ShelfType BoxType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (pickupable TissueBox_bar__plus_00_dot_67_bar__plus_00_dot_66_bar__plus_01_dot_27)\n (pickupable Vase_bar__plus_00_dot_82_bar__plus_00_dot_67_bar__plus_01_dot_04)\n (pickupable Laptop_bar__plus_00_dot_43_bar__plus_00_dot_54_bar__minus_01_dot_19)\n (pickupable Vase_bar__plus_01_dot_49_bar__plus_00_dot_66_bar__minus_01_dot_41)\n (pickupable Statue_bar__minus_01_dot_23_bar__plus_00_dot_13_bar__plus_01_dot_20)\n (pickupable Newspaper_bar__minus_00_dot_36_bar__plus_00_dot_90_bar__plus_01_dot_23)\n (pickupable Pillow_bar__minus_01_dot_83_bar__plus_00_dot_59_bar__minus_01_dot_25)\n (pickupable TissueBox_bar__plus_01_dot_41_bar__plus_00_dot_66_bar__minus_01_dot_64)\n (pickupable Newspaper_bar__minus_01_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_19)\n (pickupable KeyChain_bar__minus_00_dot_39_bar__plus_00_dot_13_bar__plus_01_dot_09)\n (pickupable KeyChain_bar__plus_01_dot_12_bar__plus_00_dot_46_bar__plus_01_dot_22)\n (pickupable RemoteControl_bar__plus_00_dot_74_bar__plus_00_dot_48_bar__minus_01_dot_15)\n (pickupable Statue_bar__plus_01_dot_12_bar__plus_00_dot_76_bar__plus_00_dot_97)\n (pickupable Vase_bar__minus_00_dot_18_bar__plus_00_dot_13_bar__plus_01_dot_24)\n (pickupable CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_90_bar__plus_01_dot_28)\n (pickupable Box_bar__minus_03_dot_78_bar__plus_01_dot_31_bar__plus_00_dot_46)\n (pickupable Statue_bar__plus_01_dot_57_bar__plus_00_dot_76_bar__plus_00_dot_97)\n (isReceptacleObject Box_bar__minus_03_dot_78_bar__plus_01_dot_31_bar__plus_00_dot_46)\n (openable Drawer_bar__plus_01_dot_58_bar__plus_00_dot_52_bar__minus_01_dot_46)\n (openable Drawer_bar__minus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_03)\n (openable Drawer_bar__minus_00_dot_16_bar__plus_00_dot_73_bar__plus_01_dot_03)\n (openable Drawer_bar__plus_01_dot_12_bar__plus_00_dot_52_bar__plus_01_dot_07)\n \n (atLocation agent1 loc_bar__minus_2_bar__minus_2_bar_2_bar_30)\n \n \n \n \n \n \n \n (toggleable DeskLamp_bar__plus_01_dot_66_bar__plus_00_dot_65_bar__minus_01_dot_61)\n (toggleable FloorLamp_bar__minus_04_dot_57_bar__plus_00_dot_00_bar__minus_01_dot_62)\n \n \n \n \n (inReceptacle Laptop_bar__plus_00_dot_43_bar__plus_00_dot_54_bar__minus_01_dot_19 Sofa_bar__plus_00_dot_06_bar__plus_00_dot_00_bar__minus_01_dot_39)\n (inReceptacle Pillow_bar__minus_01_dot_83_bar__plus_00_dot_59_bar__minus_01_dot_25 ArmChair_bar__minus_01_dot_83_bar__plus_00_dot_00_bar__minus_01_dot_35)\n (inReceptacle DeskLamp_bar__plus_01_dot_66_bar__plus_00_dot_65_bar__minus_01_dot_61 SideTable_bar__plus_01_dot_58_bar_00_dot_00_bar__minus_01_dot_49)\n (inReceptacle Vase_bar__plus_01_dot_49_bar__plus_00_dot_66_bar__minus_01_dot_41 SideTable_bar__plus_01_dot_58_bar_00_dot_00_bar__minus_01_dot_49)\n (inReceptacle TissueBox_bar__plus_01_dot_41_bar__plus_00_dot_66_bar__minus_01_dot_64 SideTable_bar__plus_01_dot_58_bar_00_dot_00_bar__minus_01_dot_49)\n (inReceptacle Box_bar__minus_03_dot_78_bar__plus_01_dot_31_bar__plus_00_dot_46 DiningTable_bar__minus_03_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_26)\n (inReceptacle TissueBox_bar__plus_00_dot_67_bar__plus_00_dot_66_bar__plus_01_dot_27 SideTable_bar__plus_01_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_12)\n (inReceptacle HousePlant_bar__plus_01_dot_56_bar__plus_00_dot_65_bar__plus_01_dot_17 SideTable_bar__plus_01_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_12)\n (inReceptacle Vase_bar__plus_00_dot_82_bar__plus_00_dot_67_bar__plus_01_dot_04 SideTable_bar__plus_01_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_12)\n (inReceptacle Statue_bar__plus_01_dot_57_bar__plus_00_dot_76_bar__plus_00_dot_97 SideTable_bar__plus_01_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_12)\n (inReceptacle Statue_bar__plus_01_dot_12_bar__plus_00_dot_76_bar__plus_00_dot_97 SideTable_bar__plus_01_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_12)\n (inReceptacle CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_90_bar__plus_01_dot_28 SideTable_bar__minus_00_dot_59_bar__plus_00_dot_01_bar__plus_01_dot_23)\n (inReceptacle Newspaper_bar__minus_01_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_19 SideTable_bar__minus_00_dot_59_bar__plus_00_dot_01_bar__plus_01_dot_23)\n (inReceptacle Newspaper_bar__minus_00_dot_36_bar__plus_00_dot_90_bar__plus_01_dot_23 SideTable_bar__minus_00_dot_59_bar__plus_00_dot_01_bar__plus_01_dot_23)\n (inReceptacle KeyChain_bar__plus_01_dot_12_bar__plus_00_dot_46_bar__plus_01_dot_22 Drawer_bar__plus_01_dot_12_bar__plus_00_dot_52_bar__plus_01_dot_07)\n (inReceptacle Vase_bar__minus_00_dot_18_bar__plus_00_dot_13_bar__plus_01_dot_24 Shelf_bar__minus_00_dot_63_bar__plus_00_dot_12_bar__plus_01_dot_20)\n (inReceptacle Statue_bar__minus_01_dot_23_bar__plus_00_dot_13_bar__plus_01_dot_20 Shelf_bar__minus_00_dot_63_bar__plus_00_dot_12_bar__plus_01_dot_20)\n \n \n (receptacleAtLocation ArmChair_bar__minus_01_dot_83_bar__plus_00_dot_00_bar__minus_01_dot_35 loc_bar__minus_7_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation DiningTable_bar__minus_03_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_26 loc_bar__minus_16_bar__minus_3_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_52_bar__plus_01_dot_07 loc_bar_4_bar_0_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_58_bar__plus_00_dot_52_bar__minus_01_dot_46 loc_bar_4_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_73_bar__plus_01_dot_03 loc_bar_0_bar_1_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_03 loc_bar__minus_5_bar_1_bar_0_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_04_dot_58_bar__plus_00_dot_00_bar__plus_01_dot_13 loc_bar__minus_16_bar_4_bar_3_bar_60)\n (receptacleAtLocation Shelf_bar__minus_00_dot_63_bar__plus_00_dot_12_bar__plus_01_dot_20 loc_bar_0_bar_1_bar_0_bar_60)\n (receptacleAtLocation SideTable_bar__plus_01_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_12 loc_bar_4_bar_2_bar_0_bar_60)\n (receptacleAtLocation SideTable_bar__plus_01_dot_58_bar_00_dot_00_bar__minus_01_dot_49 loc_bar_6_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation SideTable_bar__minus_00_dot_59_bar__plus_00_dot_01_bar__plus_01_dot_23 loc_bar__minus_1_bar_2_bar_0_bar_60)\n (receptacleAtLocation Sofa_bar__plus_00_dot_06_bar__plus_00_dot_00_bar__minus_01_dot_39 loc_bar__minus_2_bar__minus_1_bar_2_bar_60)\n (objectAtLocation Statue_bar__plus_01_dot_12_bar__plus_00_dot_76_bar__plus_00_dot_97 loc_bar_4_bar_2_bar_0_bar_60)\n (objectAtLocation KeyChain_bar__minus_00_dot_39_bar__plus_00_dot_13_bar__plus_01_dot_09 loc_bar__minus_2_bar_3_bar_0_bar_60)\n (objectAtLocation Newspaper_bar__minus_00_dot_36_bar__plus_00_dot_90_bar__plus_01_dot_23 loc_bar__minus_1_bar_2_bar_0_bar_60)\n (objectAtLocation TissueBox_bar__plus_01_dot_41_bar__plus_00_dot_66_bar__minus_01_dot_64 loc_bar_6_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Box_bar__minus_03_dot_78_bar__plus_01_dot_31_bar__plus_00_dot_46 loc_bar__minus_16_bar__minus_3_bar_0_bar_60)\n (objectAtLocation DeskLamp_bar__plus_01_dot_66_bar__plus_00_dot_65_bar__minus_01_dot_61 loc_bar_6_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Vase_bar__plus_01_dot_49_bar__plus_00_dot_66_bar__minus_01_dot_41 loc_bar_6_bar__minus_2_bar_2_bar_60)\n (objectAtLocation TissueBox_bar__plus_00_dot_67_bar__plus_00_dot_66_bar__plus_01_dot_27 loc_bar_4_bar_2_bar_0_bar_60)\n (objectAtLocation Newspaper_bar__minus_01_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_19 loc_bar__minus_1_bar_2_bar_0_bar_60)\n (objectAtLocation KeyChain_bar__plus_01_dot_12_bar__plus_00_dot_46_bar__plus_01_dot_22 loc_bar_4_bar_0_bar_0_bar_45)\n (objectAtLocation Vase_bar__plus_00_dot_82_bar__plus_00_dot_67_bar__plus_01_dot_04 loc_bar_4_bar_2_bar_0_bar_60)\n (objectAtLocation FloorLamp_bar__minus_04_dot_57_bar__plus_00_dot_00_bar__minus_01_dot_62 loc_bar__minus_15_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Statue_bar__minus_01_dot_23_bar__plus_00_dot_13_bar__plus_01_dot_20 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation LightSwitch_bar__minus_02_dot_46_bar__plus_01_dot_23_bar__minus_01_dot_95 loc_bar__minus_11_bar__minus_6_bar_2_bar_45)\n (objectAtLocation Television_bar__minus_00_dot_55_bar__plus_01_dot_52_bar__plus_01_dot_45 loc_bar__minus_2_bar_3_bar_0_bar_15)\n (objectAtLocation RemoteControl_bar__plus_00_dot_74_bar__plus_00_dot_48_bar__minus_01_dot_15 loc_bar_3_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Pillow_bar__minus_01_dot_83_bar__plus_00_dot_59_bar__minus_01_dot_25 loc_bar__minus_7_bar__minus_2_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_90_bar__plus_01_dot_28 loc_bar__minus_1_bar_2_bar_0_bar_60)\n (objectAtLocation Laptop_bar__plus_00_dot_43_bar__plus_00_dot_54_bar__minus_01_dot_19 loc_bar__minus_2_bar__minus_1_bar_2_bar_60)\n (objectAtLocation HousePlant_bar__plus_01_dot_56_bar__plus_00_dot_65_bar__plus_01_dot_17 loc_bar_4_bar_2_bar_0_bar_60)\n (objectAtLocation Window_bar__minus_02_dot_01_bar__plus_01_dot_50_bar__plus_01_dot_47 loc_bar__minus_8_bar_3_bar_0_bar_15)\n (objectAtLocation Window_bar__plus_00_dot_99_bar__plus_01_dot_50_bar__plus_01_dot_47 loc_bar_4_bar_2_bar_0_bar_15)\n (objectAtLocation Chair_bar__minus_03_dot_83_bar__plus_00_dot_00_bar__minus_00_dot_22 loc_bar__minus_15_bar__minus_3_bar_0_bar_60)\n (objectAtLocation Chair_bar__minus_04_dot_40_bar__plus_00_dot_00_bar__plus_00_dot_28 loc_bar__minus_17_bar__minus_2_bar_0_bar_60)\n (objectAtLocation Vase_bar__minus_00_dot_18_bar__plus_00_dot_13_bar__plus_01_dot_24 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation Painting_bar__minus_00_dot_70_bar__plus_01_dot_84_bar__minus_01_dot_91 loc_bar__minus_3_bar__minus_2_bar_2_bar_0)\n (objectAtLocation Statue_bar__plus_01_dot_57_bar__plus_00_dot_76_bar__plus_00_dot_97 loc_bar_4_bar_2_bar_0_bar_60)\n (objectAtLocation Painting_bar__minus_04_dot_91_bar__plus_01_dot_76_bar__minus_00_dot_10 loc_bar__minus_17_bar__minus_2_bar_3_bar__minus_15)\n )\n \n\n (:goal\n (and\n (exists (?ot - object\n ?r - receptacle\n ?a - agent\n ?l - location)\n (and\n (objectType ?ot DeskLampType)\n (toggleable ?ot)\n (isToggled ?ot)\n (receptacleAtLocation ?r ?l)\n (atLocation ?a ?l)\n (inReceptacle ?ot ?r)\n )\n )\n (exists (?o - object\n ?a - agent)\n (and\n (objectType ?o PillowType)\n (holds ?a ?o)\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to armchair 1", "take pillow 1 from armchair 1", "go to sidetable 1", "use desklamp 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-216/trial_T20190907_220638_188496/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-216/trial_T20190907_220638_188496/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..892039f53a67637ec47d34f3f44d563fdc9bce6c --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-216/trial_T20190907_220638_188496/initial_state.pddl @@ -0,0 +1,510 @@ + +(define (problem plan_trial_T20190907_220638_188496) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Box_bar__minus_03_dot_78_bar__plus_01_dot_31_bar__plus_00_dot_46 - object + Chair_bar__minus_03_dot_83_bar__plus_00_dot_00_bar__minus_00_dot_22 - object + Chair_bar__minus_04_dot_40_bar__plus_00_dot_00_bar__plus_00_dot_28 - object + CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_90_bar__plus_01_dot_28 - object + DeskLamp_bar__plus_01_dot_66_bar__plus_00_dot_65_bar__minus_01_dot_61 - object + FloorLamp_bar__minus_04_dot_57_bar__plus_00_dot_00_bar__minus_01_dot_62 - object + HousePlant_bar__plus_01_dot_56_bar__plus_00_dot_65_bar__plus_01_dot_17 - object + KeyChain_bar__plus_01_dot_12_bar__plus_00_dot_46_bar__plus_01_dot_22 - object + KeyChain_bar__minus_00_dot_39_bar__plus_00_dot_13_bar__plus_01_dot_09 - object + Laptop_bar__plus_00_dot_43_bar__plus_00_dot_54_bar__minus_01_dot_19 - object + LightSwitch_bar__minus_02_dot_46_bar__plus_01_dot_23_bar__minus_01_dot_95 - object + Newspaper_bar__minus_00_dot_36_bar__plus_00_dot_90_bar__plus_01_dot_23 - object + Newspaper_bar__minus_01_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_19 - object + Painting_bar__minus_00_dot_70_bar__plus_01_dot_84_bar__minus_01_dot_91 - object + Painting_bar__minus_04_dot_91_bar__plus_01_dot_76_bar__minus_00_dot_10 - object + Pillow_bar__minus_01_dot_83_bar__plus_00_dot_59_bar__minus_01_dot_25 - object + RemoteControl_bar__plus_00_dot_74_bar__plus_00_dot_48_bar__minus_01_dot_15 - object + Statue_bar__plus_01_dot_12_bar__plus_00_dot_76_bar__plus_00_dot_97 - object + Statue_bar__plus_01_dot_57_bar__plus_00_dot_76_bar__plus_00_dot_97 - object + Statue_bar__minus_01_dot_23_bar__plus_00_dot_13_bar__plus_01_dot_20 - object + Television_bar__minus_00_dot_55_bar__plus_01_dot_52_bar__plus_01_dot_45 - object + TissueBox_bar__plus_00_dot_67_bar__plus_00_dot_66_bar__plus_01_dot_27 - object + TissueBox_bar__plus_01_dot_41_bar__plus_00_dot_66_bar__minus_01_dot_64 - object + Vase_bar__plus_00_dot_82_bar__plus_00_dot_67_bar__plus_01_dot_04 - object + Vase_bar__plus_01_dot_49_bar__plus_00_dot_66_bar__minus_01_dot_41 - object + Vase_bar__minus_00_dot_18_bar__plus_00_dot_13_bar__plus_01_dot_24 - object + Window_bar__plus_00_dot_99_bar__plus_01_dot_50_bar__plus_01_dot_47 - object + Window_bar__minus_02_dot_01_bar__plus_01_dot_50_bar__plus_01_dot_47 - object + ArmChair_bar__minus_01_dot_83_bar__plus_00_dot_00_bar__minus_01_dot_35 - receptacle + DiningTable_bar__minus_03_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_26 - receptacle + Drawer_bar__plus_01_dot_12_bar__plus_00_dot_52_bar__plus_01_dot_07 - receptacle + Drawer_bar__plus_01_dot_58_bar__plus_00_dot_52_bar__minus_01_dot_46 - receptacle + Drawer_bar__minus_00_dot_16_bar__plus_00_dot_73_bar__plus_01_dot_03 - receptacle + Drawer_bar__minus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_03 - receptacle + GarbageCan_bar__minus_04_dot_58_bar__plus_00_dot_00_bar__plus_01_dot_13 - receptacle + Shelf_bar__minus_00_dot_63_bar__plus_00_dot_12_bar__plus_01_dot_20 - receptacle + SideTable_bar__plus_01_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_12 - receptacle + SideTable_bar__plus_01_dot_58_bar_00_dot_00_bar__minus_01_dot_49 - receptacle + SideTable_bar__minus_00_dot_59_bar__plus_00_dot_01_bar__plus_01_dot_23 - receptacle + Sofa_bar__plus_00_dot_06_bar__plus_00_dot_00_bar__minus_01_dot_39 - receptacle + loc_bar__minus_2_bar_3_bar_0_bar_60 - location + loc_bar_4_bar_2_bar_0_bar_15 - location + loc_bar__minus_16_bar_4_bar_3_bar_60 - location + loc_bar__minus_15_bar__minus_6_bar_3_bar_60 - location + loc_bar_4_bar_0_bar_0_bar_45 - location + loc_bar__minus_17_bar__minus_2_bar_3_bar__minus_15 - location + loc_bar__minus_16_bar__minus_3_bar_0_bar_60 - location + loc_bar_4_bar__minus_1_bar_2_bar_45 - location + loc_bar__minus_5_bar_1_bar_0_bar_45 - location + loc_bar__minus_1_bar_2_bar_0_bar_60 - location + loc_bar__minus_17_bar__minus_2_bar_0_bar_60 - location + loc_bar__minus_15_bar__minus_3_bar_0_bar_60 - location + loc_bar_0_bar_1_bar_0_bar_60 - location + loc_bar__minus_7_bar__minus_2_bar_2_bar_60 - location + loc_bar_4_bar_2_bar_0_bar_60 - location + loc_bar__minus_2_bar_3_bar_0_bar_15 - location + loc_bar_6_bar__minus_2_bar_2_bar_60 - location + loc_bar__minus_3_bar__minus_2_bar_2_bar_0 - location + loc_bar__minus_11_bar__minus_6_bar_2_bar_45 - location + loc_bar__minus_2_bar__minus_1_bar_2_bar_60 - location + loc_bar__minus_8_bar_3_bar_0_bar_15 - location + loc_bar_3_bar__minus_2_bar_2_bar_60 - location + loc_bar_0_bar_1_bar_0_bar_45 - location + loc_bar__minus_2_bar__minus_2_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__plus_01_dot_58_bar__plus_00_dot_52_bar__minus_01_dot_46 DrawerType) + (receptacleType GarbageCan_bar__minus_04_dot_58_bar__plus_00_dot_00_bar__plus_01_dot_13 GarbageCanType) + (receptacleType SideTable_bar__plus_01_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_12 SideTableType) + (receptacleType ArmChair_bar__minus_01_dot_83_bar__plus_00_dot_00_bar__minus_01_dot_35 ArmChairType) + (receptacleType SideTable_bar__minus_00_dot_59_bar__plus_00_dot_01_bar__plus_01_dot_23 SideTableType) + (receptacleType SideTable_bar__plus_01_dot_58_bar_00_dot_00_bar__minus_01_dot_49 SideTableType) + (receptacleType Sofa_bar__plus_00_dot_06_bar__plus_00_dot_00_bar__minus_01_dot_39 SofaType) + (receptacleType DiningTable_bar__minus_03_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_26 DiningTableType) + (receptacleType Drawer_bar__minus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_03 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_16_bar__plus_00_dot_73_bar__plus_01_dot_03 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_12_bar__plus_00_dot_52_bar__plus_01_dot_07 DrawerType) + (receptacleType Shelf_bar__minus_00_dot_63_bar__plus_00_dot_12_bar__plus_01_dot_20 ShelfType) + (objectType TissueBox_bar__plus_00_dot_67_bar__plus_00_dot_66_bar__plus_01_dot_27 TissueBoxType) + (objectType Painting_bar__minus_04_dot_91_bar__plus_01_dot_76_bar__minus_00_dot_10 PaintingType) + (objectType Chair_bar__minus_04_dot_40_bar__plus_00_dot_00_bar__plus_00_dot_28 ChairType) + (objectType Vase_bar__plus_00_dot_82_bar__plus_00_dot_67_bar__plus_01_dot_04 VaseType) + (objectType Window_bar__minus_02_dot_01_bar__plus_01_dot_50_bar__plus_01_dot_47 WindowType) + (objectType Laptop_bar__plus_00_dot_43_bar__plus_00_dot_54_bar__minus_01_dot_19 LaptopType) + (objectType Vase_bar__plus_01_dot_49_bar__plus_00_dot_66_bar__minus_01_dot_41 VaseType) + (objectType Statue_bar__minus_01_dot_23_bar__plus_00_dot_13_bar__plus_01_dot_20 StatueType) + (objectType Newspaper_bar__minus_00_dot_36_bar__plus_00_dot_90_bar__plus_01_dot_23 NewspaperType) + (objectType Pillow_bar__minus_01_dot_83_bar__plus_00_dot_59_bar__minus_01_dot_25 PillowType) + (objectType TissueBox_bar__plus_01_dot_41_bar__plus_00_dot_66_bar__minus_01_dot_64 TissueBoxType) + (objectType DeskLamp_bar__plus_01_dot_66_bar__plus_00_dot_65_bar__minus_01_dot_61 DeskLampType) + (objectType Chair_bar__minus_03_dot_83_bar__plus_00_dot_00_bar__minus_00_dot_22 ChairType) + (objectType Window_bar__plus_00_dot_99_bar__plus_01_dot_50_bar__plus_01_dot_47 WindowType) + (objectType Newspaper_bar__minus_01_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_19 NewspaperType) + (objectType KeyChain_bar__minus_00_dot_39_bar__plus_00_dot_13_bar__plus_01_dot_09 KeyChainType) + (objectType KeyChain_bar__plus_01_dot_12_bar__plus_00_dot_46_bar__plus_01_dot_22 KeyChainType) + (objectType RemoteControl_bar__plus_00_dot_74_bar__plus_00_dot_48_bar__minus_01_dot_15 RemoteControlType) + (objectType FloorLamp_bar__minus_04_dot_57_bar__plus_00_dot_00_bar__minus_01_dot_62 FloorLampType) + (objectType Statue_bar__plus_01_dot_12_bar__plus_00_dot_76_bar__plus_00_dot_97 StatueType) + (objectType HousePlant_bar__plus_01_dot_56_bar__plus_00_dot_65_bar__plus_01_dot_17 HousePlantType) + (objectType Television_bar__minus_00_dot_55_bar__plus_01_dot_52_bar__plus_01_dot_45 TelevisionType) + (objectType Painting_bar__minus_00_dot_70_bar__plus_01_dot_84_bar__minus_01_dot_91 PaintingType) + (objectType LightSwitch_bar__minus_02_dot_46_bar__plus_01_dot_23_bar__minus_01_dot_95 LightSwitchType) + (objectType Vase_bar__minus_00_dot_18_bar__plus_00_dot_13_bar__plus_01_dot_24 VaseType) + (objectType CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_90_bar__plus_01_dot_28 CreditCardType) + (objectType Box_bar__minus_03_dot_78_bar__plus_01_dot_31_bar__plus_00_dot_46 BoxType) + (objectType Statue_bar__plus_01_dot_57_bar__plus_00_dot_76_bar__plus_00_dot_97 StatueType) + (canContain DrawerType NewspaperType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (canContain GarbageCanType NewspaperType) + (canContain GarbageCanType TissueBoxType) + (canContain SideTableType NewspaperType) + (canContain SideTableType VaseType) + (canContain SideTableType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType TissueBoxType) + (canContain SideTableType StatueType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType NewspaperType) + (canContain ArmChairType CreditCardType) + (canContain SideTableType NewspaperType) + (canContain SideTableType VaseType) + (canContain SideTableType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType TissueBoxType) + (canContain SideTableType StatueType) + (canContain SideTableType NewspaperType) + (canContain SideTableType VaseType) + (canContain SideTableType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType TissueBoxType) + (canContain SideTableType StatueType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType NewspaperType) + (canContain SofaType CreditCardType) + (canContain DiningTableType NewspaperType) + (canContain DiningTableType VaseType) + (canContain DiningTableType BoxType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType TissueBoxType) + (canContain DiningTableType StatueType) + (canContain DrawerType NewspaperType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType NewspaperType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType NewspaperType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (canContain ShelfType NewspaperType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType StatueType) + (pickupable TissueBox_bar__plus_00_dot_67_bar__plus_00_dot_66_bar__plus_01_dot_27) + (pickupable Vase_bar__plus_00_dot_82_bar__plus_00_dot_67_bar__plus_01_dot_04) + (pickupable Laptop_bar__plus_00_dot_43_bar__plus_00_dot_54_bar__minus_01_dot_19) + (pickupable Vase_bar__plus_01_dot_49_bar__plus_00_dot_66_bar__minus_01_dot_41) + (pickupable Statue_bar__minus_01_dot_23_bar__plus_00_dot_13_bar__plus_01_dot_20) + (pickupable Newspaper_bar__minus_00_dot_36_bar__plus_00_dot_90_bar__plus_01_dot_23) + (pickupable Pillow_bar__minus_01_dot_83_bar__plus_00_dot_59_bar__minus_01_dot_25) + (pickupable TissueBox_bar__plus_01_dot_41_bar__plus_00_dot_66_bar__minus_01_dot_64) + (pickupable Newspaper_bar__minus_01_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_19) + (pickupable KeyChain_bar__minus_00_dot_39_bar__plus_00_dot_13_bar__plus_01_dot_09) + (pickupable KeyChain_bar__plus_01_dot_12_bar__plus_00_dot_46_bar__plus_01_dot_22) + (pickupable RemoteControl_bar__plus_00_dot_74_bar__plus_00_dot_48_bar__minus_01_dot_15) + (pickupable Statue_bar__plus_01_dot_12_bar__plus_00_dot_76_bar__plus_00_dot_97) + (pickupable Vase_bar__minus_00_dot_18_bar__plus_00_dot_13_bar__plus_01_dot_24) + (pickupable CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_90_bar__plus_01_dot_28) + (pickupable Box_bar__minus_03_dot_78_bar__plus_01_dot_31_bar__plus_00_dot_46) + (pickupable Statue_bar__plus_01_dot_57_bar__plus_00_dot_76_bar__plus_00_dot_97) + (isReceptacleObject Box_bar__minus_03_dot_78_bar__plus_01_dot_31_bar__plus_00_dot_46) + (openable Drawer_bar__plus_01_dot_58_bar__plus_00_dot_52_bar__minus_01_dot_46) + (openable Drawer_bar__minus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_03) + (openable Drawer_bar__minus_00_dot_16_bar__plus_00_dot_73_bar__plus_01_dot_03) + (openable Drawer_bar__plus_01_dot_12_bar__plus_00_dot_52_bar__plus_01_dot_07) + + (atLocation agent1 loc_bar__minus_2_bar__minus_2_bar_2_bar_30) + + + + + + + + (toggleable DeskLamp_bar__plus_01_dot_66_bar__plus_00_dot_65_bar__minus_01_dot_61) + (toggleable FloorLamp_bar__minus_04_dot_57_bar__plus_00_dot_00_bar__minus_01_dot_62) + + + + + (inReceptacle Laptop_bar__plus_00_dot_43_bar__plus_00_dot_54_bar__minus_01_dot_19 Sofa_bar__plus_00_dot_06_bar__plus_00_dot_00_bar__minus_01_dot_39) + (inReceptacle Pillow_bar__minus_01_dot_83_bar__plus_00_dot_59_bar__minus_01_dot_25 ArmChair_bar__minus_01_dot_83_bar__plus_00_dot_00_bar__minus_01_dot_35) + (inReceptacle DeskLamp_bar__plus_01_dot_66_bar__plus_00_dot_65_bar__minus_01_dot_61 SideTable_bar__plus_01_dot_58_bar_00_dot_00_bar__minus_01_dot_49) + (inReceptacle Vase_bar__plus_01_dot_49_bar__plus_00_dot_66_bar__minus_01_dot_41 SideTable_bar__plus_01_dot_58_bar_00_dot_00_bar__minus_01_dot_49) + (inReceptacle TissueBox_bar__plus_01_dot_41_bar__plus_00_dot_66_bar__minus_01_dot_64 SideTable_bar__plus_01_dot_58_bar_00_dot_00_bar__minus_01_dot_49) + (inReceptacle Box_bar__minus_03_dot_78_bar__plus_01_dot_31_bar__plus_00_dot_46 DiningTable_bar__minus_03_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_26) + (inReceptacle TissueBox_bar__plus_00_dot_67_bar__plus_00_dot_66_bar__plus_01_dot_27 SideTable_bar__plus_01_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_12) + (inReceptacle HousePlant_bar__plus_01_dot_56_bar__plus_00_dot_65_bar__plus_01_dot_17 SideTable_bar__plus_01_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_12) + (inReceptacle Vase_bar__plus_00_dot_82_bar__plus_00_dot_67_bar__plus_01_dot_04 SideTable_bar__plus_01_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_12) + (inReceptacle Statue_bar__plus_01_dot_57_bar__plus_00_dot_76_bar__plus_00_dot_97 SideTable_bar__plus_01_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_12) + (inReceptacle Statue_bar__plus_01_dot_12_bar__plus_00_dot_76_bar__plus_00_dot_97 SideTable_bar__plus_01_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_12) + (inReceptacle CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_90_bar__plus_01_dot_28 SideTable_bar__minus_00_dot_59_bar__plus_00_dot_01_bar__plus_01_dot_23) + (inReceptacle Newspaper_bar__minus_01_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_19 SideTable_bar__minus_00_dot_59_bar__plus_00_dot_01_bar__plus_01_dot_23) + (inReceptacle Newspaper_bar__minus_00_dot_36_bar__plus_00_dot_90_bar__plus_01_dot_23 SideTable_bar__minus_00_dot_59_bar__plus_00_dot_01_bar__plus_01_dot_23) + (inReceptacle KeyChain_bar__plus_01_dot_12_bar__plus_00_dot_46_bar__plus_01_dot_22 Drawer_bar__plus_01_dot_12_bar__plus_00_dot_52_bar__plus_01_dot_07) + (inReceptacle Vase_bar__minus_00_dot_18_bar__plus_00_dot_13_bar__plus_01_dot_24 Shelf_bar__minus_00_dot_63_bar__plus_00_dot_12_bar__plus_01_dot_20) + (inReceptacle Statue_bar__minus_01_dot_23_bar__plus_00_dot_13_bar__plus_01_dot_20 Shelf_bar__minus_00_dot_63_bar__plus_00_dot_12_bar__plus_01_dot_20) + + + (receptacleAtLocation ArmChair_bar__minus_01_dot_83_bar__plus_00_dot_00_bar__minus_01_dot_35 loc_bar__minus_7_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation DiningTable_bar__minus_03_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_26 loc_bar__minus_16_bar__minus_3_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_52_bar__plus_01_dot_07 loc_bar_4_bar_0_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_58_bar__plus_00_dot_52_bar__minus_01_dot_46 loc_bar_4_bar__minus_1_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_73_bar__plus_01_dot_03 loc_bar_0_bar_1_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_03 loc_bar__minus_5_bar_1_bar_0_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_04_dot_58_bar__plus_00_dot_00_bar__plus_01_dot_13 loc_bar__minus_16_bar_4_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_63_bar__plus_00_dot_12_bar__plus_01_dot_20 loc_bar_0_bar_1_bar_0_bar_60) + (receptacleAtLocation SideTable_bar__plus_01_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_12 loc_bar_4_bar_2_bar_0_bar_60) + (receptacleAtLocation SideTable_bar__plus_01_dot_58_bar_00_dot_00_bar__minus_01_dot_49 loc_bar_6_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation SideTable_bar__minus_00_dot_59_bar__plus_00_dot_01_bar__plus_01_dot_23 loc_bar__minus_1_bar_2_bar_0_bar_60) + (receptacleAtLocation Sofa_bar__plus_00_dot_06_bar__plus_00_dot_00_bar__minus_01_dot_39 loc_bar__minus_2_bar__minus_1_bar_2_bar_60) + (objectAtLocation Statue_bar__plus_01_dot_12_bar__plus_00_dot_76_bar__plus_00_dot_97 loc_bar_4_bar_2_bar_0_bar_60) + (objectAtLocation KeyChain_bar__minus_00_dot_39_bar__plus_00_dot_13_bar__plus_01_dot_09 loc_bar__minus_2_bar_3_bar_0_bar_60) + (objectAtLocation Newspaper_bar__minus_00_dot_36_bar__plus_00_dot_90_bar__plus_01_dot_23 loc_bar__minus_1_bar_2_bar_0_bar_60) + (objectAtLocation TissueBox_bar__plus_01_dot_41_bar__plus_00_dot_66_bar__minus_01_dot_64 loc_bar_6_bar__minus_2_bar_2_bar_60) + (objectAtLocation Box_bar__minus_03_dot_78_bar__plus_01_dot_31_bar__plus_00_dot_46 loc_bar__minus_16_bar__minus_3_bar_0_bar_60) + (objectAtLocation DeskLamp_bar__plus_01_dot_66_bar__plus_00_dot_65_bar__minus_01_dot_61 loc_bar_6_bar__minus_2_bar_2_bar_60) + (objectAtLocation Vase_bar__plus_01_dot_49_bar__plus_00_dot_66_bar__minus_01_dot_41 loc_bar_6_bar__minus_2_bar_2_bar_60) + (objectAtLocation TissueBox_bar__plus_00_dot_67_bar__plus_00_dot_66_bar__plus_01_dot_27 loc_bar_4_bar_2_bar_0_bar_60) + (objectAtLocation Newspaper_bar__minus_01_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_19 loc_bar__minus_1_bar_2_bar_0_bar_60) + (objectAtLocation KeyChain_bar__plus_01_dot_12_bar__plus_00_dot_46_bar__plus_01_dot_22 loc_bar_4_bar_0_bar_0_bar_45) + (objectAtLocation Vase_bar__plus_00_dot_82_bar__plus_00_dot_67_bar__plus_01_dot_04 loc_bar_4_bar_2_bar_0_bar_60) + (objectAtLocation FloorLamp_bar__minus_04_dot_57_bar__plus_00_dot_00_bar__minus_01_dot_62 loc_bar__minus_15_bar__minus_6_bar_3_bar_60) + (objectAtLocation Statue_bar__minus_01_dot_23_bar__plus_00_dot_13_bar__plus_01_dot_20 loc_bar_0_bar_1_bar_0_bar_60) + (objectAtLocation LightSwitch_bar__minus_02_dot_46_bar__plus_01_dot_23_bar__minus_01_dot_95 loc_bar__minus_11_bar__minus_6_bar_2_bar_45) + (objectAtLocation Television_bar__minus_00_dot_55_bar__plus_01_dot_52_bar__plus_01_dot_45 loc_bar__minus_2_bar_3_bar_0_bar_15) + (objectAtLocation RemoteControl_bar__plus_00_dot_74_bar__plus_00_dot_48_bar__minus_01_dot_15 loc_bar_3_bar__minus_2_bar_2_bar_60) + (objectAtLocation Pillow_bar__minus_01_dot_83_bar__plus_00_dot_59_bar__minus_01_dot_25 loc_bar__minus_7_bar__minus_2_bar_2_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_90_bar__plus_01_dot_28 loc_bar__minus_1_bar_2_bar_0_bar_60) + (objectAtLocation Laptop_bar__plus_00_dot_43_bar__plus_00_dot_54_bar__minus_01_dot_19 loc_bar__minus_2_bar__minus_1_bar_2_bar_60) + (objectAtLocation HousePlant_bar__plus_01_dot_56_bar__plus_00_dot_65_bar__plus_01_dot_17 loc_bar_4_bar_2_bar_0_bar_60) + (objectAtLocation Window_bar__minus_02_dot_01_bar__plus_01_dot_50_bar__plus_01_dot_47 loc_bar__minus_8_bar_3_bar_0_bar_15) + (objectAtLocation Window_bar__plus_00_dot_99_bar__plus_01_dot_50_bar__plus_01_dot_47 loc_bar_4_bar_2_bar_0_bar_15) + (objectAtLocation Chair_bar__minus_03_dot_83_bar__plus_00_dot_00_bar__minus_00_dot_22 loc_bar__minus_15_bar__minus_3_bar_0_bar_60) + (objectAtLocation Chair_bar__minus_04_dot_40_bar__plus_00_dot_00_bar__plus_00_dot_28 loc_bar__minus_17_bar__minus_2_bar_0_bar_60) + (objectAtLocation Vase_bar__minus_00_dot_18_bar__plus_00_dot_13_bar__plus_01_dot_24 loc_bar_0_bar_1_bar_0_bar_60) + (objectAtLocation Painting_bar__minus_00_dot_70_bar__plus_01_dot_84_bar__minus_01_dot_91 loc_bar__minus_3_bar__minus_2_bar_2_bar_0) + (objectAtLocation Statue_bar__plus_01_dot_57_bar__plus_00_dot_76_bar__plus_00_dot_97 loc_bar_4_bar_2_bar_0_bar_60) + (objectAtLocation Painting_bar__minus_04_dot_91_bar__plus_01_dot_76_bar__minus_00_dot_10 loc_bar__minus_17_bar__minus_2_bar_3_bar__minus_15) + ) + + + (: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 PillowType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-216/trial_T20190907_220638_188496/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-216/trial_T20190907_220638_188496/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..e163f6c0d477e13feaa34e0ed2d0722d2c93af84 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-216/trial_T20190907_220638_188496/traj_data.json @@ -0,0 +1,2147 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000001.png", + "low_idx": 0 + }, + { + "high_idx": 0, + 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"z": 0.0 + } + }, + { + "objectName": "Pillow_22286f86", + "position": { + "x": -1.82799935, + "y": 0.585, + "z": -1.25104988 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_a56cd598", + "position": { + "x": -0.589, + "y": 0.8988861, + "z": 1.28077233 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Laptop_fbe5dbee", + "position": { + "x": 0.434110135, + "y": 0.541742444, + "z": -1.1877985 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Vase_6ea54dcc", + "position": { + "x": -0.175049961, + "y": 0.13175419, + "z": 1.23828852 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_d6a7b63c", + "position": { + "x": 1.11789083, + "y": 0.7585242, + "z": 0.9685203 + }, + "rotation": { + "x": 0.0, + "y": -1.70754731e-06, + "z": 0.0 + } + } + ], + "object_toggles": [ + { + "isOn": false, + "objectType": "DeskLamp" + } + ], + "random_seed": 3044013022, + "scene_num": 216 + }, + "task_id": "trial_T20190907_220638_188496", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1OWHPMKE7YAGL_30BUDKLTXGCN50T7TIBELBVKPBE5ET", + "high_descs": [ + "Turn to the right and go to the brown chair.", + "Pick up the pillow that is on the brown chair.", + "Turn to the left and go to the wall, then turn right to face the table.", + "Turn on the lamp that is on the table." + ], + "task_desc": "Pick up a pillow and turn on a lamp. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A36DK84J5YJ942_35K3O9HUAEUF7XMWZUON7NMXE5NFEH", + "high_descs": [ + "Move to the arm chair to the right of the couch", + "Pick up a pillow from the chair", + "Move to the lamp to the left of you", + "Turn on the lamp" + ], + "task_desc": "Inspect a pillow with a lamp.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2A4UAFZ5LW71K_39U1BHVTDO8MG4O05UCG50X1EPB3TS", + "high_descs": [ + "turn right, walk forward a few steps, turn left to face the chair", + "pick up the pillow that is on the chair", + "turn left, walk forward towards the wall, turn right to face the lamp", + "turn on the lamp" + ], + "task_desc": "examine a pillow with a lamp", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-216/trial_T20190907_220649_204897/game.tw-pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-216/trial_T20190907_220649_204897/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..05294ed005456df742044f1cbe1587881670fd59 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-216/trial_T20190907_220649_204897/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: examine the pillow with the desklamp.\"\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_220649_204897)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Box_bar__minus_03_dot_78_bar__plus_01_dot_31_bar__plus_00_dot_46 - object\n Chair_bar__minus_03_dot_83_bar__plus_00_dot_00_bar__minus_00_dot_22 - object\n Chair_bar__minus_04_dot_40_bar__plus_00_dot_00_bar__plus_00_dot_28 - object\n CreditCard_bar__plus_01_dot_42_bar__plus_00_dot_46_bar__minus_01_dot_46 - object\n CreditCard_bar__plus_01_dot_63_bar__plus_00_dot_46_bar__minus_01_dot_62 - object\n CreditCard_bar__minus_04_dot_01_bar__plus_01_dot_06_bar__plus_00_dot_26 - object\n DeskLamp_bar__plus_01_dot_66_bar__plus_00_dot_65_bar__minus_01_dot_61 - object\n FloorLamp_bar__minus_04_dot_57_bar__plus_00_dot_00_bar__minus_01_dot_62 - object\n HousePlant_bar__plus_01_dot_56_bar__plus_00_dot_65_bar__plus_01_dot_17 - object\n KeyChain_bar__minus_01_dot_45_bar__plus_00_dot_51_bar__minus_01_dot_29 - object\n KeyChain_bar__minus_04_dot_01_bar__plus_01_dot_06_bar__plus_00_dot_59 - object\n Laptop_bar__plus_01_dot_27_bar__plus_00_dot_66_bar__plus_01_dot_19 - object\n LightSwitch_bar__minus_02_dot_46_bar__plus_01_dot_23_bar__minus_01_dot_95 - object\n Newspaper_bar__plus_00_dot_82_bar__plus_00_dot_66_bar__plus_00_dot_97 - object\n Painting_bar__minus_00_dot_70_bar__plus_01_dot_84_bar__minus_01_dot_91 - object\n Painting_bar__minus_04_dot_91_bar__plus_01_dot_76_bar__minus_00_dot_10 - object\n Pillow_bar__minus_01_dot_83_bar__plus_00_dot_59_bar__minus_01_dot_25 - object\n RemoteControl_bar__plus_00_dot_06_bar__plus_00_dot_48_bar__minus_01_dot_32 - object\n RemoteControl_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__minus_01_dot_41 - object\n Statue_bar__plus_01_dot_58_bar__plus_00_dot_76_bar__minus_01_dot_26 - object\n Statue_bar__plus_01_dot_66_bar__plus_00_dot_76_bar__minus_01_dot_41 - object\n Statue_bar__minus_01_dot_29_bar__plus_00_dot_89_bar__plus_01_dot_22 - object\n Television_bar__minus_00_dot_55_bar__plus_01_dot_52_bar__plus_01_dot_45 - object\n TissueBox_bar__minus_00_dot_26_bar__plus_00_dot_64_bar__plus_01_dot_26 - object\n TissueBox_bar__minus_00_dot_81_bar__plus_00_dot_13_bar__plus_01_dot_24 - object\n TissueBox_bar__minus_01_dot_23_bar__plus_00_dot_13_bar__plus_01_dot_24 - object\n Vase_bar__plus_00_dot_67_bar__plus_00_dot_67_bar__plus_01_dot_19 - object\n Vase_bar__minus_00_dot_52_bar__plus_00_dot_11_bar__plus_01_dot_20 - object\n Vase_bar__minus_00_dot_97_bar__plus_00_dot_11_bar__plus_01_dot_20 - object\n Window_bar__plus_00_dot_99_bar__plus_01_dot_50_bar__plus_01_dot_47 - object\n Window_bar__minus_02_dot_01_bar__plus_01_dot_50_bar__plus_01_dot_47 - object\n ArmChair_bar__minus_01_dot_83_bar__plus_00_dot_00_bar__minus_01_dot_35 - receptacle\n DiningTable_bar__minus_03_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_26 - receptacle\n Drawer_bar__plus_01_dot_12_bar__plus_00_dot_52_bar__plus_01_dot_07 - receptacle\n Drawer_bar__plus_01_dot_58_bar__plus_00_dot_52_bar__minus_01_dot_46 - receptacle\n Drawer_bar__minus_00_dot_16_bar__plus_00_dot_73_bar__plus_01_dot_03 - receptacle\n Drawer_bar__minus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_03 - receptacle\n GarbageCan_bar__minus_04_dot_58_bar__plus_00_dot_00_bar__plus_01_dot_13 - receptacle\n Shelf_bar__minus_00_dot_63_bar__plus_00_dot_12_bar__plus_01_dot_20 - receptacle\n SideTable_bar__plus_01_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_12 - receptacle\n SideTable_bar__plus_01_dot_58_bar_00_dot_00_bar__minus_01_dot_49 - receptacle\n SideTable_bar__minus_00_dot_59_bar__plus_00_dot_01_bar__plus_01_dot_23 - receptacle\n Sofa_bar__plus_00_dot_06_bar__plus_00_dot_00_bar__minus_01_dot_39 - receptacle\n loc_bar_4_bar_2_bar_0_bar_15 - location\n loc_bar_0_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_16_bar_4_bar_3_bar_60 - location\n loc_bar__minus_15_bar__minus_6_bar_3_bar_60 - location\n loc_bar_4_bar_0_bar_0_bar_45 - location\n loc_bar__minus_17_bar__minus_2_bar_3_bar__minus_15 - location\n loc_bar__minus_6_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_16_bar__minus_3_bar_0_bar_60 - location\n loc_bar_4_bar__minus_1_bar_2_bar_45 - location\n loc_bar__minus_5_bar_1_bar_0_bar_45 - location\n loc_bar__minus_1_bar_2_bar_0_bar_60 - location\n loc_bar__minus_17_bar__minus_2_bar_0_bar_60 - location\n loc_bar__minus_15_bar__minus_3_bar_0_bar_60 - location\n loc_bar_0_bar_1_bar_0_bar_60 - location\n loc_bar__minus_7_bar__minus_2_bar_2_bar_60 - location\n loc_bar_4_bar_2_bar_0_bar_60 - location\n loc_bar__minus_2_bar_3_bar_0_bar_15 - location\n loc_bar_6_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_3_bar__minus_2_bar_2_bar_0 - location\n loc_bar__minus_11_bar__minus_6_bar_2_bar_45 - location\n loc_bar__minus_2_bar__minus_1_bar_2_bar_60 - location\n loc_bar__minus_8_bar_3_bar_0_bar_15 - location\n loc_bar_0_bar_1_bar_0_bar_45 - location\n loc_bar__minus_12_bar__minus_1_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__plus_01_dot_58_bar__plus_00_dot_52_bar__minus_01_dot_46 DrawerType)\n (receptacleType GarbageCan_bar__minus_04_dot_58_bar__plus_00_dot_00_bar__plus_01_dot_13 GarbageCanType)\n (receptacleType SideTable_bar__plus_01_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_12 SideTableType)\n (receptacleType ArmChair_bar__minus_01_dot_83_bar__plus_00_dot_00_bar__minus_01_dot_35 ArmChairType)\n (receptacleType SideTable_bar__minus_00_dot_59_bar__plus_00_dot_01_bar__plus_01_dot_23 SideTableType)\n (receptacleType SideTable_bar__plus_01_dot_58_bar_00_dot_00_bar__minus_01_dot_49 SideTableType)\n (receptacleType Sofa_bar__plus_00_dot_06_bar__plus_00_dot_00_bar__minus_01_dot_39 SofaType)\n (receptacleType DiningTable_bar__minus_03_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_26 DiningTableType)\n (receptacleType Drawer_bar__minus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_03 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_16_bar__plus_00_dot_73_bar__plus_01_dot_03 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_12_bar__plus_00_dot_52_bar__plus_01_dot_07 DrawerType)\n (receptacleType Shelf_bar__minus_00_dot_63_bar__plus_00_dot_12_bar__plus_01_dot_20 ShelfType)\n (objectType Painting_bar__minus_04_dot_91_bar__plus_01_dot_76_bar__minus_00_dot_10 PaintingType)\n (objectType Chair_bar__minus_04_dot_40_bar__plus_00_dot_00_bar__plus_00_dot_28 ChairType)\n (objectType TissueBox_bar__minus_01_dot_23_bar__plus_00_dot_13_bar__plus_01_dot_24 TissueBoxType)\n (objectType Window_bar__minus_02_dot_01_bar__plus_01_dot_50_bar__plus_01_dot_47 WindowType)\n (objectType KeyChain_bar__minus_04_dot_01_bar__plus_01_dot_06_bar__plus_00_dot_59 KeyChainType)\n (objectType CreditCard_bar__plus_01_dot_42_bar__plus_00_dot_46_bar__minus_01_dot_46 CreditCardType)\n (objectType Pillow_bar__minus_01_dot_83_bar__plus_00_dot_59_bar__minus_01_dot_25 PillowType)\n (objectType Laptop_bar__plus_01_dot_27_bar__plus_00_dot_66_bar__plus_01_dot_19 LaptopType)\n (objectType CreditCard_bar__minus_04_dot_01_bar__plus_01_dot_06_bar__plus_00_dot_26 CreditCardType)\n (objectType Statue_bar__plus_01_dot_66_bar__plus_00_dot_76_bar__minus_01_dot_41 StatueType)\n (objectType DeskLamp_bar__plus_01_dot_66_bar__plus_00_dot_65_bar__minus_01_dot_61 DeskLampType)\n (objectType TissueBox_bar__minus_00_dot_81_bar__plus_00_dot_13_bar__plus_01_dot_24 TissueBoxType)\n (objectType Chair_bar__minus_03_dot_83_bar__plus_00_dot_00_bar__minus_00_dot_22 ChairType)\n (objectType Window_bar__plus_00_dot_99_bar__plus_01_dot_50_bar__plus_01_dot_47 WindowType)\n (objectType Statue_bar__minus_01_dot_29_bar__plus_00_dot_89_bar__plus_01_dot_22 StatueType)\n (objectType Vase_bar__minus_00_dot_97_bar__plus_00_dot_11_bar__plus_01_dot_20 VaseType)\n (objectType Statue_bar__plus_01_dot_58_bar__plus_00_dot_76_bar__minus_01_dot_26 StatueType)\n (objectType KeyChain_bar__minus_01_dot_45_bar__plus_00_dot_51_bar__minus_01_dot_29 KeyChainType)\n (objectType Vase_bar__plus_00_dot_67_bar__plus_00_dot_67_bar__plus_01_dot_19 VaseType)\n (objectType RemoteControl_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__minus_01_dot_41 RemoteControlType)\n (objectType Vase_bar__minus_00_dot_52_bar__plus_00_dot_11_bar__plus_01_dot_20 VaseType)\n (objectType CreditCard_bar__plus_01_dot_63_bar__plus_00_dot_46_bar__minus_01_dot_62 CreditCardType)\n (objectType TissueBox_bar__minus_00_dot_26_bar__plus_00_dot_64_bar__plus_01_dot_26 TissueBoxType)\n (objectType Newspaper_bar__plus_00_dot_82_bar__plus_00_dot_66_bar__plus_00_dot_97 NewspaperType)\n (objectType RemoteControl_bar__plus_00_dot_06_bar__plus_00_dot_48_bar__minus_01_dot_32 RemoteControlType)\n (objectType FloorLamp_bar__minus_04_dot_57_bar__plus_00_dot_00_bar__minus_01_dot_62 FloorLampType)\n (objectType HousePlant_bar__plus_01_dot_56_bar__plus_00_dot_65_bar__plus_01_dot_17 HousePlantType)\n (objectType Television_bar__minus_00_dot_55_bar__plus_01_dot_52_bar__plus_01_dot_45 TelevisionType)\n (objectType Painting_bar__minus_00_dot_70_bar__plus_01_dot_84_bar__minus_01_dot_91 PaintingType)\n (objectType LightSwitch_bar__minus_02_dot_46_bar__plus_01_dot_23_bar__minus_01_dot_95 LightSwitchType)\n (objectType Box_bar__minus_03_dot_78_bar__plus_01_dot_31_bar__plus_00_dot_46 BoxType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain GarbageCanType NewspaperType)\n (canContain GarbageCanType TissueBoxType)\n (canContain SideTableType NewspaperType)\n (canContain SideTableType VaseType)\n (canContain SideTableType BoxType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType TissueBoxType)\n (canContain SideTableType StatueType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType NewspaperType)\n (canContain ArmChairType CreditCardType)\n (canContain SideTableType NewspaperType)\n (canContain SideTableType VaseType)\n (canContain SideTableType BoxType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType TissueBoxType)\n (canContain SideTableType StatueType)\n (canContain SideTableType NewspaperType)\n (canContain SideTableType VaseType)\n (canContain SideTableType BoxType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType TissueBoxType)\n (canContain SideTableType StatueType)\n (canContain SofaType BoxType)\n (canContain SofaType LaptopType)\n (canContain SofaType PillowType)\n (canContain SofaType RemoteControlType)\n (canContain SofaType KeyChainType)\n (canContain SofaType NewspaperType)\n (canContain SofaType CreditCardType)\n (canContain DiningTableType NewspaperType)\n (canContain DiningTableType VaseType)\n (canContain DiningTableType BoxType)\n (canContain DiningTableType KeyChainType)\n (canContain DiningTableType CreditCardType)\n (canContain DiningTableType LaptopType)\n (canContain DiningTableType RemoteControlType)\n (canContain DiningTableType TissueBoxType)\n (canContain DiningTableType StatueType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType VaseType)\n (canContain ShelfType BoxType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (pickupable TissueBox_bar__minus_01_dot_23_bar__plus_00_dot_13_bar__plus_01_dot_24)\n (pickupable KeyChain_bar__minus_04_dot_01_bar__plus_01_dot_06_bar__plus_00_dot_59)\n (pickupable CreditCard_bar__plus_01_dot_42_bar__plus_00_dot_46_bar__minus_01_dot_46)\n (pickupable Pillow_bar__minus_01_dot_83_bar__plus_00_dot_59_bar__minus_01_dot_25)\n (pickupable Laptop_bar__plus_01_dot_27_bar__plus_00_dot_66_bar__plus_01_dot_19)\n (pickupable CreditCard_bar__minus_04_dot_01_bar__plus_01_dot_06_bar__plus_00_dot_26)\n (pickupable Statue_bar__plus_01_dot_66_bar__plus_00_dot_76_bar__minus_01_dot_41)\n (pickupable TissueBox_bar__minus_00_dot_81_bar__plus_00_dot_13_bar__plus_01_dot_24)\n (pickupable Statue_bar__minus_01_dot_29_bar__plus_00_dot_89_bar__plus_01_dot_22)\n (pickupable Vase_bar__minus_00_dot_97_bar__plus_00_dot_11_bar__plus_01_dot_20)\n (pickupable Statue_bar__plus_01_dot_58_bar__plus_00_dot_76_bar__minus_01_dot_26)\n (pickupable KeyChain_bar__minus_01_dot_45_bar__plus_00_dot_51_bar__minus_01_dot_29)\n (pickupable Vase_bar__plus_00_dot_67_bar__plus_00_dot_67_bar__plus_01_dot_19)\n (pickupable RemoteControl_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__minus_01_dot_41)\n (pickupable Vase_bar__minus_00_dot_52_bar__plus_00_dot_11_bar__plus_01_dot_20)\n (pickupable CreditCard_bar__plus_01_dot_63_bar__plus_00_dot_46_bar__minus_01_dot_62)\n (pickupable TissueBox_bar__minus_00_dot_26_bar__plus_00_dot_64_bar__plus_01_dot_26)\n (pickupable Newspaper_bar__plus_00_dot_82_bar__plus_00_dot_66_bar__plus_00_dot_97)\n (pickupable RemoteControl_bar__plus_00_dot_06_bar__plus_00_dot_48_bar__minus_01_dot_32)\n (pickupable Box_bar__minus_03_dot_78_bar__plus_01_dot_31_bar__plus_00_dot_46)\n (isReceptacleObject Box_bar__minus_03_dot_78_bar__plus_01_dot_31_bar__plus_00_dot_46)\n (openable Drawer_bar__plus_01_dot_58_bar__plus_00_dot_52_bar__minus_01_dot_46)\n (openable Drawer_bar__minus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_03)\n (openable Drawer_bar__minus_00_dot_16_bar__plus_00_dot_73_bar__plus_01_dot_03)\n (openable Drawer_bar__plus_01_dot_12_bar__plus_00_dot_52_bar__plus_01_dot_07)\n \n (atLocation agent1 loc_bar__minus_12_bar__minus_1_bar_2_bar_30)\n \n \n \n \n \n \n \n (toggleable DeskLamp_bar__plus_01_dot_66_bar__plus_00_dot_65_bar__minus_01_dot_61)\n (toggleable FloorLamp_bar__minus_04_dot_57_bar__plus_00_dot_00_bar__minus_01_dot_62)\n \n \n \n \n (inReceptacle TissueBox_bar__minus_00_dot_26_bar__plus_00_dot_64_bar__plus_01_dot_26 Drawer_bar__minus_00_dot_16_bar__plus_00_dot_73_bar__plus_01_dot_03)\n (inReceptacle RemoteControl_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__minus_01_dot_41 Drawer_bar__plus_01_dot_58_bar__plus_00_dot_52_bar__minus_01_dot_46)\n (inReceptacle CreditCard_bar__plus_01_dot_63_bar__plus_00_dot_46_bar__minus_01_dot_62 Drawer_bar__plus_01_dot_58_bar__plus_00_dot_52_bar__minus_01_dot_46)\n (inReceptacle CreditCard_bar__plus_01_dot_42_bar__plus_00_dot_46_bar__minus_01_dot_46 Drawer_bar__plus_01_dot_58_bar__plus_00_dot_52_bar__minus_01_dot_46)\n (inReceptacle Pillow_bar__minus_01_dot_83_bar__plus_00_dot_59_bar__minus_01_dot_25 ArmChair_bar__minus_01_dot_83_bar__plus_00_dot_00_bar__minus_01_dot_35)\n (inReceptacle Statue_bar__plus_01_dot_58_bar__plus_00_dot_76_bar__minus_01_dot_26 SideTable_bar__plus_01_dot_58_bar_00_dot_00_bar__minus_01_dot_49)\n (inReceptacle Statue_bar__plus_01_dot_66_bar__plus_00_dot_76_bar__minus_01_dot_41 SideTable_bar__plus_01_dot_58_bar_00_dot_00_bar__minus_01_dot_49)\n (inReceptacle DeskLamp_bar__plus_01_dot_66_bar__plus_00_dot_65_bar__minus_01_dot_61 SideTable_bar__plus_01_dot_58_bar_00_dot_00_bar__minus_01_dot_49)\n (inReceptacle KeyChain_bar__minus_04_dot_01_bar__plus_01_dot_06_bar__plus_00_dot_59 DiningTable_bar__minus_03_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_26)\n (inReceptacle CreditCard_bar__minus_04_dot_01_bar__plus_01_dot_06_bar__plus_00_dot_26 DiningTable_bar__minus_03_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_26)\n (inReceptacle Box_bar__minus_03_dot_78_bar__plus_01_dot_31_bar__plus_00_dot_46 DiningTable_bar__minus_03_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_26)\n (inReceptacle Laptop_bar__plus_01_dot_27_bar__plus_00_dot_66_bar__plus_01_dot_19 SideTable_bar__plus_01_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_12)\n (inReceptacle HousePlant_bar__plus_01_dot_56_bar__plus_00_dot_65_bar__plus_01_dot_17 SideTable_bar__plus_01_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_12)\n (inReceptacle Vase_bar__plus_00_dot_67_bar__plus_00_dot_67_bar__plus_01_dot_19 SideTable_bar__plus_01_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_12)\n (inReceptacle Newspaper_bar__plus_00_dot_82_bar__plus_00_dot_66_bar__plus_00_dot_97 SideTable_bar__plus_01_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_12)\n (inReceptacle Statue_bar__minus_01_dot_29_bar__plus_00_dot_89_bar__plus_01_dot_22 SideTable_bar__minus_00_dot_59_bar__plus_00_dot_01_bar__plus_01_dot_23)\n (inReceptacle Vase_bar__minus_00_dot_97_bar__plus_00_dot_11_bar__plus_01_dot_20 Shelf_bar__minus_00_dot_63_bar__plus_00_dot_12_bar__plus_01_dot_20)\n (inReceptacle TissueBox_bar__minus_00_dot_81_bar__plus_00_dot_13_bar__plus_01_dot_24 Shelf_bar__minus_00_dot_63_bar__plus_00_dot_12_bar__plus_01_dot_20)\n (inReceptacle Vase_bar__minus_00_dot_52_bar__plus_00_dot_11_bar__plus_01_dot_20 Shelf_bar__minus_00_dot_63_bar__plus_00_dot_12_bar__plus_01_dot_20)\n (inReceptacle TissueBox_bar__minus_01_dot_23_bar__plus_00_dot_13_bar__plus_01_dot_24 Shelf_bar__minus_00_dot_63_bar__plus_00_dot_12_bar__plus_01_dot_20)\n \n \n (receptacleAtLocation ArmChair_bar__minus_01_dot_83_bar__plus_00_dot_00_bar__minus_01_dot_35 loc_bar__minus_7_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation DiningTable_bar__minus_03_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_26 loc_bar__minus_16_bar__minus_3_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_52_bar__plus_01_dot_07 loc_bar_4_bar_0_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_58_bar__plus_00_dot_52_bar__minus_01_dot_46 loc_bar_4_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_73_bar__plus_01_dot_03 loc_bar_0_bar_1_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_03 loc_bar__minus_5_bar_1_bar_0_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_04_dot_58_bar__plus_00_dot_00_bar__plus_01_dot_13 loc_bar__minus_16_bar_4_bar_3_bar_60)\n (receptacleAtLocation Shelf_bar__minus_00_dot_63_bar__plus_00_dot_12_bar__plus_01_dot_20 loc_bar_0_bar_1_bar_0_bar_60)\n (receptacleAtLocation SideTable_bar__plus_01_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_12 loc_bar_4_bar_2_bar_0_bar_60)\n (receptacleAtLocation SideTable_bar__plus_01_dot_58_bar_00_dot_00_bar__minus_01_dot_49 loc_bar_6_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation SideTable_bar__minus_00_dot_59_bar__plus_00_dot_01_bar__plus_01_dot_23 loc_bar__minus_1_bar_2_bar_0_bar_60)\n (receptacleAtLocation Sofa_bar__plus_00_dot_06_bar__plus_00_dot_00_bar__minus_01_dot_39 loc_bar__minus_2_bar__minus_1_bar_2_bar_60)\n (objectAtLocation Statue_bar__plus_01_dot_58_bar__plus_00_dot_76_bar__minus_01_dot_26 loc_bar_6_bar__minus_2_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__plus_01_dot_63_bar__plus_00_dot_46_bar__minus_01_dot_62 loc_bar_4_bar__minus_1_bar_2_bar_45)\n (objectAtLocation RemoteControl_bar__plus_00_dot_06_bar__plus_00_dot_48_bar__minus_01_dot_32 loc_bar_0_bar__minus_2_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__minus_01_dot_45_bar__plus_00_dot_51_bar__minus_01_dot_29 loc_bar__minus_6_bar__minus_2_bar_2_bar_60)\n (objectAtLocation TissueBox_bar__minus_01_dot_23_bar__plus_00_dot_13_bar__plus_01_dot_24 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation CreditCard_bar__minus_04_dot_01_bar__plus_01_dot_06_bar__plus_00_dot_26 loc_bar__minus_16_bar__minus_3_bar_0_bar_60)\n (objectAtLocation TissueBox_bar__minus_00_dot_81_bar__plus_00_dot_13_bar__plus_01_dot_24 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation Box_bar__minus_03_dot_78_bar__plus_01_dot_31_bar__plus_00_dot_46 loc_bar__minus_16_bar__minus_3_bar_0_bar_60)\n (objectAtLocation DeskLamp_bar__plus_01_dot_66_bar__plus_00_dot_65_bar__minus_01_dot_61 loc_bar_6_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Vase_bar__minus_00_dot_97_bar__plus_00_dot_11_bar__plus_01_dot_20 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation TissueBox_bar__minus_00_dot_26_bar__plus_00_dot_64_bar__plus_01_dot_26 loc_bar_0_bar_1_bar_0_bar_45)\n (objectAtLocation Newspaper_bar__plus_00_dot_82_bar__plus_00_dot_66_bar__plus_00_dot_97 loc_bar_4_bar_2_bar_0_bar_60)\n (objectAtLocation KeyChain_bar__minus_04_dot_01_bar__plus_01_dot_06_bar__plus_00_dot_59 loc_bar__minus_16_bar__minus_3_bar_0_bar_60)\n (objectAtLocation Vase_bar__plus_00_dot_67_bar__plus_00_dot_67_bar__plus_01_dot_19 loc_bar_4_bar_2_bar_0_bar_60)\n (objectAtLocation FloorLamp_bar__minus_04_dot_57_bar__plus_00_dot_00_bar__minus_01_dot_62 loc_bar__minus_15_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Statue_bar__minus_01_dot_29_bar__plus_00_dot_89_bar__plus_01_dot_22 loc_bar__minus_1_bar_2_bar_0_bar_60)\n (objectAtLocation LightSwitch_bar__minus_02_dot_46_bar__plus_01_dot_23_bar__minus_01_dot_95 loc_bar__minus_11_bar__minus_6_bar_2_bar_45)\n (objectAtLocation Television_bar__minus_00_dot_55_bar__plus_01_dot_52_bar__plus_01_dot_45 loc_bar__minus_2_bar_3_bar_0_bar_15)\n (objectAtLocation RemoteControl_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__minus_01_dot_41 loc_bar_4_bar__minus_1_bar_2_bar_45)\n (objectAtLocation Pillow_bar__minus_01_dot_83_bar__plus_00_dot_59_bar__minus_01_dot_25 loc_bar__minus_7_bar__minus_2_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__plus_01_dot_42_bar__plus_00_dot_46_bar__minus_01_dot_46 loc_bar_4_bar__minus_1_bar_2_bar_45)\n (objectAtLocation Laptop_bar__plus_01_dot_27_bar__plus_00_dot_66_bar__plus_01_dot_19 loc_bar_4_bar_2_bar_0_bar_60)\n (objectAtLocation HousePlant_bar__plus_01_dot_56_bar__plus_00_dot_65_bar__plus_01_dot_17 loc_bar_4_bar_2_bar_0_bar_60)\n (objectAtLocation Window_bar__minus_02_dot_01_bar__plus_01_dot_50_bar__plus_01_dot_47 loc_bar__minus_8_bar_3_bar_0_bar_15)\n (objectAtLocation Window_bar__plus_00_dot_99_bar__plus_01_dot_50_bar__plus_01_dot_47 loc_bar_4_bar_2_bar_0_bar_15)\n (objectAtLocation Chair_bar__minus_03_dot_83_bar__plus_00_dot_00_bar__minus_00_dot_22 loc_bar__minus_15_bar__minus_3_bar_0_bar_60)\n (objectAtLocation Chair_bar__minus_04_dot_40_bar__plus_00_dot_00_bar__plus_00_dot_28 loc_bar__minus_17_bar__minus_2_bar_0_bar_60)\n (objectAtLocation Vase_bar__minus_00_dot_52_bar__plus_00_dot_11_bar__plus_01_dot_20 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation Painting_bar__minus_00_dot_70_bar__plus_01_dot_84_bar__minus_01_dot_91 loc_bar__minus_3_bar__minus_2_bar_2_bar_0)\n (objectAtLocation Statue_bar__plus_01_dot_66_bar__plus_00_dot_76_bar__minus_01_dot_41 loc_bar_6_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Painting_bar__minus_04_dot_91_bar__plus_01_dot_76_bar__minus_00_dot_10 loc_bar__minus_17_bar__minus_2_bar_3_bar__minus_15)\n )\n \n\n (:goal\n (and\n (exists (?ot - object\n ?r - receptacle\n ?a - agent\n ?l - location)\n (and\n (objectType ?ot DeskLampType)\n (toggleable ?ot)\n (isToggled ?ot)\n (receptacleAtLocation ?r ?l)\n (atLocation ?a ?l)\n (inReceptacle ?ot ?r)\n )\n )\n (exists (?o - object\n ?a - agent)\n (and\n (objectType ?o PillowType)\n (holds ?a ?o)\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to armchair 1", "take pillow 1 from armchair 1", "go to sidetable 1", "use desklamp 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-216/trial_T20190907_220649_204897/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-216/trial_T20190907_220649_204897/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..8eb0e15103f54300d33f03808dd133472a86e3e6 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-216/trial_T20190907_220649_204897/initial_state.pddl @@ -0,0 +1,525 @@ + +(define (problem plan_trial_T20190907_220649_204897) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Box_bar__minus_03_dot_78_bar__plus_01_dot_31_bar__plus_00_dot_46 - object + Chair_bar__minus_03_dot_83_bar__plus_00_dot_00_bar__minus_00_dot_22 - object + Chair_bar__minus_04_dot_40_bar__plus_00_dot_00_bar__plus_00_dot_28 - object + CreditCard_bar__plus_01_dot_42_bar__plus_00_dot_46_bar__minus_01_dot_46 - object + CreditCard_bar__plus_01_dot_63_bar__plus_00_dot_46_bar__minus_01_dot_62 - object + CreditCard_bar__minus_04_dot_01_bar__plus_01_dot_06_bar__plus_00_dot_26 - object + DeskLamp_bar__plus_01_dot_66_bar__plus_00_dot_65_bar__minus_01_dot_61 - object + FloorLamp_bar__minus_04_dot_57_bar__plus_00_dot_00_bar__minus_01_dot_62 - object + HousePlant_bar__plus_01_dot_56_bar__plus_00_dot_65_bar__plus_01_dot_17 - object + KeyChain_bar__minus_01_dot_45_bar__plus_00_dot_51_bar__minus_01_dot_29 - object + KeyChain_bar__minus_04_dot_01_bar__plus_01_dot_06_bar__plus_00_dot_59 - object + Laptop_bar__plus_01_dot_27_bar__plus_00_dot_66_bar__plus_01_dot_19 - object + LightSwitch_bar__minus_02_dot_46_bar__plus_01_dot_23_bar__minus_01_dot_95 - object + Newspaper_bar__plus_00_dot_82_bar__plus_00_dot_66_bar__plus_00_dot_97 - object + Painting_bar__minus_00_dot_70_bar__plus_01_dot_84_bar__minus_01_dot_91 - object + Painting_bar__minus_04_dot_91_bar__plus_01_dot_76_bar__minus_00_dot_10 - object + Pillow_bar__minus_01_dot_83_bar__plus_00_dot_59_bar__minus_01_dot_25 - object + RemoteControl_bar__plus_00_dot_06_bar__plus_00_dot_48_bar__minus_01_dot_32 - object + RemoteControl_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__minus_01_dot_41 - object + Statue_bar__plus_01_dot_58_bar__plus_00_dot_76_bar__minus_01_dot_26 - object + Statue_bar__plus_01_dot_66_bar__plus_00_dot_76_bar__minus_01_dot_41 - object + Statue_bar__minus_01_dot_29_bar__plus_00_dot_89_bar__plus_01_dot_22 - object + Television_bar__minus_00_dot_55_bar__plus_01_dot_52_bar__plus_01_dot_45 - object + TissueBox_bar__minus_00_dot_26_bar__plus_00_dot_64_bar__plus_01_dot_26 - object + TissueBox_bar__minus_00_dot_81_bar__plus_00_dot_13_bar__plus_01_dot_24 - object + TissueBox_bar__minus_01_dot_23_bar__plus_00_dot_13_bar__plus_01_dot_24 - object + Vase_bar__plus_00_dot_67_bar__plus_00_dot_67_bar__plus_01_dot_19 - object + Vase_bar__minus_00_dot_52_bar__plus_00_dot_11_bar__plus_01_dot_20 - object + Vase_bar__minus_00_dot_97_bar__plus_00_dot_11_bar__plus_01_dot_20 - object + Window_bar__plus_00_dot_99_bar__plus_01_dot_50_bar__plus_01_dot_47 - object + Window_bar__minus_02_dot_01_bar__plus_01_dot_50_bar__plus_01_dot_47 - object + ArmChair_bar__minus_01_dot_83_bar__plus_00_dot_00_bar__minus_01_dot_35 - receptacle + DiningTable_bar__minus_03_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_26 - receptacle + Drawer_bar__plus_01_dot_12_bar__plus_00_dot_52_bar__plus_01_dot_07 - receptacle + Drawer_bar__plus_01_dot_58_bar__plus_00_dot_52_bar__minus_01_dot_46 - receptacle + Drawer_bar__minus_00_dot_16_bar__plus_00_dot_73_bar__plus_01_dot_03 - receptacle + Drawer_bar__minus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_03 - receptacle + GarbageCan_bar__minus_04_dot_58_bar__plus_00_dot_00_bar__plus_01_dot_13 - receptacle + Shelf_bar__minus_00_dot_63_bar__plus_00_dot_12_bar__plus_01_dot_20 - receptacle + SideTable_bar__plus_01_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_12 - receptacle + SideTable_bar__plus_01_dot_58_bar_00_dot_00_bar__minus_01_dot_49 - receptacle + SideTable_bar__minus_00_dot_59_bar__plus_00_dot_01_bar__plus_01_dot_23 - receptacle + Sofa_bar__plus_00_dot_06_bar__plus_00_dot_00_bar__minus_01_dot_39 - receptacle + loc_bar_4_bar_2_bar_0_bar_15 - location + loc_bar_0_bar__minus_2_bar_2_bar_60 - location + loc_bar__minus_16_bar_4_bar_3_bar_60 - location + loc_bar__minus_15_bar__minus_6_bar_3_bar_60 - location + loc_bar_4_bar_0_bar_0_bar_45 - location + loc_bar__minus_17_bar__minus_2_bar_3_bar__minus_15 - location + loc_bar__minus_6_bar__minus_2_bar_2_bar_60 - location + loc_bar__minus_16_bar__minus_3_bar_0_bar_60 - location + loc_bar_4_bar__minus_1_bar_2_bar_45 - location + loc_bar__minus_5_bar_1_bar_0_bar_45 - location + loc_bar__minus_1_bar_2_bar_0_bar_60 - location + loc_bar__minus_17_bar__minus_2_bar_0_bar_60 - location + loc_bar__minus_15_bar__minus_3_bar_0_bar_60 - location + loc_bar_0_bar_1_bar_0_bar_60 - location + loc_bar__minus_7_bar__minus_2_bar_2_bar_60 - location + loc_bar_4_bar_2_bar_0_bar_60 - location + loc_bar__minus_2_bar_3_bar_0_bar_15 - location + loc_bar_6_bar__minus_2_bar_2_bar_60 - location + loc_bar__minus_3_bar__minus_2_bar_2_bar_0 - location + loc_bar__minus_11_bar__minus_6_bar_2_bar_45 - location + loc_bar__minus_2_bar__minus_1_bar_2_bar_60 - location + loc_bar__minus_8_bar_3_bar_0_bar_15 - location + loc_bar_0_bar_1_bar_0_bar_45 - location + loc_bar__minus_12_bar__minus_1_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__plus_01_dot_58_bar__plus_00_dot_52_bar__minus_01_dot_46 DrawerType) + (receptacleType GarbageCan_bar__minus_04_dot_58_bar__plus_00_dot_00_bar__plus_01_dot_13 GarbageCanType) + (receptacleType SideTable_bar__plus_01_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_12 SideTableType) + (receptacleType ArmChair_bar__minus_01_dot_83_bar__plus_00_dot_00_bar__minus_01_dot_35 ArmChairType) + (receptacleType SideTable_bar__minus_00_dot_59_bar__plus_00_dot_01_bar__plus_01_dot_23 SideTableType) + (receptacleType SideTable_bar__plus_01_dot_58_bar_00_dot_00_bar__minus_01_dot_49 SideTableType) + (receptacleType Sofa_bar__plus_00_dot_06_bar__plus_00_dot_00_bar__minus_01_dot_39 SofaType) + (receptacleType DiningTable_bar__minus_03_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_26 DiningTableType) + (receptacleType Drawer_bar__minus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_03 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_16_bar__plus_00_dot_73_bar__plus_01_dot_03 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_12_bar__plus_00_dot_52_bar__plus_01_dot_07 DrawerType) + (receptacleType Shelf_bar__minus_00_dot_63_bar__plus_00_dot_12_bar__plus_01_dot_20 ShelfType) + (objectType Painting_bar__minus_04_dot_91_bar__plus_01_dot_76_bar__minus_00_dot_10 PaintingType) + (objectType Chair_bar__minus_04_dot_40_bar__plus_00_dot_00_bar__plus_00_dot_28 ChairType) + (objectType TissueBox_bar__minus_01_dot_23_bar__plus_00_dot_13_bar__plus_01_dot_24 TissueBoxType) + (objectType Window_bar__minus_02_dot_01_bar__plus_01_dot_50_bar__plus_01_dot_47 WindowType) + (objectType KeyChain_bar__minus_04_dot_01_bar__plus_01_dot_06_bar__plus_00_dot_59 KeyChainType) + (objectType CreditCard_bar__plus_01_dot_42_bar__plus_00_dot_46_bar__minus_01_dot_46 CreditCardType) + (objectType Pillow_bar__minus_01_dot_83_bar__plus_00_dot_59_bar__minus_01_dot_25 PillowType) + (objectType Laptop_bar__plus_01_dot_27_bar__plus_00_dot_66_bar__plus_01_dot_19 LaptopType) + (objectType CreditCard_bar__minus_04_dot_01_bar__plus_01_dot_06_bar__plus_00_dot_26 CreditCardType) + (objectType Statue_bar__plus_01_dot_66_bar__plus_00_dot_76_bar__minus_01_dot_41 StatueType) + (objectType DeskLamp_bar__plus_01_dot_66_bar__plus_00_dot_65_bar__minus_01_dot_61 DeskLampType) + (objectType TissueBox_bar__minus_00_dot_81_bar__plus_00_dot_13_bar__plus_01_dot_24 TissueBoxType) + (objectType Chair_bar__minus_03_dot_83_bar__plus_00_dot_00_bar__minus_00_dot_22 ChairType) + (objectType Window_bar__plus_00_dot_99_bar__plus_01_dot_50_bar__plus_01_dot_47 WindowType) + (objectType Statue_bar__minus_01_dot_29_bar__plus_00_dot_89_bar__plus_01_dot_22 StatueType) + (objectType Vase_bar__minus_00_dot_97_bar__plus_00_dot_11_bar__plus_01_dot_20 VaseType) + (objectType Statue_bar__plus_01_dot_58_bar__plus_00_dot_76_bar__minus_01_dot_26 StatueType) + (objectType KeyChain_bar__minus_01_dot_45_bar__plus_00_dot_51_bar__minus_01_dot_29 KeyChainType) + (objectType Vase_bar__plus_00_dot_67_bar__plus_00_dot_67_bar__plus_01_dot_19 VaseType) + (objectType RemoteControl_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__minus_01_dot_41 RemoteControlType) + (objectType Vase_bar__minus_00_dot_52_bar__plus_00_dot_11_bar__plus_01_dot_20 VaseType) + (objectType CreditCard_bar__plus_01_dot_63_bar__plus_00_dot_46_bar__minus_01_dot_62 CreditCardType) + (objectType TissueBox_bar__minus_00_dot_26_bar__plus_00_dot_64_bar__plus_01_dot_26 TissueBoxType) + (objectType Newspaper_bar__plus_00_dot_82_bar__plus_00_dot_66_bar__plus_00_dot_97 NewspaperType) + (objectType RemoteControl_bar__plus_00_dot_06_bar__plus_00_dot_48_bar__minus_01_dot_32 RemoteControlType) + (objectType FloorLamp_bar__minus_04_dot_57_bar__plus_00_dot_00_bar__minus_01_dot_62 FloorLampType) + (objectType HousePlant_bar__plus_01_dot_56_bar__plus_00_dot_65_bar__plus_01_dot_17 HousePlantType) + (objectType Television_bar__minus_00_dot_55_bar__plus_01_dot_52_bar__plus_01_dot_45 TelevisionType) + (objectType Painting_bar__minus_00_dot_70_bar__plus_01_dot_84_bar__minus_01_dot_91 PaintingType) + (objectType LightSwitch_bar__minus_02_dot_46_bar__plus_01_dot_23_bar__minus_01_dot_95 LightSwitchType) + (objectType Box_bar__minus_03_dot_78_bar__plus_01_dot_31_bar__plus_00_dot_46 BoxType) + (canContain DrawerType NewspaperType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (canContain GarbageCanType NewspaperType) + (canContain GarbageCanType TissueBoxType) + (canContain SideTableType NewspaperType) + (canContain SideTableType VaseType) + (canContain SideTableType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType TissueBoxType) + (canContain SideTableType StatueType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType NewspaperType) + (canContain ArmChairType CreditCardType) + (canContain SideTableType NewspaperType) + (canContain SideTableType VaseType) + (canContain SideTableType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType TissueBoxType) + (canContain SideTableType StatueType) + (canContain SideTableType NewspaperType) + (canContain SideTableType VaseType) + (canContain SideTableType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType TissueBoxType) + (canContain SideTableType StatueType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType NewspaperType) + (canContain SofaType CreditCardType) + (canContain DiningTableType NewspaperType) + (canContain DiningTableType VaseType) + (canContain DiningTableType BoxType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType TissueBoxType) + (canContain DiningTableType StatueType) + (canContain DrawerType NewspaperType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType NewspaperType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType NewspaperType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (canContain ShelfType NewspaperType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType StatueType) + (pickupable TissueBox_bar__minus_01_dot_23_bar__plus_00_dot_13_bar__plus_01_dot_24) + (pickupable KeyChain_bar__minus_04_dot_01_bar__plus_01_dot_06_bar__plus_00_dot_59) + (pickupable CreditCard_bar__plus_01_dot_42_bar__plus_00_dot_46_bar__minus_01_dot_46) + (pickupable Pillow_bar__minus_01_dot_83_bar__plus_00_dot_59_bar__minus_01_dot_25) + (pickupable Laptop_bar__plus_01_dot_27_bar__plus_00_dot_66_bar__plus_01_dot_19) + (pickupable CreditCard_bar__minus_04_dot_01_bar__plus_01_dot_06_bar__plus_00_dot_26) + (pickupable Statue_bar__plus_01_dot_66_bar__plus_00_dot_76_bar__minus_01_dot_41) + (pickupable TissueBox_bar__minus_00_dot_81_bar__plus_00_dot_13_bar__plus_01_dot_24) + (pickupable Statue_bar__minus_01_dot_29_bar__plus_00_dot_89_bar__plus_01_dot_22) + (pickupable Vase_bar__minus_00_dot_97_bar__plus_00_dot_11_bar__plus_01_dot_20) + (pickupable Statue_bar__plus_01_dot_58_bar__plus_00_dot_76_bar__minus_01_dot_26) + (pickupable KeyChain_bar__minus_01_dot_45_bar__plus_00_dot_51_bar__minus_01_dot_29) + (pickupable Vase_bar__plus_00_dot_67_bar__plus_00_dot_67_bar__plus_01_dot_19) + (pickupable RemoteControl_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__minus_01_dot_41) + (pickupable Vase_bar__minus_00_dot_52_bar__plus_00_dot_11_bar__plus_01_dot_20) + (pickupable CreditCard_bar__plus_01_dot_63_bar__plus_00_dot_46_bar__minus_01_dot_62) + (pickupable TissueBox_bar__minus_00_dot_26_bar__plus_00_dot_64_bar__plus_01_dot_26) + (pickupable Newspaper_bar__plus_00_dot_82_bar__plus_00_dot_66_bar__plus_00_dot_97) + (pickupable RemoteControl_bar__plus_00_dot_06_bar__plus_00_dot_48_bar__minus_01_dot_32) + (pickupable Box_bar__minus_03_dot_78_bar__plus_01_dot_31_bar__plus_00_dot_46) + (isReceptacleObject Box_bar__minus_03_dot_78_bar__plus_01_dot_31_bar__plus_00_dot_46) + (openable Drawer_bar__plus_01_dot_58_bar__plus_00_dot_52_bar__minus_01_dot_46) + (openable Drawer_bar__minus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_03) + (openable Drawer_bar__minus_00_dot_16_bar__plus_00_dot_73_bar__plus_01_dot_03) + (openable Drawer_bar__plus_01_dot_12_bar__plus_00_dot_52_bar__plus_01_dot_07) + + (atLocation agent1 loc_bar__minus_12_bar__minus_1_bar_2_bar_30) + + + + + + + + (toggleable DeskLamp_bar__plus_01_dot_66_bar__plus_00_dot_65_bar__minus_01_dot_61) + (toggleable FloorLamp_bar__minus_04_dot_57_bar__plus_00_dot_00_bar__minus_01_dot_62) + + + + + (inReceptacle TissueBox_bar__minus_00_dot_26_bar__plus_00_dot_64_bar__plus_01_dot_26 Drawer_bar__minus_00_dot_16_bar__plus_00_dot_73_bar__plus_01_dot_03) + (inReceptacle RemoteControl_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__minus_01_dot_41 Drawer_bar__plus_01_dot_58_bar__plus_00_dot_52_bar__minus_01_dot_46) + (inReceptacle CreditCard_bar__plus_01_dot_63_bar__plus_00_dot_46_bar__minus_01_dot_62 Drawer_bar__plus_01_dot_58_bar__plus_00_dot_52_bar__minus_01_dot_46) + (inReceptacle CreditCard_bar__plus_01_dot_42_bar__plus_00_dot_46_bar__minus_01_dot_46 Drawer_bar__plus_01_dot_58_bar__plus_00_dot_52_bar__minus_01_dot_46) + (inReceptacle Pillow_bar__minus_01_dot_83_bar__plus_00_dot_59_bar__minus_01_dot_25 ArmChair_bar__minus_01_dot_83_bar__plus_00_dot_00_bar__minus_01_dot_35) + (inReceptacle Statue_bar__plus_01_dot_58_bar__plus_00_dot_76_bar__minus_01_dot_26 SideTable_bar__plus_01_dot_58_bar_00_dot_00_bar__minus_01_dot_49) + (inReceptacle Statue_bar__plus_01_dot_66_bar__plus_00_dot_76_bar__minus_01_dot_41 SideTable_bar__plus_01_dot_58_bar_00_dot_00_bar__minus_01_dot_49) + (inReceptacle DeskLamp_bar__plus_01_dot_66_bar__plus_00_dot_65_bar__minus_01_dot_61 SideTable_bar__plus_01_dot_58_bar_00_dot_00_bar__minus_01_dot_49) + (inReceptacle KeyChain_bar__minus_04_dot_01_bar__plus_01_dot_06_bar__plus_00_dot_59 DiningTable_bar__minus_03_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_26) + (inReceptacle CreditCard_bar__minus_04_dot_01_bar__plus_01_dot_06_bar__plus_00_dot_26 DiningTable_bar__minus_03_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_26) + (inReceptacle Box_bar__minus_03_dot_78_bar__plus_01_dot_31_bar__plus_00_dot_46 DiningTable_bar__minus_03_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_26) + (inReceptacle Laptop_bar__plus_01_dot_27_bar__plus_00_dot_66_bar__plus_01_dot_19 SideTable_bar__plus_01_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_12) + (inReceptacle HousePlant_bar__plus_01_dot_56_bar__plus_00_dot_65_bar__plus_01_dot_17 SideTable_bar__plus_01_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_12) + (inReceptacle Vase_bar__plus_00_dot_67_bar__plus_00_dot_67_bar__plus_01_dot_19 SideTable_bar__plus_01_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_12) + (inReceptacle Newspaper_bar__plus_00_dot_82_bar__plus_00_dot_66_bar__plus_00_dot_97 SideTable_bar__plus_01_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_12) + (inReceptacle Statue_bar__minus_01_dot_29_bar__plus_00_dot_89_bar__plus_01_dot_22 SideTable_bar__minus_00_dot_59_bar__plus_00_dot_01_bar__plus_01_dot_23) + (inReceptacle Vase_bar__minus_00_dot_97_bar__plus_00_dot_11_bar__plus_01_dot_20 Shelf_bar__minus_00_dot_63_bar__plus_00_dot_12_bar__plus_01_dot_20) + (inReceptacle TissueBox_bar__minus_00_dot_81_bar__plus_00_dot_13_bar__plus_01_dot_24 Shelf_bar__minus_00_dot_63_bar__plus_00_dot_12_bar__plus_01_dot_20) + (inReceptacle Vase_bar__minus_00_dot_52_bar__plus_00_dot_11_bar__plus_01_dot_20 Shelf_bar__minus_00_dot_63_bar__plus_00_dot_12_bar__plus_01_dot_20) + (inReceptacle TissueBox_bar__minus_01_dot_23_bar__plus_00_dot_13_bar__plus_01_dot_24 Shelf_bar__minus_00_dot_63_bar__plus_00_dot_12_bar__plus_01_dot_20) + + + (receptacleAtLocation ArmChair_bar__minus_01_dot_83_bar__plus_00_dot_00_bar__minus_01_dot_35 loc_bar__minus_7_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation DiningTable_bar__minus_03_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_26 loc_bar__minus_16_bar__minus_3_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_52_bar__plus_01_dot_07 loc_bar_4_bar_0_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_58_bar__plus_00_dot_52_bar__minus_01_dot_46 loc_bar_4_bar__minus_1_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_16_bar__plus_00_dot_73_bar__plus_01_dot_03 loc_bar_0_bar_1_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_03 loc_bar__minus_5_bar_1_bar_0_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_04_dot_58_bar__plus_00_dot_00_bar__plus_01_dot_13 loc_bar__minus_16_bar_4_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_63_bar__plus_00_dot_12_bar__plus_01_dot_20 loc_bar_0_bar_1_bar_0_bar_60) + (receptacleAtLocation SideTable_bar__plus_01_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_12 loc_bar_4_bar_2_bar_0_bar_60) + (receptacleAtLocation SideTable_bar__plus_01_dot_58_bar_00_dot_00_bar__minus_01_dot_49 loc_bar_6_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation SideTable_bar__minus_00_dot_59_bar__plus_00_dot_01_bar__plus_01_dot_23 loc_bar__minus_1_bar_2_bar_0_bar_60) + (receptacleAtLocation Sofa_bar__plus_00_dot_06_bar__plus_00_dot_00_bar__minus_01_dot_39 loc_bar__minus_2_bar__minus_1_bar_2_bar_60) + (objectAtLocation Statue_bar__plus_01_dot_58_bar__plus_00_dot_76_bar__minus_01_dot_26 loc_bar_6_bar__minus_2_bar_2_bar_60) + (objectAtLocation CreditCard_bar__plus_01_dot_63_bar__plus_00_dot_46_bar__minus_01_dot_62 loc_bar_4_bar__minus_1_bar_2_bar_45) + (objectAtLocation RemoteControl_bar__plus_00_dot_06_bar__plus_00_dot_48_bar__minus_01_dot_32 loc_bar_0_bar__minus_2_bar_2_bar_60) + (objectAtLocation KeyChain_bar__minus_01_dot_45_bar__plus_00_dot_51_bar__minus_01_dot_29 loc_bar__minus_6_bar__minus_2_bar_2_bar_60) + (objectAtLocation TissueBox_bar__minus_01_dot_23_bar__plus_00_dot_13_bar__plus_01_dot_24 loc_bar_0_bar_1_bar_0_bar_60) + (objectAtLocation CreditCard_bar__minus_04_dot_01_bar__plus_01_dot_06_bar__plus_00_dot_26 loc_bar__minus_16_bar__minus_3_bar_0_bar_60) + (objectAtLocation TissueBox_bar__minus_00_dot_81_bar__plus_00_dot_13_bar__plus_01_dot_24 loc_bar_0_bar_1_bar_0_bar_60) + (objectAtLocation Box_bar__minus_03_dot_78_bar__plus_01_dot_31_bar__plus_00_dot_46 loc_bar__minus_16_bar__minus_3_bar_0_bar_60) + (objectAtLocation DeskLamp_bar__plus_01_dot_66_bar__plus_00_dot_65_bar__minus_01_dot_61 loc_bar_6_bar__minus_2_bar_2_bar_60) + (objectAtLocation Vase_bar__minus_00_dot_97_bar__plus_00_dot_11_bar__plus_01_dot_20 loc_bar_0_bar_1_bar_0_bar_60) + (objectAtLocation TissueBox_bar__minus_00_dot_26_bar__plus_00_dot_64_bar__plus_01_dot_26 loc_bar_0_bar_1_bar_0_bar_45) + (objectAtLocation Newspaper_bar__plus_00_dot_82_bar__plus_00_dot_66_bar__plus_00_dot_97 loc_bar_4_bar_2_bar_0_bar_60) + (objectAtLocation KeyChain_bar__minus_04_dot_01_bar__plus_01_dot_06_bar__plus_00_dot_59 loc_bar__minus_16_bar__minus_3_bar_0_bar_60) + (objectAtLocation Vase_bar__plus_00_dot_67_bar__plus_00_dot_67_bar__plus_01_dot_19 loc_bar_4_bar_2_bar_0_bar_60) + (objectAtLocation FloorLamp_bar__minus_04_dot_57_bar__plus_00_dot_00_bar__minus_01_dot_62 loc_bar__minus_15_bar__minus_6_bar_3_bar_60) + (objectAtLocation Statue_bar__minus_01_dot_29_bar__plus_00_dot_89_bar__plus_01_dot_22 loc_bar__minus_1_bar_2_bar_0_bar_60) + (objectAtLocation LightSwitch_bar__minus_02_dot_46_bar__plus_01_dot_23_bar__minus_01_dot_95 loc_bar__minus_11_bar__minus_6_bar_2_bar_45) + (objectAtLocation Television_bar__minus_00_dot_55_bar__plus_01_dot_52_bar__plus_01_dot_45 loc_bar__minus_2_bar_3_bar_0_bar_15) + (objectAtLocation RemoteControl_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__minus_01_dot_41 loc_bar_4_bar__minus_1_bar_2_bar_45) + (objectAtLocation Pillow_bar__minus_01_dot_83_bar__plus_00_dot_59_bar__minus_01_dot_25 loc_bar__minus_7_bar__minus_2_bar_2_bar_60) + (objectAtLocation CreditCard_bar__plus_01_dot_42_bar__plus_00_dot_46_bar__minus_01_dot_46 loc_bar_4_bar__minus_1_bar_2_bar_45) + (objectAtLocation Laptop_bar__plus_01_dot_27_bar__plus_00_dot_66_bar__plus_01_dot_19 loc_bar_4_bar_2_bar_0_bar_60) + (objectAtLocation HousePlant_bar__plus_01_dot_56_bar__plus_00_dot_65_bar__plus_01_dot_17 loc_bar_4_bar_2_bar_0_bar_60) + (objectAtLocation Window_bar__minus_02_dot_01_bar__plus_01_dot_50_bar__plus_01_dot_47 loc_bar__minus_8_bar_3_bar_0_bar_15) + (objectAtLocation Window_bar__plus_00_dot_99_bar__plus_01_dot_50_bar__plus_01_dot_47 loc_bar_4_bar_2_bar_0_bar_15) + (objectAtLocation Chair_bar__minus_03_dot_83_bar__plus_00_dot_00_bar__minus_00_dot_22 loc_bar__minus_15_bar__minus_3_bar_0_bar_60) + (objectAtLocation Chair_bar__minus_04_dot_40_bar__plus_00_dot_00_bar__plus_00_dot_28 loc_bar__minus_17_bar__minus_2_bar_0_bar_60) + (objectAtLocation Vase_bar__minus_00_dot_52_bar__plus_00_dot_11_bar__plus_01_dot_20 loc_bar_0_bar_1_bar_0_bar_60) + (objectAtLocation Painting_bar__minus_00_dot_70_bar__plus_01_dot_84_bar__minus_01_dot_91 loc_bar__minus_3_bar__minus_2_bar_2_bar_0) + (objectAtLocation Statue_bar__plus_01_dot_66_bar__plus_00_dot_76_bar__minus_01_dot_41 loc_bar_6_bar__minus_2_bar_2_bar_60) + (objectAtLocation Painting_bar__minus_04_dot_91_bar__plus_01_dot_76_bar__minus_00_dot_10 loc_bar__minus_17_bar__minus_2_bar_3_bar__minus_15) + ) + + + (: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 PillowType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git 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"A38Z99XF4NDNH0_333U7HK6ICWQKTUSMP4OG3W47XCJDY", + "high_descs": [ + "Move to the two sofa chairs facing the one on the left against the wall", + "Pick up the red cushion on top of the chair", + "Carry the cushion to the brown side table to the left of the chairs", + "Turn on the lamp on top of the side table" + ], + "task_desc": "Turn on a lamp while holding a cushion", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_3QECW5O0KKIPUJB4JD09KXVLSIW5T8", + "high_descs": [ + "Turn left and begin walking across the room, then hang a right and walk up to the chair.", + "Pick up the pillow off of the seat of the chair.", + "Turn left and walk across the room to the wall, then turn right and walk over to the small end table.", + "Turn on the lamp that is on the end table." + ], + "task_desc": "Examine a pillow in the light of a small lamp.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Plate-None-DeskLamp-218/trial_T20190907_212525_656549/game.tw-pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Plate-None-DeskLamp-218/trial_T20190907_212525_656549/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..d5c81f4cc3b0f00a517c5df6b5cf829a3ab46209 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Plate-None-DeskLamp-218/trial_T20190907_212525_656549/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: examine the plate with the desklamp.\"\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_212525_656549)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Box_bar__minus_05_dot_76_bar__plus_00_dot_98_bar__plus_04_dot_69 - object\n CellPhone_bar__plus_00_dot_78_bar__plus_00_dot_99_bar__plus_03_dot_92 - object\n Chair_bar__minus_00_dot_14_bar__plus_00_dot_02_bar__plus_06_dot_41 - object\n Chair_bar__minus_03_dot_16_bar__plus_00_dot_02_bar__plus_00_dot_87 - object\n Chair_bar__minus_05_dot_18_bar__plus_00_dot_00_bar__plus_05_dot_29 - object\n Chair_bar__minus_05_dot_19_bar__plus_00_dot_00_bar__plus_04_dot_68 - object\n Chair_bar__minus_05_dot_58_bar__plus_00_dot_00_bar__plus_04_dot_10 - object\n Chair_bar__minus_05_dot_63_bar__plus_00_dot_00_bar__plus_05_dot_75 - object\n Chair_bar__minus_06_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_24 - object\n Chair_bar__minus_06_dot_05_bar__plus_00_dot_00_bar__plus_04_dot_56 - object\n CreditCard_bar__plus_00_dot_72_bar__plus_00_dot_98_bar__plus_04_dot_34 - object\n Curtains_bar__minus_01_dot_05_bar__plus_03_dot_50_bar__plus_02_dot_88 - object\n DeskLamp_bar__plus_00_dot_89_bar__plus_00_dot_54_bar__plus_06_dot_82 - object\n FloorLamp_bar__minus_03_dot_49_bar_00_dot_00_bar__plus_00_dot_37 - object\n HousePlant_bar__minus_03_dot_58_bar__plus_00_dot_54_bar__plus_01_dot_64 - object\n KeyChain_bar__minus_05_dot_89_bar__plus_00_dot_79_bar__plus_05_dot_13 - object\n Laptop_bar__minus_01_dot_63_bar__plus_00_dot_31_bar__plus_02_dot_43 - object\n LightSwitch_bar__minus_05_dot_23_bar__plus_01_dot_39_bar__plus_07_dot_03 - object\n Newspaper_bar__plus_00_dot_85_bar__plus_00_dot_98_bar__plus_03_dot_71 - object\n Newspaper_bar__minus_05_dot_39_bar__plus_00_dot_78_bar__plus_04_dot_69 - object\n Painting_bar__minus_03_dot_81_bar__plus_01_dot_81_bar__plus_01_dot_01 - object\n Pillow_bar__minus_02_dot_72_bar__plus_00_dot_61_bar__plus_02_dot_77 - object\n Plate_bar__plus_00_dot_64_bar__plus_00_dot_55_bar__plus_06_dot_73 - object\n Plate_bar__minus_05_dot_89_bar__plus_00_dot_79_bar__plus_05_dot_35 - object\n RemoteControl_bar__minus_03_dot_31_bar__plus_00_dot_55_bar__plus_01_dot_82 - object\n Statue_bar__minus_03_dot_22_bar__plus_00_dot_56_bar__plus_01_dot_56 - object\n Statue_bar__minus_05_dot_76_bar__plus_00_dot_79_bar__plus_05_dot_58 - object\n Television_bar__plus_00_dot_83_bar__plus_01_dot_47_bar__plus_03_dot_73 - object\n WateringCan_bar__plus_00_dot_83_bar_00_dot_00_bar__plus_02_dot_34 - object\n Window_bar__minus_01_dot_99_bar__plus_01_dot_65_bar__minus_00_dot_01 - object\n Window_bar__minus_04_dot_91_bar__plus_00_dot_99_bar__plus_02_dot_02 - object\n Window_bar__minus_05_dot_80_bar__plus_01_dot_07_bar__plus_01_dot_87 - object\n CoffeeTable_bar__minus_01_dot_55_bar__plus_00_dot_02_bar__plus_02_dot_53 - receptacle\n DiningTable_bar__minus_05_dot_64_bar_00_dot_00_bar__plus_04_dot_91 - receptacle\n Drawer_bar__plus_00_dot_74_bar__plus_00_dot_23_bar__plus_03_dot_32 - receptacle\n Drawer_bar__plus_00_dot_74_bar__plus_00_dot_23_bar__plus_04_dot_10 - receptacle\n Drawer_bar__plus_00_dot_74_bar__plus_00_dot_67_bar__plus_03_dot_32 - receptacle\n Drawer_bar__plus_00_dot_74_bar__plus_00_dot_67_bar__plus_04_dot_10 - receptacle\n Dresser_bar__plus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_71 - receptacle\n GarbageCan_bar__minus_07_dot_10_bar_00_dot_00_bar__plus_02_dot_29 - receptacle\n SideTable_bar__plus_00_dot_73_bar__plus_00_dot_00_bar__plus_06_dot_64 - receptacle\n SideTable_bar__minus_03_dot_41_bar__plus_00_dot_00_bar__plus_01_dot_64 - receptacle\n Sofa_bar__minus_02_dot_47_bar_00_dot_00_bar__plus_03_dot_28 - receptacle\n loc_bar__minus_19_bar_18_bar_3_bar_60 - location\n loc_bar_3_bar_20_bar_2_bar_45 - location\n loc_bar_0_bar_9_bar_0_bar_60 - location\n loc_bar__minus_26_bar_13_bar_2_bar_60 - location\n loc_bar_2_bar_9_bar_1_bar_60 - location\n loc_bar_0_bar_12_bar_0_bar_45 - location\n loc_bar__minus_26_bar_21_bar_1_bar_60 - location\n loc_bar__minus_20_bar_10_bar_2_bar_60 - location\n loc_bar__minus_4_bar_15_bar_3_bar_45 - location\n loc_bar__minus_23_bar_25_bar_2_bar_60 - location\n loc_bar__minus_23_bar_10_bar_2_bar_45 - location\n loc_bar__minus_10_bar_3_bar_3_bar_60 - location\n loc_bar__minus_26_bar_20_bar_1_bar_60 - location\n loc_bar__minus_2_bar_9_bar_3_bar_60 - location\n loc_bar_3_bar_23_bar_0_bar_60 - location\n loc_bar__minus_8_bar_2_bar_2_bar_0 - location\n loc_bar__minus_10_bar_2_bar_3_bar_60 - location\n loc_bar__minus_1_bar_23_bar_0_bar_60 - location\n loc_bar__minus_19_bar_21_bar_3_bar_60 - location\n loc_bar__minus_10_bar_4_bar_3_bar_0 - location\n loc_bar__minus_3_bar_12_bar_3_bar__minus_30 - location\n loc_bar_0_bar_16_bar_1_bar_60 - location\n loc_bar__minus_21_bar_26_bar_0_bar_30 - location\n loc_bar__minus_10_bar_8_bar_3_bar_60 - location\n loc_bar_0_bar_13_bar_1_bar_60 - location\n loc_bar__minus_22_bar_14_bar_0_bar_60 - location\n loc_bar__minus_26_bar_18_bar_1_bar_60 - location\n loc_bar_1_bar_21_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__plus_00_dot_74_bar__plus_00_dot_23_bar__plus_03_dot_32 DrawerType)\n (receptacleType Dresser_bar__plus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_71 DresserType)\n (receptacleType Drawer_bar__plus_00_dot_74_bar__plus_00_dot_23_bar__plus_04_dot_10 DrawerType)\n (receptacleType DiningTable_bar__minus_05_dot_64_bar_00_dot_00_bar__plus_04_dot_91 DiningTableType)\n (receptacleType SideTable_bar__minus_03_dot_41_bar__plus_00_dot_00_bar__plus_01_dot_64 SideTableType)\n (receptacleType GarbageCan_bar__minus_07_dot_10_bar_00_dot_00_bar__plus_02_dot_29 GarbageCanType)\n (receptacleType CoffeeTable_bar__minus_01_dot_55_bar__plus_00_dot_02_bar__plus_02_dot_53 CoffeeTableType)\n (receptacleType Drawer_bar__plus_00_dot_74_bar__plus_00_dot_67_bar__plus_04_dot_10 DrawerType)\n (receptacleType Sofa_bar__minus_02_dot_47_bar_00_dot_00_bar__plus_03_dot_28 SofaType)\n (receptacleType Drawer_bar__plus_00_dot_74_bar__plus_00_dot_67_bar__plus_03_dot_32 DrawerType)\n (receptacleType SideTable_bar__plus_00_dot_73_bar__plus_00_dot_00_bar__plus_06_dot_64 SideTableType)\n (objectType WateringCan_bar__plus_00_dot_83_bar_00_dot_00_bar__plus_02_dot_34 WateringCanType)\n (objectType Chair_bar__minus_05_dot_18_bar__plus_00_dot_00_bar__plus_05_dot_29 ChairType)\n (objectType Window_bar__minus_01_dot_99_bar__plus_01_dot_65_bar__minus_00_dot_01 WindowType)\n (objectType Chair_bar__minus_06_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_24 ChairType)\n (objectType Plate_bar__plus_00_dot_64_bar__plus_00_dot_55_bar__plus_06_dot_73 PlateType)\n (objectType FloorLamp_bar__minus_03_dot_49_bar_00_dot_00_bar__plus_00_dot_37 FloorLampType)\n (objectType Chair_bar__minus_00_dot_14_bar__plus_00_dot_02_bar__plus_06_dot_41 ChairType)\n (objectType Window_bar__minus_04_dot_91_bar__plus_00_dot_99_bar__plus_02_dot_02 WindowType)\n (objectType Chair_bar__minus_05_dot_19_bar__plus_00_dot_00_bar__plus_04_dot_68 ChairType)\n (objectType HousePlant_bar__minus_03_dot_58_bar__plus_00_dot_54_bar__plus_01_dot_64 HousePlantType)\n (objectType Chair_bar__minus_05_dot_63_bar__plus_00_dot_00_bar__plus_05_dot_75 ChairType)\n (objectType Curtains_bar__minus_01_dot_05_bar__plus_03_dot_50_bar__plus_02_dot_88 CurtainsType)\n (objectType Chair_bar__minus_06_dot_05_bar__plus_00_dot_00_bar__plus_04_dot_56 ChairType)\n (objectType Statue_bar__minus_05_dot_76_bar__plus_00_dot_79_bar__plus_05_dot_58 StatueType)\n (objectType RemoteControl_bar__minus_03_dot_31_bar__plus_00_dot_55_bar__plus_01_dot_82 RemoteControlType)\n (objectType Statue_bar__minus_03_dot_22_bar__plus_00_dot_56_bar__plus_01_dot_56 StatueType)\n (objectType LightSwitch_bar__minus_05_dot_23_bar__plus_01_dot_39_bar__plus_07_dot_03 LightSwitchType)\n (objectType Pillow_bar__minus_02_dot_72_bar__plus_00_dot_61_bar__plus_02_dot_77 PillowType)\n (objectType Newspaper_bar__plus_00_dot_85_bar__plus_00_dot_98_bar__plus_03_dot_71 NewspaperType)\n (objectType Painting_bar__minus_03_dot_81_bar__plus_01_dot_81_bar__plus_01_dot_01 PaintingType)\n (objectType Box_bar__minus_05_dot_76_bar__plus_00_dot_98_bar__plus_04_dot_69 BoxType)\n (objectType Television_bar__plus_00_dot_83_bar__plus_01_dot_47_bar__plus_03_dot_73 TelevisionType)\n (objectType Newspaper_bar__minus_05_dot_39_bar__plus_00_dot_78_bar__plus_04_dot_69 NewspaperType)\n (objectType DeskLamp_bar__plus_00_dot_89_bar__plus_00_dot_54_bar__plus_06_dot_82 DeskLampType)\n (objectType Chair_bar__minus_03_dot_16_bar__plus_00_dot_02_bar__plus_00_dot_87 ChairType)\n (objectType CreditCard_bar__plus_00_dot_72_bar__plus_00_dot_98_bar__plus_04_dot_34 CreditCardType)\n (objectType Window_bar__minus_05_dot_80_bar__plus_01_dot_07_bar__plus_01_dot_87 WindowType)\n (objectType Plate_bar__minus_05_dot_89_bar__plus_00_dot_79_bar__plus_05_dot_35 PlateType)\n (objectType KeyChain_bar__minus_05_dot_89_bar__plus_00_dot_79_bar__plus_05_dot_13 KeyChainType)\n (objectType CellPhone_bar__plus_00_dot_78_bar__plus_00_dot_99_bar__plus_03_dot_92 CellPhoneType)\n (objectType Chair_bar__minus_05_dot_58_bar__plus_00_dot_00_bar__plus_04_dot_10 ChairType)\n (objectType Laptop_bar__minus_01_dot_63_bar__plus_00_dot_31_bar__plus_02_dot_43 LaptopType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain DresserType NewspaperType)\n (canContain DresserType BoxType)\n (canContain DresserType CellPhoneType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType LaptopType)\n (canContain DresserType PlateType)\n (canContain DresserType RemoteControlType)\n (canContain DresserType StatueType)\n (canContain DresserType WateringCanType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain DiningTableType NewspaperType)\n (canContain DiningTableType BoxType)\n (canContain DiningTableType CellPhoneType)\n (canContain DiningTableType KeyChainType)\n (canContain DiningTableType CreditCardType)\n (canContain DiningTableType LaptopType)\n (canContain DiningTableType PlateType)\n (canContain DiningTableType RemoteControlType)\n (canContain DiningTableType StatueType)\n (canContain DiningTableType WateringCanType)\n (canContain SideTableType NewspaperType)\n (canContain SideTableType BoxType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PlateType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType StatueType)\n (canContain SideTableType WateringCanType)\n (canContain GarbageCanType NewspaperType)\n (canContain CoffeeTableType NewspaperType)\n (canContain CoffeeTableType BoxType)\n (canContain CoffeeTableType CellPhoneType)\n (canContain CoffeeTableType KeyChainType)\n (canContain CoffeeTableType CreditCardType)\n (canContain CoffeeTableType LaptopType)\n (canContain CoffeeTableType PlateType)\n (canContain CoffeeTableType RemoteControlType)\n (canContain CoffeeTableType StatueType)\n (canContain CoffeeTableType WateringCanType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain SofaType BoxType)\n (canContain SofaType LaptopType)\n (canContain SofaType CellPhoneType)\n (canContain SofaType PillowType)\n (canContain SofaType RemoteControlType)\n (canContain SofaType KeyChainType)\n (canContain SofaType NewspaperType)\n (canContain SofaType CreditCardType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain SideTableType NewspaperType)\n (canContain SideTableType BoxType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PlateType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType StatueType)\n (canContain SideTableType WateringCanType)\n (pickupable WateringCan_bar__plus_00_dot_83_bar_00_dot_00_bar__plus_02_dot_34)\n (pickupable Plate_bar__plus_00_dot_64_bar__plus_00_dot_55_bar__plus_06_dot_73)\n (pickupable Statue_bar__minus_05_dot_76_bar__plus_00_dot_79_bar__plus_05_dot_58)\n (pickupable RemoteControl_bar__minus_03_dot_31_bar__plus_00_dot_55_bar__plus_01_dot_82)\n (pickupable Statue_bar__minus_03_dot_22_bar__plus_00_dot_56_bar__plus_01_dot_56)\n (pickupable Pillow_bar__minus_02_dot_72_bar__plus_00_dot_61_bar__plus_02_dot_77)\n (pickupable Newspaper_bar__plus_00_dot_85_bar__plus_00_dot_98_bar__plus_03_dot_71)\n (pickupable Box_bar__minus_05_dot_76_bar__plus_00_dot_98_bar__plus_04_dot_69)\n (pickupable Newspaper_bar__minus_05_dot_39_bar__plus_00_dot_78_bar__plus_04_dot_69)\n (pickupable CreditCard_bar__plus_00_dot_72_bar__plus_00_dot_98_bar__plus_04_dot_34)\n (pickupable Plate_bar__minus_05_dot_89_bar__plus_00_dot_79_bar__plus_05_dot_35)\n (pickupable KeyChain_bar__minus_05_dot_89_bar__plus_00_dot_79_bar__plus_05_dot_13)\n (pickupable CellPhone_bar__plus_00_dot_78_bar__plus_00_dot_99_bar__plus_03_dot_92)\n (pickupable Laptop_bar__minus_01_dot_63_bar__plus_00_dot_31_bar__plus_02_dot_43)\n (isReceptacleObject Plate_bar__plus_00_dot_64_bar__plus_00_dot_55_bar__plus_06_dot_73)\n (isReceptacleObject Box_bar__minus_05_dot_76_bar__plus_00_dot_98_bar__plus_04_dot_69)\n (isReceptacleObject Plate_bar__minus_05_dot_89_bar__plus_00_dot_79_bar__plus_05_dot_35)\n (openable Drawer_bar__plus_00_dot_74_bar__plus_00_dot_23_bar__plus_03_dot_32)\n (openable Drawer_bar__plus_00_dot_74_bar__plus_00_dot_23_bar__plus_04_dot_10)\n (openable Drawer_bar__plus_00_dot_74_bar__plus_00_dot_67_bar__plus_04_dot_10)\n (openable Drawer_bar__plus_00_dot_74_bar__plus_00_dot_67_bar__plus_03_dot_32)\n \n (atLocation agent1 loc_bar_1_bar_21_bar_0_bar_30)\n \n (cleanable Plate_bar__plus_00_dot_64_bar__plus_00_dot_55_bar__plus_06_dot_73)\n (cleanable Plate_bar__minus_05_dot_89_bar__plus_00_dot_79_bar__plus_05_dot_35)\n \n (heatable Plate_bar__plus_00_dot_64_bar__plus_00_dot_55_bar__plus_06_dot_73)\n (heatable Plate_bar__minus_05_dot_89_bar__plus_00_dot_79_bar__plus_05_dot_35)\n (coolable Plate_bar__plus_00_dot_64_bar__plus_00_dot_55_bar__plus_06_dot_73)\n (coolable Plate_bar__minus_05_dot_89_bar__plus_00_dot_79_bar__plus_05_dot_35)\n \n \n (toggleable FloorLamp_bar__minus_03_dot_49_bar_00_dot_00_bar__plus_00_dot_37)\n (toggleable DeskLamp_bar__plus_00_dot_89_bar__plus_00_dot_54_bar__plus_06_dot_82)\n \n \n \n \n (inReceptacle CreditCard_bar__plus_00_dot_72_bar__plus_00_dot_98_bar__plus_04_dot_34 Dresser_bar__plus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_71)\n (inReceptacle Newspaper_bar__plus_00_dot_85_bar__plus_00_dot_98_bar__plus_03_dot_71 Dresser_bar__plus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_71)\n (inReceptacle Television_bar__plus_00_dot_83_bar__plus_01_dot_47_bar__plus_03_dot_73 Dresser_bar__plus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_71)\n (inReceptacle CellPhone_bar__plus_00_dot_78_bar__plus_00_dot_99_bar__plus_03_dot_92 Dresser_bar__plus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_71)\n (inReceptacle Pillow_bar__minus_02_dot_72_bar__plus_00_dot_61_bar__plus_02_dot_77 Sofa_bar__minus_02_dot_47_bar_00_dot_00_bar__plus_03_dot_28)\n (inReceptacle HousePlant_bar__minus_03_dot_58_bar__plus_00_dot_54_bar__plus_01_dot_64 SideTable_bar__minus_03_dot_41_bar__plus_00_dot_00_bar__plus_01_dot_64)\n (inReceptacle RemoteControl_bar__minus_03_dot_31_bar__plus_00_dot_55_bar__plus_01_dot_82 SideTable_bar__minus_03_dot_41_bar__plus_00_dot_00_bar__plus_01_dot_64)\n (inReceptacle Statue_bar__minus_03_dot_22_bar__plus_00_dot_56_bar__plus_01_dot_56 SideTable_bar__minus_03_dot_41_bar__plus_00_dot_00_bar__plus_01_dot_64)\n (inReceptacle Statue_bar__minus_05_dot_76_bar__plus_00_dot_79_bar__plus_05_dot_58 DiningTable_bar__minus_05_dot_64_bar_00_dot_00_bar__plus_04_dot_91)\n (inReceptacle Newspaper_bar__minus_05_dot_39_bar__plus_00_dot_78_bar__plus_04_dot_69 DiningTable_bar__minus_05_dot_64_bar_00_dot_00_bar__plus_04_dot_91)\n (inReceptacle KeyChain_bar__minus_05_dot_89_bar__plus_00_dot_79_bar__plus_05_dot_13 DiningTable_bar__minus_05_dot_64_bar_00_dot_00_bar__plus_04_dot_91)\n (inReceptacle Box_bar__minus_05_dot_76_bar__plus_00_dot_98_bar__plus_04_dot_69 DiningTable_bar__minus_05_dot_64_bar_00_dot_00_bar__plus_04_dot_91)\n (inReceptacle Plate_bar__minus_05_dot_89_bar__plus_00_dot_79_bar__plus_05_dot_35 DiningTable_bar__minus_05_dot_64_bar_00_dot_00_bar__plus_04_dot_91)\n (inReceptacle Laptop_bar__minus_01_dot_63_bar__plus_00_dot_31_bar__plus_02_dot_43 CoffeeTable_bar__minus_01_dot_55_bar__plus_00_dot_02_bar__plus_02_dot_53)\n (inReceptacle DeskLamp_bar__plus_00_dot_89_bar__plus_00_dot_54_bar__plus_06_dot_82 SideTable_bar__plus_00_dot_73_bar__plus_00_dot_00_bar__plus_06_dot_64)\n (inReceptacle Plate_bar__plus_00_dot_64_bar__plus_00_dot_55_bar__plus_06_dot_73 SideTable_bar__plus_00_dot_73_bar__plus_00_dot_00_bar__plus_06_dot_64)\n \n \n (receptacleAtLocation CoffeeTable_bar__minus_01_dot_55_bar__plus_00_dot_02_bar__plus_02_dot_53 loc_bar__minus_2_bar_9_bar_3_bar_60)\n (receptacleAtLocation DiningTable_bar__minus_05_dot_64_bar_00_dot_00_bar__plus_04_dot_91 loc_bar__minus_26_bar_20_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_74_bar__plus_00_dot_23_bar__plus_03_dot_32 loc_bar_0_bar_9_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_74_bar__plus_00_dot_23_bar__plus_04_dot_10 loc_bar_0_bar_12_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_74_bar__plus_00_dot_67_bar__plus_03_dot_32 loc_bar_0_bar_13_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_74_bar__plus_00_dot_67_bar__plus_04_dot_10 loc_bar_0_bar_16_bar_1_bar_60)\n (receptacleAtLocation Dresser_bar__plus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_71 loc_bar_3_bar_20_bar_2_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_07_dot_10_bar_00_dot_00_bar__plus_02_dot_29 loc_bar__minus_26_bar_13_bar_2_bar_60)\n (receptacleAtLocation SideTable_bar__plus_00_dot_73_bar__plus_00_dot_00_bar__plus_06_dot_64 loc_bar_3_bar_23_bar_0_bar_60)\n (receptacleAtLocation SideTable_bar__minus_03_dot_41_bar__plus_00_dot_00_bar__plus_01_dot_64 loc_bar__minus_10_bar_8_bar_3_bar_60)\n (receptacleAtLocation Sofa_bar__minus_02_dot_47_bar_00_dot_00_bar__plus_03_dot_28 loc_bar__minus_4_bar_15_bar_3_bar_45)\n (objectAtLocation Statue_bar__minus_05_dot_76_bar__plus_00_dot_79_bar__plus_05_dot_58 loc_bar__minus_26_bar_20_bar_1_bar_60)\n (objectAtLocation Plate_bar__minus_05_dot_89_bar__plus_00_dot_79_bar__plus_05_dot_35 loc_bar__minus_26_bar_20_bar_1_bar_60)\n (objectAtLocation Newspaper_bar__plus_00_dot_85_bar__plus_00_dot_98_bar__plus_03_dot_71 loc_bar_3_bar_20_bar_2_bar_45)\n (objectAtLocation Chair_bar__minus_06_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_24 loc_bar__minus_26_bar_21_bar_1_bar_60)\n (objectAtLocation Chair_bar__minus_05_dot_58_bar__plus_00_dot_00_bar__plus_04_dot_10 loc_bar__minus_22_bar_14_bar_0_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_14_bar__plus_00_dot_02_bar__plus_06_dot_41 loc_bar__minus_1_bar_23_bar_0_bar_60)\n (objectAtLocation Chair_bar__minus_05_dot_18_bar__plus_00_dot_00_bar__plus_05_dot_29 loc_bar__minus_19_bar_21_bar_3_bar_60)\n (objectAtLocation Chair_bar__minus_05_dot_63_bar__plus_00_dot_00_bar__plus_05_dot_75 loc_bar__minus_23_bar_25_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_03_dot_16_bar__plus_00_dot_02_bar__plus_00_dot_87 loc_bar__minus_10_bar_3_bar_3_bar_60)\n (objectAtLocation Chair_bar__minus_05_dot_19_bar__plus_00_dot_00_bar__plus_04_dot_68 loc_bar__minus_19_bar_18_bar_3_bar_60)\n (objectAtLocation Box_bar__minus_05_dot_76_bar__plus_00_dot_98_bar__plus_04_dot_69 loc_bar__minus_26_bar_20_bar_1_bar_60)\n (objectAtLocation Chair_bar__minus_06_dot_05_bar__plus_00_dot_00_bar__plus_04_dot_56 loc_bar__minus_26_bar_18_bar_1_bar_60)\n (objectAtLocation Curtains_bar__minus_01_dot_05_bar__plus_03_dot_50_bar__plus_02_dot_88 loc_bar__minus_3_bar_12_bar_3_bar__minus_30)\n (objectAtLocation CellPhone_bar__plus_00_dot_78_bar__plus_00_dot_99_bar__plus_03_dot_92 loc_bar_3_bar_20_bar_2_bar_45)\n (objectAtLocation HousePlant_bar__minus_03_dot_58_bar__plus_00_dot_54_bar__plus_01_dot_64 loc_bar__minus_10_bar_8_bar_3_bar_60)\n (objectAtLocation Television_bar__plus_00_dot_83_bar__plus_01_dot_47_bar__plus_03_dot_73 loc_bar_3_bar_20_bar_2_bar_45)\n (objectAtLocation WateringCan_bar__plus_00_dot_83_bar_00_dot_00_bar__plus_02_dot_34 loc_bar_2_bar_9_bar_1_bar_60)\n (objectAtLocation Newspaper_bar__minus_05_dot_39_bar__plus_00_dot_78_bar__plus_04_dot_69 loc_bar__minus_26_bar_20_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__minus_05_dot_89_bar__plus_00_dot_79_bar__plus_05_dot_13 loc_bar__minus_26_bar_20_bar_1_bar_60)\n (objectAtLocation Plate_bar__plus_00_dot_64_bar__plus_00_dot_55_bar__plus_06_dot_73 loc_bar_3_bar_23_bar_0_bar_60)\n (objectAtLocation Pillow_bar__minus_02_dot_72_bar__plus_00_dot_61_bar__plus_02_dot_77 loc_bar__minus_4_bar_15_bar_3_bar_45)\n (objectAtLocation Painting_bar__minus_03_dot_81_bar__plus_01_dot_81_bar__plus_01_dot_01 loc_bar__minus_10_bar_4_bar_3_bar_0)\n (objectAtLocation DeskLamp_bar__plus_00_dot_89_bar__plus_00_dot_54_bar__plus_06_dot_82 loc_bar_3_bar_23_bar_0_bar_60)\n (objectAtLocation RemoteControl_bar__minus_03_dot_31_bar__plus_00_dot_55_bar__plus_01_dot_82 loc_bar__minus_10_bar_8_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__plus_00_dot_72_bar__plus_00_dot_98_bar__plus_04_dot_34 loc_bar_3_bar_20_bar_2_bar_45)\n (objectAtLocation FloorLamp_bar__minus_03_dot_49_bar_00_dot_00_bar__plus_00_dot_37 loc_bar__minus_10_bar_2_bar_3_bar_60)\n (objectAtLocation LightSwitch_bar__minus_05_dot_23_bar__plus_01_dot_39_bar__plus_07_dot_03 loc_bar__minus_21_bar_26_bar_0_bar_30)\n (objectAtLocation Window_bar__minus_01_dot_99_bar__plus_01_dot_65_bar__minus_00_dot_01 loc_bar__minus_8_bar_2_bar_2_bar_0)\n (objectAtLocation Window_bar__minus_04_dot_91_bar__plus_00_dot_99_bar__plus_02_dot_02 loc_bar__minus_20_bar_10_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_05_dot_80_bar__plus_01_dot_07_bar__plus_01_dot_87 loc_bar__minus_23_bar_10_bar_2_bar_45)\n (objectAtLocation Laptop_bar__minus_01_dot_63_bar__plus_00_dot_31_bar__plus_02_dot_43 loc_bar__minus_2_bar_9_bar_3_bar_60)\n (objectAtLocation Statue_bar__minus_03_dot_22_bar__plus_00_dot_56_bar__plus_01_dot_56 loc_bar__minus_10_bar_8_bar_3_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?ot - object\n ?r - receptacle\n ?a - agent\n ?l - location)\n (and\n (objectType ?ot DeskLampType)\n (toggleable ?ot)\n (isToggled ?ot)\n (receptacleAtLocation ?r ?l)\n (atLocation ?a ?l)\n (inReceptacle ?ot ?r)\n )\n )\n (exists (?o - object\n ?a - agent)\n (and\n (objectType ?o PlateType)\n (holds ?a ?o)\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sidetable 1", "use desklamp 1", "take plate 1 from sidetable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Plate-None-DeskLamp-218/trial_T20190907_212525_656549/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Plate-None-DeskLamp-218/trial_T20190907_212525_656549/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..30c67a2455f4d793a1449b539304b26b80b800fd --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Plate-None-DeskLamp-218/trial_T20190907_212525_656549/initial_state.pddl @@ -0,0 +1,527 @@ + +(define (problem plan_trial_T20190907_212525_656549) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Box_bar__minus_05_dot_76_bar__plus_00_dot_98_bar__plus_04_dot_69 - object + CellPhone_bar__plus_00_dot_78_bar__plus_00_dot_99_bar__plus_03_dot_92 - object + Chair_bar__minus_00_dot_14_bar__plus_00_dot_02_bar__plus_06_dot_41 - object + Chair_bar__minus_03_dot_16_bar__plus_00_dot_02_bar__plus_00_dot_87 - object + Chair_bar__minus_05_dot_18_bar__plus_00_dot_00_bar__plus_05_dot_29 - object + Chair_bar__minus_05_dot_19_bar__plus_00_dot_00_bar__plus_04_dot_68 - object + Chair_bar__minus_05_dot_58_bar__plus_00_dot_00_bar__plus_04_dot_10 - object + Chair_bar__minus_05_dot_63_bar__plus_00_dot_00_bar__plus_05_dot_75 - object + Chair_bar__minus_06_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_24 - object + Chair_bar__minus_06_dot_05_bar__plus_00_dot_00_bar__plus_04_dot_56 - object + CreditCard_bar__plus_00_dot_72_bar__plus_00_dot_98_bar__plus_04_dot_34 - object + Curtains_bar__minus_01_dot_05_bar__plus_03_dot_50_bar__plus_02_dot_88 - object + DeskLamp_bar__plus_00_dot_89_bar__plus_00_dot_54_bar__plus_06_dot_82 - object + FloorLamp_bar__minus_03_dot_49_bar_00_dot_00_bar__plus_00_dot_37 - object + HousePlant_bar__minus_03_dot_58_bar__plus_00_dot_54_bar__plus_01_dot_64 - object + KeyChain_bar__minus_05_dot_89_bar__plus_00_dot_79_bar__plus_05_dot_13 - object + Laptop_bar__minus_01_dot_63_bar__plus_00_dot_31_bar__plus_02_dot_43 - object + LightSwitch_bar__minus_05_dot_23_bar__plus_01_dot_39_bar__plus_07_dot_03 - object + Newspaper_bar__plus_00_dot_85_bar__plus_00_dot_98_bar__plus_03_dot_71 - object + Newspaper_bar__minus_05_dot_39_bar__plus_00_dot_78_bar__plus_04_dot_69 - object + Painting_bar__minus_03_dot_81_bar__plus_01_dot_81_bar__plus_01_dot_01 - object + Pillow_bar__minus_02_dot_72_bar__plus_00_dot_61_bar__plus_02_dot_77 - object + Plate_bar__plus_00_dot_64_bar__plus_00_dot_55_bar__plus_06_dot_73 - object + Plate_bar__minus_05_dot_89_bar__plus_00_dot_79_bar__plus_05_dot_35 - object + RemoteControl_bar__minus_03_dot_31_bar__plus_00_dot_55_bar__plus_01_dot_82 - object + Statue_bar__minus_03_dot_22_bar__plus_00_dot_56_bar__plus_01_dot_56 - object + Statue_bar__minus_05_dot_76_bar__plus_00_dot_79_bar__plus_05_dot_58 - object + Television_bar__plus_00_dot_83_bar__plus_01_dot_47_bar__plus_03_dot_73 - object + WateringCan_bar__plus_00_dot_83_bar_00_dot_00_bar__plus_02_dot_34 - object + Window_bar__minus_01_dot_99_bar__plus_01_dot_65_bar__minus_00_dot_01 - object + Window_bar__minus_04_dot_91_bar__plus_00_dot_99_bar__plus_02_dot_02 - object + Window_bar__minus_05_dot_80_bar__plus_01_dot_07_bar__plus_01_dot_87 - object + CoffeeTable_bar__minus_01_dot_55_bar__plus_00_dot_02_bar__plus_02_dot_53 - receptacle + DiningTable_bar__minus_05_dot_64_bar_00_dot_00_bar__plus_04_dot_91 - receptacle + Drawer_bar__plus_00_dot_74_bar__plus_00_dot_23_bar__plus_03_dot_32 - receptacle + Drawer_bar__plus_00_dot_74_bar__plus_00_dot_23_bar__plus_04_dot_10 - receptacle + Drawer_bar__plus_00_dot_74_bar__plus_00_dot_67_bar__plus_03_dot_32 - receptacle + Drawer_bar__plus_00_dot_74_bar__plus_00_dot_67_bar__plus_04_dot_10 - receptacle + Dresser_bar__plus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_71 - receptacle + GarbageCan_bar__minus_07_dot_10_bar_00_dot_00_bar__plus_02_dot_29 - receptacle + SideTable_bar__plus_00_dot_73_bar__plus_00_dot_00_bar__plus_06_dot_64 - receptacle + SideTable_bar__minus_03_dot_41_bar__plus_00_dot_00_bar__plus_01_dot_64 - receptacle + Sofa_bar__minus_02_dot_47_bar_00_dot_00_bar__plus_03_dot_28 - receptacle + loc_bar__minus_19_bar_18_bar_3_bar_60 - location + loc_bar_3_bar_20_bar_2_bar_45 - location + loc_bar_0_bar_9_bar_0_bar_60 - location + loc_bar__minus_26_bar_13_bar_2_bar_60 - location + loc_bar_2_bar_9_bar_1_bar_60 - location + loc_bar_0_bar_12_bar_0_bar_45 - location + loc_bar__minus_26_bar_21_bar_1_bar_60 - location + loc_bar__minus_20_bar_10_bar_2_bar_60 - location + loc_bar__minus_4_bar_15_bar_3_bar_45 - location + loc_bar__minus_23_bar_25_bar_2_bar_60 - location + loc_bar__minus_23_bar_10_bar_2_bar_45 - location + loc_bar__minus_10_bar_3_bar_3_bar_60 - location + loc_bar__minus_26_bar_20_bar_1_bar_60 - location + loc_bar__minus_2_bar_9_bar_3_bar_60 - location + loc_bar_3_bar_23_bar_0_bar_60 - location + loc_bar__minus_8_bar_2_bar_2_bar_0 - location + loc_bar__minus_10_bar_2_bar_3_bar_60 - location + loc_bar__minus_1_bar_23_bar_0_bar_60 - location + loc_bar__minus_19_bar_21_bar_3_bar_60 - location + loc_bar__minus_10_bar_4_bar_3_bar_0 - location + loc_bar__minus_3_bar_12_bar_3_bar__minus_30 - location + loc_bar_0_bar_16_bar_1_bar_60 - location + loc_bar__minus_21_bar_26_bar_0_bar_30 - location + loc_bar__minus_10_bar_8_bar_3_bar_60 - location + loc_bar_0_bar_13_bar_1_bar_60 - location + loc_bar__minus_22_bar_14_bar_0_bar_60 - location + loc_bar__minus_26_bar_18_bar_1_bar_60 - location + loc_bar_1_bar_21_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__plus_00_dot_74_bar__plus_00_dot_23_bar__plus_03_dot_32 DrawerType) + (receptacleType Dresser_bar__plus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_71 DresserType) + (receptacleType Drawer_bar__plus_00_dot_74_bar__plus_00_dot_23_bar__plus_04_dot_10 DrawerType) + (receptacleType DiningTable_bar__minus_05_dot_64_bar_00_dot_00_bar__plus_04_dot_91 DiningTableType) + (receptacleType SideTable_bar__minus_03_dot_41_bar__plus_00_dot_00_bar__plus_01_dot_64 SideTableType) + (receptacleType GarbageCan_bar__minus_07_dot_10_bar_00_dot_00_bar__plus_02_dot_29 GarbageCanType) + (receptacleType CoffeeTable_bar__minus_01_dot_55_bar__plus_00_dot_02_bar__plus_02_dot_53 CoffeeTableType) + (receptacleType Drawer_bar__plus_00_dot_74_bar__plus_00_dot_67_bar__plus_04_dot_10 DrawerType) + (receptacleType Sofa_bar__minus_02_dot_47_bar_00_dot_00_bar__plus_03_dot_28 SofaType) + (receptacleType Drawer_bar__plus_00_dot_74_bar__plus_00_dot_67_bar__plus_03_dot_32 DrawerType) + (receptacleType SideTable_bar__plus_00_dot_73_bar__plus_00_dot_00_bar__plus_06_dot_64 SideTableType) + (objectType WateringCan_bar__plus_00_dot_83_bar_00_dot_00_bar__plus_02_dot_34 WateringCanType) + (objectType Chair_bar__minus_05_dot_18_bar__plus_00_dot_00_bar__plus_05_dot_29 ChairType) + (objectType Window_bar__minus_01_dot_99_bar__plus_01_dot_65_bar__minus_00_dot_01 WindowType) + (objectType Chair_bar__minus_06_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_24 ChairType) + (objectType Plate_bar__plus_00_dot_64_bar__plus_00_dot_55_bar__plus_06_dot_73 PlateType) + (objectType FloorLamp_bar__minus_03_dot_49_bar_00_dot_00_bar__plus_00_dot_37 FloorLampType) + (objectType Chair_bar__minus_00_dot_14_bar__plus_00_dot_02_bar__plus_06_dot_41 ChairType) + (objectType Window_bar__minus_04_dot_91_bar__plus_00_dot_99_bar__plus_02_dot_02 WindowType) + (objectType Chair_bar__minus_05_dot_19_bar__plus_00_dot_00_bar__plus_04_dot_68 ChairType) + (objectType HousePlant_bar__minus_03_dot_58_bar__plus_00_dot_54_bar__plus_01_dot_64 HousePlantType) + (objectType Chair_bar__minus_05_dot_63_bar__plus_00_dot_00_bar__plus_05_dot_75 ChairType) + (objectType Curtains_bar__minus_01_dot_05_bar__plus_03_dot_50_bar__plus_02_dot_88 CurtainsType) + (objectType Chair_bar__minus_06_dot_05_bar__plus_00_dot_00_bar__plus_04_dot_56 ChairType) + (objectType Statue_bar__minus_05_dot_76_bar__plus_00_dot_79_bar__plus_05_dot_58 StatueType) + (objectType RemoteControl_bar__minus_03_dot_31_bar__plus_00_dot_55_bar__plus_01_dot_82 RemoteControlType) + (objectType Statue_bar__minus_03_dot_22_bar__plus_00_dot_56_bar__plus_01_dot_56 StatueType) + (objectType LightSwitch_bar__minus_05_dot_23_bar__plus_01_dot_39_bar__plus_07_dot_03 LightSwitchType) + (objectType Pillow_bar__minus_02_dot_72_bar__plus_00_dot_61_bar__plus_02_dot_77 PillowType) + (objectType Newspaper_bar__plus_00_dot_85_bar__plus_00_dot_98_bar__plus_03_dot_71 NewspaperType) + (objectType Painting_bar__minus_03_dot_81_bar__plus_01_dot_81_bar__plus_01_dot_01 PaintingType) + (objectType Box_bar__minus_05_dot_76_bar__plus_00_dot_98_bar__plus_04_dot_69 BoxType) + (objectType Television_bar__plus_00_dot_83_bar__plus_01_dot_47_bar__plus_03_dot_73 TelevisionType) + (objectType Newspaper_bar__minus_05_dot_39_bar__plus_00_dot_78_bar__plus_04_dot_69 NewspaperType) + (objectType DeskLamp_bar__plus_00_dot_89_bar__plus_00_dot_54_bar__plus_06_dot_82 DeskLampType) + (objectType Chair_bar__minus_03_dot_16_bar__plus_00_dot_02_bar__plus_00_dot_87 ChairType) + (objectType CreditCard_bar__plus_00_dot_72_bar__plus_00_dot_98_bar__plus_04_dot_34 CreditCardType) + (objectType Window_bar__minus_05_dot_80_bar__plus_01_dot_07_bar__plus_01_dot_87 WindowType) + (objectType Plate_bar__minus_05_dot_89_bar__plus_00_dot_79_bar__plus_05_dot_35 PlateType) + (objectType KeyChain_bar__minus_05_dot_89_bar__plus_00_dot_79_bar__plus_05_dot_13 KeyChainType) + (objectType CellPhone_bar__plus_00_dot_78_bar__plus_00_dot_99_bar__plus_03_dot_92 CellPhoneType) + (objectType Chair_bar__minus_05_dot_58_bar__plus_00_dot_00_bar__plus_04_dot_10 ChairType) + (objectType Laptop_bar__minus_01_dot_63_bar__plus_00_dot_31_bar__plus_02_dot_43 LaptopType) + (canContain DrawerType NewspaperType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain DresserType NewspaperType) + (canContain DresserType BoxType) + (canContain DresserType CellPhoneType) + (canContain DresserType KeyChainType) + (canContain DresserType CreditCardType) + (canContain DresserType LaptopType) + (canContain DresserType PlateType) + (canContain DresserType RemoteControlType) + (canContain DresserType StatueType) + (canContain DresserType WateringCanType) + (canContain DrawerType NewspaperType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain DiningTableType NewspaperType) + (canContain DiningTableType BoxType) + (canContain DiningTableType CellPhoneType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType PlateType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType StatueType) + (canContain DiningTableType WateringCanType) + (canContain SideTableType NewspaperType) + (canContain SideTableType BoxType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType PlateType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType StatueType) + (canContain SideTableType WateringCanType) + (canContain GarbageCanType NewspaperType) + (canContain CoffeeTableType NewspaperType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType CellPhoneType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType PlateType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType StatueType) + (canContain CoffeeTableType WateringCanType) + (canContain DrawerType NewspaperType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType CellPhoneType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType NewspaperType) + (canContain SofaType CreditCardType) + (canContain DrawerType NewspaperType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain SideTableType NewspaperType) + (canContain SideTableType BoxType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType PlateType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType StatueType) + (canContain SideTableType WateringCanType) + (pickupable WateringCan_bar__plus_00_dot_83_bar_00_dot_00_bar__plus_02_dot_34) + (pickupable Plate_bar__plus_00_dot_64_bar__plus_00_dot_55_bar__plus_06_dot_73) + (pickupable Statue_bar__minus_05_dot_76_bar__plus_00_dot_79_bar__plus_05_dot_58) + (pickupable RemoteControl_bar__minus_03_dot_31_bar__plus_00_dot_55_bar__plus_01_dot_82) + (pickupable Statue_bar__minus_03_dot_22_bar__plus_00_dot_56_bar__plus_01_dot_56) + (pickupable Pillow_bar__minus_02_dot_72_bar__plus_00_dot_61_bar__plus_02_dot_77) + (pickupable Newspaper_bar__plus_00_dot_85_bar__plus_00_dot_98_bar__plus_03_dot_71) + (pickupable Box_bar__minus_05_dot_76_bar__plus_00_dot_98_bar__plus_04_dot_69) + (pickupable Newspaper_bar__minus_05_dot_39_bar__plus_00_dot_78_bar__plus_04_dot_69) + (pickupable CreditCard_bar__plus_00_dot_72_bar__plus_00_dot_98_bar__plus_04_dot_34) + (pickupable Plate_bar__minus_05_dot_89_bar__plus_00_dot_79_bar__plus_05_dot_35) + (pickupable KeyChain_bar__minus_05_dot_89_bar__plus_00_dot_79_bar__plus_05_dot_13) + (pickupable CellPhone_bar__plus_00_dot_78_bar__plus_00_dot_99_bar__plus_03_dot_92) + (pickupable Laptop_bar__minus_01_dot_63_bar__plus_00_dot_31_bar__plus_02_dot_43) + (isReceptacleObject Plate_bar__plus_00_dot_64_bar__plus_00_dot_55_bar__plus_06_dot_73) + (isReceptacleObject Box_bar__minus_05_dot_76_bar__plus_00_dot_98_bar__plus_04_dot_69) + (isReceptacleObject Plate_bar__minus_05_dot_89_bar__plus_00_dot_79_bar__plus_05_dot_35) + (openable Drawer_bar__plus_00_dot_74_bar__plus_00_dot_23_bar__plus_03_dot_32) + (openable Drawer_bar__plus_00_dot_74_bar__plus_00_dot_23_bar__plus_04_dot_10) + (openable Drawer_bar__plus_00_dot_74_bar__plus_00_dot_67_bar__plus_04_dot_10) + (openable Drawer_bar__plus_00_dot_74_bar__plus_00_dot_67_bar__plus_03_dot_32) + + (atLocation agent1 loc_bar_1_bar_21_bar_0_bar_30) + + (cleanable Plate_bar__plus_00_dot_64_bar__plus_00_dot_55_bar__plus_06_dot_73) + (cleanable Plate_bar__minus_05_dot_89_bar__plus_00_dot_79_bar__plus_05_dot_35) + + (heatable Plate_bar__plus_00_dot_64_bar__plus_00_dot_55_bar__plus_06_dot_73) + (heatable Plate_bar__minus_05_dot_89_bar__plus_00_dot_79_bar__plus_05_dot_35) + (coolable Plate_bar__plus_00_dot_64_bar__plus_00_dot_55_bar__plus_06_dot_73) + (coolable Plate_bar__minus_05_dot_89_bar__plus_00_dot_79_bar__plus_05_dot_35) + + + (toggleable FloorLamp_bar__minus_03_dot_49_bar_00_dot_00_bar__plus_00_dot_37) + (toggleable DeskLamp_bar__plus_00_dot_89_bar__plus_00_dot_54_bar__plus_06_dot_82) + + + + + (inReceptacle CreditCard_bar__plus_00_dot_72_bar__plus_00_dot_98_bar__plus_04_dot_34 Dresser_bar__plus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_71) + (inReceptacle Newspaper_bar__plus_00_dot_85_bar__plus_00_dot_98_bar__plus_03_dot_71 Dresser_bar__plus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_71) + (inReceptacle Television_bar__plus_00_dot_83_bar__plus_01_dot_47_bar__plus_03_dot_73 Dresser_bar__plus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_71) + (inReceptacle CellPhone_bar__plus_00_dot_78_bar__plus_00_dot_99_bar__plus_03_dot_92 Dresser_bar__plus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_71) + (inReceptacle Pillow_bar__minus_02_dot_72_bar__plus_00_dot_61_bar__plus_02_dot_77 Sofa_bar__minus_02_dot_47_bar_00_dot_00_bar__plus_03_dot_28) + (inReceptacle HousePlant_bar__minus_03_dot_58_bar__plus_00_dot_54_bar__plus_01_dot_64 SideTable_bar__minus_03_dot_41_bar__plus_00_dot_00_bar__plus_01_dot_64) + (inReceptacle RemoteControl_bar__minus_03_dot_31_bar__plus_00_dot_55_bar__plus_01_dot_82 SideTable_bar__minus_03_dot_41_bar__plus_00_dot_00_bar__plus_01_dot_64) + (inReceptacle Statue_bar__minus_03_dot_22_bar__plus_00_dot_56_bar__plus_01_dot_56 SideTable_bar__minus_03_dot_41_bar__plus_00_dot_00_bar__plus_01_dot_64) + (inReceptacle Statue_bar__minus_05_dot_76_bar__plus_00_dot_79_bar__plus_05_dot_58 DiningTable_bar__minus_05_dot_64_bar_00_dot_00_bar__plus_04_dot_91) + (inReceptacle Newspaper_bar__minus_05_dot_39_bar__plus_00_dot_78_bar__plus_04_dot_69 DiningTable_bar__minus_05_dot_64_bar_00_dot_00_bar__plus_04_dot_91) + (inReceptacle KeyChain_bar__minus_05_dot_89_bar__plus_00_dot_79_bar__plus_05_dot_13 DiningTable_bar__minus_05_dot_64_bar_00_dot_00_bar__plus_04_dot_91) + (inReceptacle Box_bar__minus_05_dot_76_bar__plus_00_dot_98_bar__plus_04_dot_69 DiningTable_bar__minus_05_dot_64_bar_00_dot_00_bar__plus_04_dot_91) + (inReceptacle Plate_bar__minus_05_dot_89_bar__plus_00_dot_79_bar__plus_05_dot_35 DiningTable_bar__minus_05_dot_64_bar_00_dot_00_bar__plus_04_dot_91) + (inReceptacle Laptop_bar__minus_01_dot_63_bar__plus_00_dot_31_bar__plus_02_dot_43 CoffeeTable_bar__minus_01_dot_55_bar__plus_00_dot_02_bar__plus_02_dot_53) + (inReceptacle DeskLamp_bar__plus_00_dot_89_bar__plus_00_dot_54_bar__plus_06_dot_82 SideTable_bar__plus_00_dot_73_bar__plus_00_dot_00_bar__plus_06_dot_64) + (inReceptacle Plate_bar__plus_00_dot_64_bar__plus_00_dot_55_bar__plus_06_dot_73 SideTable_bar__plus_00_dot_73_bar__plus_00_dot_00_bar__plus_06_dot_64) + + + (receptacleAtLocation CoffeeTable_bar__minus_01_dot_55_bar__plus_00_dot_02_bar__plus_02_dot_53 loc_bar__minus_2_bar_9_bar_3_bar_60) + (receptacleAtLocation DiningTable_bar__minus_05_dot_64_bar_00_dot_00_bar__plus_04_dot_91 loc_bar__minus_26_bar_20_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_74_bar__plus_00_dot_23_bar__plus_03_dot_32 loc_bar_0_bar_9_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_74_bar__plus_00_dot_23_bar__plus_04_dot_10 loc_bar_0_bar_12_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_74_bar__plus_00_dot_67_bar__plus_03_dot_32 loc_bar_0_bar_13_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_74_bar__plus_00_dot_67_bar__plus_04_dot_10 loc_bar_0_bar_16_bar_1_bar_60) + (receptacleAtLocation Dresser_bar__plus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_71 loc_bar_3_bar_20_bar_2_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_07_dot_10_bar_00_dot_00_bar__plus_02_dot_29 loc_bar__minus_26_bar_13_bar_2_bar_60) + (receptacleAtLocation SideTable_bar__plus_00_dot_73_bar__plus_00_dot_00_bar__plus_06_dot_64 loc_bar_3_bar_23_bar_0_bar_60) + (receptacleAtLocation SideTable_bar__minus_03_dot_41_bar__plus_00_dot_00_bar__plus_01_dot_64 loc_bar__minus_10_bar_8_bar_3_bar_60) + (receptacleAtLocation Sofa_bar__minus_02_dot_47_bar_00_dot_00_bar__plus_03_dot_28 loc_bar__minus_4_bar_15_bar_3_bar_45) + (objectAtLocation Statue_bar__minus_05_dot_76_bar__plus_00_dot_79_bar__plus_05_dot_58 loc_bar__minus_26_bar_20_bar_1_bar_60) + (objectAtLocation Plate_bar__minus_05_dot_89_bar__plus_00_dot_79_bar__plus_05_dot_35 loc_bar__minus_26_bar_20_bar_1_bar_60) + (objectAtLocation Newspaper_bar__plus_00_dot_85_bar__plus_00_dot_98_bar__plus_03_dot_71 loc_bar_3_bar_20_bar_2_bar_45) + (objectAtLocation Chair_bar__minus_06_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_24 loc_bar__minus_26_bar_21_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_05_dot_58_bar__plus_00_dot_00_bar__plus_04_dot_10 loc_bar__minus_22_bar_14_bar_0_bar_60) + (objectAtLocation Chair_bar__minus_00_dot_14_bar__plus_00_dot_02_bar__plus_06_dot_41 loc_bar__minus_1_bar_23_bar_0_bar_60) + (objectAtLocation Chair_bar__minus_05_dot_18_bar__plus_00_dot_00_bar__plus_05_dot_29 loc_bar__minus_19_bar_21_bar_3_bar_60) + (objectAtLocation Chair_bar__minus_05_dot_63_bar__plus_00_dot_00_bar__plus_05_dot_75 loc_bar__minus_23_bar_25_bar_2_bar_60) + (objectAtLocation Chair_bar__minus_03_dot_16_bar__plus_00_dot_02_bar__plus_00_dot_87 loc_bar__minus_10_bar_3_bar_3_bar_60) + (objectAtLocation Chair_bar__minus_05_dot_19_bar__plus_00_dot_00_bar__plus_04_dot_68 loc_bar__minus_19_bar_18_bar_3_bar_60) + (objectAtLocation Box_bar__minus_05_dot_76_bar__plus_00_dot_98_bar__plus_04_dot_69 loc_bar__minus_26_bar_20_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_06_dot_05_bar__plus_00_dot_00_bar__plus_04_dot_56 loc_bar__minus_26_bar_18_bar_1_bar_60) + (objectAtLocation Curtains_bar__minus_01_dot_05_bar__plus_03_dot_50_bar__plus_02_dot_88 loc_bar__minus_3_bar_12_bar_3_bar__minus_30) + (objectAtLocation CellPhone_bar__plus_00_dot_78_bar__plus_00_dot_99_bar__plus_03_dot_92 loc_bar_3_bar_20_bar_2_bar_45) + (objectAtLocation HousePlant_bar__minus_03_dot_58_bar__plus_00_dot_54_bar__plus_01_dot_64 loc_bar__minus_10_bar_8_bar_3_bar_60) + (objectAtLocation Television_bar__plus_00_dot_83_bar__plus_01_dot_47_bar__plus_03_dot_73 loc_bar_3_bar_20_bar_2_bar_45) + (objectAtLocation WateringCan_bar__plus_00_dot_83_bar_00_dot_00_bar__plus_02_dot_34 loc_bar_2_bar_9_bar_1_bar_60) + (objectAtLocation Newspaper_bar__minus_05_dot_39_bar__plus_00_dot_78_bar__plus_04_dot_69 loc_bar__minus_26_bar_20_bar_1_bar_60) + (objectAtLocation KeyChain_bar__minus_05_dot_89_bar__plus_00_dot_79_bar__plus_05_dot_13 loc_bar__minus_26_bar_20_bar_1_bar_60) + (objectAtLocation Plate_bar__plus_00_dot_64_bar__plus_00_dot_55_bar__plus_06_dot_73 loc_bar_3_bar_23_bar_0_bar_60) + (objectAtLocation Pillow_bar__minus_02_dot_72_bar__plus_00_dot_61_bar__plus_02_dot_77 loc_bar__minus_4_bar_15_bar_3_bar_45) + (objectAtLocation Painting_bar__minus_03_dot_81_bar__plus_01_dot_81_bar__plus_01_dot_01 loc_bar__minus_10_bar_4_bar_3_bar_0) + (objectAtLocation DeskLamp_bar__plus_00_dot_89_bar__plus_00_dot_54_bar__plus_06_dot_82 loc_bar_3_bar_23_bar_0_bar_60) + (objectAtLocation RemoteControl_bar__minus_03_dot_31_bar__plus_00_dot_55_bar__plus_01_dot_82 loc_bar__minus_10_bar_8_bar_3_bar_60) + (objectAtLocation CreditCard_bar__plus_00_dot_72_bar__plus_00_dot_98_bar__plus_04_dot_34 loc_bar_3_bar_20_bar_2_bar_45) + (objectAtLocation FloorLamp_bar__minus_03_dot_49_bar_00_dot_00_bar__plus_00_dot_37 loc_bar__minus_10_bar_2_bar_3_bar_60) + (objectAtLocation LightSwitch_bar__minus_05_dot_23_bar__plus_01_dot_39_bar__plus_07_dot_03 loc_bar__minus_21_bar_26_bar_0_bar_30) + (objectAtLocation Window_bar__minus_01_dot_99_bar__plus_01_dot_65_bar__minus_00_dot_01 loc_bar__minus_8_bar_2_bar_2_bar_0) + (objectAtLocation Window_bar__minus_04_dot_91_bar__plus_00_dot_99_bar__plus_02_dot_02 loc_bar__minus_20_bar_10_bar_2_bar_60) + (objectAtLocation Window_bar__minus_05_dot_80_bar__plus_01_dot_07_bar__plus_01_dot_87 loc_bar__minus_23_bar_10_bar_2_bar_45) + (objectAtLocation Laptop_bar__minus_01_dot_63_bar__plus_00_dot_31_bar__plus_02_dot_43 loc_bar__minus_2_bar_9_bar_3_bar_60) + (objectAtLocation Statue_bar__minus_03_dot_22_bar__plus_00_dot_56_bar__plus_01_dot_56 loc_bar__minus_10_bar_8_bar_3_bar_60) + ) + + + (: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 PlateType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Plate-None-DeskLamp-218/trial_T20190907_212525_656549/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Plate-None-DeskLamp-218/trial_T20190907_212525_656549/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..88b53a6192f85c599f9312aabdba9fa57ae8e732 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Plate-None-DeskLamp-218/trial_T20190907_212525_656549/traj_data.json @@ -0,0 +1,1478 @@ +{ + "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": "000000004.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000005.png", + "low_idx": 0 + }, + { + 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"objectName": "CreditCard_9f46cbc0", + "position": { + "x": 0.722, + "y": 0.982312143, + "z": 4.337316 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Laptop_4dbc7255", + "position": { + "x": -1.63260186, + "y": 0.307316244, + "z": 2.43390131 + }, + "rotation": { + "x": 0.0, + "y": 39.022747, + "z": 0.0 + } + }, + { + "objectName": "Statue_4a123fac", + "position": { + "x": -5.762578, + "y": 0.792553544, + "z": 5.57538843 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [ + { + "isOn": false, + "objectType": "DeskLamp" + } + ], + "random_seed": 3877162144, + "scene_num": 218 + }, + "task_id": "trial_T20190907_212525_656549", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3MLUEOP3CCLXL_308XBLVESLLE3KFLGYMRN4UVETTRBQ", + "high_descs": [ + "Turn right, take a step, then turn left and walk to the little brown table", + "Turn on the lamp that is sitting on the table", + "Pick up the plate that is sitting on the table." + ], + "task_desc": "Look at a plate by the light of a lamp", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A272X64FOZFYLB_34QN5IT0T2871SXFJ9J2C637XWW80V", + "high_descs": [ + "Walk to the end table to the right of the chair in front of you.", + "Turn on the lamp that is on the end table.", + "Pick up the plate from the end table." + ], + "task_desc": "Examine a plate by the light of a desk lamp.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A6U2C66WQ7QQN_3X73LLYYQ4V3FZQFNJF60VSJ88XNH0", + "high_descs": [ + "Take a few steps to the right, Face the table in the corner", + "Turn on the lamp", + "Pick up the black plate from the table" + ], + "task_desc": "Go to the table in the corner to turn on the lamp, pick up the black plate", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Plate-None-DeskLamp-218/trial_T20190907_215235_918119/game.tw-pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Plate-None-DeskLamp-218/trial_T20190907_215235_918119/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..c5db5246f761e5a3f56eb8bb9e816a958f2020b1 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Plate-None-DeskLamp-218/trial_T20190907_215235_918119/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: look at plate under the desklamp.\"\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_215235_918119)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Box_bar__minus_01_dot_29_bar__plus_00_dot_51_bar__plus_02_dot_49 - object\n Box_bar__minus_05_dot_89_bar__plus_00_dot_98_bar__plus_04_dot_69 - object\n CellPhone_bar__minus_05_dot_39_bar__plus_00_dot_79_bar__plus_04_dot_91 - object\n Chair_bar__minus_00_dot_14_bar__plus_00_dot_02_bar__plus_06_dot_41 - object\n Chair_bar__minus_03_dot_16_bar__plus_00_dot_02_bar__plus_00_dot_87 - object\n Chair_bar__minus_05_dot_18_bar__plus_00_dot_00_bar__plus_05_dot_29 - object\n Chair_bar__minus_05_dot_19_bar__plus_00_dot_00_bar__plus_04_dot_68 - object\n Chair_bar__minus_05_dot_58_bar__plus_00_dot_00_bar__plus_04_dot_10 - object\n Chair_bar__minus_05_dot_63_bar__plus_00_dot_00_bar__plus_05_dot_75 - object\n Chair_bar__minus_06_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_24 - object\n Chair_bar__minus_06_dot_05_bar__plus_00_dot_00_bar__plus_04_dot_56 - object\n CreditCard_bar__plus_00_dot_79_bar__plus_00_dot_10_bar__plus_04_dot_35 - object\n Curtains_bar__minus_01_dot_05_bar__plus_03_dot_50_bar__plus_02_dot_88 - object\n DeskLamp_bar__plus_00_dot_89_bar__plus_00_dot_54_bar__plus_06_dot_82 - object\n FloorLamp_bar__minus_03_dot_49_bar_00_dot_00_bar__plus_00_dot_37 - object\n HousePlant_bar__minus_03_dot_58_bar__plus_00_dot_54_bar__plus_01_dot_64 - object\n KeyChain_bar__plus_00_dot_68_bar__plus_00_dot_54_bar__plus_03_dot_49 - object\n KeyChain_bar__minus_01_dot_79_bar__plus_00_dot_31_bar__plus_02_dot_23 - object\n Laptop_bar__minus_05_dot_46_bar__plus_00_dot_78_bar__plus_05_dot_25 - object\n LightSwitch_bar__minus_05_dot_23_bar__plus_01_dot_39_bar__plus_07_dot_03 - object\n Newspaper_bar__plus_00_dot_85_bar__plus_00_dot_98_bar__plus_03_dot_71 - object\n Newspaper_bar__minus_05_dot_52_bar__plus_00_dot_79_bar__plus_04_dot_69 - object\n Painting_bar__minus_03_dot_81_bar__plus_01_dot_81_bar__plus_01_dot_01 - object\n Pillow_bar__minus_02_dot_72_bar__plus_00_dot_61_bar__plus_02_dot_77 - object\n Plate_bar__minus_01_dot_72_bar__plus_00_dot_32_bar__plus_02_dot_51 - object\n RemoteControl_bar__minus_01_dot_47_bar__plus_00_dot_31_bar__plus_02_dot_63 - object\n RemoteControl_bar__minus_01_dot_49_bar__plus_00_dot_31_bar__plus_02_dot_98 - object\n Statue_bar__minus_03_dot_41_bar__plus_00_dot_56_bar__plus_01_dot_47 - object\n Statue_bar__minus_05_dot_89_bar__plus_00_dot_80_bar__plus_05_dot_35 - object\n Television_bar__plus_00_dot_83_bar__plus_01_dot_47_bar__plus_03_dot_73 - object\n WateringCan_bar__plus_00_dot_83_bar_00_dot_00_bar__plus_02_dot_34 - object\n Window_bar__minus_01_dot_99_bar__plus_01_dot_65_bar__minus_00_dot_01 - object\n Window_bar__minus_04_dot_91_bar__plus_00_dot_99_bar__plus_02_dot_02 - object\n Window_bar__minus_05_dot_80_bar__plus_01_dot_07_bar__plus_01_dot_87 - object\n CoffeeTable_bar__minus_01_dot_55_bar__plus_00_dot_02_bar__plus_02_dot_53 - receptacle\n DiningTable_bar__minus_05_dot_64_bar_00_dot_00_bar__plus_04_dot_91 - receptacle\n Drawer_bar__plus_00_dot_74_bar__plus_00_dot_23_bar__plus_03_dot_32 - receptacle\n Drawer_bar__plus_00_dot_74_bar__plus_00_dot_23_bar__plus_04_dot_10 - receptacle\n Drawer_bar__plus_00_dot_74_bar__plus_00_dot_67_bar__plus_03_dot_32 - receptacle\n Drawer_bar__plus_00_dot_74_bar__plus_00_dot_67_bar__plus_04_dot_10 - receptacle\n Dresser_bar__plus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_71 - receptacle\n GarbageCan_bar__minus_07_dot_10_bar_00_dot_00_bar__plus_02_dot_29 - receptacle\n SideTable_bar__plus_00_dot_73_bar__plus_00_dot_00_bar__plus_06_dot_64 - receptacle\n SideTable_bar__minus_03_dot_41_bar__plus_00_dot_00_bar__plus_01_dot_64 - receptacle\n Sofa_bar__minus_02_dot_47_bar_00_dot_00_bar__plus_03_dot_28 - receptacle\n loc_bar__minus_19_bar_18_bar_3_bar_60 - location\n loc_bar_3_bar_20_bar_2_bar_45 - location\n loc_bar_0_bar_9_bar_0_bar_60 - location\n loc_bar__minus_26_bar_13_bar_2_bar_60 - location\n loc_bar_2_bar_9_bar_1_bar_60 - location\n loc_bar_0_bar_12_bar_0_bar_45 - location\n loc_bar__minus_26_bar_21_bar_1_bar_60 - location\n loc_bar__minus_20_bar_10_bar_2_bar_60 - location\n loc_bar__minus_4_bar_15_bar_3_bar_45 - location\n loc_bar__minus_23_bar_25_bar_2_bar_60 - location\n loc_bar__minus_23_bar_10_bar_2_bar_45 - location\n loc_bar__minus_10_bar_3_bar_3_bar_60 - location\n loc_bar__minus_26_bar_20_bar_1_bar_60 - location\n loc_bar__minus_2_bar_9_bar_3_bar_60 - location\n loc_bar_3_bar_23_bar_0_bar_60 - location\n loc_bar__minus_8_bar_2_bar_2_bar_0 - location\n loc_bar__minus_10_bar_2_bar_3_bar_60 - location\n loc_bar__minus_1_bar_23_bar_0_bar_60 - location\n loc_bar__minus_19_bar_21_bar_3_bar_60 - location\n loc_bar__minus_10_bar_4_bar_3_bar_0 - location\n loc_bar__minus_3_bar_12_bar_3_bar__minus_30 - location\n loc_bar_0_bar_16_bar_1_bar_60 - location\n loc_bar__minus_21_bar_26_bar_0_bar_30 - location\n loc_bar__minus_10_bar_8_bar_3_bar_60 - location\n loc_bar_0_bar_13_bar_1_bar_60 - location\n loc_bar__minus_22_bar_14_bar_0_bar_60 - location\n loc_bar__minus_26_bar_18_bar_1_bar_60 - location\n loc_bar__minus_26_bar_22_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__plus_00_dot_74_bar__plus_00_dot_23_bar__plus_03_dot_32 DrawerType)\n (receptacleType Dresser_bar__plus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_71 DresserType)\n (receptacleType Drawer_bar__plus_00_dot_74_bar__plus_00_dot_23_bar__plus_04_dot_10 DrawerType)\n (receptacleType DiningTable_bar__minus_05_dot_64_bar_00_dot_00_bar__plus_04_dot_91 DiningTableType)\n (receptacleType SideTable_bar__minus_03_dot_41_bar__plus_00_dot_00_bar__plus_01_dot_64 SideTableType)\n (receptacleType GarbageCan_bar__minus_07_dot_10_bar_00_dot_00_bar__plus_02_dot_29 GarbageCanType)\n (receptacleType CoffeeTable_bar__minus_01_dot_55_bar__plus_00_dot_02_bar__plus_02_dot_53 CoffeeTableType)\n (receptacleType Drawer_bar__plus_00_dot_74_bar__plus_00_dot_67_bar__plus_04_dot_10 DrawerType)\n (receptacleType Sofa_bar__minus_02_dot_47_bar_00_dot_00_bar__plus_03_dot_28 SofaType)\n (receptacleType Drawer_bar__plus_00_dot_74_bar__plus_00_dot_67_bar__plus_03_dot_32 DrawerType)\n (receptacleType SideTable_bar__plus_00_dot_73_bar__plus_00_dot_00_bar__plus_06_dot_64 SideTableType)\n (objectType WateringCan_bar__plus_00_dot_83_bar_00_dot_00_bar__plus_02_dot_34 WateringCanType)\n (objectType RemoteControl_bar__minus_01_dot_49_bar__plus_00_dot_31_bar__plus_02_dot_98 RemoteControlType)\n (objectType Chair_bar__minus_05_dot_18_bar__plus_00_dot_00_bar__plus_05_dot_29 ChairType)\n (objectType Window_bar__minus_01_dot_99_bar__plus_01_dot_65_bar__minus_00_dot_01 WindowType)\n (objectType Chair_bar__minus_06_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_24 ChairType)\n (objectType FloorLamp_bar__minus_03_dot_49_bar_00_dot_00_bar__plus_00_dot_37 FloorLampType)\n (objectType Chair_bar__minus_00_dot_14_bar__plus_00_dot_02_bar__plus_06_dot_41 ChairType)\n (objectType CreditCard_bar__plus_00_dot_79_bar__plus_00_dot_10_bar__plus_04_dot_35 CreditCardType)\n (objectType Window_bar__minus_04_dot_91_bar__plus_00_dot_99_bar__plus_02_dot_02 WindowType)\n (objectType Chair_bar__minus_05_dot_19_bar__plus_00_dot_00_bar__plus_04_dot_68 ChairType)\n (objectType HousePlant_bar__minus_03_dot_58_bar__plus_00_dot_54_bar__plus_01_dot_64 HousePlantType)\n (objectType Chair_bar__minus_05_dot_63_bar__plus_00_dot_00_bar__plus_05_dot_75 ChairType)\n (objectType Curtains_bar__minus_01_dot_05_bar__plus_03_dot_50_bar__plus_02_dot_88 CurtainsType)\n (objectType Chair_bar__minus_06_dot_05_bar__plus_00_dot_00_bar__plus_04_dot_56 ChairType)\n (objectType LightSwitch_bar__minus_05_dot_23_bar__plus_01_dot_39_bar__plus_07_dot_03 LightSwitchType)\n (objectType Pillow_bar__minus_02_dot_72_bar__plus_00_dot_61_bar__plus_02_dot_77 PillowType)\n (objectType Newspaper_bar__plus_00_dot_85_bar__plus_00_dot_98_bar__plus_03_dot_71 NewspaperType)\n (objectType Painting_bar__minus_03_dot_81_bar__plus_01_dot_81_bar__plus_01_dot_01 PaintingType)\n (objectType Box_bar__minus_05_dot_89_bar__plus_00_dot_98_bar__plus_04_dot_69 BoxType)\n (objectType CellPhone_bar__minus_05_dot_39_bar__plus_00_dot_79_bar__plus_04_dot_91 CellPhoneType)\n (objectType Television_bar__plus_00_dot_83_bar__plus_01_dot_47_bar__plus_03_dot_73 TelevisionType)\n (objectType Statue_bar__minus_05_dot_89_bar__plus_00_dot_80_bar__plus_05_dot_35 StatueType)\n (objectType Newspaper_bar__minus_05_dot_52_bar__plus_00_dot_79_bar__plus_04_dot_69 NewspaperType)\n (objectType KeyChain_bar__plus_00_dot_68_bar__plus_00_dot_54_bar__plus_03_dot_49 KeyChainType)\n (objectType DeskLamp_bar__plus_00_dot_89_bar__plus_00_dot_54_bar__plus_06_dot_82 DeskLampType)\n (objectType Chair_bar__minus_03_dot_16_bar__plus_00_dot_02_bar__plus_00_dot_87 ChairType)\n (objectType Laptop_bar__minus_05_dot_46_bar__plus_00_dot_78_bar__plus_05_dot_25 LaptopType)\n (objectType Window_bar__minus_05_dot_80_bar__plus_01_dot_07_bar__plus_01_dot_87 WindowType)\n (objectType Statue_bar__minus_03_dot_41_bar__plus_00_dot_56_bar__plus_01_dot_47 StatueType)\n (objectType KeyChain_bar__minus_01_dot_79_bar__plus_00_dot_31_bar__plus_02_dot_23 KeyChainType)\n (objectType RemoteControl_bar__minus_01_dot_47_bar__plus_00_dot_31_bar__plus_02_dot_63 RemoteControlType)\n (objectType Box_bar__minus_01_dot_29_bar__plus_00_dot_51_bar__plus_02_dot_49 BoxType)\n (objectType Plate_bar__minus_01_dot_72_bar__plus_00_dot_32_bar__plus_02_dot_51 PlateType)\n (objectType Chair_bar__minus_05_dot_58_bar__plus_00_dot_00_bar__plus_04_dot_10 ChairType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain DresserType NewspaperType)\n (canContain DresserType BoxType)\n (canContain DresserType CellPhoneType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType LaptopType)\n (canContain DresserType PlateType)\n (canContain DresserType RemoteControlType)\n (canContain DresserType StatueType)\n (canContain DresserType WateringCanType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain DiningTableType NewspaperType)\n (canContain DiningTableType BoxType)\n (canContain DiningTableType CellPhoneType)\n (canContain DiningTableType KeyChainType)\n (canContain DiningTableType CreditCardType)\n (canContain DiningTableType LaptopType)\n (canContain DiningTableType PlateType)\n (canContain DiningTableType RemoteControlType)\n (canContain DiningTableType StatueType)\n (canContain DiningTableType WateringCanType)\n (canContain SideTableType NewspaperType)\n (canContain SideTableType BoxType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PlateType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType StatueType)\n (canContain SideTableType WateringCanType)\n (canContain GarbageCanType NewspaperType)\n (canContain CoffeeTableType NewspaperType)\n (canContain CoffeeTableType BoxType)\n (canContain CoffeeTableType CellPhoneType)\n (canContain CoffeeTableType KeyChainType)\n (canContain CoffeeTableType CreditCardType)\n (canContain CoffeeTableType LaptopType)\n (canContain CoffeeTableType PlateType)\n (canContain CoffeeTableType RemoteControlType)\n (canContain CoffeeTableType StatueType)\n (canContain CoffeeTableType WateringCanType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain SofaType BoxType)\n (canContain SofaType LaptopType)\n (canContain SofaType CellPhoneType)\n (canContain SofaType PillowType)\n (canContain SofaType RemoteControlType)\n (canContain SofaType KeyChainType)\n (canContain SofaType NewspaperType)\n (canContain SofaType CreditCardType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain SideTableType NewspaperType)\n (canContain SideTableType BoxType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PlateType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType StatueType)\n (canContain SideTableType WateringCanType)\n (pickupable WateringCan_bar__plus_00_dot_83_bar_00_dot_00_bar__plus_02_dot_34)\n (pickupable RemoteControl_bar__minus_01_dot_49_bar__plus_00_dot_31_bar__plus_02_dot_98)\n (pickupable CreditCard_bar__plus_00_dot_79_bar__plus_00_dot_10_bar__plus_04_dot_35)\n (pickupable Pillow_bar__minus_02_dot_72_bar__plus_00_dot_61_bar__plus_02_dot_77)\n (pickupable Newspaper_bar__plus_00_dot_85_bar__plus_00_dot_98_bar__plus_03_dot_71)\n (pickupable Box_bar__minus_05_dot_89_bar__plus_00_dot_98_bar__plus_04_dot_69)\n (pickupable CellPhone_bar__minus_05_dot_39_bar__plus_00_dot_79_bar__plus_04_dot_91)\n (pickupable Statue_bar__minus_05_dot_89_bar__plus_00_dot_80_bar__plus_05_dot_35)\n (pickupable Newspaper_bar__minus_05_dot_52_bar__plus_00_dot_79_bar__plus_04_dot_69)\n (pickupable KeyChain_bar__plus_00_dot_68_bar__plus_00_dot_54_bar__plus_03_dot_49)\n (pickupable Laptop_bar__minus_05_dot_46_bar__plus_00_dot_78_bar__plus_05_dot_25)\n (pickupable Statue_bar__minus_03_dot_41_bar__plus_00_dot_56_bar__plus_01_dot_47)\n (pickupable KeyChain_bar__minus_01_dot_79_bar__plus_00_dot_31_bar__plus_02_dot_23)\n (pickupable RemoteControl_bar__minus_01_dot_47_bar__plus_00_dot_31_bar__plus_02_dot_63)\n (pickupable Box_bar__minus_01_dot_29_bar__plus_00_dot_51_bar__plus_02_dot_49)\n (pickupable Plate_bar__minus_01_dot_72_bar__plus_00_dot_32_bar__plus_02_dot_51)\n (isReceptacleObject Box_bar__minus_05_dot_89_bar__plus_00_dot_98_bar__plus_04_dot_69)\n (isReceptacleObject Box_bar__minus_01_dot_29_bar__plus_00_dot_51_bar__plus_02_dot_49)\n (isReceptacleObject Plate_bar__minus_01_dot_72_bar__plus_00_dot_32_bar__plus_02_dot_51)\n (openable Drawer_bar__plus_00_dot_74_bar__plus_00_dot_23_bar__plus_03_dot_32)\n (openable Drawer_bar__plus_00_dot_74_bar__plus_00_dot_23_bar__plus_04_dot_10)\n (openable Drawer_bar__plus_00_dot_74_bar__plus_00_dot_67_bar__plus_04_dot_10)\n (openable Drawer_bar__plus_00_dot_74_bar__plus_00_dot_67_bar__plus_03_dot_32)\n \n (atLocation agent1 loc_bar__minus_26_bar_22_bar_3_bar_30)\n \n (cleanable Plate_bar__minus_01_dot_72_bar__plus_00_dot_32_bar__plus_02_dot_51)\n \n (heatable Plate_bar__minus_01_dot_72_bar__plus_00_dot_32_bar__plus_02_dot_51)\n (coolable Plate_bar__minus_01_dot_72_bar__plus_00_dot_32_bar__plus_02_dot_51)\n \n \n (toggleable FloorLamp_bar__minus_03_dot_49_bar_00_dot_00_bar__plus_00_dot_37)\n (toggleable DeskLamp_bar__plus_00_dot_89_bar__plus_00_dot_54_bar__plus_06_dot_82)\n \n \n \n \n (inReceptacle CreditCard_bar__plus_00_dot_79_bar__plus_00_dot_10_bar__plus_04_dot_35 Drawer_bar__plus_00_dot_74_bar__plus_00_dot_23_bar__plus_04_dot_10)\n (inReceptacle Newspaper_bar__plus_00_dot_85_bar__plus_00_dot_98_bar__plus_03_dot_71 Dresser_bar__plus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_71)\n (inReceptacle Television_bar__plus_00_dot_83_bar__plus_01_dot_47_bar__plus_03_dot_73 Dresser_bar__plus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_71)\n (inReceptacle Pillow_bar__minus_02_dot_72_bar__plus_00_dot_61_bar__plus_02_dot_77 Sofa_bar__minus_02_dot_47_bar_00_dot_00_bar__plus_03_dot_28)\n (inReceptacle HousePlant_bar__minus_03_dot_58_bar__plus_00_dot_54_bar__plus_01_dot_64 SideTable_bar__minus_03_dot_41_bar__plus_00_dot_00_bar__plus_01_dot_64)\n (inReceptacle Statue_bar__minus_03_dot_41_bar__plus_00_dot_56_bar__plus_01_dot_47 SideTable_bar__minus_03_dot_41_bar__plus_00_dot_00_bar__plus_01_dot_64)\n (inReceptacle Newspaper_bar__minus_05_dot_52_bar__plus_00_dot_79_bar__plus_04_dot_69 DiningTable_bar__minus_05_dot_64_bar_00_dot_00_bar__plus_04_dot_91)\n (inReceptacle Box_bar__minus_05_dot_89_bar__plus_00_dot_98_bar__plus_04_dot_69 DiningTable_bar__minus_05_dot_64_bar_00_dot_00_bar__plus_04_dot_91)\n (inReceptacle CellPhone_bar__minus_05_dot_39_bar__plus_00_dot_79_bar__plus_04_dot_91 DiningTable_bar__minus_05_dot_64_bar_00_dot_00_bar__plus_04_dot_91)\n (inReceptacle Laptop_bar__minus_05_dot_46_bar__plus_00_dot_78_bar__plus_05_dot_25 DiningTable_bar__minus_05_dot_64_bar_00_dot_00_bar__plus_04_dot_91)\n (inReceptacle Statue_bar__minus_05_dot_89_bar__plus_00_dot_80_bar__plus_05_dot_35 DiningTable_bar__minus_05_dot_64_bar_00_dot_00_bar__plus_04_dot_91)\n (inReceptacle KeyChain_bar__plus_00_dot_68_bar__plus_00_dot_54_bar__plus_03_dot_49 Drawer_bar__plus_00_dot_74_bar__plus_00_dot_67_bar__plus_03_dot_32)\n (inReceptacle KeyChain_bar__minus_01_dot_79_bar__plus_00_dot_31_bar__plus_02_dot_23 CoffeeTable_bar__minus_01_dot_55_bar__plus_00_dot_02_bar__plus_02_dot_53)\n (inReceptacle RemoteControl_bar__minus_01_dot_49_bar__plus_00_dot_31_bar__plus_02_dot_98 CoffeeTable_bar__minus_01_dot_55_bar__plus_00_dot_02_bar__plus_02_dot_53)\n (inReceptacle RemoteControl_bar__minus_01_dot_47_bar__plus_00_dot_31_bar__plus_02_dot_63 CoffeeTable_bar__minus_01_dot_55_bar__plus_00_dot_02_bar__plus_02_dot_53)\n (inReceptacle Box_bar__minus_01_dot_29_bar__plus_00_dot_51_bar__plus_02_dot_49 CoffeeTable_bar__minus_01_dot_55_bar__plus_00_dot_02_bar__plus_02_dot_53)\n (inReceptacle Plate_bar__minus_01_dot_72_bar__plus_00_dot_32_bar__plus_02_dot_51 CoffeeTable_bar__minus_01_dot_55_bar__plus_00_dot_02_bar__plus_02_dot_53)\n (inReceptacle DeskLamp_bar__plus_00_dot_89_bar__plus_00_dot_54_bar__plus_06_dot_82 SideTable_bar__plus_00_dot_73_bar__plus_00_dot_00_bar__plus_06_dot_64)\n \n \n (receptacleAtLocation CoffeeTable_bar__minus_01_dot_55_bar__plus_00_dot_02_bar__plus_02_dot_53 loc_bar__minus_2_bar_9_bar_3_bar_60)\n (receptacleAtLocation DiningTable_bar__minus_05_dot_64_bar_00_dot_00_bar__plus_04_dot_91 loc_bar__minus_26_bar_20_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_74_bar__plus_00_dot_23_bar__plus_03_dot_32 loc_bar_0_bar_9_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_74_bar__plus_00_dot_23_bar__plus_04_dot_10 loc_bar_0_bar_12_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_74_bar__plus_00_dot_67_bar__plus_03_dot_32 loc_bar_0_bar_13_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_74_bar__plus_00_dot_67_bar__plus_04_dot_10 loc_bar_0_bar_16_bar_1_bar_60)\n (receptacleAtLocation Dresser_bar__plus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_71 loc_bar_3_bar_20_bar_2_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_07_dot_10_bar_00_dot_00_bar__plus_02_dot_29 loc_bar__minus_26_bar_13_bar_2_bar_60)\n (receptacleAtLocation SideTable_bar__plus_00_dot_73_bar__plus_00_dot_00_bar__plus_06_dot_64 loc_bar_3_bar_23_bar_0_bar_60)\n (receptacleAtLocation SideTable_bar__minus_03_dot_41_bar__plus_00_dot_00_bar__plus_01_dot_64 loc_bar__minus_10_bar_8_bar_3_bar_60)\n (receptacleAtLocation Sofa_bar__minus_02_dot_47_bar_00_dot_00_bar__plus_03_dot_28 loc_bar__minus_4_bar_15_bar_3_bar_45)\n (objectAtLocation Statue_bar__minus_03_dot_41_bar__plus_00_dot_56_bar__plus_01_dot_47 loc_bar__minus_10_bar_8_bar_3_bar_60)\n (objectAtLocation RemoteControl_bar__minus_01_dot_49_bar__plus_00_dot_31_bar__plus_02_dot_98 loc_bar__minus_2_bar_9_bar_3_bar_60)\n (objectAtLocation KeyChain_bar__minus_01_dot_79_bar__plus_00_dot_31_bar__plus_02_dot_23 loc_bar__minus_2_bar_9_bar_3_bar_60)\n (objectAtLocation Newspaper_bar__minus_05_dot_52_bar__plus_00_dot_79_bar__plus_04_dot_69 loc_bar__minus_26_bar_20_bar_1_bar_60)\n (objectAtLocation Box_bar__minus_01_dot_29_bar__plus_00_dot_51_bar__plus_02_dot_49 loc_bar__minus_2_bar_9_bar_3_bar_60)\n (objectAtLocation Chair_bar__minus_06_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_24 loc_bar__minus_26_bar_21_bar_1_bar_60)\n (objectAtLocation Chair_bar__minus_05_dot_58_bar__plus_00_dot_00_bar__plus_04_dot_10 loc_bar__minus_22_bar_14_bar_0_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_14_bar__plus_00_dot_02_bar__plus_06_dot_41 loc_bar__minus_1_bar_23_bar_0_bar_60)\n (objectAtLocation Chair_bar__minus_05_dot_18_bar__plus_00_dot_00_bar__plus_05_dot_29 loc_bar__minus_19_bar_21_bar_3_bar_60)\n (objectAtLocation Chair_bar__minus_05_dot_63_bar__plus_00_dot_00_bar__plus_05_dot_75 loc_bar__minus_23_bar_25_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_03_dot_16_bar__plus_00_dot_02_bar__plus_00_dot_87 loc_bar__minus_10_bar_3_bar_3_bar_60)\n (objectAtLocation Chair_bar__minus_05_dot_19_bar__plus_00_dot_00_bar__plus_04_dot_68 loc_bar__minus_19_bar_18_bar_3_bar_60)\n (objectAtLocation Box_bar__minus_05_dot_89_bar__plus_00_dot_98_bar__plus_04_dot_69 loc_bar__minus_26_bar_20_bar_1_bar_60)\n (objectAtLocation Chair_bar__minus_06_dot_05_bar__plus_00_dot_00_bar__plus_04_dot_56 loc_bar__minus_26_bar_18_bar_1_bar_60)\n (objectAtLocation Curtains_bar__minus_01_dot_05_bar__plus_03_dot_50_bar__plus_02_dot_88 loc_bar__minus_3_bar_12_bar_3_bar__minus_30)\n (objectAtLocation CellPhone_bar__minus_05_dot_39_bar__plus_00_dot_79_bar__plus_04_dot_91 loc_bar__minus_26_bar_20_bar_1_bar_60)\n (objectAtLocation HousePlant_bar__minus_03_dot_58_bar__plus_00_dot_54_bar__plus_01_dot_64 loc_bar__minus_10_bar_8_bar_3_bar_60)\n (objectAtLocation Television_bar__plus_00_dot_83_bar__plus_01_dot_47_bar__plus_03_dot_73 loc_bar_3_bar_20_bar_2_bar_45)\n (objectAtLocation WateringCan_bar__plus_00_dot_83_bar_00_dot_00_bar__plus_02_dot_34 loc_bar_2_bar_9_bar_1_bar_60)\n (objectAtLocation Newspaper_bar__plus_00_dot_85_bar__plus_00_dot_98_bar__plus_03_dot_71 loc_bar_3_bar_20_bar_2_bar_45)\n (objectAtLocation KeyChain_bar__plus_00_dot_68_bar__plus_00_dot_54_bar__plus_03_dot_49 loc_bar_0_bar_13_bar_1_bar_60)\n (objectAtLocation Plate_bar__minus_01_dot_72_bar__plus_00_dot_32_bar__plus_02_dot_51 loc_bar__minus_2_bar_9_bar_3_bar_60)\n (objectAtLocation Pillow_bar__minus_02_dot_72_bar__plus_00_dot_61_bar__plus_02_dot_77 loc_bar__minus_4_bar_15_bar_3_bar_45)\n (objectAtLocation Painting_bar__minus_03_dot_81_bar__plus_01_dot_81_bar__plus_01_dot_01 loc_bar__minus_10_bar_4_bar_3_bar_0)\n (objectAtLocation DeskLamp_bar__plus_00_dot_89_bar__plus_00_dot_54_bar__plus_06_dot_82 loc_bar_3_bar_23_bar_0_bar_60)\n (objectAtLocation RemoteControl_bar__minus_01_dot_47_bar__plus_00_dot_31_bar__plus_02_dot_63 loc_bar__minus_2_bar_9_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__plus_00_dot_79_bar__plus_00_dot_10_bar__plus_04_dot_35 loc_bar_0_bar_12_bar_0_bar_45)\n (objectAtLocation FloorLamp_bar__minus_03_dot_49_bar_00_dot_00_bar__plus_00_dot_37 loc_bar__minus_10_bar_2_bar_3_bar_60)\n (objectAtLocation LightSwitch_bar__minus_05_dot_23_bar__plus_01_dot_39_bar__plus_07_dot_03 loc_bar__minus_21_bar_26_bar_0_bar_30)\n (objectAtLocation Window_bar__minus_01_dot_99_bar__plus_01_dot_65_bar__minus_00_dot_01 loc_bar__minus_8_bar_2_bar_2_bar_0)\n (objectAtLocation Window_bar__minus_04_dot_91_bar__plus_00_dot_99_bar__plus_02_dot_02 loc_bar__minus_20_bar_10_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_05_dot_80_bar__plus_01_dot_07_bar__plus_01_dot_87 loc_bar__minus_23_bar_10_bar_2_bar_45)\n (objectAtLocation Laptop_bar__minus_05_dot_46_bar__plus_00_dot_78_bar__plus_05_dot_25 loc_bar__minus_26_bar_20_bar_1_bar_60)\n (objectAtLocation Statue_bar__minus_05_dot_89_bar__plus_00_dot_80_bar__plus_05_dot_35 loc_bar__minus_26_bar_20_bar_1_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?ot - object\n ?r - receptacle\n ?a - agent\n ?l - location)\n (and\n (objectType ?ot DeskLampType)\n (toggleable ?ot)\n (isToggled ?ot)\n (receptacleAtLocation ?r ?l)\n (atLocation ?a ?l)\n (inReceptacle ?ot ?r)\n )\n )\n (exists (?o - object\n ?a - agent)\n (and\n (objectType ?o PlateType)\n (holds ?a ?o)\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to coffeetable 1", "take plate 1 from coffeetable 1", "go to sidetable 1", "use desklamp 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Plate-None-DeskLamp-218/trial_T20190907_215235_918119/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Plate-None-DeskLamp-218/trial_T20190907_215235_918119/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..c89380d4719d35fe7f0c71c38d8ae77f561868cd --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Plate-None-DeskLamp-218/trial_T20190907_215235_918119/initial_state.pddl @@ -0,0 +1,534 @@ + +(define (problem plan_trial_T20190907_215235_918119) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Box_bar__minus_01_dot_29_bar__plus_00_dot_51_bar__plus_02_dot_49 - object + Box_bar__minus_05_dot_89_bar__plus_00_dot_98_bar__plus_04_dot_69 - object + CellPhone_bar__minus_05_dot_39_bar__plus_00_dot_79_bar__plus_04_dot_91 - object + Chair_bar__minus_00_dot_14_bar__plus_00_dot_02_bar__plus_06_dot_41 - object + Chair_bar__minus_03_dot_16_bar__plus_00_dot_02_bar__plus_00_dot_87 - object + Chair_bar__minus_05_dot_18_bar__plus_00_dot_00_bar__plus_05_dot_29 - object + Chair_bar__minus_05_dot_19_bar__plus_00_dot_00_bar__plus_04_dot_68 - object + Chair_bar__minus_05_dot_58_bar__plus_00_dot_00_bar__plus_04_dot_10 - object + Chair_bar__minus_05_dot_63_bar__plus_00_dot_00_bar__plus_05_dot_75 - object + Chair_bar__minus_06_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_24 - object + Chair_bar__minus_06_dot_05_bar__plus_00_dot_00_bar__plus_04_dot_56 - object + CreditCard_bar__plus_00_dot_79_bar__plus_00_dot_10_bar__plus_04_dot_35 - object + Curtains_bar__minus_01_dot_05_bar__plus_03_dot_50_bar__plus_02_dot_88 - object + DeskLamp_bar__plus_00_dot_89_bar__plus_00_dot_54_bar__plus_06_dot_82 - object + FloorLamp_bar__minus_03_dot_49_bar_00_dot_00_bar__plus_00_dot_37 - object + HousePlant_bar__minus_03_dot_58_bar__plus_00_dot_54_bar__plus_01_dot_64 - object + KeyChain_bar__plus_00_dot_68_bar__plus_00_dot_54_bar__plus_03_dot_49 - object + KeyChain_bar__minus_01_dot_79_bar__plus_00_dot_31_bar__plus_02_dot_23 - object + Laptop_bar__minus_05_dot_46_bar__plus_00_dot_78_bar__plus_05_dot_25 - object + LightSwitch_bar__minus_05_dot_23_bar__plus_01_dot_39_bar__plus_07_dot_03 - object + Newspaper_bar__plus_00_dot_85_bar__plus_00_dot_98_bar__plus_03_dot_71 - object + Newspaper_bar__minus_05_dot_52_bar__plus_00_dot_79_bar__plus_04_dot_69 - object + Painting_bar__minus_03_dot_81_bar__plus_01_dot_81_bar__plus_01_dot_01 - object + Pillow_bar__minus_02_dot_72_bar__plus_00_dot_61_bar__plus_02_dot_77 - object + Plate_bar__minus_01_dot_72_bar__plus_00_dot_32_bar__plus_02_dot_51 - object + RemoteControl_bar__minus_01_dot_47_bar__plus_00_dot_31_bar__plus_02_dot_63 - object + RemoteControl_bar__minus_01_dot_49_bar__plus_00_dot_31_bar__plus_02_dot_98 - object + Statue_bar__minus_03_dot_41_bar__plus_00_dot_56_bar__plus_01_dot_47 - object + Statue_bar__minus_05_dot_89_bar__plus_00_dot_80_bar__plus_05_dot_35 - object + Television_bar__plus_00_dot_83_bar__plus_01_dot_47_bar__plus_03_dot_73 - object + WateringCan_bar__plus_00_dot_83_bar_00_dot_00_bar__plus_02_dot_34 - object + Window_bar__minus_01_dot_99_bar__plus_01_dot_65_bar__minus_00_dot_01 - object + Window_bar__minus_04_dot_91_bar__plus_00_dot_99_bar__plus_02_dot_02 - object + Window_bar__minus_05_dot_80_bar__plus_01_dot_07_bar__plus_01_dot_87 - object + CoffeeTable_bar__minus_01_dot_55_bar__plus_00_dot_02_bar__plus_02_dot_53 - receptacle + DiningTable_bar__minus_05_dot_64_bar_00_dot_00_bar__plus_04_dot_91 - receptacle + Drawer_bar__plus_00_dot_74_bar__plus_00_dot_23_bar__plus_03_dot_32 - receptacle + Drawer_bar__plus_00_dot_74_bar__plus_00_dot_23_bar__plus_04_dot_10 - receptacle + Drawer_bar__plus_00_dot_74_bar__plus_00_dot_67_bar__plus_03_dot_32 - receptacle + Drawer_bar__plus_00_dot_74_bar__plus_00_dot_67_bar__plus_04_dot_10 - receptacle + Dresser_bar__plus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_71 - receptacle + GarbageCan_bar__minus_07_dot_10_bar_00_dot_00_bar__plus_02_dot_29 - receptacle + SideTable_bar__plus_00_dot_73_bar__plus_00_dot_00_bar__plus_06_dot_64 - receptacle + SideTable_bar__minus_03_dot_41_bar__plus_00_dot_00_bar__plus_01_dot_64 - receptacle + Sofa_bar__minus_02_dot_47_bar_00_dot_00_bar__plus_03_dot_28 - receptacle + loc_bar__minus_19_bar_18_bar_3_bar_60 - location + loc_bar_3_bar_20_bar_2_bar_45 - location + loc_bar_0_bar_9_bar_0_bar_60 - location + loc_bar__minus_26_bar_13_bar_2_bar_60 - location + loc_bar_2_bar_9_bar_1_bar_60 - location + loc_bar_0_bar_12_bar_0_bar_45 - location + loc_bar__minus_26_bar_21_bar_1_bar_60 - location + loc_bar__minus_20_bar_10_bar_2_bar_60 - location + loc_bar__minus_4_bar_15_bar_3_bar_45 - location + loc_bar__minus_23_bar_25_bar_2_bar_60 - location + loc_bar__minus_23_bar_10_bar_2_bar_45 - location + loc_bar__minus_10_bar_3_bar_3_bar_60 - location + loc_bar__minus_26_bar_20_bar_1_bar_60 - location + loc_bar__minus_2_bar_9_bar_3_bar_60 - location + loc_bar_3_bar_23_bar_0_bar_60 - location + loc_bar__minus_8_bar_2_bar_2_bar_0 - location + loc_bar__minus_10_bar_2_bar_3_bar_60 - location + loc_bar__minus_1_bar_23_bar_0_bar_60 - location + loc_bar__minus_19_bar_21_bar_3_bar_60 - location + loc_bar__minus_10_bar_4_bar_3_bar_0 - location + loc_bar__minus_3_bar_12_bar_3_bar__minus_30 - location + loc_bar_0_bar_16_bar_1_bar_60 - location + loc_bar__minus_21_bar_26_bar_0_bar_30 - location + loc_bar__minus_10_bar_8_bar_3_bar_60 - location + loc_bar_0_bar_13_bar_1_bar_60 - location + loc_bar__minus_22_bar_14_bar_0_bar_60 - location + loc_bar__minus_26_bar_18_bar_1_bar_60 - location + loc_bar__minus_26_bar_22_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__plus_00_dot_74_bar__plus_00_dot_23_bar__plus_03_dot_32 DrawerType) + (receptacleType Dresser_bar__plus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_71 DresserType) + (receptacleType Drawer_bar__plus_00_dot_74_bar__plus_00_dot_23_bar__plus_04_dot_10 DrawerType) + (receptacleType DiningTable_bar__minus_05_dot_64_bar_00_dot_00_bar__plus_04_dot_91 DiningTableType) + (receptacleType SideTable_bar__minus_03_dot_41_bar__plus_00_dot_00_bar__plus_01_dot_64 SideTableType) + (receptacleType GarbageCan_bar__minus_07_dot_10_bar_00_dot_00_bar__plus_02_dot_29 GarbageCanType) + (receptacleType CoffeeTable_bar__minus_01_dot_55_bar__plus_00_dot_02_bar__plus_02_dot_53 CoffeeTableType) + (receptacleType Drawer_bar__plus_00_dot_74_bar__plus_00_dot_67_bar__plus_04_dot_10 DrawerType) + (receptacleType Sofa_bar__minus_02_dot_47_bar_00_dot_00_bar__plus_03_dot_28 SofaType) + (receptacleType Drawer_bar__plus_00_dot_74_bar__plus_00_dot_67_bar__plus_03_dot_32 DrawerType) + (receptacleType SideTable_bar__plus_00_dot_73_bar__plus_00_dot_00_bar__plus_06_dot_64 SideTableType) + (objectType WateringCan_bar__plus_00_dot_83_bar_00_dot_00_bar__plus_02_dot_34 WateringCanType) + (objectType RemoteControl_bar__minus_01_dot_49_bar__plus_00_dot_31_bar__plus_02_dot_98 RemoteControlType) + (objectType Chair_bar__minus_05_dot_18_bar__plus_00_dot_00_bar__plus_05_dot_29 ChairType) + (objectType Window_bar__minus_01_dot_99_bar__plus_01_dot_65_bar__minus_00_dot_01 WindowType) + (objectType Chair_bar__minus_06_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_24 ChairType) + (objectType FloorLamp_bar__minus_03_dot_49_bar_00_dot_00_bar__plus_00_dot_37 FloorLampType) + (objectType Chair_bar__minus_00_dot_14_bar__plus_00_dot_02_bar__plus_06_dot_41 ChairType) + (objectType CreditCard_bar__plus_00_dot_79_bar__plus_00_dot_10_bar__plus_04_dot_35 CreditCardType) + (objectType Window_bar__minus_04_dot_91_bar__plus_00_dot_99_bar__plus_02_dot_02 WindowType) + (objectType Chair_bar__minus_05_dot_19_bar__plus_00_dot_00_bar__plus_04_dot_68 ChairType) + (objectType HousePlant_bar__minus_03_dot_58_bar__plus_00_dot_54_bar__plus_01_dot_64 HousePlantType) + (objectType Chair_bar__minus_05_dot_63_bar__plus_00_dot_00_bar__plus_05_dot_75 ChairType) + (objectType Curtains_bar__minus_01_dot_05_bar__plus_03_dot_50_bar__plus_02_dot_88 CurtainsType) + (objectType Chair_bar__minus_06_dot_05_bar__plus_00_dot_00_bar__plus_04_dot_56 ChairType) + (objectType LightSwitch_bar__minus_05_dot_23_bar__plus_01_dot_39_bar__plus_07_dot_03 LightSwitchType) + (objectType Pillow_bar__minus_02_dot_72_bar__plus_00_dot_61_bar__plus_02_dot_77 PillowType) + (objectType Newspaper_bar__plus_00_dot_85_bar__plus_00_dot_98_bar__plus_03_dot_71 NewspaperType) + (objectType Painting_bar__minus_03_dot_81_bar__plus_01_dot_81_bar__plus_01_dot_01 PaintingType) + (objectType Box_bar__minus_05_dot_89_bar__plus_00_dot_98_bar__plus_04_dot_69 BoxType) + (objectType CellPhone_bar__minus_05_dot_39_bar__plus_00_dot_79_bar__plus_04_dot_91 CellPhoneType) + (objectType Television_bar__plus_00_dot_83_bar__plus_01_dot_47_bar__plus_03_dot_73 TelevisionType) + (objectType Statue_bar__minus_05_dot_89_bar__plus_00_dot_80_bar__plus_05_dot_35 StatueType) + (objectType Newspaper_bar__minus_05_dot_52_bar__plus_00_dot_79_bar__plus_04_dot_69 NewspaperType) + (objectType KeyChain_bar__plus_00_dot_68_bar__plus_00_dot_54_bar__plus_03_dot_49 KeyChainType) + (objectType DeskLamp_bar__plus_00_dot_89_bar__plus_00_dot_54_bar__plus_06_dot_82 DeskLampType) + (objectType Chair_bar__minus_03_dot_16_bar__plus_00_dot_02_bar__plus_00_dot_87 ChairType) + (objectType Laptop_bar__minus_05_dot_46_bar__plus_00_dot_78_bar__plus_05_dot_25 LaptopType) + (objectType Window_bar__minus_05_dot_80_bar__plus_01_dot_07_bar__plus_01_dot_87 WindowType) + (objectType Statue_bar__minus_03_dot_41_bar__plus_00_dot_56_bar__plus_01_dot_47 StatueType) + (objectType KeyChain_bar__minus_01_dot_79_bar__plus_00_dot_31_bar__plus_02_dot_23 KeyChainType) + (objectType RemoteControl_bar__minus_01_dot_47_bar__plus_00_dot_31_bar__plus_02_dot_63 RemoteControlType) + (objectType Box_bar__minus_01_dot_29_bar__plus_00_dot_51_bar__plus_02_dot_49 BoxType) + (objectType Plate_bar__minus_01_dot_72_bar__plus_00_dot_32_bar__plus_02_dot_51 PlateType) + (objectType Chair_bar__minus_05_dot_58_bar__plus_00_dot_00_bar__plus_04_dot_10 ChairType) + (canContain DrawerType NewspaperType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain DresserType NewspaperType) + (canContain DresserType BoxType) + (canContain DresserType CellPhoneType) + (canContain DresserType KeyChainType) + (canContain DresserType CreditCardType) + (canContain DresserType LaptopType) + (canContain DresserType PlateType) + (canContain DresserType RemoteControlType) + (canContain DresserType StatueType) + (canContain DresserType WateringCanType) + (canContain DrawerType NewspaperType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain DiningTableType NewspaperType) + (canContain DiningTableType BoxType) + (canContain DiningTableType CellPhoneType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType PlateType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType StatueType) + (canContain DiningTableType WateringCanType) + (canContain SideTableType NewspaperType) + (canContain SideTableType BoxType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType PlateType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType StatueType) + (canContain SideTableType WateringCanType) + (canContain GarbageCanType NewspaperType) + (canContain CoffeeTableType NewspaperType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType CellPhoneType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType PlateType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType StatueType) + (canContain CoffeeTableType WateringCanType) + (canContain DrawerType NewspaperType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType CellPhoneType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType NewspaperType) + (canContain SofaType CreditCardType) + (canContain DrawerType NewspaperType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain SideTableType NewspaperType) + (canContain SideTableType BoxType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType PlateType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType StatueType) + (canContain SideTableType WateringCanType) + (pickupable WateringCan_bar__plus_00_dot_83_bar_00_dot_00_bar__plus_02_dot_34) + (pickupable RemoteControl_bar__minus_01_dot_49_bar__plus_00_dot_31_bar__plus_02_dot_98) + (pickupable CreditCard_bar__plus_00_dot_79_bar__plus_00_dot_10_bar__plus_04_dot_35) + (pickupable Pillow_bar__minus_02_dot_72_bar__plus_00_dot_61_bar__plus_02_dot_77) + (pickupable Newspaper_bar__plus_00_dot_85_bar__plus_00_dot_98_bar__plus_03_dot_71) + (pickupable Box_bar__minus_05_dot_89_bar__plus_00_dot_98_bar__plus_04_dot_69) + (pickupable CellPhone_bar__minus_05_dot_39_bar__plus_00_dot_79_bar__plus_04_dot_91) + (pickupable Statue_bar__minus_05_dot_89_bar__plus_00_dot_80_bar__plus_05_dot_35) + (pickupable Newspaper_bar__minus_05_dot_52_bar__plus_00_dot_79_bar__plus_04_dot_69) + (pickupable KeyChain_bar__plus_00_dot_68_bar__plus_00_dot_54_bar__plus_03_dot_49) + (pickupable Laptop_bar__minus_05_dot_46_bar__plus_00_dot_78_bar__plus_05_dot_25) + (pickupable Statue_bar__minus_03_dot_41_bar__plus_00_dot_56_bar__plus_01_dot_47) + (pickupable KeyChain_bar__minus_01_dot_79_bar__plus_00_dot_31_bar__plus_02_dot_23) + (pickupable RemoteControl_bar__minus_01_dot_47_bar__plus_00_dot_31_bar__plus_02_dot_63) + (pickupable Box_bar__minus_01_dot_29_bar__plus_00_dot_51_bar__plus_02_dot_49) + (pickupable Plate_bar__minus_01_dot_72_bar__plus_00_dot_32_bar__plus_02_dot_51) + (isReceptacleObject Box_bar__minus_05_dot_89_bar__plus_00_dot_98_bar__plus_04_dot_69) + (isReceptacleObject Box_bar__minus_01_dot_29_bar__plus_00_dot_51_bar__plus_02_dot_49) + (isReceptacleObject Plate_bar__minus_01_dot_72_bar__plus_00_dot_32_bar__plus_02_dot_51) + (openable Drawer_bar__plus_00_dot_74_bar__plus_00_dot_23_bar__plus_03_dot_32) + (openable Drawer_bar__plus_00_dot_74_bar__plus_00_dot_23_bar__plus_04_dot_10) + (openable Drawer_bar__plus_00_dot_74_bar__plus_00_dot_67_bar__plus_04_dot_10) + (openable Drawer_bar__plus_00_dot_74_bar__plus_00_dot_67_bar__plus_03_dot_32) + + (atLocation agent1 loc_bar__minus_26_bar_22_bar_3_bar_30) + + (cleanable Plate_bar__minus_01_dot_72_bar__plus_00_dot_32_bar__plus_02_dot_51) + + (heatable Plate_bar__minus_01_dot_72_bar__plus_00_dot_32_bar__plus_02_dot_51) + (coolable Plate_bar__minus_01_dot_72_bar__plus_00_dot_32_bar__plus_02_dot_51) + + + (toggleable FloorLamp_bar__minus_03_dot_49_bar_00_dot_00_bar__plus_00_dot_37) + (toggleable DeskLamp_bar__plus_00_dot_89_bar__plus_00_dot_54_bar__plus_06_dot_82) + + + + + (inReceptacle CreditCard_bar__plus_00_dot_79_bar__plus_00_dot_10_bar__plus_04_dot_35 Drawer_bar__plus_00_dot_74_bar__plus_00_dot_23_bar__plus_04_dot_10) + (inReceptacle Newspaper_bar__plus_00_dot_85_bar__plus_00_dot_98_bar__plus_03_dot_71 Dresser_bar__plus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_71) + (inReceptacle Television_bar__plus_00_dot_83_bar__plus_01_dot_47_bar__plus_03_dot_73 Dresser_bar__plus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_71) + (inReceptacle Pillow_bar__minus_02_dot_72_bar__plus_00_dot_61_bar__plus_02_dot_77 Sofa_bar__minus_02_dot_47_bar_00_dot_00_bar__plus_03_dot_28) + (inReceptacle HousePlant_bar__minus_03_dot_58_bar__plus_00_dot_54_bar__plus_01_dot_64 SideTable_bar__minus_03_dot_41_bar__plus_00_dot_00_bar__plus_01_dot_64) + (inReceptacle Statue_bar__minus_03_dot_41_bar__plus_00_dot_56_bar__plus_01_dot_47 SideTable_bar__minus_03_dot_41_bar__plus_00_dot_00_bar__plus_01_dot_64) + (inReceptacle Newspaper_bar__minus_05_dot_52_bar__plus_00_dot_79_bar__plus_04_dot_69 DiningTable_bar__minus_05_dot_64_bar_00_dot_00_bar__plus_04_dot_91) + (inReceptacle Box_bar__minus_05_dot_89_bar__plus_00_dot_98_bar__plus_04_dot_69 DiningTable_bar__minus_05_dot_64_bar_00_dot_00_bar__plus_04_dot_91) + (inReceptacle CellPhone_bar__minus_05_dot_39_bar__plus_00_dot_79_bar__plus_04_dot_91 DiningTable_bar__minus_05_dot_64_bar_00_dot_00_bar__plus_04_dot_91) + (inReceptacle Laptop_bar__minus_05_dot_46_bar__plus_00_dot_78_bar__plus_05_dot_25 DiningTable_bar__minus_05_dot_64_bar_00_dot_00_bar__plus_04_dot_91) + (inReceptacle Statue_bar__minus_05_dot_89_bar__plus_00_dot_80_bar__plus_05_dot_35 DiningTable_bar__minus_05_dot_64_bar_00_dot_00_bar__plus_04_dot_91) + (inReceptacle KeyChain_bar__plus_00_dot_68_bar__plus_00_dot_54_bar__plus_03_dot_49 Drawer_bar__plus_00_dot_74_bar__plus_00_dot_67_bar__plus_03_dot_32) + (inReceptacle KeyChain_bar__minus_01_dot_79_bar__plus_00_dot_31_bar__plus_02_dot_23 CoffeeTable_bar__minus_01_dot_55_bar__plus_00_dot_02_bar__plus_02_dot_53) + (inReceptacle RemoteControl_bar__minus_01_dot_49_bar__plus_00_dot_31_bar__plus_02_dot_98 CoffeeTable_bar__minus_01_dot_55_bar__plus_00_dot_02_bar__plus_02_dot_53) + (inReceptacle RemoteControl_bar__minus_01_dot_47_bar__plus_00_dot_31_bar__plus_02_dot_63 CoffeeTable_bar__minus_01_dot_55_bar__plus_00_dot_02_bar__plus_02_dot_53) + (inReceptacle Box_bar__minus_01_dot_29_bar__plus_00_dot_51_bar__plus_02_dot_49 CoffeeTable_bar__minus_01_dot_55_bar__plus_00_dot_02_bar__plus_02_dot_53) + (inReceptacle Plate_bar__minus_01_dot_72_bar__plus_00_dot_32_bar__plus_02_dot_51 CoffeeTable_bar__minus_01_dot_55_bar__plus_00_dot_02_bar__plus_02_dot_53) + (inReceptacle DeskLamp_bar__plus_00_dot_89_bar__plus_00_dot_54_bar__plus_06_dot_82 SideTable_bar__plus_00_dot_73_bar__plus_00_dot_00_bar__plus_06_dot_64) + + + (receptacleAtLocation CoffeeTable_bar__minus_01_dot_55_bar__plus_00_dot_02_bar__plus_02_dot_53 loc_bar__minus_2_bar_9_bar_3_bar_60) + (receptacleAtLocation DiningTable_bar__minus_05_dot_64_bar_00_dot_00_bar__plus_04_dot_91 loc_bar__minus_26_bar_20_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_74_bar__plus_00_dot_23_bar__plus_03_dot_32 loc_bar_0_bar_9_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_74_bar__plus_00_dot_23_bar__plus_04_dot_10 loc_bar_0_bar_12_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_74_bar__plus_00_dot_67_bar__plus_03_dot_32 loc_bar_0_bar_13_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_74_bar__plus_00_dot_67_bar__plus_04_dot_10 loc_bar_0_bar_16_bar_1_bar_60) + (receptacleAtLocation Dresser_bar__plus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_71 loc_bar_3_bar_20_bar_2_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_07_dot_10_bar_00_dot_00_bar__plus_02_dot_29 loc_bar__minus_26_bar_13_bar_2_bar_60) + (receptacleAtLocation SideTable_bar__plus_00_dot_73_bar__plus_00_dot_00_bar__plus_06_dot_64 loc_bar_3_bar_23_bar_0_bar_60) + (receptacleAtLocation SideTable_bar__minus_03_dot_41_bar__plus_00_dot_00_bar__plus_01_dot_64 loc_bar__minus_10_bar_8_bar_3_bar_60) + (receptacleAtLocation Sofa_bar__minus_02_dot_47_bar_00_dot_00_bar__plus_03_dot_28 loc_bar__minus_4_bar_15_bar_3_bar_45) + (objectAtLocation Statue_bar__minus_03_dot_41_bar__plus_00_dot_56_bar__plus_01_dot_47 loc_bar__minus_10_bar_8_bar_3_bar_60) + (objectAtLocation RemoteControl_bar__minus_01_dot_49_bar__plus_00_dot_31_bar__plus_02_dot_98 loc_bar__minus_2_bar_9_bar_3_bar_60) + (objectAtLocation KeyChain_bar__minus_01_dot_79_bar__plus_00_dot_31_bar__plus_02_dot_23 loc_bar__minus_2_bar_9_bar_3_bar_60) + (objectAtLocation Newspaper_bar__minus_05_dot_52_bar__plus_00_dot_79_bar__plus_04_dot_69 loc_bar__minus_26_bar_20_bar_1_bar_60) + (objectAtLocation Box_bar__minus_01_dot_29_bar__plus_00_dot_51_bar__plus_02_dot_49 loc_bar__minus_2_bar_9_bar_3_bar_60) + (objectAtLocation Chair_bar__minus_06_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_24 loc_bar__minus_26_bar_21_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_05_dot_58_bar__plus_00_dot_00_bar__plus_04_dot_10 loc_bar__minus_22_bar_14_bar_0_bar_60) + (objectAtLocation Chair_bar__minus_00_dot_14_bar__plus_00_dot_02_bar__plus_06_dot_41 loc_bar__minus_1_bar_23_bar_0_bar_60) + (objectAtLocation Chair_bar__minus_05_dot_18_bar__plus_00_dot_00_bar__plus_05_dot_29 loc_bar__minus_19_bar_21_bar_3_bar_60) + (objectAtLocation Chair_bar__minus_05_dot_63_bar__plus_00_dot_00_bar__plus_05_dot_75 loc_bar__minus_23_bar_25_bar_2_bar_60) + (objectAtLocation Chair_bar__minus_03_dot_16_bar__plus_00_dot_02_bar__plus_00_dot_87 loc_bar__minus_10_bar_3_bar_3_bar_60) + (objectAtLocation Chair_bar__minus_05_dot_19_bar__plus_00_dot_00_bar__plus_04_dot_68 loc_bar__minus_19_bar_18_bar_3_bar_60) + (objectAtLocation Box_bar__minus_05_dot_89_bar__plus_00_dot_98_bar__plus_04_dot_69 loc_bar__minus_26_bar_20_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_06_dot_05_bar__plus_00_dot_00_bar__plus_04_dot_56 loc_bar__minus_26_bar_18_bar_1_bar_60) + (objectAtLocation Curtains_bar__minus_01_dot_05_bar__plus_03_dot_50_bar__plus_02_dot_88 loc_bar__minus_3_bar_12_bar_3_bar__minus_30) + (objectAtLocation CellPhone_bar__minus_05_dot_39_bar__plus_00_dot_79_bar__plus_04_dot_91 loc_bar__minus_26_bar_20_bar_1_bar_60) + (objectAtLocation HousePlant_bar__minus_03_dot_58_bar__plus_00_dot_54_bar__plus_01_dot_64 loc_bar__minus_10_bar_8_bar_3_bar_60) + (objectAtLocation Television_bar__plus_00_dot_83_bar__plus_01_dot_47_bar__plus_03_dot_73 loc_bar_3_bar_20_bar_2_bar_45) + (objectAtLocation WateringCan_bar__plus_00_dot_83_bar_00_dot_00_bar__plus_02_dot_34 loc_bar_2_bar_9_bar_1_bar_60) + (objectAtLocation Newspaper_bar__plus_00_dot_85_bar__plus_00_dot_98_bar__plus_03_dot_71 loc_bar_3_bar_20_bar_2_bar_45) + (objectAtLocation KeyChain_bar__plus_00_dot_68_bar__plus_00_dot_54_bar__plus_03_dot_49 loc_bar_0_bar_13_bar_1_bar_60) + (objectAtLocation Plate_bar__minus_01_dot_72_bar__plus_00_dot_32_bar__plus_02_dot_51 loc_bar__minus_2_bar_9_bar_3_bar_60) + (objectAtLocation Pillow_bar__minus_02_dot_72_bar__plus_00_dot_61_bar__plus_02_dot_77 loc_bar__minus_4_bar_15_bar_3_bar_45) + (objectAtLocation Painting_bar__minus_03_dot_81_bar__plus_01_dot_81_bar__plus_01_dot_01 loc_bar__minus_10_bar_4_bar_3_bar_0) + (objectAtLocation DeskLamp_bar__plus_00_dot_89_bar__plus_00_dot_54_bar__plus_06_dot_82 loc_bar_3_bar_23_bar_0_bar_60) + (objectAtLocation RemoteControl_bar__minus_01_dot_47_bar__plus_00_dot_31_bar__plus_02_dot_63 loc_bar__minus_2_bar_9_bar_3_bar_60) + (objectAtLocation CreditCard_bar__plus_00_dot_79_bar__plus_00_dot_10_bar__plus_04_dot_35 loc_bar_0_bar_12_bar_0_bar_45) + (objectAtLocation FloorLamp_bar__minus_03_dot_49_bar_00_dot_00_bar__plus_00_dot_37 loc_bar__minus_10_bar_2_bar_3_bar_60) + (objectAtLocation LightSwitch_bar__minus_05_dot_23_bar__plus_01_dot_39_bar__plus_07_dot_03 loc_bar__minus_21_bar_26_bar_0_bar_30) + (objectAtLocation Window_bar__minus_01_dot_99_bar__plus_01_dot_65_bar__minus_00_dot_01 loc_bar__minus_8_bar_2_bar_2_bar_0) + (objectAtLocation Window_bar__minus_04_dot_91_bar__plus_00_dot_99_bar__plus_02_dot_02 loc_bar__minus_20_bar_10_bar_2_bar_60) + (objectAtLocation Window_bar__minus_05_dot_80_bar__plus_01_dot_07_bar__plus_01_dot_87 loc_bar__minus_23_bar_10_bar_2_bar_45) + (objectAtLocation Laptop_bar__minus_05_dot_46_bar__plus_00_dot_78_bar__plus_05_dot_25 loc_bar__minus_26_bar_20_bar_1_bar_60) + (objectAtLocation Statue_bar__minus_05_dot_89_bar__plus_00_dot_80_bar__plus_05_dot_35 loc_bar__minus_26_bar_20_bar_1_bar_60) + ) + + + (: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 PlateType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end 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"rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + } + ], + "object_toggles": [ + { + "isOn": false, + "objectType": "DeskLamp" + } + ], + "random_seed": 3071484665, + "scene_num": 218 + }, + "task_id": "trial_T20190907_215235_918119", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AJQGWGESKQT4Y_338JKRMM29GWVGWQEFA1EP8J91JHAV", + "high_descs": [ + "Turn around and go right and then right again to face the coffee table.", + "Pick the keys up from the table.", + "Go around the table and to the left to stand in front of the small table with the lamp.", + "Turn the lamp on." + ], + "task_desc": "Turn a lamp on with keys in hand.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A24RGLS3BRZ60J_39O5D9O87W95UNMPJ8HQGQXXQZ63CW", + "high_descs": [ + "Turn around and go across the room. Turn right and then another right to find the coffee table.", + "Pick up the plate from the coffee table.", + "Take the plate and turn right and go across the room to find the small corner table in the room.", + "Holding the plate, turn on the lamp." + ], + "task_desc": "Pick up a plate and turn on the lamp.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2A4UAFZ5LW71K_3YDTZAI2W0X6PGVV3PXP9Z6C03L141", + "high_descs": [ + "turn right, walk towards the wall, turn right, walk across room to the chair, take a right, walk towards the fireplace, take a right, turn to face coffee table on the right", + "pick up the black plate that is on the coffee table", + "turn right, walk towards fireplace, turn left, walk towards chair, turn right, turn left to face the table", + "turn the lamp on" + ], + "task_desc": "examine a black plate with a lamp", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Plate-None-DeskLamp-218/trial_T20190908_075846_888051/game.tw-pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Plate-None-DeskLamp-218/trial_T20190908_075846_888051/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..70e05e78e4ec7c950ba3b6f4bba7dd0713edb82d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Plate-None-DeskLamp-218/trial_T20190908_075846_888051/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: look at plate under the desklamp.\"\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_075846_888051)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Box_bar__minus_03_dot_31_bar__plus_00_dot_75_bar__plus_01_dot_74 - object\n Box_bar__minus_05_dot_89_bar__plus_00_dot_98_bar__plus_04_dot_69 - object\n CellPhone_bar__minus_01_dot_45_bar__plus_00_dot_32_bar__plus_02_dot_29 - object\n CellPhone_bar__minus_02_dot_18_bar__plus_00_dot_52_bar__plus_03_dot_69 - object\n Chair_bar__minus_00_dot_14_bar__plus_00_dot_02_bar__plus_06_dot_41 - object\n Chair_bar__minus_03_dot_16_bar__plus_00_dot_02_bar__plus_00_dot_87 - object\n Chair_bar__minus_05_dot_18_bar__plus_00_dot_00_bar__plus_05_dot_29 - object\n Chair_bar__minus_05_dot_19_bar__plus_00_dot_00_bar__plus_04_dot_68 - object\n Chair_bar__minus_05_dot_58_bar__plus_00_dot_00_bar__plus_04_dot_10 - object\n Chair_bar__minus_05_dot_63_bar__plus_00_dot_00_bar__plus_05_dot_75 - object\n Chair_bar__minus_06_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_24 - object\n Chair_bar__minus_06_dot_05_bar__plus_00_dot_00_bar__plus_04_dot_56 - object\n CreditCard_bar__minus_02_dot_34_bar__plus_00_dot_52_bar__plus_03_dot_49 - object\n Curtains_bar__minus_01_dot_05_bar__plus_03_dot_50_bar__plus_02_dot_88 - object\n DeskLamp_bar__plus_00_dot_89_bar__plus_00_dot_54_bar__plus_06_dot_82 - object\n FloorLamp_bar__minus_03_dot_49_bar_00_dot_00_bar__plus_00_dot_37 - object\n HousePlant_bar__minus_03_dot_58_bar__plus_00_dot_54_bar__plus_01_dot_64 - object\n KeyChain_bar__plus_00_dot_68_bar__plus_00_dot_10_bar__plus_03_dot_49 - object\n Laptop_bar__minus_05_dot_46_bar__plus_00_dot_78_bar__plus_05_dot_25 - object\n LightSwitch_bar__minus_05_dot_23_bar__plus_01_dot_39_bar__plus_07_dot_03 - object\n Newspaper_bar__minus_01_dot_38_bar__plus_00_dot_31_bar__plus_02_dot_56 - object\n Newspaper_bar__minus_01_dot_54_bar__plus_00_dot_31_bar__plus_02_dot_36 - object\n Painting_bar__minus_03_dot_81_bar__plus_01_dot_81_bar__plus_01_dot_01 - object\n Pillow_bar__minus_02_dot_72_bar__plus_00_dot_61_bar__plus_02_dot_77 - object\n Plate_bar__plus_00_dot_54_bar__plus_00_dot_55_bar__plus_06_dot_73 - object\n Plate_bar__plus_00_dot_91_bar__plus_00_dot_99_bar__plus_04_dot_34 - object\n Plate_bar__minus_05_dot_39_bar__plus_00_dot_79_bar__plus_04_dot_47 - object\n RemoteControl_bar__minus_01_dot_58_bar__plus_00_dot_31_bar__plus_03_dot_05 - object\n RemoteControl_bar__minus_06_dot_01_bar__plus_00_dot_78_bar__plus_05_dot_13 - object\n Statue_bar__plus_00_dot_85_bar__plus_00_dot_99_bar__plus_03_dot_09 - object\n Television_bar__plus_00_dot_83_bar__plus_01_dot_47_bar__plus_03_dot_73 - object\n WateringCan_bar__plus_00_dot_83_bar_00_dot_00_bar__plus_02_dot_34 - object\n Window_bar__minus_01_dot_99_bar__plus_01_dot_65_bar__minus_00_dot_01 - object\n Window_bar__minus_04_dot_91_bar__plus_00_dot_99_bar__plus_02_dot_02 - object\n Window_bar__minus_05_dot_80_bar__plus_01_dot_07_bar__plus_01_dot_87 - object\n CoffeeTable_bar__minus_01_dot_55_bar__plus_00_dot_02_bar__plus_02_dot_53 - receptacle\n DiningTable_bar__minus_05_dot_64_bar_00_dot_00_bar__plus_04_dot_91 - receptacle\n Drawer_bar__plus_00_dot_74_bar__plus_00_dot_23_bar__plus_03_dot_32 - receptacle\n Drawer_bar__plus_00_dot_74_bar__plus_00_dot_23_bar__plus_04_dot_10 - receptacle\n Drawer_bar__plus_00_dot_74_bar__plus_00_dot_67_bar__plus_03_dot_32 - receptacle\n Drawer_bar__plus_00_dot_74_bar__plus_00_dot_67_bar__plus_04_dot_10 - receptacle\n Dresser_bar__plus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_71 - receptacle\n GarbageCan_bar__minus_07_dot_10_bar_00_dot_00_bar__plus_02_dot_29 - receptacle\n SideTable_bar__plus_00_dot_73_bar__plus_00_dot_00_bar__plus_06_dot_64 - receptacle\n SideTable_bar__minus_03_dot_41_bar__plus_00_dot_00_bar__plus_01_dot_64 - receptacle\n Sofa_bar__minus_02_dot_47_bar_00_dot_00_bar__plus_03_dot_28 - receptacle\n loc_bar__minus_19_bar_18_bar_3_bar_60 - location\n loc_bar_3_bar_20_bar_2_bar_45 - location\n loc_bar_0_bar_9_bar_0_bar_60 - location\n loc_bar__minus_26_bar_13_bar_2_bar_60 - location\n loc_bar_2_bar_9_bar_1_bar_60 - location\n loc_bar_0_bar_12_bar_0_bar_45 - location\n loc_bar__minus_26_bar_21_bar_1_bar_60 - location\n loc_bar__minus_20_bar_10_bar_2_bar_60 - location\n loc_bar__minus_4_bar_15_bar_3_bar_45 - location\n loc_bar__minus_23_bar_25_bar_2_bar_60 - location\n loc_bar__minus_23_bar_10_bar_2_bar_45 - location\n loc_bar__minus_10_bar_3_bar_3_bar_60 - location\n loc_bar__minus_26_bar_20_bar_1_bar_60 - location\n loc_bar__minus_2_bar_9_bar_3_bar_60 - location\n loc_bar_3_bar_23_bar_0_bar_60 - location\n loc_bar__minus_8_bar_2_bar_2_bar_0 - location\n loc_bar__minus_10_bar_2_bar_3_bar_60 - location\n loc_bar__minus_1_bar_23_bar_0_bar_60 - location\n loc_bar__minus_19_bar_21_bar_3_bar_60 - location\n loc_bar__minus_10_bar_4_bar_3_bar_0 - location\n loc_bar__minus_3_bar_12_bar_3_bar__minus_30 - location\n loc_bar_0_bar_16_bar_1_bar_60 - location\n loc_bar__minus_21_bar_26_bar_0_bar_30 - location\n loc_bar__minus_10_bar_8_bar_3_bar_60 - location\n loc_bar_0_bar_13_bar_1_bar_60 - location\n loc_bar__minus_22_bar_14_bar_0_bar_60 - location\n loc_bar__minus_26_bar_18_bar_1_bar_60 - location\n loc_bar__minus_15_bar_22_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__plus_00_dot_74_bar__plus_00_dot_23_bar__plus_03_dot_32 DrawerType)\n (receptacleType Dresser_bar__plus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_71 DresserType)\n (receptacleType Drawer_bar__plus_00_dot_74_bar__plus_00_dot_23_bar__plus_04_dot_10 DrawerType)\n (receptacleType DiningTable_bar__minus_05_dot_64_bar_00_dot_00_bar__plus_04_dot_91 DiningTableType)\n (receptacleType SideTable_bar__minus_03_dot_41_bar__plus_00_dot_00_bar__plus_01_dot_64 SideTableType)\n (receptacleType GarbageCan_bar__minus_07_dot_10_bar_00_dot_00_bar__plus_02_dot_29 GarbageCanType)\n (receptacleType CoffeeTable_bar__minus_01_dot_55_bar__plus_00_dot_02_bar__plus_02_dot_53 CoffeeTableType)\n (receptacleType Drawer_bar__plus_00_dot_74_bar__plus_00_dot_67_bar__plus_04_dot_10 DrawerType)\n (receptacleType Sofa_bar__minus_02_dot_47_bar_00_dot_00_bar__plus_03_dot_28 SofaType)\n (receptacleType Drawer_bar__plus_00_dot_74_bar__plus_00_dot_67_bar__plus_03_dot_32 DrawerType)\n (receptacleType SideTable_bar__plus_00_dot_73_bar__plus_00_dot_00_bar__plus_06_dot_64 SideTableType)\n (objectType Newspaper_bar__minus_01_dot_38_bar__plus_00_dot_31_bar__plus_02_dot_56 NewspaperType)\n (objectType WateringCan_bar__plus_00_dot_83_bar_00_dot_00_bar__plus_02_dot_34 WateringCanType)\n (objectType Chair_bar__minus_05_dot_18_bar__plus_00_dot_00_bar__plus_05_dot_29 ChairType)\n (objectType Window_bar__minus_01_dot_99_bar__plus_01_dot_65_bar__minus_00_dot_01 WindowType)\n (objectType Chair_bar__minus_06_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_24 ChairType)\n (objectType FloorLamp_bar__minus_03_dot_49_bar_00_dot_00_bar__plus_00_dot_37 FloorLampType)\n (objectType Chair_bar__minus_00_dot_14_bar__plus_00_dot_02_bar__plus_06_dot_41 ChairType)\n (objectType Window_bar__minus_04_dot_91_bar__plus_00_dot_99_bar__plus_02_dot_02 WindowType)\n (objectType Chair_bar__minus_05_dot_19_bar__plus_00_dot_00_bar__plus_04_dot_68 ChairType)\n (objectType HousePlant_bar__minus_03_dot_58_bar__plus_00_dot_54_bar__plus_01_dot_64 HousePlantType)\n (objectType Chair_bar__minus_05_dot_63_bar__plus_00_dot_00_bar__plus_05_dot_75 ChairType)\n (objectType Curtains_bar__minus_01_dot_05_bar__plus_03_dot_50_bar__plus_02_dot_88 CurtainsType)\n (objectType Chair_bar__minus_06_dot_05_bar__plus_00_dot_00_bar__plus_04_dot_56 ChairType)\n (objectType Plate_bar__plus_00_dot_54_bar__plus_00_dot_55_bar__plus_06_dot_73 PlateType)\n (objectType Box_bar__minus_03_dot_31_bar__plus_00_dot_75_bar__plus_01_dot_74 BoxType)\n (objectType LightSwitch_bar__minus_05_dot_23_bar__plus_01_dot_39_bar__plus_07_dot_03 LightSwitchType)\n (objectType Pillow_bar__minus_02_dot_72_bar__plus_00_dot_61_bar__plus_02_dot_77 PillowType)\n (objectType RemoteControl_bar__minus_01_dot_58_bar__plus_00_dot_31_bar__plus_03_dot_05 RemoteControlType)\n (objectType Painting_bar__minus_03_dot_81_bar__plus_01_dot_81_bar__plus_01_dot_01 PaintingType)\n (objectType Box_bar__minus_05_dot_89_bar__plus_00_dot_98_bar__plus_04_dot_69 BoxType)\n (objectType CreditCard_bar__minus_02_dot_34_bar__plus_00_dot_52_bar__plus_03_dot_49 CreditCardType)\n (objectType Television_bar__plus_00_dot_83_bar__plus_01_dot_47_bar__plus_03_dot_73 TelevisionType)\n (objectType KeyChain_bar__plus_00_dot_68_bar__plus_00_dot_10_bar__plus_03_dot_49 KeyChainType)\n (objectType Statue_bar__plus_00_dot_85_bar__plus_00_dot_99_bar__plus_03_dot_09 StatueType)\n (objectType Newspaper_bar__minus_01_dot_54_bar__plus_00_dot_31_bar__plus_02_dot_36 NewspaperType)\n (objectType DeskLamp_bar__plus_00_dot_89_bar__plus_00_dot_54_bar__plus_06_dot_82 DeskLampType)\n (objectType CellPhone_bar__minus_02_dot_18_bar__plus_00_dot_52_bar__plus_03_dot_69 CellPhoneType)\n (objectType Chair_bar__minus_03_dot_16_bar__plus_00_dot_02_bar__plus_00_dot_87 ChairType)\n (objectType Laptop_bar__minus_05_dot_46_bar__plus_00_dot_78_bar__plus_05_dot_25 LaptopType)\n (objectType Plate_bar__plus_00_dot_91_bar__plus_00_dot_99_bar__plus_04_dot_34 PlateType)\n (objectType Window_bar__minus_05_dot_80_bar__plus_01_dot_07_bar__plus_01_dot_87 WindowType)\n (objectType RemoteControl_bar__minus_06_dot_01_bar__plus_00_dot_78_bar__plus_05_dot_13 RemoteControlType)\n (objectType Plate_bar__minus_05_dot_39_bar__plus_00_dot_79_bar__plus_04_dot_47 PlateType)\n (objectType CellPhone_bar__minus_01_dot_45_bar__plus_00_dot_32_bar__plus_02_dot_29 CellPhoneType)\n (objectType Chair_bar__minus_05_dot_58_bar__plus_00_dot_00_bar__plus_04_dot_10 ChairType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain DresserType NewspaperType)\n (canContain DresserType BoxType)\n (canContain DresserType CellPhoneType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType LaptopType)\n (canContain DresserType PlateType)\n (canContain DresserType RemoteControlType)\n (canContain DresserType StatueType)\n (canContain DresserType WateringCanType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain DiningTableType NewspaperType)\n (canContain DiningTableType BoxType)\n (canContain DiningTableType CellPhoneType)\n (canContain DiningTableType KeyChainType)\n (canContain DiningTableType CreditCardType)\n (canContain DiningTableType LaptopType)\n (canContain DiningTableType PlateType)\n (canContain DiningTableType RemoteControlType)\n (canContain DiningTableType StatueType)\n (canContain DiningTableType WateringCanType)\n (canContain SideTableType NewspaperType)\n (canContain SideTableType BoxType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PlateType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType StatueType)\n (canContain SideTableType WateringCanType)\n (canContain GarbageCanType NewspaperType)\n (canContain CoffeeTableType NewspaperType)\n (canContain CoffeeTableType BoxType)\n (canContain CoffeeTableType CellPhoneType)\n (canContain CoffeeTableType KeyChainType)\n (canContain CoffeeTableType CreditCardType)\n (canContain CoffeeTableType LaptopType)\n (canContain CoffeeTableType PlateType)\n (canContain CoffeeTableType RemoteControlType)\n (canContain CoffeeTableType StatueType)\n (canContain CoffeeTableType WateringCanType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain SofaType BoxType)\n (canContain SofaType LaptopType)\n (canContain SofaType CellPhoneType)\n (canContain SofaType PillowType)\n (canContain SofaType RemoteControlType)\n (canContain SofaType KeyChainType)\n (canContain SofaType NewspaperType)\n (canContain SofaType CreditCardType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType WateringCanType)\n (canContain SideTableType NewspaperType)\n (canContain SideTableType BoxType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PlateType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType StatueType)\n (canContain 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Drawer_bar__plus_00_dot_74_bar__plus_00_dot_23_bar__plus_03_dot_32)\n (openable Drawer_bar__plus_00_dot_74_bar__plus_00_dot_23_bar__plus_04_dot_10)\n (openable Drawer_bar__plus_00_dot_74_bar__plus_00_dot_67_bar__plus_04_dot_10)\n (openable Drawer_bar__plus_00_dot_74_bar__plus_00_dot_67_bar__plus_03_dot_32)\n \n (atLocation agent1 loc_bar__minus_15_bar_22_bar_0_bar_30)\n \n (cleanable Plate_bar__plus_00_dot_54_bar__plus_00_dot_55_bar__plus_06_dot_73)\n (cleanable Plate_bar__plus_00_dot_91_bar__plus_00_dot_99_bar__plus_04_dot_34)\n (cleanable Plate_bar__minus_05_dot_39_bar__plus_00_dot_79_bar__plus_04_dot_47)\n \n (heatable Plate_bar__plus_00_dot_54_bar__plus_00_dot_55_bar__plus_06_dot_73)\n (heatable Plate_bar__plus_00_dot_91_bar__plus_00_dot_99_bar__plus_04_dot_34)\n (heatable Plate_bar__minus_05_dot_39_bar__plus_00_dot_79_bar__plus_04_dot_47)\n (coolable Plate_bar__plus_00_dot_54_bar__plus_00_dot_55_bar__plus_06_dot_73)\n (coolable Plate_bar__plus_00_dot_91_bar__plus_00_dot_99_bar__plus_04_dot_34)\n (coolable Plate_bar__minus_05_dot_39_bar__plus_00_dot_79_bar__plus_04_dot_47)\n \n \n (toggleable FloorLamp_bar__minus_03_dot_49_bar_00_dot_00_bar__plus_00_dot_37)\n (toggleable DeskLamp_bar__plus_00_dot_89_bar__plus_00_dot_54_bar__plus_06_dot_82)\n \n \n \n \n (inReceptacle Statue_bar__plus_00_dot_85_bar__plus_00_dot_99_bar__plus_03_dot_09 Dresser_bar__plus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_71)\n (inReceptacle Plate_bar__plus_00_dot_91_bar__plus_00_dot_99_bar__plus_04_dot_34 Dresser_bar__plus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_71)\n (inReceptacle Television_bar__plus_00_dot_83_bar__plus_01_dot_47_bar__plus_03_dot_73 Dresser_bar__plus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_71)\n (inReceptacle CellPhone_bar__minus_02_dot_18_bar__plus_00_dot_52_bar__plus_03_dot_69 Sofa_bar__minus_02_dot_47_bar_00_dot_00_bar__plus_03_dot_28)\n (inReceptacle Pillow_bar__minus_02_dot_72_bar__plus_00_dot_61_bar__plus_02_dot_77 Sofa_bar__minus_02_dot_47_bar_00_dot_00_bar__plus_03_dot_28)\n (inReceptacle CreditCard_bar__minus_02_dot_34_bar__plus_00_dot_52_bar__plus_03_dot_49 Sofa_bar__minus_02_dot_47_bar_00_dot_00_bar__plus_03_dot_28)\n (inReceptacle Box_bar__minus_03_dot_31_bar__plus_00_dot_75_bar__plus_01_dot_74 SideTable_bar__minus_03_dot_41_bar__plus_00_dot_00_bar__plus_01_dot_64)\n (inReceptacle HousePlant_bar__minus_03_dot_58_bar__plus_00_dot_54_bar__plus_01_dot_64 SideTable_bar__minus_03_dot_41_bar__plus_00_dot_00_bar__plus_01_dot_64)\n (inReceptacle Laptop_bar__minus_05_dot_46_bar__plus_00_dot_78_bar__plus_05_dot_25 DiningTable_bar__minus_05_dot_64_bar_00_dot_00_bar__plus_04_dot_91)\n (inReceptacle RemoteControl_bar__minus_06_dot_01_bar__plus_00_dot_78_bar__plus_05_dot_13 DiningTable_bar__minus_05_dot_64_bar_00_dot_00_bar__plus_04_dot_91)\n (inReceptacle Plate_bar__minus_05_dot_39_bar__plus_00_dot_79_bar__plus_04_dot_47 DiningTable_bar__minus_05_dot_64_bar_00_dot_00_bar__plus_04_dot_91)\n (inReceptacle Box_bar__minus_05_dot_89_bar__plus_00_dot_98_bar__plus_04_dot_69 DiningTable_bar__minus_05_dot_64_bar_00_dot_00_bar__plus_04_dot_91)\n (inReceptacle KeyChain_bar__plus_00_dot_68_bar__plus_00_dot_10_bar__plus_03_dot_49 Drawer_bar__plus_00_dot_74_bar__plus_00_dot_23_bar__plus_03_dot_32)\n (inReceptacle CellPhone_bar__minus_01_dot_45_bar__plus_00_dot_32_bar__plus_02_dot_29 CoffeeTable_bar__minus_01_dot_55_bar__plus_00_dot_02_bar__plus_02_dot_53)\n (inReceptacle Newspaper_bar__minus_01_dot_38_bar__plus_00_dot_31_bar__plus_02_dot_56 CoffeeTable_bar__minus_01_dot_55_bar__plus_00_dot_02_bar__plus_02_dot_53)\n (inReceptacle RemoteControl_bar__minus_01_dot_58_bar__plus_00_dot_31_bar__plus_03_dot_05 CoffeeTable_bar__minus_01_dot_55_bar__plus_00_dot_02_bar__plus_02_dot_53)\n (inReceptacle Newspaper_bar__minus_01_dot_54_bar__plus_00_dot_31_bar__plus_02_dot_36 CoffeeTable_bar__minus_01_dot_55_bar__plus_00_dot_02_bar__plus_02_dot_53)\n (inReceptacle DeskLamp_bar__plus_00_dot_89_bar__plus_00_dot_54_bar__plus_06_dot_82 SideTable_bar__plus_00_dot_73_bar__plus_00_dot_00_bar__plus_06_dot_64)\n (inReceptacle Plate_bar__plus_00_dot_54_bar__plus_00_dot_55_bar__plus_06_dot_73 SideTable_bar__plus_00_dot_73_bar__plus_00_dot_00_bar__plus_06_dot_64)\n \n \n (receptacleAtLocation CoffeeTable_bar__minus_01_dot_55_bar__plus_00_dot_02_bar__plus_02_dot_53 loc_bar__minus_2_bar_9_bar_3_bar_60)\n (receptacleAtLocation DiningTable_bar__minus_05_dot_64_bar_00_dot_00_bar__plus_04_dot_91 loc_bar__minus_26_bar_20_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_74_bar__plus_00_dot_23_bar__plus_03_dot_32 loc_bar_0_bar_9_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_74_bar__plus_00_dot_23_bar__plus_04_dot_10 loc_bar_0_bar_12_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_74_bar__plus_00_dot_67_bar__plus_03_dot_32 loc_bar_0_bar_13_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_74_bar__plus_00_dot_67_bar__plus_04_dot_10 loc_bar_0_bar_16_bar_1_bar_60)\n (receptacleAtLocation Dresser_bar__plus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_71 loc_bar_3_bar_20_bar_2_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_07_dot_10_bar_00_dot_00_bar__plus_02_dot_29 loc_bar__minus_26_bar_13_bar_2_bar_60)\n (receptacleAtLocation SideTable_bar__plus_00_dot_73_bar__plus_00_dot_00_bar__plus_06_dot_64 loc_bar_3_bar_23_bar_0_bar_60)\n (receptacleAtLocation SideTable_bar__minus_03_dot_41_bar__plus_00_dot_00_bar__plus_01_dot_64 loc_bar__minus_10_bar_8_bar_3_bar_60)\n (receptacleAtLocation Sofa_bar__minus_02_dot_47_bar_00_dot_00_bar__plus_03_dot_28 loc_bar__minus_4_bar_15_bar_3_bar_45)\n (objectAtLocation RemoteControl_bar__minus_01_dot_58_bar__plus_00_dot_31_bar__plus_03_dot_05 loc_bar__minus_2_bar_9_bar_3_bar_60)\n (objectAtLocation Plate_bar__minus_05_dot_39_bar__plus_00_dot_79_bar__plus_04_dot_47 loc_bar__minus_26_bar_20_bar_1_bar_60)\n (objectAtLocation Newspaper_bar__minus_01_dot_54_bar__plus_00_dot_31_bar__plus_02_dot_36 loc_bar__minus_2_bar_9_bar_3_bar_60)\n (objectAtLocation CellPhone_bar__minus_02_dot_18_bar__plus_00_dot_52_bar__plus_03_dot_69 loc_bar__minus_4_bar_15_bar_3_bar_45)\n (objectAtLocation Box_bar__minus_05_dot_89_bar__plus_00_dot_98_bar__plus_04_dot_69 loc_bar__minus_26_bar_20_bar_1_bar_60)\n (objectAtLocation Plate_bar__plus_00_dot_91_bar__plus_00_dot_99_bar__plus_04_dot_34 loc_bar_3_bar_20_bar_2_bar_45)\n (objectAtLocation Chair_bar__minus_06_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_24 loc_bar__minus_26_bar_21_bar_1_bar_60)\n (objectAtLocation Chair_bar__minus_05_dot_58_bar__plus_00_dot_00_bar__plus_04_dot_10 loc_bar__minus_22_bar_14_bar_0_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_14_bar__plus_00_dot_02_bar__plus_06_dot_41 loc_bar__minus_1_bar_23_bar_0_bar_60)\n (objectAtLocation Chair_bar__minus_05_dot_18_bar__plus_00_dot_00_bar__plus_05_dot_29 loc_bar__minus_19_bar_21_bar_3_bar_60)\n (objectAtLocation Chair_bar__minus_05_dot_63_bar__plus_00_dot_00_bar__plus_05_dot_75 loc_bar__minus_23_bar_25_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_03_dot_16_bar__plus_00_dot_02_bar__plus_00_dot_87 loc_bar__minus_10_bar_3_bar_3_bar_60)\n (objectAtLocation Chair_bar__minus_05_dot_19_bar__plus_00_dot_00_bar__plus_04_dot_68 loc_bar__minus_19_bar_18_bar_3_bar_60)\n (objectAtLocation Box_bar__minus_03_dot_31_bar__plus_00_dot_75_bar__plus_01_dot_74 loc_bar__minus_10_bar_8_bar_3_bar_60)\n (objectAtLocation Chair_bar__minus_06_dot_05_bar__plus_00_dot_00_bar__plus_04_dot_56 loc_bar__minus_26_bar_18_bar_1_bar_60)\n (objectAtLocation Curtains_bar__minus_01_dot_05_bar__plus_03_dot_50_bar__plus_02_dot_88 loc_bar__minus_3_bar_12_bar_3_bar__minus_30)\n (objectAtLocation CellPhone_bar__minus_01_dot_45_bar__plus_00_dot_32_bar__plus_02_dot_29 loc_bar__minus_2_bar_9_bar_3_bar_60)\n (objectAtLocation HousePlant_bar__minus_03_dot_58_bar__plus_00_dot_54_bar__plus_01_dot_64 loc_bar__minus_10_bar_8_bar_3_bar_60)\n (objectAtLocation Television_bar__plus_00_dot_83_bar__plus_01_dot_47_bar__plus_03_dot_73 loc_bar_3_bar_20_bar_2_bar_45)\n (objectAtLocation WateringCan_bar__plus_00_dot_83_bar_00_dot_00_bar__plus_02_dot_34 loc_bar_2_bar_9_bar_1_bar_60)\n (objectAtLocation Newspaper_bar__minus_01_dot_38_bar__plus_00_dot_31_bar__plus_02_dot_56 loc_bar__minus_2_bar_9_bar_3_bar_60)\n (objectAtLocation KeyChain_bar__plus_00_dot_68_bar__plus_00_dot_10_bar__plus_03_dot_49 loc_bar_0_bar_9_bar_0_bar_60)\n (objectAtLocation Plate_bar__plus_00_dot_54_bar__plus_00_dot_55_bar__plus_06_dot_73 loc_bar_3_bar_23_bar_0_bar_60)\n (objectAtLocation Pillow_bar__minus_02_dot_72_bar__plus_00_dot_61_bar__plus_02_dot_77 loc_bar__minus_4_bar_15_bar_3_bar_45)\n (objectAtLocation Painting_bar__minus_03_dot_81_bar__plus_01_dot_81_bar__plus_01_dot_01 loc_bar__minus_10_bar_4_bar_3_bar_0)\n (objectAtLocation DeskLamp_bar__plus_00_dot_89_bar__plus_00_dot_54_bar__plus_06_dot_82 loc_bar_3_bar_23_bar_0_bar_60)\n (objectAtLocation RemoteControl_bar__minus_06_dot_01_bar__plus_00_dot_78_bar__plus_05_dot_13 loc_bar__minus_26_bar_20_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__minus_02_dot_34_bar__plus_00_dot_52_bar__plus_03_dot_49 loc_bar__minus_4_bar_15_bar_3_bar_45)\n (objectAtLocation FloorLamp_bar__minus_03_dot_49_bar_00_dot_00_bar__plus_00_dot_37 loc_bar__minus_10_bar_2_bar_3_bar_60)\n (objectAtLocation LightSwitch_bar__minus_05_dot_23_bar__plus_01_dot_39_bar__plus_07_dot_03 loc_bar__minus_21_bar_26_bar_0_bar_30)\n (objectAtLocation Window_bar__minus_01_dot_99_bar__plus_01_dot_65_bar__minus_00_dot_01 loc_bar__minus_8_bar_2_bar_2_bar_0)\n (objectAtLocation Window_bar__minus_04_dot_91_bar__plus_00_dot_99_bar__plus_02_dot_02 loc_bar__minus_20_bar_10_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_05_dot_80_bar__plus_01_dot_07_bar__plus_01_dot_87 loc_bar__minus_23_bar_10_bar_2_bar_45)\n (objectAtLocation Laptop_bar__minus_05_dot_46_bar__plus_00_dot_78_bar__plus_05_dot_25 loc_bar__minus_26_bar_20_bar_1_bar_60)\n (objectAtLocation Statue_bar__plus_00_dot_85_bar__plus_00_dot_99_bar__plus_03_dot_09 loc_bar_3_bar_20_bar_2_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?ot - object\n ?r - receptacle\n ?a - agent\n ?l - location)\n (and\n (objectType ?ot DeskLampType)\n (toggleable ?ot)\n (isToggled ?ot)\n (receptacleAtLocation ?r ?l)\n (atLocation ?a ?l)\n (inReceptacle ?ot ?r)\n )\n )\n (exists (?o - object\n ?a - agent)\n (and\n (objectType ?o PlateType)\n (holds ?a ?o)\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sidetable 1", "use desklamp 1", "take plate 2 from sidetable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Plate-None-DeskLamp-218/trial_T20190908_075846_888051/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Plate-None-DeskLamp-218/trial_T20190908_075846_888051/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..16890a8a7c4f30f6e2c92ec9308563c853507039 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Plate-None-DeskLamp-218/trial_T20190908_075846_888051/initial_state.pddl @@ -0,0 +1,547 @@ + +(define (problem plan_trial_T20190908_075846_888051) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Box_bar__minus_03_dot_31_bar__plus_00_dot_75_bar__plus_01_dot_74 - object + Box_bar__minus_05_dot_89_bar__plus_00_dot_98_bar__plus_04_dot_69 - object + CellPhone_bar__minus_01_dot_45_bar__plus_00_dot_32_bar__plus_02_dot_29 - object + CellPhone_bar__minus_02_dot_18_bar__plus_00_dot_52_bar__plus_03_dot_69 - object + Chair_bar__minus_00_dot_14_bar__plus_00_dot_02_bar__plus_06_dot_41 - object + Chair_bar__minus_03_dot_16_bar__plus_00_dot_02_bar__plus_00_dot_87 - object + Chair_bar__minus_05_dot_18_bar__plus_00_dot_00_bar__plus_05_dot_29 - object + Chair_bar__minus_05_dot_19_bar__plus_00_dot_00_bar__plus_04_dot_68 - object + Chair_bar__minus_05_dot_58_bar__plus_00_dot_00_bar__plus_04_dot_10 - object + Chair_bar__minus_05_dot_63_bar__plus_00_dot_00_bar__plus_05_dot_75 - object + Chair_bar__minus_06_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_24 - object + Chair_bar__minus_06_dot_05_bar__plus_00_dot_00_bar__plus_04_dot_56 - object + CreditCard_bar__minus_02_dot_34_bar__plus_00_dot_52_bar__plus_03_dot_49 - object + Curtains_bar__minus_01_dot_05_bar__plus_03_dot_50_bar__plus_02_dot_88 - object + DeskLamp_bar__plus_00_dot_89_bar__plus_00_dot_54_bar__plus_06_dot_82 - object + FloorLamp_bar__minus_03_dot_49_bar_00_dot_00_bar__plus_00_dot_37 - object + HousePlant_bar__minus_03_dot_58_bar__plus_00_dot_54_bar__plus_01_dot_64 - object + KeyChain_bar__plus_00_dot_68_bar__plus_00_dot_10_bar__plus_03_dot_49 - object + Laptop_bar__minus_05_dot_46_bar__plus_00_dot_78_bar__plus_05_dot_25 - object + LightSwitch_bar__minus_05_dot_23_bar__plus_01_dot_39_bar__plus_07_dot_03 - object + Newspaper_bar__minus_01_dot_38_bar__plus_00_dot_31_bar__plus_02_dot_56 - object + Newspaper_bar__minus_01_dot_54_bar__plus_00_dot_31_bar__plus_02_dot_36 - object + Painting_bar__minus_03_dot_81_bar__plus_01_dot_81_bar__plus_01_dot_01 - object + Pillow_bar__minus_02_dot_72_bar__plus_00_dot_61_bar__plus_02_dot_77 - object + Plate_bar__plus_00_dot_54_bar__plus_00_dot_55_bar__plus_06_dot_73 - object + Plate_bar__plus_00_dot_91_bar__plus_00_dot_99_bar__plus_04_dot_34 - object + Plate_bar__minus_05_dot_39_bar__plus_00_dot_79_bar__plus_04_dot_47 - object + RemoteControl_bar__minus_01_dot_58_bar__plus_00_dot_31_bar__plus_03_dot_05 - object + RemoteControl_bar__minus_06_dot_01_bar__plus_00_dot_78_bar__plus_05_dot_13 - object + Statue_bar__plus_00_dot_85_bar__plus_00_dot_99_bar__plus_03_dot_09 - object + Television_bar__plus_00_dot_83_bar__plus_01_dot_47_bar__plus_03_dot_73 - object + WateringCan_bar__plus_00_dot_83_bar_00_dot_00_bar__plus_02_dot_34 - object + Window_bar__minus_01_dot_99_bar__plus_01_dot_65_bar__minus_00_dot_01 - object + Window_bar__minus_04_dot_91_bar__plus_00_dot_99_bar__plus_02_dot_02 - object + Window_bar__minus_05_dot_80_bar__plus_01_dot_07_bar__plus_01_dot_87 - object + CoffeeTable_bar__minus_01_dot_55_bar__plus_00_dot_02_bar__plus_02_dot_53 - receptacle + DiningTable_bar__minus_05_dot_64_bar_00_dot_00_bar__plus_04_dot_91 - receptacle + Drawer_bar__plus_00_dot_74_bar__plus_00_dot_23_bar__plus_03_dot_32 - receptacle + Drawer_bar__plus_00_dot_74_bar__plus_00_dot_23_bar__plus_04_dot_10 - receptacle + Drawer_bar__plus_00_dot_74_bar__plus_00_dot_67_bar__plus_03_dot_32 - receptacle + Drawer_bar__plus_00_dot_74_bar__plus_00_dot_67_bar__plus_04_dot_10 - receptacle + Dresser_bar__plus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_71 - receptacle + GarbageCan_bar__minus_07_dot_10_bar_00_dot_00_bar__plus_02_dot_29 - receptacle + SideTable_bar__plus_00_dot_73_bar__plus_00_dot_00_bar__plus_06_dot_64 - receptacle + SideTable_bar__minus_03_dot_41_bar__plus_00_dot_00_bar__plus_01_dot_64 - receptacle + Sofa_bar__minus_02_dot_47_bar_00_dot_00_bar__plus_03_dot_28 - receptacle + loc_bar__minus_19_bar_18_bar_3_bar_60 - location + loc_bar_3_bar_20_bar_2_bar_45 - location + loc_bar_0_bar_9_bar_0_bar_60 - location + loc_bar__minus_26_bar_13_bar_2_bar_60 - location + loc_bar_2_bar_9_bar_1_bar_60 - location + loc_bar_0_bar_12_bar_0_bar_45 - location + loc_bar__minus_26_bar_21_bar_1_bar_60 - location + loc_bar__minus_20_bar_10_bar_2_bar_60 - location + loc_bar__minus_4_bar_15_bar_3_bar_45 - location + loc_bar__minus_23_bar_25_bar_2_bar_60 - location + loc_bar__minus_23_bar_10_bar_2_bar_45 - location + loc_bar__minus_10_bar_3_bar_3_bar_60 - location + loc_bar__minus_26_bar_20_bar_1_bar_60 - location + loc_bar__minus_2_bar_9_bar_3_bar_60 - location + loc_bar_3_bar_23_bar_0_bar_60 - location + loc_bar__minus_8_bar_2_bar_2_bar_0 - location + loc_bar__minus_10_bar_2_bar_3_bar_60 - location + loc_bar__minus_1_bar_23_bar_0_bar_60 - location + loc_bar__minus_19_bar_21_bar_3_bar_60 - location + loc_bar__minus_10_bar_4_bar_3_bar_0 - location + loc_bar__minus_3_bar_12_bar_3_bar__minus_30 - location + loc_bar_0_bar_16_bar_1_bar_60 - location + loc_bar__minus_21_bar_26_bar_0_bar_30 - location + loc_bar__minus_10_bar_8_bar_3_bar_60 - location + loc_bar_0_bar_13_bar_1_bar_60 - location + loc_bar__minus_22_bar_14_bar_0_bar_60 - location + loc_bar__minus_26_bar_18_bar_1_bar_60 - location + loc_bar__minus_15_bar_22_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__plus_00_dot_74_bar__plus_00_dot_23_bar__plus_03_dot_32 DrawerType) + (receptacleType Dresser_bar__plus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_71 DresserType) + (receptacleType Drawer_bar__plus_00_dot_74_bar__plus_00_dot_23_bar__plus_04_dot_10 DrawerType) + (receptacleType DiningTable_bar__minus_05_dot_64_bar_00_dot_00_bar__plus_04_dot_91 DiningTableType) + (receptacleType SideTable_bar__minus_03_dot_41_bar__plus_00_dot_00_bar__plus_01_dot_64 SideTableType) + (receptacleType GarbageCan_bar__minus_07_dot_10_bar_00_dot_00_bar__plus_02_dot_29 GarbageCanType) + (receptacleType CoffeeTable_bar__minus_01_dot_55_bar__plus_00_dot_02_bar__plus_02_dot_53 CoffeeTableType) + (receptacleType Drawer_bar__plus_00_dot_74_bar__plus_00_dot_67_bar__plus_04_dot_10 DrawerType) + (receptacleType Sofa_bar__minus_02_dot_47_bar_00_dot_00_bar__plus_03_dot_28 SofaType) + (receptacleType Drawer_bar__plus_00_dot_74_bar__plus_00_dot_67_bar__plus_03_dot_32 DrawerType) + (receptacleType SideTable_bar__plus_00_dot_73_bar__plus_00_dot_00_bar__plus_06_dot_64 SideTableType) + (objectType Newspaper_bar__minus_01_dot_38_bar__plus_00_dot_31_bar__plus_02_dot_56 NewspaperType) + (objectType WateringCan_bar__plus_00_dot_83_bar_00_dot_00_bar__plus_02_dot_34 WateringCanType) + (objectType Chair_bar__minus_05_dot_18_bar__plus_00_dot_00_bar__plus_05_dot_29 ChairType) + (objectType Window_bar__minus_01_dot_99_bar__plus_01_dot_65_bar__minus_00_dot_01 WindowType) + (objectType Chair_bar__minus_06_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_24 ChairType) + (objectType FloorLamp_bar__minus_03_dot_49_bar_00_dot_00_bar__plus_00_dot_37 FloorLampType) + (objectType Chair_bar__minus_00_dot_14_bar__plus_00_dot_02_bar__plus_06_dot_41 ChairType) + (objectType Window_bar__minus_04_dot_91_bar__plus_00_dot_99_bar__plus_02_dot_02 WindowType) + (objectType Chair_bar__minus_05_dot_19_bar__plus_00_dot_00_bar__plus_04_dot_68 ChairType) + (objectType HousePlant_bar__minus_03_dot_58_bar__plus_00_dot_54_bar__plus_01_dot_64 HousePlantType) + (objectType Chair_bar__minus_05_dot_63_bar__plus_00_dot_00_bar__plus_05_dot_75 ChairType) + (objectType Curtains_bar__minus_01_dot_05_bar__plus_03_dot_50_bar__plus_02_dot_88 CurtainsType) + (objectType Chair_bar__minus_06_dot_05_bar__plus_00_dot_00_bar__plus_04_dot_56 ChairType) + (objectType Plate_bar__plus_00_dot_54_bar__plus_00_dot_55_bar__plus_06_dot_73 PlateType) + (objectType Box_bar__minus_03_dot_31_bar__plus_00_dot_75_bar__plus_01_dot_74 BoxType) + (objectType LightSwitch_bar__minus_05_dot_23_bar__plus_01_dot_39_bar__plus_07_dot_03 LightSwitchType) + (objectType Pillow_bar__minus_02_dot_72_bar__plus_00_dot_61_bar__plus_02_dot_77 PillowType) + (objectType RemoteControl_bar__minus_01_dot_58_bar__plus_00_dot_31_bar__plus_03_dot_05 RemoteControlType) + (objectType Painting_bar__minus_03_dot_81_bar__plus_01_dot_81_bar__plus_01_dot_01 PaintingType) + (objectType Box_bar__minus_05_dot_89_bar__plus_00_dot_98_bar__plus_04_dot_69 BoxType) + (objectType CreditCard_bar__minus_02_dot_34_bar__plus_00_dot_52_bar__plus_03_dot_49 CreditCardType) + (objectType Television_bar__plus_00_dot_83_bar__plus_01_dot_47_bar__plus_03_dot_73 TelevisionType) + (objectType KeyChain_bar__plus_00_dot_68_bar__plus_00_dot_10_bar__plus_03_dot_49 KeyChainType) + (objectType Statue_bar__plus_00_dot_85_bar__plus_00_dot_99_bar__plus_03_dot_09 StatueType) + (objectType Newspaper_bar__minus_01_dot_54_bar__plus_00_dot_31_bar__plus_02_dot_36 NewspaperType) + (objectType DeskLamp_bar__plus_00_dot_89_bar__plus_00_dot_54_bar__plus_06_dot_82 DeskLampType) + (objectType CellPhone_bar__minus_02_dot_18_bar__plus_00_dot_52_bar__plus_03_dot_69 CellPhoneType) + (objectType Chair_bar__minus_03_dot_16_bar__plus_00_dot_02_bar__plus_00_dot_87 ChairType) + (objectType Laptop_bar__minus_05_dot_46_bar__plus_00_dot_78_bar__plus_05_dot_25 LaptopType) + (objectType Plate_bar__plus_00_dot_91_bar__plus_00_dot_99_bar__plus_04_dot_34 PlateType) + (objectType Window_bar__minus_05_dot_80_bar__plus_01_dot_07_bar__plus_01_dot_87 WindowType) + (objectType RemoteControl_bar__minus_06_dot_01_bar__plus_00_dot_78_bar__plus_05_dot_13 RemoteControlType) + (objectType Plate_bar__minus_05_dot_39_bar__plus_00_dot_79_bar__plus_04_dot_47 PlateType) + (objectType CellPhone_bar__minus_01_dot_45_bar__plus_00_dot_32_bar__plus_02_dot_29 CellPhoneType) + (objectType Chair_bar__minus_05_dot_58_bar__plus_00_dot_00_bar__plus_04_dot_10 ChairType) + (canContain DrawerType NewspaperType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain DresserType NewspaperType) + (canContain DresserType BoxType) + (canContain DresserType CellPhoneType) + (canContain DresserType KeyChainType) + (canContain DresserType CreditCardType) + (canContain DresserType LaptopType) + (canContain DresserType PlateType) + (canContain DresserType RemoteControlType) + (canContain DresserType StatueType) + (canContain DresserType WateringCanType) + (canContain DrawerType NewspaperType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain DiningTableType NewspaperType) + (canContain DiningTableType BoxType) + (canContain DiningTableType CellPhoneType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType PlateType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType StatueType) + (canContain DiningTableType WateringCanType) + (canContain SideTableType NewspaperType) + (canContain SideTableType BoxType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType PlateType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType StatueType) + (canContain SideTableType WateringCanType) + (canContain GarbageCanType NewspaperType) + (canContain CoffeeTableType NewspaperType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType CellPhoneType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType PlateType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType StatueType) + (canContain CoffeeTableType WateringCanType) + (canContain DrawerType NewspaperType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType CellPhoneType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType NewspaperType) + (canContain SofaType CreditCardType) + (canContain DrawerType NewspaperType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain SideTableType NewspaperType) + (canContain SideTableType BoxType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType PlateType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType StatueType) + (canContain SideTableType WateringCanType) + (pickupable Newspaper_bar__minus_01_dot_38_bar__plus_00_dot_31_bar__plus_02_dot_56) + (pickupable WateringCan_bar__plus_00_dot_83_bar_00_dot_00_bar__plus_02_dot_34) + (pickupable Plate_bar__plus_00_dot_54_bar__plus_00_dot_55_bar__plus_06_dot_73) + (pickupable Box_bar__minus_03_dot_31_bar__plus_00_dot_75_bar__plus_01_dot_74) + (pickupable Pillow_bar__minus_02_dot_72_bar__plus_00_dot_61_bar__plus_02_dot_77) + (pickupable RemoteControl_bar__minus_01_dot_58_bar__plus_00_dot_31_bar__plus_03_dot_05) + (pickupable Box_bar__minus_05_dot_89_bar__plus_00_dot_98_bar__plus_04_dot_69) + (pickupable CreditCard_bar__minus_02_dot_34_bar__plus_00_dot_52_bar__plus_03_dot_49) + (pickupable KeyChain_bar__plus_00_dot_68_bar__plus_00_dot_10_bar__plus_03_dot_49) + (pickupable Statue_bar__plus_00_dot_85_bar__plus_00_dot_99_bar__plus_03_dot_09) + (pickupable Newspaper_bar__minus_01_dot_54_bar__plus_00_dot_31_bar__plus_02_dot_36) + (pickupable CellPhone_bar__minus_02_dot_18_bar__plus_00_dot_52_bar__plus_03_dot_69) + (pickupable Laptop_bar__minus_05_dot_46_bar__plus_00_dot_78_bar__plus_05_dot_25) + (pickupable Plate_bar__plus_00_dot_91_bar__plus_00_dot_99_bar__plus_04_dot_34) + (pickupable RemoteControl_bar__minus_06_dot_01_bar__plus_00_dot_78_bar__plus_05_dot_13) + (pickupable Plate_bar__minus_05_dot_39_bar__plus_00_dot_79_bar__plus_04_dot_47) + (pickupable CellPhone_bar__minus_01_dot_45_bar__plus_00_dot_32_bar__plus_02_dot_29) + (isReceptacleObject Plate_bar__plus_00_dot_54_bar__plus_00_dot_55_bar__plus_06_dot_73) + (isReceptacleObject Box_bar__minus_03_dot_31_bar__plus_00_dot_75_bar__plus_01_dot_74) + (isReceptacleObject Box_bar__minus_05_dot_89_bar__plus_00_dot_98_bar__plus_04_dot_69) + (isReceptacleObject Plate_bar__plus_00_dot_91_bar__plus_00_dot_99_bar__plus_04_dot_34) + (isReceptacleObject Plate_bar__minus_05_dot_39_bar__plus_00_dot_79_bar__plus_04_dot_47) + (openable Drawer_bar__plus_00_dot_74_bar__plus_00_dot_23_bar__plus_03_dot_32) + (openable Drawer_bar__plus_00_dot_74_bar__plus_00_dot_23_bar__plus_04_dot_10) + (openable Drawer_bar__plus_00_dot_74_bar__plus_00_dot_67_bar__plus_04_dot_10) + (openable Drawer_bar__plus_00_dot_74_bar__plus_00_dot_67_bar__plus_03_dot_32) + + (atLocation agent1 loc_bar__minus_15_bar_22_bar_0_bar_30) + + (cleanable Plate_bar__plus_00_dot_54_bar__plus_00_dot_55_bar__plus_06_dot_73) + (cleanable Plate_bar__plus_00_dot_91_bar__plus_00_dot_99_bar__plus_04_dot_34) + (cleanable Plate_bar__minus_05_dot_39_bar__plus_00_dot_79_bar__plus_04_dot_47) + + (heatable Plate_bar__plus_00_dot_54_bar__plus_00_dot_55_bar__plus_06_dot_73) + (heatable Plate_bar__plus_00_dot_91_bar__plus_00_dot_99_bar__plus_04_dot_34) + (heatable Plate_bar__minus_05_dot_39_bar__plus_00_dot_79_bar__plus_04_dot_47) + (coolable Plate_bar__plus_00_dot_54_bar__plus_00_dot_55_bar__plus_06_dot_73) + (coolable Plate_bar__plus_00_dot_91_bar__plus_00_dot_99_bar__plus_04_dot_34) + (coolable Plate_bar__minus_05_dot_39_bar__plus_00_dot_79_bar__plus_04_dot_47) + + + (toggleable FloorLamp_bar__minus_03_dot_49_bar_00_dot_00_bar__plus_00_dot_37) + (toggleable DeskLamp_bar__plus_00_dot_89_bar__plus_00_dot_54_bar__plus_06_dot_82) + + + + + (inReceptacle Statue_bar__plus_00_dot_85_bar__plus_00_dot_99_bar__plus_03_dot_09 Dresser_bar__plus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_71) + (inReceptacle Plate_bar__plus_00_dot_91_bar__plus_00_dot_99_bar__plus_04_dot_34 Dresser_bar__plus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_71) + (inReceptacle Television_bar__plus_00_dot_83_bar__plus_01_dot_47_bar__plus_03_dot_73 Dresser_bar__plus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_71) + (inReceptacle CellPhone_bar__minus_02_dot_18_bar__plus_00_dot_52_bar__plus_03_dot_69 Sofa_bar__minus_02_dot_47_bar_00_dot_00_bar__plus_03_dot_28) + (inReceptacle Pillow_bar__minus_02_dot_72_bar__plus_00_dot_61_bar__plus_02_dot_77 Sofa_bar__minus_02_dot_47_bar_00_dot_00_bar__plus_03_dot_28) + (inReceptacle CreditCard_bar__minus_02_dot_34_bar__plus_00_dot_52_bar__plus_03_dot_49 Sofa_bar__minus_02_dot_47_bar_00_dot_00_bar__plus_03_dot_28) + (inReceptacle Box_bar__minus_03_dot_31_bar__plus_00_dot_75_bar__plus_01_dot_74 SideTable_bar__minus_03_dot_41_bar__plus_00_dot_00_bar__plus_01_dot_64) + (inReceptacle HousePlant_bar__minus_03_dot_58_bar__plus_00_dot_54_bar__plus_01_dot_64 SideTable_bar__minus_03_dot_41_bar__plus_00_dot_00_bar__plus_01_dot_64) + (inReceptacle Laptop_bar__minus_05_dot_46_bar__plus_00_dot_78_bar__plus_05_dot_25 DiningTable_bar__minus_05_dot_64_bar_00_dot_00_bar__plus_04_dot_91) + (inReceptacle RemoteControl_bar__minus_06_dot_01_bar__plus_00_dot_78_bar__plus_05_dot_13 DiningTable_bar__minus_05_dot_64_bar_00_dot_00_bar__plus_04_dot_91) + (inReceptacle Plate_bar__minus_05_dot_39_bar__plus_00_dot_79_bar__plus_04_dot_47 DiningTable_bar__minus_05_dot_64_bar_00_dot_00_bar__plus_04_dot_91) + (inReceptacle Box_bar__minus_05_dot_89_bar__plus_00_dot_98_bar__plus_04_dot_69 DiningTable_bar__minus_05_dot_64_bar_00_dot_00_bar__plus_04_dot_91) + (inReceptacle KeyChain_bar__plus_00_dot_68_bar__plus_00_dot_10_bar__plus_03_dot_49 Drawer_bar__plus_00_dot_74_bar__plus_00_dot_23_bar__plus_03_dot_32) + (inReceptacle CellPhone_bar__minus_01_dot_45_bar__plus_00_dot_32_bar__plus_02_dot_29 CoffeeTable_bar__minus_01_dot_55_bar__plus_00_dot_02_bar__plus_02_dot_53) + (inReceptacle Newspaper_bar__minus_01_dot_38_bar__plus_00_dot_31_bar__plus_02_dot_56 CoffeeTable_bar__minus_01_dot_55_bar__plus_00_dot_02_bar__plus_02_dot_53) + (inReceptacle RemoteControl_bar__minus_01_dot_58_bar__plus_00_dot_31_bar__plus_03_dot_05 CoffeeTable_bar__minus_01_dot_55_bar__plus_00_dot_02_bar__plus_02_dot_53) + (inReceptacle Newspaper_bar__minus_01_dot_54_bar__plus_00_dot_31_bar__plus_02_dot_36 CoffeeTable_bar__minus_01_dot_55_bar__plus_00_dot_02_bar__plus_02_dot_53) + (inReceptacle DeskLamp_bar__plus_00_dot_89_bar__plus_00_dot_54_bar__plus_06_dot_82 SideTable_bar__plus_00_dot_73_bar__plus_00_dot_00_bar__plus_06_dot_64) + (inReceptacle Plate_bar__plus_00_dot_54_bar__plus_00_dot_55_bar__plus_06_dot_73 SideTable_bar__plus_00_dot_73_bar__plus_00_dot_00_bar__plus_06_dot_64) + + + (receptacleAtLocation CoffeeTable_bar__minus_01_dot_55_bar__plus_00_dot_02_bar__plus_02_dot_53 loc_bar__minus_2_bar_9_bar_3_bar_60) + (receptacleAtLocation DiningTable_bar__minus_05_dot_64_bar_00_dot_00_bar__plus_04_dot_91 loc_bar__minus_26_bar_20_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_74_bar__plus_00_dot_23_bar__plus_03_dot_32 loc_bar_0_bar_9_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_74_bar__plus_00_dot_23_bar__plus_04_dot_10 loc_bar_0_bar_12_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_74_bar__plus_00_dot_67_bar__plus_03_dot_32 loc_bar_0_bar_13_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_74_bar__plus_00_dot_67_bar__plus_04_dot_10 loc_bar_0_bar_16_bar_1_bar_60) + (receptacleAtLocation Dresser_bar__plus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_71 loc_bar_3_bar_20_bar_2_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_07_dot_10_bar_00_dot_00_bar__plus_02_dot_29 loc_bar__minus_26_bar_13_bar_2_bar_60) + (receptacleAtLocation SideTable_bar__plus_00_dot_73_bar__plus_00_dot_00_bar__plus_06_dot_64 loc_bar_3_bar_23_bar_0_bar_60) + (receptacleAtLocation SideTable_bar__minus_03_dot_41_bar__plus_00_dot_00_bar__plus_01_dot_64 loc_bar__minus_10_bar_8_bar_3_bar_60) + (receptacleAtLocation Sofa_bar__minus_02_dot_47_bar_00_dot_00_bar__plus_03_dot_28 loc_bar__minus_4_bar_15_bar_3_bar_45) + (objectAtLocation RemoteControl_bar__minus_01_dot_58_bar__plus_00_dot_31_bar__plus_03_dot_05 loc_bar__minus_2_bar_9_bar_3_bar_60) + (objectAtLocation Plate_bar__minus_05_dot_39_bar__plus_00_dot_79_bar__plus_04_dot_47 loc_bar__minus_26_bar_20_bar_1_bar_60) + (objectAtLocation Newspaper_bar__minus_01_dot_54_bar__plus_00_dot_31_bar__plus_02_dot_36 loc_bar__minus_2_bar_9_bar_3_bar_60) + (objectAtLocation CellPhone_bar__minus_02_dot_18_bar__plus_00_dot_52_bar__plus_03_dot_69 loc_bar__minus_4_bar_15_bar_3_bar_45) + (objectAtLocation Box_bar__minus_05_dot_89_bar__plus_00_dot_98_bar__plus_04_dot_69 loc_bar__minus_26_bar_20_bar_1_bar_60) + (objectAtLocation Plate_bar__plus_00_dot_91_bar__plus_00_dot_99_bar__plus_04_dot_34 loc_bar_3_bar_20_bar_2_bar_45) + (objectAtLocation Chair_bar__minus_06_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_24 loc_bar__minus_26_bar_21_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_05_dot_58_bar__plus_00_dot_00_bar__plus_04_dot_10 loc_bar__minus_22_bar_14_bar_0_bar_60) + (objectAtLocation Chair_bar__minus_00_dot_14_bar__plus_00_dot_02_bar__plus_06_dot_41 loc_bar__minus_1_bar_23_bar_0_bar_60) + (objectAtLocation Chair_bar__minus_05_dot_18_bar__plus_00_dot_00_bar__plus_05_dot_29 loc_bar__minus_19_bar_21_bar_3_bar_60) + (objectAtLocation Chair_bar__minus_05_dot_63_bar__plus_00_dot_00_bar__plus_05_dot_75 loc_bar__minus_23_bar_25_bar_2_bar_60) + (objectAtLocation Chair_bar__minus_03_dot_16_bar__plus_00_dot_02_bar__plus_00_dot_87 loc_bar__minus_10_bar_3_bar_3_bar_60) + (objectAtLocation Chair_bar__minus_05_dot_19_bar__plus_00_dot_00_bar__plus_04_dot_68 loc_bar__minus_19_bar_18_bar_3_bar_60) + (objectAtLocation Box_bar__minus_03_dot_31_bar__plus_00_dot_75_bar__plus_01_dot_74 loc_bar__minus_10_bar_8_bar_3_bar_60) + (objectAtLocation Chair_bar__minus_06_dot_05_bar__plus_00_dot_00_bar__plus_04_dot_56 loc_bar__minus_26_bar_18_bar_1_bar_60) + (objectAtLocation Curtains_bar__minus_01_dot_05_bar__plus_03_dot_50_bar__plus_02_dot_88 loc_bar__minus_3_bar_12_bar_3_bar__minus_30) + (objectAtLocation CellPhone_bar__minus_01_dot_45_bar__plus_00_dot_32_bar__plus_02_dot_29 loc_bar__minus_2_bar_9_bar_3_bar_60) + (objectAtLocation HousePlant_bar__minus_03_dot_58_bar__plus_00_dot_54_bar__plus_01_dot_64 loc_bar__minus_10_bar_8_bar_3_bar_60) + (objectAtLocation Television_bar__plus_00_dot_83_bar__plus_01_dot_47_bar__plus_03_dot_73 loc_bar_3_bar_20_bar_2_bar_45) + (objectAtLocation WateringCan_bar__plus_00_dot_83_bar_00_dot_00_bar__plus_02_dot_34 loc_bar_2_bar_9_bar_1_bar_60) + (objectAtLocation Newspaper_bar__minus_01_dot_38_bar__plus_00_dot_31_bar__plus_02_dot_56 loc_bar__minus_2_bar_9_bar_3_bar_60) + (objectAtLocation KeyChain_bar__plus_00_dot_68_bar__plus_00_dot_10_bar__plus_03_dot_49 loc_bar_0_bar_9_bar_0_bar_60) + (objectAtLocation Plate_bar__plus_00_dot_54_bar__plus_00_dot_55_bar__plus_06_dot_73 loc_bar_3_bar_23_bar_0_bar_60) + (objectAtLocation Pillow_bar__minus_02_dot_72_bar__plus_00_dot_61_bar__plus_02_dot_77 loc_bar__minus_4_bar_15_bar_3_bar_45) + (objectAtLocation Painting_bar__minus_03_dot_81_bar__plus_01_dot_81_bar__plus_01_dot_01 loc_bar__minus_10_bar_4_bar_3_bar_0) + (objectAtLocation DeskLamp_bar__plus_00_dot_89_bar__plus_00_dot_54_bar__plus_06_dot_82 loc_bar_3_bar_23_bar_0_bar_60) + (objectAtLocation RemoteControl_bar__minus_06_dot_01_bar__plus_00_dot_78_bar__plus_05_dot_13 loc_bar__minus_26_bar_20_bar_1_bar_60) + (objectAtLocation CreditCard_bar__minus_02_dot_34_bar__plus_00_dot_52_bar__plus_03_dot_49 loc_bar__minus_4_bar_15_bar_3_bar_45) + (objectAtLocation FloorLamp_bar__minus_03_dot_49_bar_00_dot_00_bar__plus_00_dot_37 loc_bar__minus_10_bar_2_bar_3_bar_60) + (objectAtLocation LightSwitch_bar__minus_05_dot_23_bar__plus_01_dot_39_bar__plus_07_dot_03 loc_bar__minus_21_bar_26_bar_0_bar_30) + (objectAtLocation Window_bar__minus_01_dot_99_bar__plus_01_dot_65_bar__minus_00_dot_01 loc_bar__minus_8_bar_2_bar_2_bar_0) + (objectAtLocation Window_bar__minus_04_dot_91_bar__plus_00_dot_99_bar__plus_02_dot_02 loc_bar__minus_20_bar_10_bar_2_bar_60) + (objectAtLocation Window_bar__minus_05_dot_80_bar__plus_01_dot_07_bar__plus_01_dot_87 loc_bar__minus_23_bar_10_bar_2_bar_45) + (objectAtLocation Laptop_bar__minus_05_dot_46_bar__plus_00_dot_78_bar__plus_05_dot_25 loc_bar__minus_26_bar_20_bar_1_bar_60) + (objectAtLocation Statue_bar__plus_00_dot_85_bar__plus_00_dot_99_bar__plus_03_dot_09 loc_bar_3_bar_20_bar_2_bar_45) + ) + + + (: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 PlateType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Plate-None-DeskLamp-218/trial_T20190908_075846_888051/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Plate-None-DeskLamp-218/trial_T20190908_075846_888051/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..8bf35ece5c21a395ef71e0c9ef5fef177a811678 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Plate-None-DeskLamp-218/trial_T20190908_075846_888051/traj_data.json @@ -0,0 +1,2127 @@ +{ + "images": [ + { + "high_idx": 0, + 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"task_id": "trial_T20190908_075846_888051", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A38Z99XF4NDNH0_37FMASSAYF81ALC2QBSI9CT4RXXBIT", + "high_descs": [ + "Move to the square wood table to the right of the white chair", + "Pick up the black square plate to the left of the lamp", + "Carry the black plate to face the square wood table", + "Turn on the lamp on top of the table" + ], + "task_desc": "Hold a plate while turning on a lamp", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2A4UAFZ5LW71K_3GA6AFUKOR5WBVX550VRRHUD3SSH32", + "high_descs": [ + "turn right, walk towards wall, turn left to face table", + "pick up the black plate that is on the table", + "turn around, turn back to face table again", + "turn the lamp on" + ], + "task_desc": "examine a plate with a lamp", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3F51C49T9A34D_3M68NM076KO8X8YQK75JCO830RDR6Y", + "high_descs": [ + "turn to the right and go to the wall and turn to the left and go to the small table", + "pick up the black plate from the small table", + "turn to the right and take a step to the wall and turn to the left facing the small table", + "turn on the lamp light on the small table." + ], + "task_desc": "examine the black plate by the lamp light", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-211/trial_T20190909_012048_357331/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-211/trial_T20190909_012048_357331/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..4750c839fb25227722721cd2c868ee7962925984 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-211/trial_T20190909_012048_357331/initial_state.pddl @@ -0,0 +1,544 @@ + +(define (problem plan_trial_T20190909_012048_357331) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Box_bar__minus_00_dot_22_bar__plus_00_dot_12_bar__minus_02_dot_04 - object + CellPhone_bar__plus_00_dot_33_bar__plus_00_dot_34_bar__plus_00_dot_78 - object + CreditCard_bar__plus_01_dot_44_bar__plus_00_dot_70_bar__minus_00_dot_77 - object + CreditCard_bar__minus_00_dot_19_bar__plus_00_dot_55_bar__plus_02_dot_03 - object + FloorLamp_bar__plus_01_dot_69_bar__plus_00_dot_00_bar__plus_01_dot_78 - object + HousePlant_bar__minus_00_dot_81_bar__plus_00_dot_00_bar__minus_02_dot_19 - object + KeyChain_bar__plus_01_dot_69_bar__plus_00_dot_71_bar__minus_00_dot_65 - object + Laptop_bar__plus_03_dot_53_bar__plus_00_dot_63_bar__minus_01_dot_44 - object + LightSwitch_bar__plus_02_dot_10_bar__plus_01_dot_35_bar__minus_00_dot_83 - object + Newspaper_bar__plus_01_dot_35_bar__plus_00_dot_48_bar__plus_00_dot_39 - object + Newspaper_bar__plus_01_dot_37_bar__plus_00_dot_61_bar__minus_00_dot_71 - object + Newspaper_bar__plus_01_dot_67_bar__plus_00_dot_61_bar__minus_00_dot_79 - object + Painting_bar__plus_01_dot_98_bar__plus_01_dot_59_bar__plus_00_dot_33 - object + Pillow_bar__plus_01_dot_42_bar__plus_00_dot_55_bar__plus_00_dot_78 - object + Plate_bar__plus_00_dot_33_bar__plus_00_dot_34_bar__plus_00_dot_14 - object + Plate_bar__plus_03_dot_38_bar__plus_00_dot_64_bar__minus_00_dot_62 - object + Plate_bar__minus_01_dot_82_bar__plus_00_dot_10_bar__plus_01_dot_06 - object + RemoteControl_bar__plus_00_dot_00_bar__plus_00_dot_34_bar__plus_00_dot_02 - object + RemoteControl_bar__plus_00_dot_17_bar__plus_00_dot_34_bar__plus_00_dot_27 - object + RemoteControl_bar__plus_01_dot_35_bar__plus_00_dot_48_bar_00_dot_00 - object + Statue_bar__plus_03_dot_48_bar__plus_00_dot_65_bar__minus_00_dot_98 - object + Statue_bar__minus_00_dot_19_bar__plus_00_dot_56_bar__plus_01_dot_77 - object + Statue_bar__minus_02_dot_04_bar__plus_00_dot_61_bar__plus_01_dot_10 - object + Television_bar__minus_02_dot_03_bar__plus_01_dot_08_bar__plus_00_dot_56 - object + Vase_bar__plus_00_dot_00_bar__plus_00_dot_34_bar__plus_00_dot_40 - object + Vase_bar__plus_03_dot_69_bar__plus_00_dot_64_bar__minus_00_dot_80 - object + Vase_bar__minus_01_dot_82_bar__plus_00_dot_10_bar__plus_00_dot_56 - object + Window_bar__plus_02_dot_78_bar__plus_01_dot_28_bar__minus_02_dot_02 - object + Window_bar__minus_00_dot_01_bar__plus_01_dot_29_bar__minus_02_dot_45 - object + ArmChair_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_49 - receptacle + CoffeeTable_bar__plus_00_dot_17_bar_00_dot_00_bar__plus_00_dot_42 - receptacle + Drawer_bar__plus_01_dot_52_bar__plus_00_dot_62_bar__minus_00_dot_76 - receptacle + GarbageCan_bar__minus_01_dot_89_bar__plus_00_dot_00_bar__minus_00_dot_41 - receptacle + Shelf_bar__minus_00_dot_20_bar__plus_00_dot_16_bar__plus_01_dot_93 - receptacle + Shelf_bar__minus_00_dot_20_bar__plus_00_dot_54_bar__plus_01_dot_93 - receptacle + Shelf_bar__minus_00_dot_20_bar__plus_00_dot_87_bar__plus_01_dot_93 - receptacle + Shelf_bar__minus_01_dot_82_bar__plus_00_dot_38_bar__plus_00_dot_56 - receptacle + Shelf_bar__minus_01_dot_83_bar__plus_00_dot_13_bar__plus_00_dot_56 - receptacle + SideTable_bar__plus_01_dot_52_bar__plus_00_dot_00_bar__minus_00_dot_70 - receptacle + SideTable_bar__plus_03_dot_58_bar__plus_00_dot_00_bar__minus_01_dot_17 - receptacle + Sofa_bar__plus_01_dot_42_bar_00_dot_00_bar__plus_00_dot_39 - receptacle + TVStand_bar__minus_01_dot_97_bar_00_dot_00_bar__plus_00_dot_56 - receptacle + loc_bar__minus_2_bar_2_bar_3_bar_45 - location + loc_bar__minus_4_bar_2_bar_3_bar_60 - location + loc_bar_3_bar_2_bar_1_bar_60 - location + loc_bar__minus_6_bar__minus_3_bar_3_bar_60 - location + loc_bar_0_bar__minus_7_bar_2_bar_30 - location + loc_bar__minus_3_bar__minus_6_bar_2_bar_60 - location + loc_bar__minus_3_bar_3_bar_0_bar_45 - location + loc_bar__minus_3_bar_3_bar_0_bar_30 - location + loc_bar_5_bar__minus_6_bar_0_bar_60 - location + loc_bar__minus_1_bar_6_bar_0_bar_60 - location + loc_bar_4_bar_7_bar_1_bar_60 - location + loc_bar_11_bar_0_bar_3_bar_0 - location + loc_bar_10_bar__minus_5_bar_1_bar_60 - location + loc_bar_11_bar__minus_3_bar_3_bar_30 - location + loc_bar_11_bar__minus_6_bar_2_bar_30 - location + loc_bar__minus_3_bar_2_bar_3_bar_60 - location + loc_bar_0_bar__minus_7_bar_2_bar_60 - location + loc_bar__minus_2_bar__minus_4_bar_3_bar_60 - location + loc_bar__minus_4_bar_2_bar_1_bar_60 - location + loc_bar_0_bar_5_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Shelf_bar__minus_01_dot_83_bar__plus_00_dot_13_bar__plus_00_dot_56 ShelfType) + (receptacleType SideTable_bar__plus_01_dot_52_bar__plus_00_dot_00_bar__minus_00_dot_70 SideTableType) + (receptacleType ArmChair_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_49 ArmChairType) + (receptacleType Shelf_bar__minus_00_dot_20_bar__plus_00_dot_87_bar__plus_01_dot_93 ShelfType) + (receptacleType Shelf_bar__minus_00_dot_20_bar__plus_00_dot_54_bar__plus_01_dot_93 ShelfType) + (receptacleType SideTable_bar__plus_03_dot_58_bar__plus_00_dot_00_bar__minus_01_dot_17 SideTableType) + (receptacleType Shelf_bar__minus_01_dot_82_bar__plus_00_dot_38_bar__plus_00_dot_56 ShelfType) + (receptacleType Drawer_bar__plus_01_dot_52_bar__plus_00_dot_62_bar__minus_00_dot_76 DrawerType) + (receptacleType Sofa_bar__plus_01_dot_42_bar_00_dot_00_bar__plus_00_dot_39 SofaType) + (receptacleType GarbageCan_bar__minus_01_dot_89_bar__plus_00_dot_00_bar__minus_00_dot_41 GarbageCanType) + (receptacleType Shelf_bar__minus_00_dot_20_bar__plus_00_dot_16_bar__plus_01_dot_93 ShelfType) + (receptacleType CoffeeTable_bar__plus_00_dot_17_bar_00_dot_00_bar__plus_00_dot_42 CoffeeTableType) + (receptacleType TVStand_bar__minus_01_dot_97_bar_00_dot_00_bar__plus_00_dot_56 TVStandType) + (objectType Painting_bar__plus_01_dot_98_bar__plus_01_dot_59_bar__plus_00_dot_33 PaintingType) + (objectType Newspaper_bar__plus_01_dot_37_bar__plus_00_dot_61_bar__minus_00_dot_71 NewspaperType) + (objectType KeyChain_bar__plus_01_dot_69_bar__plus_00_dot_71_bar__minus_00_dot_65 KeyChainType) + (objectType Plate_bar__plus_00_dot_33_bar__plus_00_dot_34_bar__plus_00_dot_14 PlateType) + (objectType Newspaper_bar__plus_01_dot_35_bar__plus_00_dot_48_bar__plus_00_dot_39 NewspaperType) + (objectType RemoteControl_bar__plus_01_dot_35_bar__plus_00_dot_48_bar_00_dot_00 RemoteControlType) + (objectType Pillow_bar__plus_01_dot_42_bar__plus_00_dot_55_bar__plus_00_dot_78 PillowType) + (objectType CreditCard_bar__minus_00_dot_19_bar__plus_00_dot_55_bar__plus_02_dot_03 CreditCardType) + (objectType Window_bar__plus_02_dot_78_bar__plus_01_dot_28_bar__minus_02_dot_02 WindowType) + (objectType RemoteControl_bar__plus_00_dot_00_bar__plus_00_dot_34_bar__plus_00_dot_02 RemoteControlType) + (objectType Plate_bar__minus_01_dot_82_bar__plus_00_dot_10_bar__plus_01_dot_06 PlateType) + (objectType Plate_bar__plus_03_dot_38_bar__plus_00_dot_64_bar__minus_00_dot_62 PlateType) + (objectType FloorLamp_bar__plus_01_dot_69_bar__plus_00_dot_00_bar__plus_01_dot_78 FloorLampType) + (objectType RemoteControl_bar__plus_00_dot_17_bar__plus_00_dot_34_bar__plus_00_dot_27 RemoteControlType) + (objectType Television_bar__minus_02_dot_03_bar__plus_01_dot_08_bar__plus_00_dot_56 TelevisionType) + (objectType Statue_bar__plus_03_dot_48_bar__plus_00_dot_65_bar__minus_00_dot_98 StatueType) + (objectType Window_bar__minus_00_dot_01_bar__plus_01_dot_29_bar__minus_02_dot_45 WindowType) + (objectType Vase_bar__minus_01_dot_82_bar__plus_00_dot_10_bar__plus_00_dot_56 VaseType) + (objectType Vase_bar__plus_03_dot_69_bar__plus_00_dot_64_bar__minus_00_dot_80 VaseType) + (objectType HousePlant_bar__minus_00_dot_81_bar__plus_00_dot_00_bar__minus_02_dot_19 HousePlantType) + (objectType Vase_bar__plus_00_dot_00_bar__plus_00_dot_34_bar__plus_00_dot_40 VaseType) + (objectType Newspaper_bar__plus_01_dot_67_bar__plus_00_dot_61_bar__minus_00_dot_79 NewspaperType) + (objectType CreditCard_bar__plus_01_dot_44_bar__plus_00_dot_70_bar__minus_00_dot_77 CreditCardType) + (objectType Statue_bar__minus_00_dot_19_bar__plus_00_dot_56_bar__plus_01_dot_77 StatueType) + (objectType CellPhone_bar__plus_00_dot_33_bar__plus_00_dot_34_bar__plus_00_dot_78 CellPhoneType) + (objectType LightSwitch_bar__plus_02_dot_10_bar__plus_01_dot_35_bar__minus_00_dot_83 LightSwitchType) + (objectType Statue_bar__minus_02_dot_04_bar__plus_00_dot_61_bar__plus_01_dot_10 StatueType) + (objectType Laptop_bar__plus_03_dot_53_bar__plus_00_dot_63_bar__minus_01_dot_44 LaptopType) + (objectType Box_bar__minus_00_dot_22_bar__plus_00_dot_12_bar__minus_02_dot_04 BoxType) + (canContain ShelfType NewspaperType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PlateType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain SideTableType NewspaperType) + (canContain SideTableType VaseType) + (canContain SideTableType BoxType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType PlateType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType StatueType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType CellPhoneType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType NewspaperType) + (canContain ArmChairType CreditCardType) + (canContain ShelfType NewspaperType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PlateType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain ShelfType NewspaperType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PlateType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain SideTableType NewspaperType) + (canContain SideTableType VaseType) + (canContain SideTableType BoxType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType PlateType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType StatueType) + (canContain ShelfType NewspaperType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PlateType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain DrawerType NewspaperType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType CellPhoneType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType NewspaperType) + (canContain SofaType CreditCardType) + (canContain GarbageCanType NewspaperType) + (canContain ShelfType NewspaperType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PlateType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain CoffeeTableType NewspaperType) + (canContain CoffeeTableType VaseType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType CellPhoneType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType PlateType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType StatueType) + (pickupable Newspaper_bar__plus_01_dot_37_bar__plus_00_dot_61_bar__minus_00_dot_71) + (pickupable KeyChain_bar__plus_01_dot_69_bar__plus_00_dot_71_bar__minus_00_dot_65) + (pickupable Plate_bar__plus_00_dot_33_bar__plus_00_dot_34_bar__plus_00_dot_14) + (pickupable Newspaper_bar__plus_01_dot_35_bar__plus_00_dot_48_bar__plus_00_dot_39) + (pickupable RemoteControl_bar__plus_01_dot_35_bar__plus_00_dot_48_bar_00_dot_00) + (pickupable Pillow_bar__plus_01_dot_42_bar__plus_00_dot_55_bar__plus_00_dot_78) + (pickupable CreditCard_bar__minus_00_dot_19_bar__plus_00_dot_55_bar__plus_02_dot_03) + (pickupable RemoteControl_bar__plus_00_dot_00_bar__plus_00_dot_34_bar__plus_00_dot_02) + (pickupable Plate_bar__minus_01_dot_82_bar__plus_00_dot_10_bar__plus_01_dot_06) + (pickupable Plate_bar__plus_03_dot_38_bar__plus_00_dot_64_bar__minus_00_dot_62) + (pickupable RemoteControl_bar__plus_00_dot_17_bar__plus_00_dot_34_bar__plus_00_dot_27) + (pickupable Statue_bar__plus_03_dot_48_bar__plus_00_dot_65_bar__minus_00_dot_98) + (pickupable Vase_bar__minus_01_dot_82_bar__plus_00_dot_10_bar__plus_00_dot_56) + (pickupable Vase_bar__plus_03_dot_69_bar__plus_00_dot_64_bar__minus_00_dot_80) + (pickupable Vase_bar__plus_00_dot_00_bar__plus_00_dot_34_bar__plus_00_dot_40) + (pickupable Newspaper_bar__plus_01_dot_67_bar__plus_00_dot_61_bar__minus_00_dot_79) + (pickupable CreditCard_bar__plus_01_dot_44_bar__plus_00_dot_70_bar__minus_00_dot_77) + (pickupable Statue_bar__minus_00_dot_19_bar__plus_00_dot_56_bar__plus_01_dot_77) + (pickupable CellPhone_bar__plus_00_dot_33_bar__plus_00_dot_34_bar__plus_00_dot_78) + (pickupable Statue_bar__minus_02_dot_04_bar__plus_00_dot_61_bar__plus_01_dot_10) + (pickupable Laptop_bar__plus_03_dot_53_bar__plus_00_dot_63_bar__minus_01_dot_44) + (pickupable Box_bar__minus_00_dot_22_bar__plus_00_dot_12_bar__minus_02_dot_04) + (isReceptacleObject Plate_bar__plus_00_dot_33_bar__plus_00_dot_34_bar__plus_00_dot_14) + (isReceptacleObject Plate_bar__minus_01_dot_82_bar__plus_00_dot_10_bar__plus_01_dot_06) + (isReceptacleObject Plate_bar__plus_03_dot_38_bar__plus_00_dot_64_bar__minus_00_dot_62) + (isReceptacleObject Box_bar__minus_00_dot_22_bar__plus_00_dot_12_bar__minus_02_dot_04) + (openable Drawer_bar__plus_01_dot_52_bar__plus_00_dot_62_bar__minus_00_dot_76) + + (atLocation agent1 loc_bar_0_bar_5_bar_0_bar_30) + + (cleanable Plate_bar__plus_00_dot_33_bar__plus_00_dot_34_bar__plus_00_dot_14) + (cleanable Plate_bar__minus_01_dot_82_bar__plus_00_dot_10_bar__plus_01_dot_06) + (cleanable Plate_bar__plus_03_dot_38_bar__plus_00_dot_64_bar__minus_00_dot_62) + + (heatable Plate_bar__plus_00_dot_33_bar__plus_00_dot_34_bar__plus_00_dot_14) + (heatable Plate_bar__minus_01_dot_82_bar__plus_00_dot_10_bar__plus_01_dot_06) + (heatable Plate_bar__plus_03_dot_38_bar__plus_00_dot_64_bar__minus_00_dot_62) + (coolable Plate_bar__plus_00_dot_33_bar__plus_00_dot_34_bar__plus_00_dot_14) + (coolable Plate_bar__minus_01_dot_82_bar__plus_00_dot_10_bar__plus_01_dot_06) + (coolable Plate_bar__plus_03_dot_38_bar__plus_00_dot_64_bar__minus_00_dot_62) + + + (toggleable FloorLamp_bar__plus_01_dot_69_bar__plus_00_dot_00_bar__plus_01_dot_78) + + + + + (inReceptacle Television_bar__minus_02_dot_03_bar__plus_01_dot_08_bar__plus_00_dot_56 TVStand_bar__minus_01_dot_97_bar_00_dot_00_bar__plus_00_dot_56) + (inReceptacle Statue_bar__minus_02_dot_04_bar__plus_00_dot_61_bar__plus_01_dot_10 TVStand_bar__minus_01_dot_97_bar_00_dot_00_bar__plus_00_dot_56) + (inReceptacle RemoteControl_bar__plus_00_dot_00_bar__plus_00_dot_34_bar__plus_00_dot_02 CoffeeTable_bar__plus_00_dot_17_bar_00_dot_00_bar__plus_00_dot_42) + (inReceptacle Plate_bar__plus_00_dot_33_bar__plus_00_dot_34_bar__plus_00_dot_14 CoffeeTable_bar__plus_00_dot_17_bar_00_dot_00_bar__plus_00_dot_42) + (inReceptacle RemoteControl_bar__plus_00_dot_17_bar__plus_00_dot_34_bar__plus_00_dot_27 CoffeeTable_bar__plus_00_dot_17_bar_00_dot_00_bar__plus_00_dot_42) + (inReceptacle CellPhone_bar__plus_00_dot_33_bar__plus_00_dot_34_bar__plus_00_dot_78 CoffeeTable_bar__plus_00_dot_17_bar_00_dot_00_bar__plus_00_dot_42) + (inReceptacle Vase_bar__plus_00_dot_00_bar__plus_00_dot_34_bar__plus_00_dot_40 CoffeeTable_bar__plus_00_dot_17_bar_00_dot_00_bar__plus_00_dot_42) + (inReceptacle Laptop_bar__plus_03_dot_53_bar__plus_00_dot_63_bar__minus_01_dot_44 SideTable_bar__plus_03_dot_58_bar__plus_00_dot_00_bar__minus_01_dot_17) + (inReceptacle Statue_bar__plus_03_dot_48_bar__plus_00_dot_65_bar__minus_00_dot_98 SideTable_bar__plus_03_dot_58_bar__plus_00_dot_00_bar__minus_01_dot_17) + (inReceptacle Plate_bar__plus_03_dot_38_bar__plus_00_dot_64_bar__minus_00_dot_62 SideTable_bar__plus_03_dot_58_bar__plus_00_dot_00_bar__minus_01_dot_17) + (inReceptacle Vase_bar__plus_03_dot_69_bar__plus_00_dot_64_bar__minus_00_dot_80 SideTable_bar__plus_03_dot_58_bar__plus_00_dot_00_bar__minus_01_dot_17) + (inReceptacle Plate_bar__minus_01_dot_82_bar__plus_00_dot_10_bar__plus_01_dot_06 Shelf_bar__minus_01_dot_83_bar__plus_00_dot_13_bar__plus_00_dot_56) + (inReceptacle Vase_bar__minus_01_dot_82_bar__plus_00_dot_10_bar__plus_00_dot_56 Shelf_bar__minus_01_dot_83_bar__plus_00_dot_13_bar__plus_00_dot_56) + (inReceptacle Newspaper_bar__plus_01_dot_35_bar__plus_00_dot_48_bar__plus_00_dot_39 Sofa_bar__plus_01_dot_42_bar_00_dot_00_bar__plus_00_dot_39) + (inReceptacle Pillow_bar__plus_01_dot_42_bar__plus_00_dot_55_bar__plus_00_dot_78 Sofa_bar__plus_01_dot_42_bar_00_dot_00_bar__plus_00_dot_39) + (inReceptacle RemoteControl_bar__plus_01_dot_35_bar__plus_00_dot_48_bar_00_dot_00 Sofa_bar__plus_01_dot_42_bar_00_dot_00_bar__plus_00_dot_39) + (inReceptacle KeyChain_bar__plus_01_dot_69_bar__plus_00_dot_71_bar__minus_00_dot_65 SideTable_bar__plus_01_dot_52_bar__plus_00_dot_00_bar__minus_00_dot_70) + (inReceptacle CreditCard_bar__plus_01_dot_44_bar__plus_00_dot_70_bar__minus_00_dot_77 SideTable_bar__plus_01_dot_52_bar__plus_00_dot_00_bar__minus_00_dot_70) + (inReceptacle CreditCard_bar__minus_00_dot_19_bar__plus_00_dot_55_bar__plus_02_dot_03 Shelf_bar__minus_00_dot_20_bar__plus_00_dot_54_bar__plus_01_dot_93) + (inReceptacle Statue_bar__minus_00_dot_19_bar__plus_00_dot_56_bar__plus_01_dot_77 Shelf_bar__minus_00_dot_20_bar__plus_00_dot_54_bar__plus_01_dot_93) + (inReceptacle Newspaper_bar__plus_01_dot_67_bar__plus_00_dot_61_bar__minus_00_dot_79 Drawer_bar__plus_01_dot_52_bar__plus_00_dot_62_bar__minus_00_dot_76) + (inReceptacle Newspaper_bar__plus_01_dot_37_bar__plus_00_dot_61_bar__minus_00_dot_71 Drawer_bar__plus_01_dot_52_bar__plus_00_dot_62_bar__minus_00_dot_76) + + + (receptacleAtLocation ArmChair_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_49 loc_bar__minus_2_bar__minus_4_bar_3_bar_60) + (receptacleAtLocation CoffeeTable_bar__plus_00_dot_17_bar_00_dot_00_bar__plus_00_dot_42 loc_bar__minus_4_bar_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_52_bar__plus_00_dot_62_bar__minus_00_dot_76 loc_bar_5_bar__minus_6_bar_0_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_01_dot_89_bar__plus_00_dot_00_bar__minus_00_dot_41 loc_bar__minus_6_bar__minus_3_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_20_bar__plus_00_dot_16_bar__plus_01_dot_93 loc_bar__minus_1_bar_6_bar_0_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_20_bar__plus_00_dot_54_bar__plus_01_dot_93 loc_bar__minus_3_bar_3_bar_0_bar_45) + (receptacleAtLocation Shelf_bar__minus_00_dot_20_bar__plus_00_dot_87_bar__plus_01_dot_93 loc_bar__minus_3_bar_3_bar_0_bar_30) + (receptacleAtLocation Shelf_bar__minus_01_dot_82_bar__plus_00_dot_38_bar__plus_00_dot_56 loc_bar__minus_2_bar_2_bar_3_bar_45) + (receptacleAtLocation Shelf_bar__minus_01_dot_83_bar__plus_00_dot_13_bar__plus_00_dot_56 loc_bar__minus_3_bar_2_bar_3_bar_60) + (receptacleAtLocation SideTable_bar__plus_01_dot_52_bar__plus_00_dot_00_bar__minus_00_dot_70 loc_bar_5_bar__minus_6_bar_0_bar_60) + (receptacleAtLocation SideTable_bar__plus_03_dot_58_bar__plus_00_dot_00_bar__minus_01_dot_17 loc_bar_10_bar__minus_5_bar_1_bar_60) + (receptacleAtLocation Sofa_bar__plus_01_dot_42_bar_00_dot_00_bar__plus_00_dot_39 loc_bar_3_bar_2_bar_1_bar_60) + (receptacleAtLocation TVStand_bar__minus_01_dot_97_bar_00_dot_00_bar__plus_00_dot_56 loc_bar__minus_4_bar_2_bar_3_bar_60) + (objectAtLocation Statue_bar__minus_00_dot_19_bar__plus_00_dot_56_bar__plus_01_dot_77 loc_bar__minus_3_bar_3_bar_0_bar_45) + (objectAtLocation Vase_bar__minus_01_dot_82_bar__plus_00_dot_10_bar__plus_00_dot_56 loc_bar__minus_3_bar_2_bar_3_bar_60) + (objectAtLocation RemoteControl_bar__plus_00_dot_17_bar__plus_00_dot_34_bar__plus_00_dot_27 loc_bar__minus_4_bar_2_bar_1_bar_60) + (objectAtLocation Plate_bar__minus_01_dot_82_bar__plus_00_dot_10_bar__plus_01_dot_06 loc_bar__minus_3_bar_2_bar_3_bar_60) + (objectAtLocation CreditCard_bar__plus_01_dot_44_bar__plus_00_dot_70_bar__minus_00_dot_77 loc_bar_5_bar__minus_6_bar_0_bar_60) + (objectAtLocation Newspaper_bar__plus_01_dot_67_bar__plus_00_dot_61_bar__minus_00_dot_79 loc_bar_5_bar__minus_6_bar_0_bar_60) + (objectAtLocation RemoteControl_bar__plus_00_dot_00_bar__plus_00_dot_34_bar__plus_00_dot_02 loc_bar__minus_4_bar_2_bar_1_bar_60) + (objectAtLocation Statue_bar__minus_02_dot_04_bar__plus_00_dot_61_bar__plus_01_dot_10 loc_bar__minus_4_bar_2_bar_3_bar_60) + (objectAtLocation Newspaper_bar__plus_01_dot_37_bar__plus_00_dot_61_bar__minus_00_dot_71 loc_bar_5_bar__minus_6_bar_0_bar_60) + (objectAtLocation Plate_bar__plus_00_dot_33_bar__plus_00_dot_34_bar__plus_00_dot_14 loc_bar__minus_4_bar_2_bar_1_bar_60) + (objectAtLocation Box_bar__minus_00_dot_22_bar__plus_00_dot_12_bar__minus_02_dot_04 loc_bar_0_bar__minus_7_bar_2_bar_60) + (objectAtLocation Newspaper_bar__plus_01_dot_35_bar__plus_00_dot_48_bar__plus_00_dot_39 loc_bar_3_bar_2_bar_1_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_19_bar__plus_00_dot_55_bar__plus_02_dot_03 loc_bar__minus_3_bar_3_bar_0_bar_45) + (objectAtLocation Television_bar__minus_02_dot_03_bar__plus_01_dot_08_bar__plus_00_dot_56 loc_bar__minus_4_bar_2_bar_3_bar_60) + (objectAtLocation Vase_bar__plus_00_dot_00_bar__plus_00_dot_34_bar__plus_00_dot_40 loc_bar__minus_4_bar_2_bar_1_bar_60) + (objectAtLocation KeyChain_bar__plus_01_dot_69_bar__plus_00_dot_71_bar__minus_00_dot_65 loc_bar_5_bar__minus_6_bar_0_bar_60) + (objectAtLocation Plate_bar__plus_03_dot_38_bar__plus_00_dot_64_bar__minus_00_dot_62 loc_bar_10_bar__minus_5_bar_1_bar_60) + (objectAtLocation LightSwitch_bar__plus_02_dot_10_bar__plus_01_dot_35_bar__minus_00_dot_83 loc_bar_11_bar__minus_3_bar_3_bar_30) + (objectAtLocation Laptop_bar__plus_03_dot_53_bar__plus_00_dot_63_bar__minus_01_dot_44 loc_bar_10_bar__minus_5_bar_1_bar_60) + (objectAtLocation HousePlant_bar__minus_00_dot_81_bar__plus_00_dot_00_bar__minus_02_dot_19 loc_bar__minus_3_bar__minus_6_bar_2_bar_60) + (objectAtLocation FloorLamp_bar__plus_01_dot_69_bar__plus_00_dot_00_bar__plus_01_dot_78 loc_bar_4_bar_7_bar_1_bar_60) + (objectAtLocation Painting_bar__plus_01_dot_98_bar__plus_01_dot_59_bar__plus_00_dot_33 loc_bar_11_bar_0_bar_3_bar_0) + (objectAtLocation CellPhone_bar__plus_00_dot_33_bar__plus_00_dot_34_bar__plus_00_dot_78 loc_bar__minus_4_bar_2_bar_1_bar_60) + (objectAtLocation RemoteControl_bar__plus_01_dot_35_bar__plus_00_dot_48_bar_00_dot_00 loc_bar_3_bar_2_bar_1_bar_60) + (objectAtLocation Pillow_bar__plus_01_dot_42_bar__plus_00_dot_55_bar__plus_00_dot_78 loc_bar_3_bar_2_bar_1_bar_60) + (objectAtLocation Vase_bar__plus_03_dot_69_bar__plus_00_dot_64_bar__minus_00_dot_80 loc_bar_10_bar__minus_5_bar_1_bar_60) + (objectAtLocation Window_bar__plus_02_dot_78_bar__plus_01_dot_28_bar__minus_02_dot_02 loc_bar_11_bar__minus_6_bar_2_bar_30) + (objectAtLocation Window_bar__minus_00_dot_01_bar__plus_01_dot_29_bar__minus_02_dot_45 loc_bar_0_bar__minus_7_bar_2_bar_30) + (objectAtLocation Statue_bar__plus_03_dot_48_bar__plus_00_dot_65_bar__minus_00_dot_98 loc_bar_10_bar__minus_5_bar_1_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 RemoteControlType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-211/trial_T20190909_012048_357331/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-211/trial_T20190909_012048_357331/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..42a68dcb671d0211fd2ea4243630414b16e5dd4a --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-211/trial_T20190909_012048_357331/traj_data.json @@ -0,0 +1,3414 @@ +{ + "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": "000000004.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": 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", + "Turn to the right, walk to the wall, then turn right again to walk up to the floor lamp.", + "Turn on the floor lamp." + ], + "task_desc": "Examine a remote control using the light of a lamp. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A272X64FOZFYLB_3TYCR1GOTFA7399MD0UFOWC1TZWLZT", + "high_descs": [ + "Turn around and walk to the small coffee table in front of you.", + "Pick up the remote control which is closest to the blue object on the coffee table.", + "Turn right and walk to the tall lamp in the corner.", + "Turn on the lamp." + ], + "task_desc": "Examine a remote control by the light of a floor lamp.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1MKCTVKE7J0ZP_3VAR3R6G1SS0PYBWH2AU3TJRPWY8OY", + "high_descs": [ + "Turn right, go toward the couch, then turn right, step forward, and turn left to face the coffee table.", + "Pick up the remote nearest to you on the coffee table.", + "Turn right and then go to the lamp adjacent to the couch.", + "Turn on the lamp." + ], + "task_desc": "Examine a remote in the light of a lamp.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-211/trial_T20190909_040101_577507/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-211/trial_T20190909_040101_577507/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..55e22dc9454594fbc827b8177402bd91b0eaf28b --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-211/trial_T20190909_040101_577507/initial_state.pddl @@ -0,0 +1,540 @@ + +(define (problem plan_trial_T20190909_040101_577507) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Box_bar__minus_00_dot_22_bar__plus_00_dot_12_bar__minus_02_dot_04 - object + CellPhone_bar__plus_00_dot_25_bar__plus_00_dot_34_bar__plus_00_dot_78 - object + CellPhone_bar__plus_01_dot_35_bar__plus_00_dot_48_bar__plus_00_dot_19 - object + CellPhone_bar__plus_01_dot_35_bar__plus_00_dot_71_bar__minus_00_dot_65 - object + CreditCard_bar__minus_01_dot_81_bar__plus_00_dot_59_bar__plus_00_dot_56 - object + FloorLamp_bar__plus_01_dot_69_bar__plus_00_dot_00_bar__plus_01_dot_78 - object + HousePlant_bar__minus_00_dot_81_bar__plus_00_dot_00_bar__minus_02_dot_19 - object + KeyChain_bar__plus_03_dot_79_bar__plus_00_dot_64_bar__minus_01_dot_35 - object + KeyChain_bar__minus_01_dot_73_bar__plus_00_dot_60_bar__plus_00_dot_92 - object + KeyChain_bar__minus_01_dot_78_bar__plus_00_dot_09_bar__plus_01_dot_06 - object + Laptop_bar__plus_01_dot_42_bar__plus_00_dot_48_bar__plus_00_dot_98 - object + LightSwitch_bar__plus_02_dot_10_bar__plus_01_dot_35_bar__minus_00_dot_83 - object + Newspaper_bar__minus_01_dot_81_bar__plus_00_dot_34_bar__plus_00_dot_73 - object + Newspaper_bar__minus_01_dot_85_bar__plus_00_dot_34_bar__plus_00_dot_90 - object + Painting_bar__plus_01_dot_98_bar__plus_01_dot_59_bar__plus_00_dot_33 - object + Pillow_bar__plus_01_dot_44_bar__plus_00_dot_52_bar__minus_00_dot_13 - object + Plate_bar__plus_03_dot_48_bar__plus_00_dot_64_bar__minus_00_dot_80 - object + Plate_bar__plus_03_dot_79_bar__plus_00_dot_64_bar__minus_01_dot_71 - object + RemoteControl_bar__plus_00_dot_25_bar__plus_00_dot_34_bar__plus_00_dot_02 - object + RemoteControl_bar__plus_01_dot_61_bar__plus_00_dot_71_bar__minus_00_dot_74 - object + RemoteControl_bar__minus_01_dot_63_bar__plus_00_dot_29_bar__minus_01_dot_41 - object + Statue_bar__plus_00_dot_00_bar__plus_00_dot_35_bar__plus_00_dot_02 - object + Statue_bar__plus_00_dot_17_bar__plus_00_dot_35_bar__plus_00_dot_40 - object + Statue_bar__minus_00_dot_19_bar__plus_00_dot_56_bar__plus_01_dot_98 - object + Television_bar__minus_02_dot_03_bar__plus_01_dot_08_bar__plus_00_dot_56 - object + Vase_bar__plus_00_dot_00_bar__plus_00_dot_34_bar__plus_00_dot_65 - object + Vase_bar__plus_03_dot_70_bar__plus_00_dot_63_bar__minus_01_dot_01 - object + Window_bar__plus_02_dot_78_bar__plus_01_dot_28_bar__minus_02_dot_02 - object + Window_bar__minus_00_dot_01_bar__plus_01_dot_29_bar__minus_02_dot_45 - object + ArmChair_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_49 - receptacle + CoffeeTable_bar__plus_00_dot_17_bar_00_dot_00_bar__plus_00_dot_42 - receptacle + Drawer_bar__plus_01_dot_52_bar__plus_00_dot_62_bar__minus_00_dot_76 - receptacle + GarbageCan_bar__minus_01_dot_89_bar__plus_00_dot_00_bar__minus_00_dot_41 - receptacle + Shelf_bar__minus_00_dot_20_bar__plus_00_dot_16_bar__plus_01_dot_93 - receptacle + Shelf_bar__minus_00_dot_20_bar__plus_00_dot_54_bar__plus_01_dot_93 - receptacle + Shelf_bar__minus_00_dot_20_bar__plus_00_dot_87_bar__plus_01_dot_93 - receptacle + Shelf_bar__minus_01_dot_82_bar__plus_00_dot_38_bar__plus_00_dot_56 - receptacle + Shelf_bar__minus_01_dot_83_bar__plus_00_dot_13_bar__plus_00_dot_56 - receptacle + SideTable_bar__plus_01_dot_52_bar__plus_00_dot_00_bar__minus_00_dot_70 - receptacle + SideTable_bar__plus_03_dot_58_bar__plus_00_dot_00_bar__minus_01_dot_17 - receptacle + Sofa_bar__plus_01_dot_42_bar_00_dot_00_bar__plus_00_dot_39 - receptacle + TVStand_bar__minus_01_dot_97_bar_00_dot_00_bar__plus_00_dot_56 - receptacle + loc_bar__minus_2_bar_2_bar_3_bar_45 - location + loc_bar__minus_4_bar_2_bar_3_bar_60 - location + loc_bar_3_bar_2_bar_1_bar_60 - location + loc_bar__minus_6_bar__minus_3_bar_3_bar_60 - location + loc_bar_0_bar__minus_7_bar_2_bar_30 - location + loc_bar__minus_3_bar__minus_6_bar_2_bar_60 - location + loc_bar__minus_3_bar_3_bar_0_bar_45 - location + loc_bar__minus_3_bar_3_bar_0_bar_30 - location + loc_bar_5_bar__minus_6_bar_0_bar_60 - location + loc_bar__minus_1_bar_6_bar_0_bar_60 - location + loc_bar_4_bar_7_bar_1_bar_60 - location + loc_bar_11_bar_0_bar_3_bar_0 - location + loc_bar_10_bar__minus_5_bar_1_bar_60 - location + loc_bar_11_bar__minus_3_bar_3_bar_30 - location + loc_bar_11_bar__minus_6_bar_2_bar_30 - location + loc_bar__minus_3_bar_2_bar_3_bar_60 - location + loc_bar_0_bar__minus_7_bar_2_bar_60 - location + loc_bar__minus_2_bar__minus_4_bar_3_bar_60 - location + loc_bar__minus_4_bar_2_bar_1_bar_60 - location + loc_bar__minus_3_bar_3_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Shelf_bar__minus_01_dot_83_bar__plus_00_dot_13_bar__plus_00_dot_56 ShelfType) + (receptacleType SideTable_bar__plus_01_dot_52_bar__plus_00_dot_00_bar__minus_00_dot_70 SideTableType) + (receptacleType ArmChair_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_49 ArmChairType) + (receptacleType Shelf_bar__minus_00_dot_20_bar__plus_00_dot_87_bar__plus_01_dot_93 ShelfType) + (receptacleType Shelf_bar__minus_00_dot_20_bar__plus_00_dot_54_bar__plus_01_dot_93 ShelfType) + (receptacleType SideTable_bar__plus_03_dot_58_bar__plus_00_dot_00_bar__minus_01_dot_17 SideTableType) + (receptacleType Shelf_bar__minus_01_dot_82_bar__plus_00_dot_38_bar__plus_00_dot_56 ShelfType) + (receptacleType Drawer_bar__plus_01_dot_52_bar__plus_00_dot_62_bar__minus_00_dot_76 DrawerType) + (receptacleType Sofa_bar__plus_01_dot_42_bar_00_dot_00_bar__plus_00_dot_39 SofaType) + (receptacleType GarbageCan_bar__minus_01_dot_89_bar__plus_00_dot_00_bar__minus_00_dot_41 GarbageCanType) + (receptacleType Shelf_bar__minus_00_dot_20_bar__plus_00_dot_16_bar__plus_01_dot_93 ShelfType) + (receptacleType CoffeeTable_bar__plus_00_dot_17_bar_00_dot_00_bar__plus_00_dot_42 CoffeeTableType) + (receptacleType TVStand_bar__minus_01_dot_97_bar_00_dot_00_bar__plus_00_dot_56 TVStandType) + (objectType Painting_bar__plus_01_dot_98_bar__plus_01_dot_59_bar__plus_00_dot_33 PaintingType) + (objectType CellPhone_bar__plus_01_dot_35_bar__plus_00_dot_48_bar__plus_00_dot_19 CellPhoneType) + (objectType Statue_bar__plus_00_dot_00_bar__plus_00_dot_35_bar__plus_00_dot_02 StatueType) + (objectType Newspaper_bar__minus_01_dot_85_bar__plus_00_dot_34_bar__plus_00_dot_90 NewspaperType) + (objectType Newspaper_bar__minus_01_dot_81_bar__plus_00_dot_34_bar__plus_00_dot_73 NewspaperType) + (objectType Vase_bar__plus_00_dot_00_bar__plus_00_dot_34_bar__plus_00_dot_65 VaseType) + (objectType KeyChain_bar__minus_01_dot_78_bar__plus_00_dot_09_bar__plus_01_dot_06 KeyChainType) + (objectType Window_bar__plus_02_dot_78_bar__plus_01_dot_28_bar__minus_02_dot_02 WindowType) + (objectType FloorLamp_bar__plus_01_dot_69_bar__plus_00_dot_00_bar__plus_01_dot_78 FloorLampType) + (objectType Pillow_bar__plus_01_dot_44_bar__plus_00_dot_52_bar__minus_00_dot_13 PillowType) + (objectType Television_bar__minus_02_dot_03_bar__plus_01_dot_08_bar__plus_00_dot_56 TelevisionType) + (objectType Laptop_bar__plus_01_dot_42_bar__plus_00_dot_48_bar__plus_00_dot_98 LaptopType) + (objectType CellPhone_bar__plus_00_dot_25_bar__plus_00_dot_34_bar__plus_00_dot_78 CellPhoneType) + (objectType Statue_bar__plus_00_dot_17_bar__plus_00_dot_35_bar__plus_00_dot_40 StatueType) + (objectType Window_bar__minus_00_dot_01_bar__plus_01_dot_29_bar__minus_02_dot_45 WindowType) + (objectType Box_bar__minus_00_dot_22_bar__plus_00_dot_12_bar__minus_02_dot_04 BoxType) + (objectType Statue_bar__minus_00_dot_19_bar__plus_00_dot_56_bar__plus_01_dot_98 StatueType) + (objectType RemoteControl_bar__minus_01_dot_63_bar__plus_00_dot_29_bar__minus_01_dot_41 RemoteControlType) + (objectType Plate_bar__plus_03_dot_79_bar__plus_00_dot_64_bar__minus_01_dot_71 PlateType) + (objectType CreditCard_bar__minus_01_dot_81_bar__plus_00_dot_59_bar__plus_00_dot_56 CreditCardType) + (objectType HousePlant_bar__minus_00_dot_81_bar__plus_00_dot_00_bar__minus_02_dot_19 HousePlantType) + (objectType KeyChain_bar__plus_03_dot_79_bar__plus_00_dot_64_bar__minus_01_dot_35 KeyChainType) + (objectType KeyChain_bar__minus_01_dot_73_bar__plus_00_dot_60_bar__plus_00_dot_92 KeyChainType) + (objectType LightSwitch_bar__plus_02_dot_10_bar__plus_01_dot_35_bar__minus_00_dot_83 LightSwitchType) + (objectType RemoteControl_bar__plus_01_dot_61_bar__plus_00_dot_71_bar__minus_00_dot_74 RemoteControlType) + (objectType CellPhone_bar__plus_01_dot_35_bar__plus_00_dot_71_bar__minus_00_dot_65 CellPhoneType) + (objectType Plate_bar__plus_03_dot_48_bar__plus_00_dot_64_bar__minus_00_dot_80 PlateType) + (objectType RemoteControl_bar__plus_00_dot_25_bar__plus_00_dot_34_bar__plus_00_dot_02 RemoteControlType) + (objectType Vase_bar__plus_03_dot_70_bar__plus_00_dot_63_bar__minus_01_dot_01 VaseType) + (canContain ShelfType NewspaperType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PlateType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain SideTableType NewspaperType) + (canContain SideTableType VaseType) + (canContain SideTableType BoxType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType PlateType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType StatueType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType CellPhoneType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType NewspaperType) + (canContain ArmChairType CreditCardType) + (canContain ShelfType NewspaperType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PlateType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain ShelfType NewspaperType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PlateType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain SideTableType NewspaperType) + (canContain SideTableType VaseType) + (canContain SideTableType BoxType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType PlateType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType StatueType) + (canContain ShelfType NewspaperType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PlateType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain DrawerType NewspaperType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType CellPhoneType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType NewspaperType) + (canContain SofaType CreditCardType) + (canContain GarbageCanType NewspaperType) + (canContain ShelfType NewspaperType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PlateType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain CoffeeTableType NewspaperType) + (canContain CoffeeTableType VaseType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType CellPhoneType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType PlateType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType StatueType) + (pickupable CellPhone_bar__plus_01_dot_35_bar__plus_00_dot_48_bar__plus_00_dot_19) + (pickupable Statue_bar__plus_00_dot_00_bar__plus_00_dot_35_bar__plus_00_dot_02) + (pickupable Newspaper_bar__minus_01_dot_85_bar__plus_00_dot_34_bar__plus_00_dot_90) + (pickupable Newspaper_bar__minus_01_dot_81_bar__plus_00_dot_34_bar__plus_00_dot_73) + (pickupable Vase_bar__plus_00_dot_00_bar__plus_00_dot_34_bar__plus_00_dot_65) + (pickupable KeyChain_bar__minus_01_dot_78_bar__plus_00_dot_09_bar__plus_01_dot_06) + (pickupable Pillow_bar__plus_01_dot_44_bar__plus_00_dot_52_bar__minus_00_dot_13) + (pickupable Laptop_bar__plus_01_dot_42_bar__plus_00_dot_48_bar__plus_00_dot_98) + (pickupable CellPhone_bar__plus_00_dot_25_bar__plus_00_dot_34_bar__plus_00_dot_78) + (pickupable Statue_bar__plus_00_dot_17_bar__plus_00_dot_35_bar__plus_00_dot_40) + (pickupable Box_bar__minus_00_dot_22_bar__plus_00_dot_12_bar__minus_02_dot_04) + (pickupable Statue_bar__minus_00_dot_19_bar__plus_00_dot_56_bar__plus_01_dot_98) + (pickupable RemoteControl_bar__minus_01_dot_63_bar__plus_00_dot_29_bar__minus_01_dot_41) + (pickupable Plate_bar__plus_03_dot_79_bar__plus_00_dot_64_bar__minus_01_dot_71) + (pickupable CreditCard_bar__minus_01_dot_81_bar__plus_00_dot_59_bar__plus_00_dot_56) + (pickupable KeyChain_bar__plus_03_dot_79_bar__plus_00_dot_64_bar__minus_01_dot_35) + (pickupable KeyChain_bar__minus_01_dot_73_bar__plus_00_dot_60_bar__plus_00_dot_92) + (pickupable RemoteControl_bar__plus_01_dot_61_bar__plus_00_dot_71_bar__minus_00_dot_74) + (pickupable CellPhone_bar__plus_01_dot_35_bar__plus_00_dot_71_bar__minus_00_dot_65) + (pickupable Plate_bar__plus_03_dot_48_bar__plus_00_dot_64_bar__minus_00_dot_80) + (pickupable RemoteControl_bar__plus_00_dot_25_bar__plus_00_dot_34_bar__plus_00_dot_02) + (pickupable Vase_bar__plus_03_dot_70_bar__plus_00_dot_63_bar__minus_01_dot_01) + (isReceptacleObject Box_bar__minus_00_dot_22_bar__plus_00_dot_12_bar__minus_02_dot_04) + (isReceptacleObject Plate_bar__plus_03_dot_79_bar__plus_00_dot_64_bar__minus_01_dot_71) + (isReceptacleObject Plate_bar__plus_03_dot_48_bar__plus_00_dot_64_bar__minus_00_dot_80) + (openable Drawer_bar__plus_01_dot_52_bar__plus_00_dot_62_bar__minus_00_dot_76) + + (atLocation agent1 loc_bar__minus_3_bar_3_bar_2_bar_30) + + (cleanable Plate_bar__plus_03_dot_79_bar__plus_00_dot_64_bar__minus_01_dot_71) + (cleanable Plate_bar__plus_03_dot_48_bar__plus_00_dot_64_bar__minus_00_dot_80) + + (heatable Plate_bar__plus_03_dot_79_bar__plus_00_dot_64_bar__minus_01_dot_71) + (heatable Plate_bar__plus_03_dot_48_bar__plus_00_dot_64_bar__minus_00_dot_80) + (coolable Plate_bar__plus_03_dot_79_bar__plus_00_dot_64_bar__minus_01_dot_71) + (coolable Plate_bar__plus_03_dot_48_bar__plus_00_dot_64_bar__minus_00_dot_80) + + + (toggleable FloorLamp_bar__plus_01_dot_69_bar__plus_00_dot_00_bar__plus_01_dot_78) + + + + + (inReceptacle KeyChain_bar__minus_01_dot_73_bar__plus_00_dot_60_bar__plus_00_dot_92 TVStand_bar__minus_01_dot_97_bar_00_dot_00_bar__plus_00_dot_56) + (inReceptacle Television_bar__minus_02_dot_03_bar__plus_01_dot_08_bar__plus_00_dot_56 TVStand_bar__minus_01_dot_97_bar_00_dot_00_bar__plus_00_dot_56) + (inReceptacle CreditCard_bar__minus_01_dot_81_bar__plus_00_dot_59_bar__plus_00_dot_56 TVStand_bar__minus_01_dot_97_bar_00_dot_00_bar__plus_00_dot_56) + (inReceptacle RemoteControl_bar__minus_01_dot_63_bar__plus_00_dot_29_bar__minus_01_dot_41 ArmChair_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_49) + (inReceptacle Statue_bar__plus_00_dot_00_bar__plus_00_dot_35_bar__plus_00_dot_02 CoffeeTable_bar__plus_00_dot_17_bar_00_dot_00_bar__plus_00_dot_42) + (inReceptacle Vase_bar__plus_00_dot_00_bar__plus_00_dot_34_bar__plus_00_dot_65 CoffeeTable_bar__plus_00_dot_17_bar_00_dot_00_bar__plus_00_dot_42) + (inReceptacle CellPhone_bar__plus_00_dot_25_bar__plus_00_dot_34_bar__plus_00_dot_78 CoffeeTable_bar__plus_00_dot_17_bar_00_dot_00_bar__plus_00_dot_42) + (inReceptacle RemoteControl_bar__plus_00_dot_25_bar__plus_00_dot_34_bar__plus_00_dot_02 CoffeeTable_bar__plus_00_dot_17_bar_00_dot_00_bar__plus_00_dot_42) + (inReceptacle Statue_bar__plus_00_dot_17_bar__plus_00_dot_35_bar__plus_00_dot_40 CoffeeTable_bar__plus_00_dot_17_bar_00_dot_00_bar__plus_00_dot_42) + (inReceptacle Vase_bar__plus_03_dot_70_bar__plus_00_dot_63_bar__minus_01_dot_01 SideTable_bar__plus_03_dot_58_bar__plus_00_dot_00_bar__minus_01_dot_17) + (inReceptacle Plate_bar__plus_03_dot_48_bar__plus_00_dot_64_bar__minus_00_dot_80 SideTable_bar__plus_03_dot_58_bar__plus_00_dot_00_bar__minus_01_dot_17) + (inReceptacle KeyChain_bar__plus_03_dot_79_bar__plus_00_dot_64_bar__minus_01_dot_35 SideTable_bar__plus_03_dot_58_bar__plus_00_dot_00_bar__minus_01_dot_17) + (inReceptacle Plate_bar__plus_03_dot_79_bar__plus_00_dot_64_bar__minus_01_dot_71 SideTable_bar__plus_03_dot_58_bar__plus_00_dot_00_bar__minus_01_dot_17) + (inReceptacle Newspaper_bar__minus_01_dot_81_bar__plus_00_dot_34_bar__plus_00_dot_73 Shelf_bar__minus_01_dot_82_bar__plus_00_dot_38_bar__plus_00_dot_56) + (inReceptacle Newspaper_bar__minus_01_dot_85_bar__plus_00_dot_34_bar__plus_00_dot_90 Shelf_bar__minus_01_dot_82_bar__plus_00_dot_38_bar__plus_00_dot_56) + (inReceptacle KeyChain_bar__minus_01_dot_78_bar__plus_00_dot_09_bar__plus_01_dot_06 Shelf_bar__minus_01_dot_83_bar__plus_00_dot_13_bar__plus_00_dot_56) + (inReceptacle Pillow_bar__plus_01_dot_44_bar__plus_00_dot_52_bar__minus_00_dot_13 Sofa_bar__plus_01_dot_42_bar_00_dot_00_bar__plus_00_dot_39) + (inReceptacle CellPhone_bar__plus_01_dot_35_bar__plus_00_dot_48_bar__plus_00_dot_19 Sofa_bar__plus_01_dot_42_bar_00_dot_00_bar__plus_00_dot_39) + (inReceptacle Laptop_bar__plus_01_dot_42_bar__plus_00_dot_48_bar__plus_00_dot_98 Sofa_bar__plus_01_dot_42_bar_00_dot_00_bar__plus_00_dot_39) + (inReceptacle RemoteControl_bar__plus_01_dot_61_bar__plus_00_dot_71_bar__minus_00_dot_74 SideTable_bar__plus_01_dot_52_bar__plus_00_dot_00_bar__minus_00_dot_70) + (inReceptacle CellPhone_bar__plus_01_dot_35_bar__plus_00_dot_71_bar__minus_00_dot_65 SideTable_bar__plus_01_dot_52_bar__plus_00_dot_00_bar__minus_00_dot_70) + (inReceptacle Statue_bar__minus_00_dot_19_bar__plus_00_dot_56_bar__plus_01_dot_98 Shelf_bar__minus_00_dot_20_bar__plus_00_dot_54_bar__plus_01_dot_93) + + + (receptacleAtLocation ArmChair_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_49 loc_bar__minus_2_bar__minus_4_bar_3_bar_60) + (receptacleAtLocation CoffeeTable_bar__plus_00_dot_17_bar_00_dot_00_bar__plus_00_dot_42 loc_bar__minus_4_bar_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_52_bar__plus_00_dot_62_bar__minus_00_dot_76 loc_bar_5_bar__minus_6_bar_0_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_01_dot_89_bar__plus_00_dot_00_bar__minus_00_dot_41 loc_bar__minus_6_bar__minus_3_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_20_bar__plus_00_dot_16_bar__plus_01_dot_93 loc_bar__minus_1_bar_6_bar_0_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_20_bar__plus_00_dot_54_bar__plus_01_dot_93 loc_bar__minus_3_bar_3_bar_0_bar_45) + (receptacleAtLocation Shelf_bar__minus_00_dot_20_bar__plus_00_dot_87_bar__plus_01_dot_93 loc_bar__minus_3_bar_3_bar_0_bar_30) + (receptacleAtLocation Shelf_bar__minus_01_dot_82_bar__plus_00_dot_38_bar__plus_00_dot_56 loc_bar__minus_2_bar_2_bar_3_bar_45) + (receptacleAtLocation Shelf_bar__minus_01_dot_83_bar__plus_00_dot_13_bar__plus_00_dot_56 loc_bar__minus_3_bar_2_bar_3_bar_60) + (receptacleAtLocation SideTable_bar__plus_01_dot_52_bar__plus_00_dot_00_bar__minus_00_dot_70 loc_bar_5_bar__minus_6_bar_0_bar_60) + (receptacleAtLocation SideTable_bar__plus_03_dot_58_bar__plus_00_dot_00_bar__minus_01_dot_17 loc_bar_10_bar__minus_5_bar_1_bar_60) + (receptacleAtLocation Sofa_bar__plus_01_dot_42_bar_00_dot_00_bar__plus_00_dot_39 loc_bar_3_bar_2_bar_1_bar_60) + (receptacleAtLocation TVStand_bar__minus_01_dot_97_bar_00_dot_00_bar__plus_00_dot_56 loc_bar__minus_4_bar_2_bar_3_bar_60) + (objectAtLocation Statue_bar__plus_00_dot_17_bar__plus_00_dot_35_bar__plus_00_dot_40 loc_bar__minus_4_bar_2_bar_1_bar_60) + (objectAtLocation RemoteControl_bar__plus_01_dot_61_bar__plus_00_dot_71_bar__minus_00_dot_74 loc_bar_5_bar__minus_6_bar_0_bar_60) + (objectAtLocation CellPhone_bar__plus_01_dot_35_bar__plus_00_dot_48_bar__plus_00_dot_19 loc_bar_3_bar_2_bar_1_bar_60) + (objectAtLocation Plate_bar__plus_03_dot_48_bar__plus_00_dot_64_bar__minus_00_dot_80 loc_bar_10_bar__minus_5_bar_1_bar_60) + (objectAtLocation KeyChain_bar__minus_01_dot_78_bar__plus_00_dot_09_bar__plus_01_dot_06 loc_bar__minus_3_bar_2_bar_3_bar_60) + (objectAtLocation Newspaper_bar__minus_01_dot_81_bar__plus_00_dot_34_bar__plus_00_dot_73 loc_bar__minus_2_bar_2_bar_3_bar_45) + (objectAtLocation RemoteControl_bar__minus_01_dot_63_bar__plus_00_dot_29_bar__minus_01_dot_41 loc_bar__minus_2_bar__minus_4_bar_3_bar_60) + (objectAtLocation CellPhone_bar__plus_01_dot_35_bar__plus_00_dot_71_bar__minus_00_dot_65 loc_bar_5_bar__minus_6_bar_0_bar_60) + (objectAtLocation KeyChain_bar__minus_01_dot_73_bar__plus_00_dot_60_bar__plus_00_dot_92 loc_bar__minus_4_bar_2_bar_3_bar_60) + (objectAtLocation Statue_bar__plus_00_dot_00_bar__plus_00_dot_35_bar__plus_00_dot_02 loc_bar__minus_4_bar_2_bar_1_bar_60) + (objectAtLocation Box_bar__minus_00_dot_22_bar__plus_00_dot_12_bar__minus_02_dot_04 loc_bar_0_bar__minus_7_bar_2_bar_60) + (objectAtLocation Newspaper_bar__minus_01_dot_85_bar__plus_00_dot_34_bar__plus_00_dot_90 loc_bar__minus_2_bar_2_bar_3_bar_45) + (objectAtLocation CreditCard_bar__minus_01_dot_81_bar__plus_00_dot_59_bar__plus_00_dot_56 loc_bar__minus_4_bar_2_bar_3_bar_60) + (objectAtLocation Television_bar__minus_02_dot_03_bar__plus_01_dot_08_bar__plus_00_dot_56 loc_bar__minus_4_bar_2_bar_3_bar_60) + (objectAtLocation Vase_bar__plus_03_dot_70_bar__plus_00_dot_63_bar__minus_01_dot_01 loc_bar_10_bar__minus_5_bar_1_bar_60) + (objectAtLocation KeyChain_bar__plus_03_dot_79_bar__plus_00_dot_64_bar__minus_01_dot_35 loc_bar_10_bar__minus_5_bar_1_bar_60) + (objectAtLocation Plate_bar__plus_03_dot_79_bar__plus_00_dot_64_bar__minus_01_dot_71 loc_bar_10_bar__minus_5_bar_1_bar_60) + (objectAtLocation LightSwitch_bar__plus_02_dot_10_bar__plus_01_dot_35_bar__minus_00_dot_83 loc_bar_11_bar__minus_3_bar_3_bar_30) + (objectAtLocation Laptop_bar__plus_01_dot_42_bar__plus_00_dot_48_bar__plus_00_dot_98 loc_bar_3_bar_2_bar_1_bar_60) + (objectAtLocation HousePlant_bar__minus_00_dot_81_bar__plus_00_dot_00_bar__minus_02_dot_19 loc_bar__minus_3_bar__minus_6_bar_2_bar_60) + (objectAtLocation FloorLamp_bar__plus_01_dot_69_bar__plus_00_dot_00_bar__plus_01_dot_78 loc_bar_4_bar_7_bar_1_bar_60) + (objectAtLocation Painting_bar__plus_01_dot_98_bar__plus_01_dot_59_bar__plus_00_dot_33 loc_bar_11_bar_0_bar_3_bar_0) + (objectAtLocation CellPhone_bar__plus_00_dot_25_bar__plus_00_dot_34_bar__plus_00_dot_78 loc_bar__minus_4_bar_2_bar_1_bar_60) + (objectAtLocation RemoteControl_bar__plus_00_dot_25_bar__plus_00_dot_34_bar__plus_00_dot_02 loc_bar__minus_4_bar_2_bar_1_bar_60) + (objectAtLocation Pillow_bar__plus_01_dot_44_bar__plus_00_dot_52_bar__minus_00_dot_13 loc_bar_3_bar_2_bar_1_bar_60) + (objectAtLocation Vase_bar__plus_00_dot_00_bar__plus_00_dot_34_bar__plus_00_dot_65 loc_bar__minus_4_bar_2_bar_1_bar_60) + (objectAtLocation Window_bar__plus_02_dot_78_bar__plus_01_dot_28_bar__minus_02_dot_02 loc_bar_11_bar__minus_6_bar_2_bar_30) + (objectAtLocation Window_bar__minus_00_dot_01_bar__plus_01_dot_29_bar__minus_02_dot_45 loc_bar_0_bar__minus_7_bar_2_bar_30) + (objectAtLocation Statue_bar__minus_00_dot_19_bar__plus_00_dot_56_bar__plus_01_dot_98 loc_bar__minus_3_bar_3_bar_0_bar_45) + ) + + + (: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 RemoteControlType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-211/trial_T20190909_040101_577507/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-211/trial_T20190909_040101_577507/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..9e88ce1c2694c22705fa63a24cc678903a12bbce --- /dev/null +++ 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true, + "rotation": 180, + "x": -0.75, + "y": 0.9009992, + "z": 0.75 + }, + "object_poses": [ + { + "objectName": "Plate_92ace7b6", + "position": { + "x": 3.78660035, + "y": 0.6436588, + "z": -1.70813739 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Newspaper_45f90c17", + "position": { + "x": -1.84601, + "y": 0.3438375, + "z": 0.895807743 + }, + "rotation": { + "x": 0.0, + "y": 89.99994, + "z": 0.0 + } + }, + { + "objectName": "Statue_7cbea25c", + "position": { + "x": -0.185466826, + "y": 0.561122656, + "z": 1.97967362 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_7cbea25c", + "position": { + "x": 0.00379805267, + "y": 0.345263958, + "z": 0.01839906 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_1a303ecd", + "position": { + "x": 3.78660035, + "y": 0.6406358, + "z": -1.34604573 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + 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"objectName": "Laptop_09374fea", + "position": { + "x": 1.41699994, + "y": 0.480000019, + "z": 0.9808109 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CellPhone_598d8b19", + "position": { + "x": 1.35449994, + "y": 0.482926935, + "z": 0.194396377 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "RemoteControl_85445823", + "position": { + "x": 1.60525942, + "y": 0.7082829, + "z": -0.7421824 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Pillow_72dab5e1", + "position": { + "x": 1.43508458, + "y": 0.515, + "z": -0.1256359 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Vase_4e23a53b", + "position": { + "x": 0.00379805267, + "y": 0.339276016, + "z": 0.6510508 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_7cbea25c", + "position": { + "x": 0.167999983, + "y": 0.345263958, + "z": 0.3979901 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [ + { + "isOn": false, + "objectType": "FloorLamp" + } + ], + "random_seed": 384192733, + "scene_num": 211 + }, + "task_id": "trial_T20190909_040101_577507", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "ASP32QB28TEZU_3NLZY2D53SGYPH8VQ4B2X30XOWELQ2", + "high_descs": [ + "Walk towards chair, turn left, walk toward couch, turn left, face coffee table", + "Pick up remote from coffee table", + "Turn right, walk to table in the corner with the lamp", + "Turn the lamp on" + ], + "task_desc": "Retrieve remote from coffee table, turn on lamp in the corner.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A272X64FOZFYLB_3YW4XOSQKTCDR3B8E3DONPO8TC11U5", + "high_descs": [ + "Walk forward just past the coffee table, then turn left and walk to the remote control on the other side of the coffee table.", + "Pick up the remote control from the coffee table.", + "Turn right and walk forward to the floor lamp in the corner to the left of the sofa.", + "Turn on the lamp." + ], + "task_desc": "Examine a remote control by the light of a floor lamp.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A38Z99XF4NDNH0_3ZQIG0FLQH765JGBGHCEC1GL3W0VW4", + "high_descs": [ + "Move to the coffee table on top of the rug facing the remote", + "Pick up the remote on top of the coffee table", + "Carry the remote to the floor lamp in the corner of the room", + "Turn on the lamp" + ], + "task_desc": "Turn on a lamp while holding a remote", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-211/trial_T20190909_040116_174757/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-211/trial_T20190909_040116_174757/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..e99f24adadab370fd794b620c1a8ea5eafcd2763 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-211/trial_T20190909_040116_174757/initial_state.pddl @@ -0,0 +1,549 @@ + +(define (problem plan_trial_T20190909_040116_174757) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Box_bar__minus_00_dot_22_bar__plus_00_dot_12_bar__minus_02_dot_04 - object + CellPhone_bar__plus_01_dot_52_bar__plus_00_dot_71_bar__minus_00_dot_74 - object + CellPhone_bar__plus_01_dot_54_bar__plus_00_dot_48_bar__plus_00_dot_39 - object + CreditCard_bar__plus_00_dot_13_bar__plus_00_dot_55_bar__plus_01_dot_77 - object + FloorLamp_bar__plus_01_dot_69_bar__plus_00_dot_00_bar__plus_01_dot_78 - object + HousePlant_bar__minus_00_dot_81_bar__plus_00_dot_00_bar__minus_02_dot_19 - object + KeyChain_bar__plus_01_dot_54_bar__plus_00_dot_48_bar__plus_00_dot_98 - object + KeyChain_bar__plus_01_dot_60_bar__plus_00_dot_48_bar__plus_00_dot_19 - object + KeyChain_bar__minus_01_dot_49_bar__plus_00_dot_29_bar__minus_01_dot_33 - object + Laptop_bar__plus_03_dot_69_bar__plus_00_dot_64_bar__minus_00_dot_62 - object + LightSwitch_bar__plus_02_dot_10_bar__plus_01_dot_35_bar__minus_00_dot_83 - object + Newspaper_bar__plus_00_dot_17_bar__plus_00_dot_33_bar__plus_00_dot_14 - object + Newspaper_bar__minus_01_dot_81_bar__plus_00_dot_60_bar__plus_00_dot_21 - object + Painting_bar__plus_01_dot_98_bar__plus_01_dot_59_bar__plus_00_dot_33 - object + Pillow_bar__plus_01_dot_42_bar__plus_00_dot_55_bar__plus_00_dot_59 - object + Pillow_bar__plus_01_dot_44_bar__plus_00_dot_52_bar__minus_00_dot_13 - object + Plate_bar__plus_03_dot_48_bar__plus_00_dot_64_bar__minus_01_dot_17 - object + Plate_bar__minus_00_dot_29_bar__plus_00_dot_55_bar__plus_01_dot_98 - object + Plate_bar__minus_01_dot_81_bar__plus_00_dot_35_bar__plus_00_dot_56 - object + RemoteControl_bar__plus_00_dot_09_bar__plus_00_dot_34_bar__plus_00_dot_27 - object + RemoteControl_bar__plus_00_dot_25_bar__plus_00_dot_34_bar__plus_00_dot_14 - object + RemoteControl_bar__plus_03_dot_89_bar__plus_00_dot_64_bar__minus_01_dot_17 - object + Statue_bar__plus_03_dot_38_bar__plus_00_dot_65_bar__minus_01_dot_35 - object + Statue_bar__plus_03_dot_69_bar__plus_00_dot_65_bar__minus_01_dot_71 - object + Television_bar__minus_02_dot_03_bar__plus_01_dot_08_bar__plus_00_dot_56 - object + Vase_bar__plus_00_dot_17_bar__plus_00_dot_34_bar__plus_00_dot_52 - object + Vase_bar__minus_00_dot_39_bar__plus_00_dot_88_bar__plus_01_dot_93 - object + Vase_bar__minus_01_dot_78_bar__plus_00_dot_10_bar__plus_00_dot_07 - object + Window_bar__plus_02_dot_78_bar__plus_01_dot_28_bar__minus_02_dot_02 - object + Window_bar__minus_00_dot_01_bar__plus_01_dot_29_bar__minus_02_dot_45 - object + ArmChair_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_49 - receptacle + CoffeeTable_bar__plus_00_dot_17_bar_00_dot_00_bar__plus_00_dot_42 - receptacle + Drawer_bar__plus_01_dot_52_bar__plus_00_dot_62_bar__minus_00_dot_76 - receptacle + GarbageCan_bar__minus_01_dot_89_bar__plus_00_dot_00_bar__minus_00_dot_41 - receptacle + Shelf_bar__minus_00_dot_20_bar__plus_00_dot_16_bar__plus_01_dot_93 - receptacle + Shelf_bar__minus_00_dot_20_bar__plus_00_dot_54_bar__plus_01_dot_93 - receptacle + Shelf_bar__minus_00_dot_20_bar__plus_00_dot_87_bar__plus_01_dot_93 - receptacle + Shelf_bar__minus_01_dot_82_bar__plus_00_dot_38_bar__plus_00_dot_56 - receptacle + Shelf_bar__minus_01_dot_83_bar__plus_00_dot_13_bar__plus_00_dot_56 - receptacle + SideTable_bar__plus_01_dot_52_bar__plus_00_dot_00_bar__minus_00_dot_70 - receptacle + SideTable_bar__plus_03_dot_58_bar__plus_00_dot_00_bar__minus_01_dot_17 - receptacle + Sofa_bar__plus_01_dot_42_bar_00_dot_00_bar__plus_00_dot_39 - receptacle + TVStand_bar__minus_01_dot_97_bar_00_dot_00_bar__plus_00_dot_56 - receptacle + loc_bar__minus_2_bar_2_bar_3_bar_45 - location + loc_bar_3_bar_1_bar_1_bar_60 - location + loc_bar_3_bar_4_bar_1_bar_60 - location + loc_bar__minus_4_bar_2_bar_3_bar_60 - location + loc_bar_3_bar_2_bar_1_bar_60 - location + loc_bar__minus_6_bar__minus_3_bar_3_bar_60 - location + loc_bar_0_bar__minus_7_bar_2_bar_30 - location + loc_bar__minus_3_bar__minus_6_bar_2_bar_60 - location + loc_bar__minus_3_bar_3_bar_0_bar_45 - location + loc_bar__minus_3_bar_3_bar_0_bar_30 - location + loc_bar_5_bar__minus_6_bar_0_bar_60 - location + loc_bar__minus_1_bar_6_bar_0_bar_60 - location + loc_bar_4_bar_7_bar_1_bar_60 - location + loc_bar_11_bar_0_bar_3_bar_0 - location + loc_bar_10_bar__minus_5_bar_1_bar_60 - location + loc_bar_11_bar__minus_3_bar_3_bar_30 - location + loc_bar_11_bar__minus_6_bar_2_bar_30 - location + loc_bar__minus_3_bar_2_bar_3_bar_60 - location + loc_bar_0_bar__minus_7_bar_2_bar_60 - location + loc_bar__minus_2_bar__minus_4_bar_3_bar_60 - location + loc_bar__minus_4_bar_2_bar_1_bar_60 - location + loc_bar__minus_5_bar_7_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Shelf_bar__minus_01_dot_83_bar__plus_00_dot_13_bar__plus_00_dot_56 ShelfType) + (receptacleType SideTable_bar__plus_01_dot_52_bar__plus_00_dot_00_bar__minus_00_dot_70 SideTableType) + (receptacleType ArmChair_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_49 ArmChairType) + (receptacleType Shelf_bar__minus_00_dot_20_bar__plus_00_dot_87_bar__plus_01_dot_93 ShelfType) + (receptacleType Shelf_bar__minus_00_dot_20_bar__plus_00_dot_54_bar__plus_01_dot_93 ShelfType) + (receptacleType SideTable_bar__plus_03_dot_58_bar__plus_00_dot_00_bar__minus_01_dot_17 SideTableType) + (receptacleType Shelf_bar__minus_01_dot_82_bar__plus_00_dot_38_bar__plus_00_dot_56 ShelfType) + (receptacleType Drawer_bar__plus_01_dot_52_bar__plus_00_dot_62_bar__minus_00_dot_76 DrawerType) + (receptacleType Sofa_bar__plus_01_dot_42_bar_00_dot_00_bar__plus_00_dot_39 SofaType) + (receptacleType GarbageCan_bar__minus_01_dot_89_bar__plus_00_dot_00_bar__minus_00_dot_41 GarbageCanType) + (receptacleType Shelf_bar__minus_00_dot_20_bar__plus_00_dot_16_bar__plus_01_dot_93 ShelfType) + (receptacleType CoffeeTable_bar__plus_00_dot_17_bar_00_dot_00_bar__plus_00_dot_42 CoffeeTableType) + (receptacleType TVStand_bar__minus_01_dot_97_bar_00_dot_00_bar__plus_00_dot_56 TVStandType) + (objectType Painting_bar__plus_01_dot_98_bar__plus_01_dot_59_bar__plus_00_dot_33 PaintingType) + (objectType KeyChain_bar__plus_01_dot_60_bar__plus_00_dot_48_bar__plus_00_dot_19 KeyChainType) + (objectType CellPhone_bar__plus_01_dot_52_bar__plus_00_dot_71_bar__minus_00_dot_74 CellPhoneType) + (objectType Vase_bar__plus_00_dot_17_bar__plus_00_dot_34_bar__plus_00_dot_52 VaseType) + (objectType KeyChain_bar__minus_01_dot_49_bar__plus_00_dot_29_bar__minus_01_dot_33 KeyChainType) + (objectType RemoteControl_bar__plus_00_dot_09_bar__plus_00_dot_34_bar__plus_00_dot_27 RemoteControlType) + (objectType Vase_bar__minus_00_dot_39_bar__plus_00_dot_88_bar__plus_01_dot_93 VaseType) + (objectType Window_bar__plus_02_dot_78_bar__plus_01_dot_28_bar__minus_02_dot_02 WindowType) + (objectType Plate_bar__minus_00_dot_29_bar__plus_00_dot_55_bar__plus_01_dot_98 PlateType) + (objectType FloorLamp_bar__plus_01_dot_69_bar__plus_00_dot_00_bar__plus_01_dot_78 FloorLampType) + (objectType Statue_bar__plus_03_dot_69_bar__plus_00_dot_65_bar__minus_01_dot_71 StatueType) + (objectType Pillow_bar__plus_01_dot_44_bar__plus_00_dot_52_bar__minus_00_dot_13 PillowType) + (objectType Television_bar__minus_02_dot_03_bar__plus_01_dot_08_bar__plus_00_dot_56 TelevisionType) + (objectType RemoteControl_bar__plus_00_dot_25_bar__plus_00_dot_34_bar__plus_00_dot_14 RemoteControlType) + (objectType Vase_bar__minus_01_dot_78_bar__plus_00_dot_10_bar__plus_00_dot_07 VaseType) + (objectType Window_bar__minus_00_dot_01_bar__plus_01_dot_29_bar__minus_02_dot_45 WindowType) + (objectType Laptop_bar__plus_03_dot_69_bar__plus_00_dot_64_bar__minus_00_dot_62 LaptopType) + (objectType CreditCard_bar__plus_00_dot_13_bar__plus_00_dot_55_bar__plus_01_dot_77 CreditCardType) + (objectType Plate_bar__plus_03_dot_48_bar__plus_00_dot_64_bar__minus_01_dot_17 PlateType) + (objectType HousePlant_bar__minus_00_dot_81_bar__plus_00_dot_00_bar__minus_02_dot_19 HousePlantType) + (objectType CellPhone_bar__plus_01_dot_54_bar__plus_00_dot_48_bar__plus_00_dot_39 CellPhoneType) + (objectType Plate_bar__minus_01_dot_81_bar__plus_00_dot_35_bar__plus_00_dot_56 PlateType) + (objectType Statue_bar__plus_03_dot_38_bar__plus_00_dot_65_bar__minus_01_dot_35 StatueType) + (objectType RemoteControl_bar__plus_03_dot_89_bar__plus_00_dot_64_bar__minus_01_dot_17 RemoteControlType) + (objectType Newspaper_bar__plus_00_dot_17_bar__plus_00_dot_33_bar__plus_00_dot_14 NewspaperType) + (objectType LightSwitch_bar__plus_02_dot_10_bar__plus_01_dot_35_bar__minus_00_dot_83 LightSwitchType) + (objectType KeyChain_bar__plus_01_dot_54_bar__plus_00_dot_48_bar__plus_00_dot_98 KeyChainType) + (objectType Newspaper_bar__minus_01_dot_81_bar__plus_00_dot_60_bar__plus_00_dot_21 NewspaperType) + (objectType Box_bar__minus_00_dot_22_bar__plus_00_dot_12_bar__minus_02_dot_04 BoxType) + (objectType Pillow_bar__plus_01_dot_42_bar__plus_00_dot_55_bar__plus_00_dot_59 PillowType) + (canContain ShelfType NewspaperType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PlateType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain SideTableType NewspaperType) + (canContain SideTableType VaseType) + (canContain SideTableType BoxType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType PlateType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType StatueType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType CellPhoneType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType NewspaperType) + (canContain ArmChairType CreditCardType) + (canContain ShelfType NewspaperType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PlateType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain ShelfType NewspaperType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PlateType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain SideTableType NewspaperType) + (canContain SideTableType VaseType) + (canContain SideTableType BoxType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType PlateType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType StatueType) + (canContain ShelfType NewspaperType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PlateType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain DrawerType NewspaperType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType CellPhoneType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType NewspaperType) + (canContain SofaType CreditCardType) + (canContain GarbageCanType NewspaperType) + (canContain ShelfType NewspaperType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PlateType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain CoffeeTableType NewspaperType) + (canContain CoffeeTableType VaseType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType CellPhoneType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType PlateType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType StatueType) + (pickupable KeyChain_bar__plus_01_dot_60_bar__plus_00_dot_48_bar__plus_00_dot_19) + (pickupable CellPhone_bar__plus_01_dot_52_bar__plus_00_dot_71_bar__minus_00_dot_74) + (pickupable Vase_bar__plus_00_dot_17_bar__plus_00_dot_34_bar__plus_00_dot_52) + (pickupable KeyChain_bar__minus_01_dot_49_bar__plus_00_dot_29_bar__minus_01_dot_33) + (pickupable RemoteControl_bar__plus_00_dot_09_bar__plus_00_dot_34_bar__plus_00_dot_27) + (pickupable Vase_bar__minus_00_dot_39_bar__plus_00_dot_88_bar__plus_01_dot_93) + (pickupable Plate_bar__minus_00_dot_29_bar__plus_00_dot_55_bar__plus_01_dot_98) + (pickupable Statue_bar__plus_03_dot_69_bar__plus_00_dot_65_bar__minus_01_dot_71) + (pickupable Pillow_bar__plus_01_dot_44_bar__plus_00_dot_52_bar__minus_00_dot_13) + (pickupable RemoteControl_bar__plus_00_dot_25_bar__plus_00_dot_34_bar__plus_00_dot_14) + (pickupable Vase_bar__minus_01_dot_78_bar__plus_00_dot_10_bar__plus_00_dot_07) + (pickupable Laptop_bar__plus_03_dot_69_bar__plus_00_dot_64_bar__minus_00_dot_62) + (pickupable CreditCard_bar__plus_00_dot_13_bar__plus_00_dot_55_bar__plus_01_dot_77) + (pickupable Plate_bar__plus_03_dot_48_bar__plus_00_dot_64_bar__minus_01_dot_17) + (pickupable CellPhone_bar__plus_01_dot_54_bar__plus_00_dot_48_bar__plus_00_dot_39) + (pickupable Plate_bar__minus_01_dot_81_bar__plus_00_dot_35_bar__plus_00_dot_56) + (pickupable Statue_bar__plus_03_dot_38_bar__plus_00_dot_65_bar__minus_01_dot_35) + (pickupable RemoteControl_bar__plus_03_dot_89_bar__plus_00_dot_64_bar__minus_01_dot_17) + (pickupable Newspaper_bar__plus_00_dot_17_bar__plus_00_dot_33_bar__plus_00_dot_14) + (pickupable KeyChain_bar__plus_01_dot_54_bar__plus_00_dot_48_bar__plus_00_dot_98) + (pickupable Newspaper_bar__minus_01_dot_81_bar__plus_00_dot_60_bar__plus_00_dot_21) + (pickupable Box_bar__minus_00_dot_22_bar__plus_00_dot_12_bar__minus_02_dot_04) + (pickupable Pillow_bar__plus_01_dot_42_bar__plus_00_dot_55_bar__plus_00_dot_59) + (isReceptacleObject Plate_bar__minus_00_dot_29_bar__plus_00_dot_55_bar__plus_01_dot_98) + (isReceptacleObject Plate_bar__plus_03_dot_48_bar__plus_00_dot_64_bar__minus_01_dot_17) + (isReceptacleObject Plate_bar__minus_01_dot_81_bar__plus_00_dot_35_bar__plus_00_dot_56) + (isReceptacleObject Box_bar__minus_00_dot_22_bar__plus_00_dot_12_bar__minus_02_dot_04) + (openable Drawer_bar__plus_01_dot_52_bar__plus_00_dot_62_bar__minus_00_dot_76) + + (atLocation agent1 loc_bar__minus_5_bar_7_bar_1_bar_30) + + (cleanable Plate_bar__minus_00_dot_29_bar__plus_00_dot_55_bar__plus_01_dot_98) + (cleanable Plate_bar__plus_03_dot_48_bar__plus_00_dot_64_bar__minus_01_dot_17) + (cleanable Plate_bar__minus_01_dot_81_bar__plus_00_dot_35_bar__plus_00_dot_56) + + (heatable Plate_bar__minus_00_dot_29_bar__plus_00_dot_55_bar__plus_01_dot_98) + (heatable Plate_bar__plus_03_dot_48_bar__plus_00_dot_64_bar__minus_01_dot_17) + (heatable Plate_bar__minus_01_dot_81_bar__plus_00_dot_35_bar__plus_00_dot_56) + (coolable Plate_bar__minus_00_dot_29_bar__plus_00_dot_55_bar__plus_01_dot_98) + (coolable Plate_bar__plus_03_dot_48_bar__plus_00_dot_64_bar__minus_01_dot_17) + (coolable Plate_bar__minus_01_dot_81_bar__plus_00_dot_35_bar__plus_00_dot_56) + + + (toggleable FloorLamp_bar__plus_01_dot_69_bar__plus_00_dot_00_bar__plus_01_dot_78) + + + + + (inReceptacle Newspaper_bar__minus_01_dot_81_bar__plus_00_dot_60_bar__plus_00_dot_21 TVStand_bar__minus_01_dot_97_bar_00_dot_00_bar__plus_00_dot_56) + (inReceptacle Television_bar__minus_02_dot_03_bar__plus_01_dot_08_bar__plus_00_dot_56 TVStand_bar__minus_01_dot_97_bar_00_dot_00_bar__plus_00_dot_56) + (inReceptacle KeyChain_bar__minus_01_dot_49_bar__plus_00_dot_29_bar__minus_01_dot_33 ArmChair_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_49) + (inReceptacle Vase_bar__plus_00_dot_17_bar__plus_00_dot_34_bar__plus_00_dot_52 CoffeeTable_bar__plus_00_dot_17_bar_00_dot_00_bar__plus_00_dot_42) + (inReceptacle RemoteControl_bar__plus_00_dot_09_bar__plus_00_dot_34_bar__plus_00_dot_27 CoffeeTable_bar__plus_00_dot_17_bar_00_dot_00_bar__plus_00_dot_42) + (inReceptacle RemoteControl_bar__plus_00_dot_25_bar__plus_00_dot_34_bar__plus_00_dot_14 CoffeeTable_bar__plus_00_dot_17_bar_00_dot_00_bar__plus_00_dot_42) + (inReceptacle Newspaper_bar__plus_00_dot_17_bar__plus_00_dot_33_bar__plus_00_dot_14 CoffeeTable_bar__plus_00_dot_17_bar_00_dot_00_bar__plus_00_dot_42) + (inReceptacle Laptop_bar__plus_03_dot_69_bar__plus_00_dot_64_bar__minus_00_dot_62 SideTable_bar__plus_03_dot_58_bar__plus_00_dot_00_bar__minus_01_dot_17) + (inReceptacle Statue_bar__plus_03_dot_69_bar__plus_00_dot_65_bar__minus_01_dot_71 SideTable_bar__plus_03_dot_58_bar__plus_00_dot_00_bar__minus_01_dot_17) + (inReceptacle Plate_bar__plus_03_dot_48_bar__plus_00_dot_64_bar__minus_01_dot_17 SideTable_bar__plus_03_dot_58_bar__plus_00_dot_00_bar__minus_01_dot_17) + (inReceptacle Statue_bar__plus_03_dot_38_bar__plus_00_dot_65_bar__minus_01_dot_35 SideTable_bar__plus_03_dot_58_bar__plus_00_dot_00_bar__minus_01_dot_17) + (inReceptacle RemoteControl_bar__plus_03_dot_89_bar__plus_00_dot_64_bar__minus_01_dot_17 SideTable_bar__plus_03_dot_58_bar__plus_00_dot_00_bar__minus_01_dot_17) + (inReceptacle Plate_bar__minus_01_dot_81_bar__plus_00_dot_35_bar__plus_00_dot_56 Shelf_bar__minus_01_dot_82_bar__plus_00_dot_38_bar__plus_00_dot_56) + (inReceptacle Vase_bar__minus_01_dot_78_bar__plus_00_dot_10_bar__plus_00_dot_07 Shelf_bar__minus_01_dot_83_bar__plus_00_dot_13_bar__plus_00_dot_56) + (inReceptacle Pillow_bar__plus_01_dot_44_bar__plus_00_dot_52_bar__minus_00_dot_13 Sofa_bar__plus_01_dot_42_bar_00_dot_00_bar__plus_00_dot_39) + (inReceptacle Pillow_bar__plus_01_dot_42_bar__plus_00_dot_55_bar__plus_00_dot_59 Sofa_bar__plus_01_dot_42_bar_00_dot_00_bar__plus_00_dot_39) + (inReceptacle CellPhone_bar__plus_01_dot_54_bar__plus_00_dot_48_bar__plus_00_dot_39 Sofa_bar__plus_01_dot_42_bar_00_dot_00_bar__plus_00_dot_39) + (inReceptacle CellPhone_bar__plus_01_dot_52_bar__plus_00_dot_71_bar__minus_00_dot_74 SideTable_bar__plus_01_dot_52_bar__plus_00_dot_00_bar__minus_00_dot_70) + (inReceptacle Vase_bar__minus_00_dot_39_bar__plus_00_dot_88_bar__plus_01_dot_93 Shelf_bar__minus_00_dot_20_bar__plus_00_dot_87_bar__plus_01_dot_93) + (inReceptacle Plate_bar__minus_00_dot_29_bar__plus_00_dot_55_bar__plus_01_dot_98 Shelf_bar__minus_00_dot_20_bar__plus_00_dot_54_bar__plus_01_dot_93) + (inReceptacle CreditCard_bar__plus_00_dot_13_bar__plus_00_dot_55_bar__plus_01_dot_77 Shelf_bar__minus_00_dot_20_bar__plus_00_dot_54_bar__plus_01_dot_93) + + + (receptacleAtLocation ArmChair_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_49 loc_bar__minus_2_bar__minus_4_bar_3_bar_60) + (receptacleAtLocation CoffeeTable_bar__plus_00_dot_17_bar_00_dot_00_bar__plus_00_dot_42 loc_bar__minus_4_bar_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_52_bar__plus_00_dot_62_bar__minus_00_dot_76 loc_bar_5_bar__minus_6_bar_0_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_01_dot_89_bar__plus_00_dot_00_bar__minus_00_dot_41 loc_bar__minus_6_bar__minus_3_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_20_bar__plus_00_dot_16_bar__plus_01_dot_93 loc_bar__minus_1_bar_6_bar_0_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_20_bar__plus_00_dot_54_bar__plus_01_dot_93 loc_bar__minus_3_bar_3_bar_0_bar_45) + (receptacleAtLocation Shelf_bar__minus_00_dot_20_bar__plus_00_dot_87_bar__plus_01_dot_93 loc_bar__minus_3_bar_3_bar_0_bar_30) + (receptacleAtLocation Shelf_bar__minus_01_dot_82_bar__plus_00_dot_38_bar__plus_00_dot_56 loc_bar__minus_2_bar_2_bar_3_bar_45) + (receptacleAtLocation Shelf_bar__minus_01_dot_83_bar__plus_00_dot_13_bar__plus_00_dot_56 loc_bar__minus_3_bar_2_bar_3_bar_60) + (receptacleAtLocation SideTable_bar__plus_01_dot_52_bar__plus_00_dot_00_bar__minus_00_dot_70 loc_bar_5_bar__minus_6_bar_0_bar_60) + (receptacleAtLocation SideTable_bar__plus_03_dot_58_bar__plus_00_dot_00_bar__minus_01_dot_17 loc_bar_10_bar__minus_5_bar_1_bar_60) + (receptacleAtLocation Sofa_bar__plus_01_dot_42_bar_00_dot_00_bar__plus_00_dot_39 loc_bar_3_bar_2_bar_1_bar_60) + (receptacleAtLocation TVStand_bar__minus_01_dot_97_bar_00_dot_00_bar__plus_00_dot_56 loc_bar__minus_4_bar_2_bar_3_bar_60) + (objectAtLocation Statue_bar__plus_03_dot_69_bar__plus_00_dot_65_bar__minus_01_dot_71 loc_bar_10_bar__minus_5_bar_1_bar_60) + (objectAtLocation Vase_bar__minus_00_dot_39_bar__plus_00_dot_88_bar__plus_01_dot_93 loc_bar__minus_3_bar_3_bar_0_bar_30) + (objectAtLocation Pillow_bar__plus_01_dot_44_bar__plus_00_dot_52_bar__minus_00_dot_13 loc_bar_3_bar_2_bar_1_bar_60) + (objectAtLocation RemoteControl_bar__plus_00_dot_09_bar__plus_00_dot_34_bar__plus_00_dot_27 loc_bar__minus_4_bar_2_bar_1_bar_60) + (objectAtLocation CellPhone_bar__plus_01_dot_52_bar__plus_00_dot_71_bar__minus_00_dot_74 loc_bar_5_bar__minus_6_bar_0_bar_60) + (objectAtLocation Plate_bar__minus_00_dot_29_bar__plus_00_dot_55_bar__plus_01_dot_98 loc_bar__minus_3_bar_3_bar_0_bar_45) + (objectAtLocation KeyChain_bar__minus_01_dot_49_bar__plus_00_dot_29_bar__minus_01_dot_33 loc_bar__minus_2_bar__minus_4_bar_3_bar_60) + (objectAtLocation Newspaper_bar__plus_00_dot_17_bar__plus_00_dot_33_bar__plus_00_dot_14 loc_bar__minus_4_bar_2_bar_1_bar_60) + (objectAtLocation RemoteControl_bar__plus_03_dot_89_bar__plus_00_dot_64_bar__minus_01_dot_17 loc_bar_10_bar__minus_5_bar_1_bar_60) + (objectAtLocation KeyChain_bar__plus_01_dot_60_bar__plus_00_dot_48_bar__plus_00_dot_19 loc_bar_3_bar_1_bar_1_bar_60) + (objectAtLocation Plate_bar__plus_03_dot_48_bar__plus_00_dot_64_bar__minus_01_dot_17 loc_bar_10_bar__minus_5_bar_1_bar_60) + (objectAtLocation 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(objectAtLocation Laptop_bar__plus_03_dot_69_bar__plus_00_dot_64_bar__minus_00_dot_62 loc_bar_10_bar__minus_5_bar_1_bar_60) + (objectAtLocation HousePlant_bar__minus_00_dot_81_bar__plus_00_dot_00_bar__minus_02_dot_19 loc_bar__minus_3_bar__minus_6_bar_2_bar_60) + (objectAtLocation FloorLamp_bar__plus_01_dot_69_bar__plus_00_dot_00_bar__plus_01_dot_78 loc_bar_4_bar_7_bar_1_bar_60) + (objectAtLocation Painting_bar__plus_01_dot_98_bar__plus_01_dot_59_bar__plus_00_dot_33 loc_bar_11_bar_0_bar_3_bar_0) + (objectAtLocation CellPhone_bar__plus_01_dot_54_bar__plus_00_dot_48_bar__plus_00_dot_39 loc_bar_3_bar_2_bar_1_bar_60) + (objectAtLocation RemoteControl_bar__plus_00_dot_25_bar__plus_00_dot_34_bar__plus_00_dot_14 loc_bar__minus_4_bar_2_bar_1_bar_60) + (objectAtLocation Pillow_bar__plus_01_dot_42_bar__plus_00_dot_55_bar__plus_00_dot_59 loc_bar_3_bar_2_bar_1_bar_60) + (objectAtLocation Vase_bar__minus_01_dot_78_bar__plus_00_dot_10_bar__plus_00_dot_07 loc_bar__minus_3_bar_2_bar_3_bar_60) + (objectAtLocation Window_bar__plus_02_dot_78_bar__plus_01_dot_28_bar__minus_02_dot_02 loc_bar_11_bar__minus_6_bar_2_bar_30) + (objectAtLocation Window_bar__minus_00_dot_01_bar__plus_01_dot_29_bar__minus_02_dot_45 loc_bar_0_bar__minus_7_bar_2_bar_30) + (objectAtLocation Statue_bar__plus_03_dot_38_bar__plus_00_dot_65_bar__minus_01_dot_35 loc_bar_10_bar__minus_5_bar_1_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 RemoteControlType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-211/trial_T20190909_040116_174757/traj_data.json 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"z": 0.0 + } + }, + { + "objectName": "Laptop_09374fea", + "position": { + "x": 3.6853, + "y": 0.637800038, + "z": -0.621862531 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CellPhone_598d8b19", + "position": { + "x": 1.5207938, + "y": 0.7065026, + "z": -0.742182136 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "RemoteControl_85445823", + "position": { + "x": 0.08589902, + "y": 0.3379072, + "z": 0.271459758 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pillow_72dab5e1", + "position": { + "x": 1.43508458, + "y": 0.515, + "z": -0.1256359 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Vase_4e23a53b", + "position": { + "x": -0.389967918, + "y": 0.882907033, + "z": 1.92859983 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_7cbea25c", + "position": { + "x": 3.6853, + "y": 0.649864, + "z": -1.70813739 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [ + { + "isOn": false, + "objectType": "FloorLamp" + } + ], + "random_seed": 1384185642, + "scene_num": 211 + }, + "task_id": "trial_T20190909_040116_174757", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A2KAGFQU28JY43_3BF51CHDTY18FSK6IL2PQ5G8UB60HB", + "high_descs": [ + "Turn to your right and go across the room, then turn to your left and go across the room again, and go through the office entry way, to the desk in front of you. ", + "Pick up the remote control behind the blue plate, on the back of the desk. ", + "Turn around and go through the entry way, out of the office, then go past the end table to your right and turn right, go across the room, to the lamp in the corner, to your right. ", + "Turn on the lamp in the corner. " + ], + "task_desc": "Turn on the living room lamp. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AJQGWGESKQT4Y_3GD6L00D3VOUEV6Z51M2WF7EGQDM1D", + "high_descs": [ + "Turn right and cross the room and then go left and cross the room again to face the table with white legs and a brown top.", + "Pick the remote up from the table.", + "Turn around and cross through the doorway and turn right and then right again to face the lamp in the corner.", + "Turn the lamp on." + ], + "task_desc": "Pick up a remote and turn a lamp on.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2871R3LEPWMMK_3WJEQKOXABTTCUXA8YWXNOCEM8I1A0", + "high_descs": [ + "Turn right, take a left at the wall and walk to the wooden table across the room.", + "Pick up the remote control from the middle of the table at the far back.", + "Turn around, hang a right at the couch and walk to the tall lamp on the right.", + "Turn on the tall lamp." + ], + "task_desc": "Examine a remote by the light of a tall lamp.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-221/trial_T20190909_102050_896469/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-221/trial_T20190909_102050_896469/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..0c77ad11cd7659286a0b115582115bde90df90bf --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-221/trial_T20190909_102050_896469/initial_state.pddl @@ -0,0 +1,471 @@ + +(define (problem plan_trial_T20190909_102050_896469) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Box_bar__minus_02_dot_86_bar__plus_01_dot_03_bar__minus_00_dot_96 - object + Chair_bar__plus_00_dot_77_bar__plus_00_dot_09_bar__minus_01_dot_15 - object + Chair_bar__plus_00_dot_77_bar__plus_00_dot_09_bar__minus_02_dot_46 - object + Chair_bar__minus_03_dot_07_bar__plus_00_dot_09_bar__minus_00_dot_88 - object + Chair_bar__minus_03_dot_07_bar__plus_00_dot_09_bar__minus_01_dot_52 - object + Chair_bar__minus_03_dot_79_bar__plus_00_dot_09_bar__minus_00_dot_84 - object + Chair_bar__minus_03_dot_81_bar__plus_00_dot_09_bar__minus_01_dot_55 - object + CreditCard_bar__minus_00_dot_24_bar__plus_00_dot_97_bar__minus_02_dot_61 - object + CreditCard_bar__minus_01_dot_43_bar__plus_00_dot_52_bar__plus_00_dot_77 - object + CreditCard_bar__minus_03_dot_87_bar__plus_00_dot_88_bar__minus_01_dot_48 - object + FloorLamp_bar__minus_02_dot_19_bar__plus_00_dot_10_bar__plus_01_dot_11 - object + HousePlant_bar__plus_00_dot_74_bar__plus_00_dot_84_bar__minus_01_dot_16 - object + HousePlant_bar__plus_00_dot_76_bar__plus_00_dot_84_bar__minus_02_dot_47 - object + KeyChain_bar__minus_00_dot_03_bar__plus_00_dot_97_bar__minus_02_dot_65 - object + Laptop_bar__minus_00_dot_83_bar__plus_00_dot_45_bar__minus_00_dot_74 - object + Laptop_bar__minus_04_dot_09_bar__plus_00_dot_88_bar__minus_01_dot_39 - object + LightSwitch_bar__minus_03_dot_91_bar__plus_01_dot_37_bar__plus_01_dot_39 - object + Painting_bar__minus_04_dot_33_bar__plus_01_dot_82_bar__minus_01_dot_22 - object + Pen_bar__plus_00_dot_25_bar__plus_00_dot_87_bar__minus_02_dot_53 - object + Pen_bar__minus_00_dot_14_bar__plus_00_dot_98_bar__minus_02_dot_49 - object + Pen_bar__minus_03_dot_21_bar__plus_00_dot_88_bar__minus_01_dot_39 - object + Pillow_bar__plus_00_dot_63_bar__plus_00_dot_48_bar__minus_01_dot_67 - object + Plate_bar__minus_03_dot_85_bar__plus_00_dot_87_bar__minus_01_dot_01 - object + RemoteControl_bar__minus_01_dot_35_bar__plus_00_dot_46_bar__minus_00_dot_58 - object + RemoteControl_bar__minus_03_dot_43_bar__plus_00_dot_88_bar__minus_01_dot_29 - object + Statue_bar__plus_00_dot_26_bar__plus_00_dot_97_bar__minus_02_dot_52 - object + Television_bar__minus_01_dot_06_bar__plus_00_dot_92_bar__minus_02_dot_46 - object + Vase_bar__minus_01_dot_35_bar__plus_00_dot_46_bar__minus_00_dot_82 - object + Window_bar__plus_00_dot_01_bar__plus_01_dot_09_bar__plus_00_dot_00 - object + Window_bar__minus_02_dot_98_bar__plus_01_dot_55_bar__minus_03_dot_22 - object + ArmChair_bar__plus_00_dot_66_bar__plus_00_dot_10_bar__minus_01_dot_78 - receptacle + CoffeeTable_bar__minus_01_dot_06_bar__plus_00_dot_10_bar__minus_02_dot_47 - receptacle + CoffeeTable_bar__minus_01_dot_09_bar__plus_00_dot_10_bar__minus_00_dot_74 - receptacle + DiningTable_bar__minus_03_dot_43_bar__plus_00_dot_10_bar__minus_01_dot_19 - receptacle + Drawer_bar__minus_00_dot_03_bar__plus_00_dot_87_bar__minus_02_dot_47 - receptacle + GarbageCan_bar__minus_01_dot_90_bar__plus_00_dot_10_bar__minus_02_dot_98 - receptacle + SideTable_bar__minus_00_dot_03_bar__plus_00_dot_10_bar__minus_02_dot_55 - receptacle + Sofa_bar__minus_00_dot_91_bar__plus_00_dot_10_bar__plus_00_dot_96 - receptacle + loc_bar_0_bar__minus_6_bar_1_bar_60 - location + loc_bar__minus_9_bar__minus_11_bar_1_bar_60 - location + loc_bar__minus_15_bar__minus_1_bar_2_bar_0 - location + loc_bar__minus_6_bar_0_bar_0_bar_60 - location + loc_bar__minus_2_bar__minus_6_bar_1_bar_60 - location + loc_bar_0_bar__minus_8_bar_1_bar_45 - location + loc_bar__minus_15_bar_3_bar_0_bar_30 - location + loc_bar__minus_13_bar__minus_8_bar_0_bar_60 - location + loc_bar__minus_1_bar__minus_6_bar_2_bar_45 - location + loc_bar__minus_15_bar__minus_9_bar_0_bar_60 - location + loc_bar_0_bar__minus_6_bar_1_bar_45 - location + loc_bar__minus_2_bar_0_bar_1_bar_45 - location + loc_bar__minus_15_bar__minus_1_bar_2_bar_60 - location + loc_bar__minus_5_bar__minus_7_bar_0_bar_60 - location + loc_bar__minus_12_bar__minus_1_bar_2_bar_60 - location + loc_bar__minus_12_bar__minus_11_bar_2_bar_30 - location + loc_bar__minus_5_bar__minus_6_bar_2_bar_60 - location + loc_bar_0_bar__minus_8_bar_1_bar_60 - location + loc_bar_0_bar__minus_7_bar_2_bar_60 - location + loc_bar__minus_14_bar__minus_8_bar_0_bar_60 - location + loc_bar__minus_9_bar_1_bar_0_bar_60 - location + loc_bar__minus_13_bar__minus_10_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType DiningTable_bar__minus_03_dot_43_bar__plus_00_dot_10_bar__minus_01_dot_19 DiningTableType) + (receptacleType CoffeeTable_bar__minus_01_dot_09_bar__plus_00_dot_10_bar__minus_00_dot_74 CoffeeTableType) + (receptacleType GarbageCan_bar__minus_01_dot_90_bar__plus_00_dot_10_bar__minus_02_dot_98 GarbageCanType) + (receptacleType ArmChair_bar__plus_00_dot_66_bar__plus_00_dot_10_bar__minus_01_dot_78 ArmChairType) + (receptacleType SideTable_bar__minus_00_dot_03_bar__plus_00_dot_10_bar__minus_02_dot_55 SideTableType) + (receptacleType Sofa_bar__minus_00_dot_91_bar__plus_00_dot_10_bar__plus_00_dot_96 SofaType) + (receptacleType CoffeeTable_bar__minus_01_dot_06_bar__plus_00_dot_10_bar__minus_02_dot_47 CoffeeTableType) + (receptacleType Drawer_bar__minus_00_dot_03_bar__plus_00_dot_87_bar__minus_02_dot_47 DrawerType) + (objectType Pen_bar__minus_00_dot_14_bar__plus_00_dot_98_bar__minus_02_dot_49 PenType) + (objectType Box_bar__minus_02_dot_86_bar__plus_01_dot_03_bar__minus_00_dot_96 BoxType) + (objectType LightSwitch_bar__minus_03_dot_91_bar__plus_01_dot_37_bar__plus_01_dot_39 LightSwitchType) + (objectType Window_bar__plus_00_dot_01_bar__plus_01_dot_09_bar__plus_00_dot_00 WindowType) + (objectType CreditCard_bar__minus_00_dot_24_bar__plus_00_dot_97_bar__minus_02_dot_61 CreditCardType) + (objectType CreditCard_bar__minus_01_dot_43_bar__plus_00_dot_52_bar__plus_00_dot_77 CreditCardType) + (objectType Chair_bar__plus_00_dot_77_bar__plus_00_dot_09_bar__minus_02_dot_46 ChairType) + (objectType HousePlant_bar__plus_00_dot_74_bar__plus_00_dot_84_bar__minus_01_dot_16 HousePlantType) + (objectType RemoteControl_bar__minus_03_dot_43_bar__plus_00_dot_88_bar__minus_01_dot_29 RemoteControlType) + (objectType Television_bar__minus_01_dot_06_bar__plus_00_dot_92_bar__minus_02_dot_46 TelevisionType) + (objectType Pillow_bar__plus_00_dot_63_bar__plus_00_dot_48_bar__minus_01_dot_67 PillowType) + (objectType CreditCard_bar__minus_03_dot_87_bar__plus_00_dot_88_bar__minus_01_dot_48 CreditCardType) + (objectType Vase_bar__minus_01_dot_35_bar__plus_00_dot_46_bar__minus_00_dot_82 VaseType) + (objectType Painting_bar__minus_04_dot_33_bar__plus_01_dot_82_bar__minus_01_dot_22 PaintingType) + (objectType Window_bar__minus_02_dot_98_bar__plus_01_dot_55_bar__minus_03_dot_22 WindowType) + (objectType HousePlant_bar__plus_00_dot_76_bar__plus_00_dot_84_bar__minus_02_dot_47 HousePlantType) + (objectType Statue_bar__plus_00_dot_26_bar__plus_00_dot_97_bar__minus_02_dot_52 StatueType) + (objectType Chair_bar__minus_03_dot_81_bar__plus_00_dot_09_bar__minus_01_dot_55 ChairType) + (objectType KeyChain_bar__minus_00_dot_03_bar__plus_00_dot_97_bar__minus_02_dot_65 KeyChainType) + (objectType Pen_bar__minus_03_dot_21_bar__plus_00_dot_88_bar__minus_01_dot_39 PenType) + (objectType Chair_bar__minus_03_dot_07_bar__plus_00_dot_09_bar__minus_00_dot_88 ChairType) + (objectType Plate_bar__minus_03_dot_85_bar__plus_00_dot_87_bar__minus_01_dot_01 PlateType) + (objectType FloorLamp_bar__minus_02_dot_19_bar__plus_00_dot_10_bar__plus_01_dot_11 FloorLampType) + (objectType Chair_bar__minus_03_dot_79_bar__plus_00_dot_09_bar__minus_00_dot_84 ChairType) + (objectType Pen_bar__plus_00_dot_25_bar__plus_00_dot_87_bar__minus_02_dot_53 PenType) + (objectType Laptop_bar__minus_04_dot_09_bar__plus_00_dot_88_bar__minus_01_dot_39 LaptopType) + (objectType Laptop_bar__minus_00_dot_83_bar__plus_00_dot_45_bar__minus_00_dot_74 LaptopType) + (objectType Chair_bar__plus_00_dot_77_bar__plus_00_dot_09_bar__minus_01_dot_15 ChairType) + (objectType RemoteControl_bar__minus_01_dot_35_bar__plus_00_dot_46_bar__minus_00_dot_58 RemoteControlType) + (objectType Chair_bar__minus_03_dot_07_bar__plus_00_dot_09_bar__minus_01_dot_52 ChairType) + (canContain DiningTableType PenType) + (canContain DiningTableType VaseType) + (canContain DiningTableType BoxType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType PlateType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType StatueType) + (canContain CoffeeTableType PenType) + (canContain CoffeeTableType VaseType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType PlateType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType StatueType) + (canContain GarbageCanType PenType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain SideTableType PenType) + (canContain SideTableType VaseType) + (canContain SideTableType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType PlateType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType StatueType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType CreditCardType) + (canContain CoffeeTableType PenType) + (canContain CoffeeTableType VaseType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType PlateType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType StatueType) + (canContain DrawerType PenType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (pickupable Pen_bar__minus_00_dot_14_bar__plus_00_dot_98_bar__minus_02_dot_49) + (pickupable Box_bar__minus_02_dot_86_bar__plus_01_dot_03_bar__minus_00_dot_96) + (pickupable CreditCard_bar__minus_00_dot_24_bar__plus_00_dot_97_bar__minus_02_dot_61) + (pickupable CreditCard_bar__minus_01_dot_43_bar__plus_00_dot_52_bar__plus_00_dot_77) + (pickupable RemoteControl_bar__minus_03_dot_43_bar__plus_00_dot_88_bar__minus_01_dot_29) + (pickupable Pillow_bar__plus_00_dot_63_bar__plus_00_dot_48_bar__minus_01_dot_67) + (pickupable CreditCard_bar__minus_03_dot_87_bar__plus_00_dot_88_bar__minus_01_dot_48) + (pickupable Vase_bar__minus_01_dot_35_bar__plus_00_dot_46_bar__minus_00_dot_82) + (pickupable Statue_bar__plus_00_dot_26_bar__plus_00_dot_97_bar__minus_02_dot_52) + (pickupable KeyChain_bar__minus_00_dot_03_bar__plus_00_dot_97_bar__minus_02_dot_65) + (pickupable Pen_bar__minus_03_dot_21_bar__plus_00_dot_88_bar__minus_01_dot_39) + (pickupable Plate_bar__minus_03_dot_85_bar__plus_00_dot_87_bar__minus_01_dot_01) + (pickupable Pen_bar__plus_00_dot_25_bar__plus_00_dot_87_bar__minus_02_dot_53) + (pickupable Laptop_bar__minus_04_dot_09_bar__plus_00_dot_88_bar__minus_01_dot_39) + (pickupable Laptop_bar__minus_00_dot_83_bar__plus_00_dot_45_bar__minus_00_dot_74) + (pickupable RemoteControl_bar__minus_01_dot_35_bar__plus_00_dot_46_bar__minus_00_dot_58) + (isReceptacleObject Box_bar__minus_02_dot_86_bar__plus_01_dot_03_bar__minus_00_dot_96) + (isReceptacleObject Plate_bar__minus_03_dot_85_bar__plus_00_dot_87_bar__minus_01_dot_01) + (openable Drawer_bar__minus_00_dot_03_bar__plus_00_dot_87_bar__minus_02_dot_47) + + (atLocation agent1 loc_bar__minus_13_bar__minus_10_bar_2_bar_30) + + (cleanable Plate_bar__minus_03_dot_85_bar__plus_00_dot_87_bar__minus_01_dot_01) + + (heatable Plate_bar__minus_03_dot_85_bar__plus_00_dot_87_bar__minus_01_dot_01) + (coolable Plate_bar__minus_03_dot_85_bar__plus_00_dot_87_bar__minus_01_dot_01) + + + (toggleable FloorLamp_bar__minus_02_dot_19_bar__plus_00_dot_10_bar__plus_01_dot_11) + + + + + (inReceptacle Pen_bar__minus_00_dot_14_bar__plus_00_dot_98_bar__minus_02_dot_49 SideTable_bar__minus_00_dot_03_bar__plus_00_dot_10_bar__minus_02_dot_55) + (inReceptacle KeyChain_bar__minus_00_dot_03_bar__plus_00_dot_97_bar__minus_02_dot_65 SideTable_bar__minus_00_dot_03_bar__plus_00_dot_10_bar__minus_02_dot_55) + (inReceptacle Statue_bar__plus_00_dot_26_bar__plus_00_dot_97_bar__minus_02_dot_52 SideTable_bar__minus_00_dot_03_bar__plus_00_dot_10_bar__minus_02_dot_55) + (inReceptacle CreditCard_bar__minus_00_dot_24_bar__plus_00_dot_97_bar__minus_02_dot_61 SideTable_bar__minus_00_dot_03_bar__plus_00_dot_10_bar__minus_02_dot_55) + (inReceptacle Vase_bar__minus_01_dot_35_bar__plus_00_dot_46_bar__minus_00_dot_82 CoffeeTable_bar__minus_01_dot_09_bar__plus_00_dot_10_bar__minus_00_dot_74) + (inReceptacle Laptop_bar__minus_00_dot_83_bar__plus_00_dot_45_bar__minus_00_dot_74 CoffeeTable_bar__minus_01_dot_09_bar__plus_00_dot_10_bar__minus_00_dot_74) + (inReceptacle RemoteControl_bar__minus_01_dot_35_bar__plus_00_dot_46_bar__minus_00_dot_58 CoffeeTable_bar__minus_01_dot_09_bar__plus_00_dot_10_bar__minus_00_dot_74) + (inReceptacle Television_bar__minus_01_dot_06_bar__plus_00_dot_92_bar__minus_02_dot_46 CoffeeTable_bar__minus_01_dot_06_bar__plus_00_dot_10_bar__minus_02_dot_47) + (inReceptacle CreditCard_bar__minus_01_dot_43_bar__plus_00_dot_52_bar__plus_00_dot_77 Sofa_bar__minus_00_dot_91_bar__plus_00_dot_10_bar__plus_00_dot_96) + (inReceptacle Pillow_bar__plus_00_dot_63_bar__plus_00_dot_48_bar__minus_01_dot_67 ArmChair_bar__plus_00_dot_66_bar__plus_00_dot_10_bar__minus_01_dot_78) + (inReceptacle Laptop_bar__minus_04_dot_09_bar__plus_00_dot_88_bar__minus_01_dot_39 DiningTable_bar__minus_03_dot_43_bar__plus_00_dot_10_bar__minus_01_dot_19) + (inReceptacle RemoteControl_bar__minus_03_dot_43_bar__plus_00_dot_88_bar__minus_01_dot_29 DiningTable_bar__minus_03_dot_43_bar__plus_00_dot_10_bar__minus_01_dot_19) + (inReceptacle CreditCard_bar__minus_03_dot_87_bar__plus_00_dot_88_bar__minus_01_dot_48 DiningTable_bar__minus_03_dot_43_bar__plus_00_dot_10_bar__minus_01_dot_19) + (inReceptacle Pen_bar__minus_03_dot_21_bar__plus_00_dot_88_bar__minus_01_dot_39 DiningTable_bar__minus_03_dot_43_bar__plus_00_dot_10_bar__minus_01_dot_19) + (inReceptacle Box_bar__minus_02_dot_86_bar__plus_01_dot_03_bar__minus_00_dot_96 DiningTable_bar__minus_03_dot_43_bar__plus_00_dot_10_bar__minus_01_dot_19) + (inReceptacle Plate_bar__minus_03_dot_85_bar__plus_00_dot_87_bar__minus_01_dot_01 DiningTable_bar__minus_03_dot_43_bar__plus_00_dot_10_bar__minus_01_dot_19) + (inReceptacle Pen_bar__plus_00_dot_25_bar__plus_00_dot_87_bar__minus_02_dot_53 Drawer_bar__minus_00_dot_03_bar__plus_00_dot_87_bar__minus_02_dot_47) + + + (receptacleAtLocation ArmChair_bar__plus_00_dot_66_bar__plus_00_dot_10_bar__minus_01_dot_78 loc_bar__minus_2_bar__minus_6_bar_1_bar_60) + (receptacleAtLocation CoffeeTable_bar__minus_01_dot_06_bar__plus_00_dot_10_bar__minus_02_dot_47 loc_bar__minus_5_bar__minus_6_bar_2_bar_60) + (receptacleAtLocation CoffeeTable_bar__minus_01_dot_09_bar__plus_00_dot_10_bar__minus_00_dot_74 loc_bar__minus_5_bar__minus_7_bar_0_bar_60) + (receptacleAtLocation DiningTable_bar__minus_03_dot_43_bar__plus_00_dot_10_bar__minus_01_dot_19 loc_bar__minus_14_bar__minus_8_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_03_bar__plus_00_dot_87_bar__minus_02_dot_47 loc_bar__minus_1_bar__minus_6_bar_2_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_01_dot_90_bar__plus_00_dot_10_bar__minus_02_dot_98 loc_bar__minus_9_bar__minus_11_bar_1_bar_60) + (receptacleAtLocation SideTable_bar__minus_00_dot_03_bar__plus_00_dot_10_bar__minus_02_dot_55 loc_bar_0_bar__minus_7_bar_2_bar_60) + (receptacleAtLocation Sofa_bar__minus_00_dot_91_bar__plus_00_dot_10_bar__plus_00_dot_96 loc_bar__minus_6_bar_0_bar_0_bar_60) + (objectAtLocation Pen_bar__minus_00_dot_14_bar__plus_00_dot_98_bar__minus_02_dot_49 loc_bar_0_bar__minus_7_bar_2_bar_60) + (objectAtLocation RemoteControl_bar__minus_01_dot_35_bar__plus_00_dot_46_bar__minus_00_dot_58 loc_bar__minus_5_bar__minus_7_bar_0_bar_60) + (objectAtLocation Laptop_bar__minus_00_dot_83_bar__plus_00_dot_45_bar__minus_00_dot_74 loc_bar__minus_5_bar__minus_7_bar_0_bar_60) + (objectAtLocation CreditCard_bar__minus_01_dot_43_bar__plus_00_dot_52_bar__plus_00_dot_77 loc_bar__minus_6_bar_0_bar_0_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_24_bar__plus_00_dot_97_bar__minus_02_dot_61 loc_bar_0_bar__minus_7_bar_2_bar_60) + (objectAtLocation Pen_bar__minus_03_dot_21_bar__plus_00_dot_88_bar__minus_01_dot_39 loc_bar__minus_14_bar__minus_8_bar_0_bar_60) + (objectAtLocation Box_bar__minus_02_dot_86_bar__plus_01_dot_03_bar__minus_00_dot_96 loc_bar__minus_14_bar__minus_8_bar_0_bar_60) + (objectAtLocation Chair_bar__minus_03_dot_07_bar__plus_00_dot_09_bar__minus_00_dot_88 loc_bar__minus_12_bar__minus_1_bar_2_bar_60) + (objectAtLocation Chair_bar__plus_00_dot_77_bar__plus_00_dot_09_bar__minus_02_dot_46 loc_bar_0_bar__minus_8_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_03_dot_81_bar__plus_00_dot_09_bar__minus_01_dot_55 loc_bar__minus_15_bar__minus_9_bar_0_bar_60) + (objectAtLocation Chair_bar__plus_00_dot_77_bar__plus_00_dot_09_bar__minus_01_dot_15 loc_bar_0_bar__minus_6_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_03_dot_07_bar__plus_00_dot_09_bar__minus_01_dot_52 loc_bar__minus_13_bar__minus_8_bar_0_bar_60) + (objectAtLocation Chair_bar__minus_03_dot_79_bar__plus_00_dot_09_bar__minus_00_dot_84 loc_bar__minus_15_bar__minus_1_bar_2_bar_60) + (objectAtLocation Television_bar__minus_01_dot_06_bar__plus_00_dot_92_bar__minus_02_dot_46 loc_bar__minus_5_bar__minus_6_bar_2_bar_60) + (objectAtLocation Pillow_bar__plus_00_dot_63_bar__plus_00_dot_48_bar__minus_01_dot_67 loc_bar__minus_2_bar__minus_6_bar_1_bar_60) + (objectAtLocation CreditCard_bar__minus_03_dot_87_bar__plus_00_dot_88_bar__minus_01_dot_48 loc_bar__minus_14_bar__minus_8_bar_0_bar_60) + (objectAtLocation Plate_bar__minus_03_dot_85_bar__plus_00_dot_87_bar__minus_01_dot_01 loc_bar__minus_14_bar__minus_8_bar_0_bar_60) + (objectAtLocation HousePlant_bar__plus_00_dot_76_bar__plus_00_dot_84_bar__minus_02_dot_47 loc_bar_0_bar__minus_8_bar_1_bar_45) + (objectAtLocation HousePlant_bar__plus_00_dot_74_bar__plus_00_dot_84_bar__minus_01_dot_16 loc_bar_0_bar__minus_6_bar_1_bar_45) + (objectAtLocation FloorLamp_bar__minus_02_dot_19_bar__plus_00_dot_10_bar__plus_01_dot_11 loc_bar__minus_9_bar_1_bar_0_bar_60) + (objectAtLocation Laptop_bar__minus_04_dot_09_bar__plus_00_dot_88_bar__minus_01_dot_39 loc_bar__minus_14_bar__minus_8_bar_0_bar_60) + (objectAtLocation RemoteControl_bar__minus_03_dot_43_bar__plus_00_dot_88_bar__minus_01_dot_29 loc_bar__minus_14_bar__minus_8_bar_0_bar_60) + (objectAtLocation Vase_bar__minus_01_dot_35_bar__plus_00_dot_46_bar__minus_00_dot_82 loc_bar__minus_5_bar__minus_7_bar_0_bar_60) + (objectAtLocation Painting_bar__minus_04_dot_33_bar__plus_01_dot_82_bar__minus_01_dot_22 loc_bar__minus_15_bar__minus_1_bar_2_bar_0) + (objectAtLocation Statue_bar__plus_00_dot_26_bar__plus_00_dot_97_bar__minus_02_dot_52 loc_bar_0_bar__minus_7_bar_2_bar_60) + (objectAtLocation KeyChain_bar__minus_00_dot_03_bar__plus_00_dot_97_bar__minus_02_dot_65 loc_bar_0_bar__minus_7_bar_2_bar_60) + (objectAtLocation Pen_bar__plus_00_dot_25_bar__plus_00_dot_87_bar__minus_02_dot_53 loc_bar__minus_1_bar__minus_6_bar_2_bar_45) + (objectAtLocation Window_bar__plus_00_dot_01_bar__plus_01_dot_09_bar__plus_00_dot_00 loc_bar__minus_2_bar_0_bar_1_bar_45) + (objectAtLocation Window_bar__minus_02_dot_98_bar__plus_01_dot_55_bar__minus_03_dot_22 loc_bar__minus_12_bar__minus_11_bar_2_bar_30) + (objectAtLocation LightSwitch_bar__minus_03_dot_91_bar__plus_01_dot_37_bar__plus_01_dot_39 loc_bar__minus_15_bar_3_bar_0_bar_30) + ) + + + (: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 RemoteControlType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-221/trial_T20190909_102050_896469/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-221/trial_T20190909_102050_896469/traj_data.json new file mode 100644 index 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"z": 0.7725 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_b55d9380", + "position": { + "x": -3.85148048, + "y": 0.8749608, + "z": -1.01137245 + }, + "rotation": { + "x": 359.769073, + "y": -0.000427286839, + "z": 359.974579 + } + }, + { + "objectName": "Laptop_a8c2a636", + "position": { + "x": -0.8270993, + "y": 0.4522, + "z": -0.738000035 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "RemoteControl_470b1bc7", + "position": { + "x": -1.3549006, + "y": 0.455434144, + "z": -0.578387856 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Vase_9647877c", + "position": { + "x": -1.3549006, + "y": 0.459359467, + "z": -0.817806065 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_5e4810d7", + "position": { + "x": 0.2577918, + "y": 0.9659995, + "z": -2.5184164 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_73ed151d", + "position": { + "x": -0.0302466713, + "y": 0.971635461, + "z": -2.65185452 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Pen_20f1dbb5", + "position": { + "x": -0.135238022, + "y": 0.9771412, + "z": -2.49397373 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + } + ], + "object_toggles": [ + { + "isOn": false, + "objectType": "FloorLamp" + } + ], + "random_seed": 2627171832, + "scene_num": 221 + }, + "task_id": "trial_T20190909_102050_896469", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AFPMG8TLP1TND_3NGMS9VZTO9FY08QQDXAQRRZKAGFFI", + "high_descs": [ + "turn right then turn right again towards the table", + "pick up the remote off of the table", + "turn around and walk straight then turn left and walk towards the tv then turn left again and walk to the lamp and look up", + "turn the lamp light on" + ], + "task_desc": "pick up the remote and view it in the lamp light", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2YUCJ28XANFOX_3PJUZCGDJ97XIB7QFDRC63O2U8U98P", + "high_descs": [ + "turn around to the desk", + "pick the remote up from on the desk", + "turn around and cross the room to the lamp", + "turn on the lamp" + ], + "task_desc": "pick up the remote and turn on the lamp", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1O3TWBUDONVLO_3LYA37P8ITE015OOMM2BNESJD9FBKA", + "high_descs": [ + "Turn around to face the remote on the table.", + "Pick up the remote on the table.", + "Walk around the table and walk forward to face the lamp.", + "Turn on the lamp to examine the remote." + ], + "task_desc": "To examine a remote by lamp light.", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-221/trial_T20190909_102109_109171/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-221/trial_T20190909_102109_109171/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..3bfeba45033d6469e5b8568a4c7f6efc53af11e2 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-221/trial_T20190909_102109_109171/initial_state.pddl @@ -0,0 +1,481 @@ + +(define (problem plan_trial_T20190909_102109_109171) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Box_bar__minus_02_dot_86_bar__plus_01_dot_03_bar__minus_00_dot_96 - object + Chair_bar__plus_00_dot_77_bar__plus_00_dot_09_bar__minus_01_dot_15 - object + Chair_bar__plus_00_dot_77_bar__plus_00_dot_09_bar__minus_02_dot_46 - object + Chair_bar__minus_03_dot_07_bar__plus_00_dot_09_bar__minus_00_dot_88 - object + Chair_bar__minus_03_dot_07_bar__plus_00_dot_09_bar__minus_01_dot_52 - object + Chair_bar__minus_03_dot_79_bar__plus_00_dot_09_bar__minus_00_dot_84 - object + Chair_bar__minus_03_dot_81_bar__plus_00_dot_09_bar__minus_01_dot_55 - object + CreditCard_bar__plus_00_dot_58_bar__plus_00_dot_30_bar__minus_01_dot_53 - object + CreditCard_bar__minus_00_dot_13_bar__plus_00_dot_86_bar__minus_02_dot_48 - object + CreditCard_bar__minus_00_dot_24_bar__plus_00_dot_97_bar__minus_02_dot_53 - object + FloorLamp_bar__minus_02_dot_19_bar__plus_00_dot_10_bar__plus_01_dot_11 - object + HousePlant_bar__plus_00_dot_74_bar__plus_00_dot_84_bar__minus_01_dot_16 - object + HousePlant_bar__plus_00_dot_76_bar__plus_00_dot_84_bar__minus_02_dot_47 - object + KeyChain_bar__plus_00_dot_66_bar__plus_00_dot_31_bar__minus_01_dot_87 - object + KeyChain_bar__minus_01_dot_22_bar__plus_00_dot_45_bar__minus_00_dot_90 - object + Laptop_bar__minus_00_dot_73_bar__plus_00_dot_52_bar__plus_00_dot_96 - object + Laptop_bar__minus_03_dot_87_bar__plus_00_dot_88_bar__minus_01_dot_39 - object + LightSwitch_bar__minus_03_dot_91_bar__plus_01_dot_37_bar__plus_01_dot_39 - object + Painting_bar__minus_04_dot_33_bar__plus_01_dot_82_bar__minus_01_dot_22 - object + Pen_bar__plus_00_dot_25_bar__plus_00_dot_87_bar__minus_02_dot_48 - object + Pen_bar__minus_01_dot_90_bar__plus_00_dot_18_bar__minus_02_dot_98 - object + Pen_bar__minus_04_dot_09_bar__plus_00_dot_89_bar__minus_00_dot_89 - object + Pillow_bar__plus_00_dot_63_bar__plus_00_dot_48_bar__minus_01_dot_67 - object + Plate_bar__minus_00_dot_96_bar__plus_00_dot_46_bar__minus_00_dot_58 - object + RemoteControl_bar__minus_01_dot_16_bar__plus_00_dot_45_bar__minus_02_dot_48 - object + RemoteControl_bar__minus_01_dot_35_bar__plus_00_dot_46_bar__minus_00_dot_66 - object + RemoteControl_bar__minus_01_dot_43_bar__plus_00_dot_53_bar__plus_00_dot_96 - object + Statue_bar__plus_00_dot_26_bar__plus_00_dot_97_bar__minus_02_dot_52 - object + Television_bar__minus_01_dot_06_bar__plus_00_dot_92_bar__minus_02_dot_46 - object + Vase_bar__minus_03_dot_49_bar__plus_00_dot_87_bar__minus_01_dot_18 - object + Window_bar__plus_00_dot_01_bar__plus_01_dot_09_bar__plus_00_dot_00 - object + Window_bar__minus_02_dot_98_bar__plus_01_dot_55_bar__minus_03_dot_22 - object + ArmChair_bar__plus_00_dot_66_bar__plus_00_dot_10_bar__minus_01_dot_78 - receptacle + CoffeeTable_bar__minus_01_dot_06_bar__plus_00_dot_10_bar__minus_02_dot_47 - receptacle + CoffeeTable_bar__minus_01_dot_09_bar__plus_00_dot_10_bar__minus_00_dot_74 - receptacle + DiningTable_bar__minus_03_dot_43_bar__plus_00_dot_10_bar__minus_01_dot_19 - receptacle + Drawer_bar__minus_00_dot_03_bar__plus_00_dot_87_bar__minus_02_dot_47 - receptacle + GarbageCan_bar__minus_01_dot_90_bar__plus_00_dot_10_bar__minus_02_dot_98 - receptacle + SideTable_bar__minus_00_dot_03_bar__plus_00_dot_10_bar__minus_02_dot_55 - receptacle + Sofa_bar__minus_00_dot_91_bar__plus_00_dot_10_bar__plus_00_dot_96 - receptacle + loc_bar_0_bar__minus_6_bar_1_bar_60 - location + loc_bar__minus_9_bar__minus_11_bar_1_bar_60 - location + loc_bar__minus_15_bar__minus_1_bar_2_bar_0 - location + loc_bar__minus_6_bar_0_bar_0_bar_60 - location + loc_bar__minus_2_bar__minus_6_bar_1_bar_60 - location + loc_bar_0_bar__minus_8_bar_1_bar_45 - location + loc_bar__minus_15_bar_3_bar_0_bar_30 - location + loc_bar__minus_13_bar__minus_8_bar_0_bar_60 - location + loc_bar__minus_1_bar__minus_6_bar_2_bar_45 - location + loc_bar__minus_15_bar__minus_9_bar_0_bar_60 - location + loc_bar_0_bar__minus_6_bar_1_bar_45 - location + loc_bar__minus_2_bar_0_bar_1_bar_45 - location + loc_bar__minus_15_bar__minus_1_bar_2_bar_60 - location + loc_bar__minus_5_bar__minus_7_bar_0_bar_60 - location + loc_bar_0_bar__minus_7_bar_1_bar_60 - location + loc_bar__minus_12_bar__minus_1_bar_2_bar_60 - location + loc_bar__minus_12_bar__minus_11_bar_2_bar_30 - location + loc_bar__minus_5_bar__minus_6_bar_2_bar_60 - location + loc_bar_0_bar__minus_8_bar_1_bar_60 - location + loc_bar_0_bar__minus_7_bar_2_bar_60 - location + loc_bar__minus_14_bar__minus_8_bar_0_bar_60 - location + loc_bar__minus_9_bar_1_bar_0_bar_60 - location + loc_bar__minus_5_bar__minus_7_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType DiningTable_bar__minus_03_dot_43_bar__plus_00_dot_10_bar__minus_01_dot_19 DiningTableType) + (receptacleType CoffeeTable_bar__minus_01_dot_09_bar__plus_00_dot_10_bar__minus_00_dot_74 CoffeeTableType) + (receptacleType GarbageCan_bar__minus_01_dot_90_bar__plus_00_dot_10_bar__minus_02_dot_98 GarbageCanType) + (receptacleType ArmChair_bar__plus_00_dot_66_bar__plus_00_dot_10_bar__minus_01_dot_78 ArmChairType) + (receptacleType SideTable_bar__minus_00_dot_03_bar__plus_00_dot_10_bar__minus_02_dot_55 SideTableType) + (receptacleType Sofa_bar__minus_00_dot_91_bar__plus_00_dot_10_bar__plus_00_dot_96 SofaType) + (receptacleType CoffeeTable_bar__minus_01_dot_06_bar__plus_00_dot_10_bar__minus_02_dot_47 CoffeeTableType) + (receptacleType Drawer_bar__minus_00_dot_03_bar__plus_00_dot_87_bar__minus_02_dot_47 DrawerType) + (objectType CreditCard_bar__minus_00_dot_13_bar__plus_00_dot_86_bar__minus_02_dot_48 CreditCardType) + (objectType Pen_bar__plus_00_dot_25_bar__plus_00_dot_87_bar__minus_02_dot_48 PenType) + (objectType Plate_bar__minus_00_dot_96_bar__plus_00_dot_46_bar__minus_00_dot_58 PlateType) + (objectType Box_bar__minus_02_dot_86_bar__plus_01_dot_03_bar__minus_00_dot_96 BoxType) + (objectType LightSwitch_bar__minus_03_dot_91_bar__plus_01_dot_37_bar__plus_01_dot_39 LightSwitchType) + (objectType KeyChain_bar__minus_01_dot_22_bar__plus_00_dot_45_bar__minus_00_dot_90 KeyChainType) + (objectType Window_bar__plus_00_dot_01_bar__plus_01_dot_09_bar__plus_00_dot_00 WindowType) + (objectType Chair_bar__plus_00_dot_77_bar__plus_00_dot_09_bar__minus_02_dot_46 ChairType) + (objectType Laptop_bar__minus_00_dot_73_bar__plus_00_dot_52_bar__plus_00_dot_96 LaptopType) + (objectType HousePlant_bar__plus_00_dot_74_bar__plus_00_dot_84_bar__minus_01_dot_16 HousePlantType) + (objectType Television_bar__minus_01_dot_06_bar__plus_00_dot_92_bar__minus_02_dot_46 TelevisionType) + (objectType Pillow_bar__plus_00_dot_63_bar__plus_00_dot_48_bar__minus_01_dot_67 PillowType) + (objectType KeyChain_bar__plus_00_dot_66_bar__plus_00_dot_31_bar__minus_01_dot_87 KeyChainType) + (objectType Pen_bar__minus_01_dot_90_bar__plus_00_dot_18_bar__minus_02_dot_98 PenType) + (objectType Painting_bar__minus_04_dot_33_bar__plus_01_dot_82_bar__minus_01_dot_22 PaintingType) + (objectType Window_bar__minus_02_dot_98_bar__plus_01_dot_55_bar__minus_03_dot_22 WindowType) + (objectType Vase_bar__minus_03_dot_49_bar__plus_00_dot_87_bar__minus_01_dot_18 VaseType) + (objectType HousePlant_bar__plus_00_dot_76_bar__plus_00_dot_84_bar__minus_02_dot_47 HousePlantType) + (objectType Pen_bar__minus_04_dot_09_bar__plus_00_dot_89_bar__minus_00_dot_89 PenType) + (objectType Statue_bar__plus_00_dot_26_bar__plus_00_dot_97_bar__minus_02_dot_52 StatueType) + (objectType Chair_bar__minus_03_dot_81_bar__plus_00_dot_09_bar__minus_01_dot_55 ChairType) + (objectType Chair_bar__minus_03_dot_07_bar__plus_00_dot_09_bar__minus_00_dot_88 ChairType) + (objectType Laptop_bar__minus_03_dot_87_bar__plus_00_dot_88_bar__minus_01_dot_39 LaptopType) + (objectType RemoteControl_bar__minus_01_dot_35_bar__plus_00_dot_46_bar__minus_00_dot_66 RemoteControlType) + (objectType FloorLamp_bar__minus_02_dot_19_bar__plus_00_dot_10_bar__plus_01_dot_11 FloorLampType) + (objectType Chair_bar__minus_03_dot_79_bar__plus_00_dot_09_bar__minus_00_dot_84 ChairType) + (objectType Chair_bar__plus_00_dot_77_bar__plus_00_dot_09_bar__minus_01_dot_15 ChairType) + (objectType CreditCard_bar__minus_00_dot_24_bar__plus_00_dot_97_bar__minus_02_dot_53 CreditCardType) + (objectType RemoteControl_bar__minus_01_dot_16_bar__plus_00_dot_45_bar__minus_02_dot_48 RemoteControlType) + (objectType Chair_bar__minus_03_dot_07_bar__plus_00_dot_09_bar__minus_01_dot_52 ChairType) + (objectType RemoteControl_bar__minus_01_dot_43_bar__plus_00_dot_53_bar__plus_00_dot_96 RemoteControlType) + (objectType CreditCard_bar__plus_00_dot_58_bar__plus_00_dot_30_bar__minus_01_dot_53 CreditCardType) + (canContain DiningTableType PenType) + (canContain DiningTableType VaseType) + (canContain DiningTableType BoxType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType PlateType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType StatueType) + (canContain CoffeeTableType PenType) + (canContain CoffeeTableType VaseType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType PlateType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType StatueType) + (canContain GarbageCanType PenType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain SideTableType PenType) + (canContain SideTableType VaseType) + (canContain SideTableType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType PlateType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType StatueType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType CreditCardType) + (canContain CoffeeTableType PenType) + (canContain CoffeeTableType VaseType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType PlateType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType StatueType) + (canContain DrawerType PenType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (pickupable CreditCard_bar__minus_00_dot_13_bar__plus_00_dot_86_bar__minus_02_dot_48) + (pickupable Pen_bar__plus_00_dot_25_bar__plus_00_dot_87_bar__minus_02_dot_48) + (pickupable Plate_bar__minus_00_dot_96_bar__plus_00_dot_46_bar__minus_00_dot_58) + (pickupable Box_bar__minus_02_dot_86_bar__plus_01_dot_03_bar__minus_00_dot_96) + (pickupable KeyChain_bar__minus_01_dot_22_bar__plus_00_dot_45_bar__minus_00_dot_90) + (pickupable Laptop_bar__minus_00_dot_73_bar__plus_00_dot_52_bar__plus_00_dot_96) + (pickupable Pillow_bar__plus_00_dot_63_bar__plus_00_dot_48_bar__minus_01_dot_67) + (pickupable KeyChain_bar__plus_00_dot_66_bar__plus_00_dot_31_bar__minus_01_dot_87) + (pickupable Pen_bar__minus_01_dot_90_bar__plus_00_dot_18_bar__minus_02_dot_98) + (pickupable Vase_bar__minus_03_dot_49_bar__plus_00_dot_87_bar__minus_01_dot_18) + (pickupable Pen_bar__minus_04_dot_09_bar__plus_00_dot_89_bar__minus_00_dot_89) + (pickupable Statue_bar__plus_00_dot_26_bar__plus_00_dot_97_bar__minus_02_dot_52) + (pickupable Laptop_bar__minus_03_dot_87_bar__plus_00_dot_88_bar__minus_01_dot_39) + (pickupable RemoteControl_bar__minus_01_dot_35_bar__plus_00_dot_46_bar__minus_00_dot_66) + (pickupable CreditCard_bar__minus_00_dot_24_bar__plus_00_dot_97_bar__minus_02_dot_53) + (pickupable RemoteControl_bar__minus_01_dot_16_bar__plus_00_dot_45_bar__minus_02_dot_48) + (pickupable RemoteControl_bar__minus_01_dot_43_bar__plus_00_dot_53_bar__plus_00_dot_96) + (pickupable CreditCard_bar__plus_00_dot_58_bar__plus_00_dot_30_bar__minus_01_dot_53) + (isReceptacleObject Plate_bar__minus_00_dot_96_bar__plus_00_dot_46_bar__minus_00_dot_58) + (isReceptacleObject Box_bar__minus_02_dot_86_bar__plus_01_dot_03_bar__minus_00_dot_96) + (openable Drawer_bar__minus_00_dot_03_bar__plus_00_dot_87_bar__minus_02_dot_47) + + (atLocation agent1 loc_bar__minus_5_bar__minus_7_bar_2_bar_30) + + (cleanable Plate_bar__minus_00_dot_96_bar__plus_00_dot_46_bar__minus_00_dot_58) + + (heatable Plate_bar__minus_00_dot_96_bar__plus_00_dot_46_bar__minus_00_dot_58) + (coolable Plate_bar__minus_00_dot_96_bar__plus_00_dot_46_bar__minus_00_dot_58) + + + (toggleable FloorLamp_bar__minus_02_dot_19_bar__plus_00_dot_10_bar__plus_01_dot_11) + + + + + (inReceptacle Statue_bar__plus_00_dot_26_bar__plus_00_dot_97_bar__minus_02_dot_52 SideTable_bar__minus_00_dot_03_bar__plus_00_dot_10_bar__minus_02_dot_55) + (inReceptacle CreditCard_bar__minus_00_dot_24_bar__plus_00_dot_97_bar__minus_02_dot_53 SideTable_bar__minus_00_dot_03_bar__plus_00_dot_10_bar__minus_02_dot_55) + (inReceptacle RemoteControl_bar__minus_01_dot_35_bar__plus_00_dot_46_bar__minus_00_dot_66 CoffeeTable_bar__minus_01_dot_09_bar__plus_00_dot_10_bar__minus_00_dot_74) + (inReceptacle Plate_bar__minus_00_dot_96_bar__plus_00_dot_46_bar__minus_00_dot_58 CoffeeTable_bar__minus_01_dot_09_bar__plus_00_dot_10_bar__minus_00_dot_74) + (inReceptacle KeyChain_bar__minus_01_dot_22_bar__plus_00_dot_45_bar__minus_00_dot_90 CoffeeTable_bar__minus_01_dot_09_bar__plus_00_dot_10_bar__minus_00_dot_74) + (inReceptacle RemoteControl_bar__minus_01_dot_16_bar__plus_00_dot_45_bar__minus_02_dot_48 CoffeeTable_bar__minus_01_dot_06_bar__plus_00_dot_10_bar__minus_02_dot_47) + (inReceptacle Television_bar__minus_01_dot_06_bar__plus_00_dot_92_bar__minus_02_dot_46 CoffeeTable_bar__minus_01_dot_06_bar__plus_00_dot_10_bar__minus_02_dot_47) + (inReceptacle Laptop_bar__minus_00_dot_73_bar__plus_00_dot_52_bar__plus_00_dot_96 Sofa_bar__minus_00_dot_91_bar__plus_00_dot_10_bar__plus_00_dot_96) + (inReceptacle RemoteControl_bar__minus_01_dot_43_bar__plus_00_dot_53_bar__plus_00_dot_96 Sofa_bar__minus_00_dot_91_bar__plus_00_dot_10_bar__plus_00_dot_96) + (inReceptacle Pillow_bar__plus_00_dot_63_bar__plus_00_dot_48_bar__minus_01_dot_67 ArmChair_bar__plus_00_dot_66_bar__plus_00_dot_10_bar__minus_01_dot_78) + (inReceptacle CreditCard_bar__plus_00_dot_58_bar__plus_00_dot_30_bar__minus_01_dot_53 ArmChair_bar__plus_00_dot_66_bar__plus_00_dot_10_bar__minus_01_dot_78) + (inReceptacle Vase_bar__minus_03_dot_49_bar__plus_00_dot_87_bar__minus_01_dot_18 DiningTable_bar__minus_03_dot_43_bar__plus_00_dot_10_bar__minus_01_dot_19) + (inReceptacle Box_bar__minus_02_dot_86_bar__plus_01_dot_03_bar__minus_00_dot_96 DiningTable_bar__minus_03_dot_43_bar__plus_00_dot_10_bar__minus_01_dot_19) + (inReceptacle Pen_bar__minus_04_dot_09_bar__plus_00_dot_89_bar__minus_00_dot_89 DiningTable_bar__minus_03_dot_43_bar__plus_00_dot_10_bar__minus_01_dot_19) + (inReceptacle Laptop_bar__minus_03_dot_87_bar__plus_00_dot_88_bar__minus_01_dot_39 DiningTable_bar__minus_03_dot_43_bar__plus_00_dot_10_bar__minus_01_dot_19) + (inReceptacle CreditCard_bar__minus_00_dot_13_bar__plus_00_dot_86_bar__minus_02_dot_48 Drawer_bar__minus_00_dot_03_bar__plus_00_dot_87_bar__minus_02_dot_47) + (inReceptacle Pen_bar__plus_00_dot_25_bar__plus_00_dot_87_bar__minus_02_dot_48 Drawer_bar__minus_00_dot_03_bar__plus_00_dot_87_bar__minus_02_dot_47) + (inReceptacle Pen_bar__minus_01_dot_90_bar__plus_00_dot_18_bar__minus_02_dot_98 GarbageCan_bar__minus_01_dot_90_bar__plus_00_dot_10_bar__minus_02_dot_98) + + + (receptacleAtLocation ArmChair_bar__plus_00_dot_66_bar__plus_00_dot_10_bar__minus_01_dot_78 loc_bar__minus_2_bar__minus_6_bar_1_bar_60) + (receptacleAtLocation CoffeeTable_bar__minus_01_dot_06_bar__plus_00_dot_10_bar__minus_02_dot_47 loc_bar__minus_5_bar__minus_6_bar_2_bar_60) + (receptacleAtLocation CoffeeTable_bar__minus_01_dot_09_bar__plus_00_dot_10_bar__minus_00_dot_74 loc_bar__minus_5_bar__minus_7_bar_0_bar_60) + (receptacleAtLocation DiningTable_bar__minus_03_dot_43_bar__plus_00_dot_10_bar__minus_01_dot_19 loc_bar__minus_14_bar__minus_8_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_03_bar__plus_00_dot_87_bar__minus_02_dot_47 loc_bar__minus_1_bar__minus_6_bar_2_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_01_dot_90_bar__plus_00_dot_10_bar__minus_02_dot_98 loc_bar__minus_9_bar__minus_11_bar_1_bar_60) + (receptacleAtLocation SideTable_bar__minus_00_dot_03_bar__plus_00_dot_10_bar__minus_02_dot_55 loc_bar_0_bar__minus_7_bar_2_bar_60) + (receptacleAtLocation Sofa_bar__minus_00_dot_91_bar__plus_00_dot_10_bar__plus_00_dot_96 loc_bar__minus_6_bar_0_bar_0_bar_60) + (objectAtLocation Pen_bar__minus_04_dot_09_bar__plus_00_dot_89_bar__minus_00_dot_89 loc_bar__minus_14_bar__minus_8_bar_0_bar_60) + (objectAtLocation KeyChain_bar__minus_01_dot_22_bar__plus_00_dot_45_bar__minus_00_dot_90 loc_bar__minus_5_bar__minus_7_bar_0_bar_60) + (objectAtLocation RemoteControl_bar__minus_01_dot_43_bar__plus_00_dot_53_bar__plus_00_dot_96 loc_bar__minus_6_bar_0_bar_0_bar_60) + (objectAtLocation Laptop_bar__minus_03_dot_87_bar__plus_00_dot_88_bar__minus_01_dot_39 loc_bar__minus_14_bar__minus_8_bar_0_bar_60) + (objectAtLocation CreditCard_bar__plus_00_dot_58_bar__plus_00_dot_30_bar__minus_01_dot_53 loc_bar__minus_2_bar__minus_6_bar_1_bar_60) + (objectAtLocation RemoteControl_bar__minus_01_dot_16_bar__plus_00_dot_45_bar__minus_02_dot_48 loc_bar__minus_5_bar__minus_6_bar_2_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_24_bar__plus_00_dot_97_bar__minus_02_dot_53 loc_bar_0_bar__minus_7_bar_2_bar_60) + (objectAtLocation Pen_bar__minus_01_dot_90_bar__plus_00_dot_18_bar__minus_02_dot_98 loc_bar__minus_9_bar__minus_11_bar_1_bar_60) + (objectAtLocation Box_bar__minus_02_dot_86_bar__plus_01_dot_03_bar__minus_00_dot_96 loc_bar__minus_14_bar__minus_8_bar_0_bar_60) + (objectAtLocation Chair_bar__minus_03_dot_07_bar__plus_00_dot_09_bar__minus_00_dot_88 loc_bar__minus_12_bar__minus_1_bar_2_bar_60) + (objectAtLocation Chair_bar__plus_00_dot_77_bar__plus_00_dot_09_bar__minus_02_dot_46 loc_bar_0_bar__minus_8_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_03_dot_81_bar__plus_00_dot_09_bar__minus_01_dot_55 loc_bar__minus_15_bar__minus_9_bar_0_bar_60) + (objectAtLocation Chair_bar__plus_00_dot_77_bar__plus_00_dot_09_bar__minus_01_dot_15 loc_bar_0_bar__minus_6_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_03_dot_07_bar__plus_00_dot_09_bar__minus_01_dot_52 loc_bar__minus_13_bar__minus_8_bar_0_bar_60) + (objectAtLocation Chair_bar__minus_03_dot_79_bar__plus_00_dot_09_bar__minus_00_dot_84 loc_bar__minus_15_bar__minus_1_bar_2_bar_60) + (objectAtLocation Television_bar__minus_01_dot_06_bar__plus_00_dot_92_bar__minus_02_dot_46 loc_bar__minus_5_bar__minus_6_bar_2_bar_60) + (objectAtLocation Pillow_bar__plus_00_dot_63_bar__plus_00_dot_48_bar__minus_01_dot_67 loc_bar__minus_2_bar__minus_6_bar_1_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_13_bar__plus_00_dot_86_bar__minus_02_dot_48 loc_bar__minus_1_bar__minus_6_bar_2_bar_45) + (objectAtLocation Plate_bar__minus_00_dot_96_bar__plus_00_dot_46_bar__minus_00_dot_58 loc_bar__minus_5_bar__minus_7_bar_0_bar_60) + (objectAtLocation HousePlant_bar__plus_00_dot_76_bar__plus_00_dot_84_bar__minus_02_dot_47 loc_bar_0_bar__minus_8_bar_1_bar_45) + (objectAtLocation HousePlant_bar__plus_00_dot_74_bar__plus_00_dot_84_bar__minus_01_dot_16 loc_bar_0_bar__minus_6_bar_1_bar_45) + (objectAtLocation FloorLamp_bar__minus_02_dot_19_bar__plus_00_dot_10_bar__plus_01_dot_11 loc_bar__minus_9_bar_1_bar_0_bar_60) + (objectAtLocation Laptop_bar__minus_00_dot_73_bar__plus_00_dot_52_bar__plus_00_dot_96 loc_bar__minus_6_bar_0_bar_0_bar_60) + (objectAtLocation RemoteControl_bar__minus_01_dot_35_bar__plus_00_dot_46_bar__minus_00_dot_66 loc_bar__minus_5_bar__minus_7_bar_0_bar_60) + (objectAtLocation Vase_bar__minus_03_dot_49_bar__plus_00_dot_87_bar__minus_01_dot_18 loc_bar__minus_14_bar__minus_8_bar_0_bar_60) + (objectAtLocation Painting_bar__minus_04_dot_33_bar__plus_01_dot_82_bar__minus_01_dot_22 loc_bar__minus_15_bar__minus_1_bar_2_bar_0) + (objectAtLocation Statue_bar__plus_00_dot_26_bar__plus_00_dot_97_bar__minus_02_dot_52 loc_bar_0_bar__minus_7_bar_2_bar_60) + (objectAtLocation KeyChain_bar__plus_00_dot_66_bar__plus_00_dot_31_bar__minus_01_dot_87 loc_bar_0_bar__minus_7_bar_1_bar_60) + (objectAtLocation Pen_bar__plus_00_dot_25_bar__plus_00_dot_87_bar__minus_02_dot_48 loc_bar__minus_1_bar__minus_6_bar_2_bar_45) + (objectAtLocation Window_bar__plus_00_dot_01_bar__plus_01_dot_09_bar__plus_00_dot_00 loc_bar__minus_2_bar_0_bar_1_bar_45) + (objectAtLocation Window_bar__minus_02_dot_98_bar__plus_01_dot_55_bar__minus_03_dot_22 loc_bar__minus_12_bar__minus_11_bar_2_bar_30) + (objectAtLocation LightSwitch_bar__minus_03_dot_91_bar__plus_01_dot_37_bar__plus_01_dot_39 loc_bar__minus_15_bar_3_bar_0_bar_30) + ) + + + (: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 RemoteControlType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-221/trial_T20190909_102109_109171/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-221/trial_T20190909_102109_109171/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..4939602bed1d1b2ed5ca45a38651e21380b43f58 --- /dev/null +++ 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+ "z": 0.0 + } + }, + { + "objectName": "Statue_5e4810d7", + "position": { + "x": 0.2577918, + "y": 0.9659995, + "z": -2.5184164 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_73ed151d", + "position": { + "x": -1.22295022, + "y": 0.454347074, + "z": -0.897612154 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pen_20f1dbb5", + "position": { + "x": -4.09472, + "y": 0.887255669, + "z": -0.8938737 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [ + { + "isOn": false, + "objectType": "FloorLamp" + } + ], + "random_seed": 2053299651, + "scene_num": 221 + }, + "task_id": "trial_T20190909_102109_109171", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A2DN53DIE3049T_39PAAFCODPRED2CHLC73PH9MZDEVTW", + "high_descs": [ + "Turn around, walk to the couch behind you", + "Pick up the remote from the couch", + "Turn left, walk to the light that the on the left of the couch", + "Use the remote to turn the light on" + ], + "task_desc": "Use the remote to turn the light on", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A20FCMWP43CVIU_3DZQRBDBSO6TMTXJC2W7WHLH6BNS3P", + "high_descs": [ + "walk to face couch", + "remove remote from couch", + "walk to face floor lamp", + "turn on floor lamp" + ], + "task_desc": "turn on floor lamp with remote in hand", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A22ON3MIIG0IJA_3WLEIWSYHR8FB2NKX8639T9NRLC2H7", + "high_descs": [ + "Turn around and walk to the blue couch on the other side of the room.", + "Pick up the remote control from the couch.", + "Step to the left to face the lamp.", + "Turn on the lamp." + ], + "task_desc": "Look at a remote control under the light of a lamp.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-223/trial_T20190909_110002_562344/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-223/trial_T20190909_110002_562344/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..d1216bac5dcb81635e5cec865e0cae7e28ebb523 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-223/trial_T20190909_110002_562344/initial_state.pddl @@ -0,0 +1,476 @@ + +(define (problem plan_trial_T20190909_110002_562344) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Box_bar__plus_01_dot_27_bar__plus_00_dot_16_bar__minus_00_dot_29 - object + Candle_bar__minus_01_dot_86_bar__plus_00_dot_23_bar__plus_02_dot_90 - object + Candle_bar__minus_01_dot_94_bar__plus_00_dot_45_bar__minus_00_dot_11 - 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_03_dot_43_bar__plus_00_dot_53_bar__minus_00_dot_81 - 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__minus_01_dot_77_bar__plus_00_dot_45_bar__plus_00_dot_02 - object + Laptop_bar__plus_02_dot_55_bar__plus_00_dot_78_bar__minus_00_dot_05 - 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_03_dot_34_bar__plus_00_dot_65_bar__plus_00_dot_47 - object + Plate_bar__minus_01_dot_63_bar__plus_00_dot_24_bar__plus_02_dot_83 - object + Plate_bar__minus_01_dot_86_bar__plus_00_dot_24_bar__plus_02_dot_75 - object + RemoteControl_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__plus_00_dot_27 - object + Statue_bar__minus_02_dot_02_bar__plus_00_dot_46_bar__minus_00_dot_36 - object + Statue_bar__minus_02_dot_10_bar__plus_00_dot_46_bar__plus_00_dot_27 - object + Statue_bar__minus_02_dot_18_bar__plus_00_dot_45_bar__plus_00_dot_02 - object + Television_bar__minus_01_dot_86_bar__plus_01_dot_20_bar__plus_02_dot_69 - object + Vase_bar__plus_01_dot_84_bar__plus_00_dot_78_bar__minus_00_dot_30 - object + Vase_bar__minus_02_dot_02_bar__plus_00_dot_45_bar__plus_00_dot_15 - 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_3_bar__minus_1_bar_1_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_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_15_bar_3_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Sofa_bar__minus_03_dot_44_bar__minus_00_dot_01_bar__minus_00_dot_04 SofaType) + (receptacleType DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29 DiningTableType) + (receptacleType CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02 CoffeeTableType) + (receptacleType ArmChair_bar__minus_02_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_58 ArmChairType) + (receptacleType ArmChair_bar__minus_00_dot_44_bar__plus_00_dot_00_bar__plus_01_dot_92 ArmChairType) + (receptacleType DiningTable_bar__minus_01_dot_88_bar__plus_00_dot_27_bar__plus_02_dot_79 DiningTableType) + (receptacleType ArmChair_bar__minus_00_dot_43_bar__plus_00_dot_00_bar__plus_01_dot_06 ArmChairType) + (receptacleType GarbageCan_bar__plus_00_dot_29_bar__plus_00_dot_00_bar__plus_01_dot_26 GarbageCanType) + (receptacleType TVStand_bar__minus_01_dot_86_bar__minus_00_dot_01_bar__plus_02_dot_79 TVStandType) + (objectType Window_bar__plus_03_dot_48_bar__plus_01_dot_51_bar__minus_01_dot_93 WindowType) + (objectType Pillow_bar__minus_03_dot_34_bar__plus_00_dot_65_bar__plus_00_dot_47 PillowType) + (objectType Statue_bar__minus_02_dot_18_bar__plus_00_dot_45_bar__plus_00_dot_02 StatueType) + (objectType CreditCard_bar__minus_03_dot_43_bar__plus_00_dot_53_bar__minus_00_dot_81 CreditCardType) + (objectType FloorLamp_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_73 FloorLampType) + (objectType Chair_bar__plus_01_dot_46_bar_00_dot_00_bar__plus_00_dot_20 ChairType) + (objectType Plate_bar__minus_01_dot_86_bar__plus_00_dot_24_bar__plus_02_dot_75 PlateType) + (objectType Statue_bar__minus_02_dot_10_bar__plus_00_dot_46_bar__plus_00_dot_27 StatueType) + (objectType LightSwitch_bar__minus_03_dot_90_bar__plus_01_dot_28_bar__plus_01_dot_68 LightSwitchType) + (objectType Painting_bar__plus_04_dot_14_bar__plus_01_dot_59_bar__minus_00_dot_30 PaintingType) + (objectType Painting_bar__minus_00_dot_06_bar__plus_01_dot_60_bar__plus_01_dot_73 PaintingType) + (objectType RemoteControl_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__plus_00_dot_27 RemoteControlType) + (objectType Chair_bar__plus_02_dot_22_bar_00_dot_00_bar__plus_00_dot_15 ChairType) + (objectType Candle_bar__minus_01_dot_86_bar__plus_00_dot_23_bar__plus_02_dot_90 CandleType) + (objectType Window_bar__minus_02_dot_00_bar__plus_01_dot_51_bar__minus_01_dot_93 WindowType) + (objectType HousePlant_bar__minus_03_dot_48_bar__plus_00_dot_71_bar__minus_01_dot_59 HousePlantType) + (objectType Window_bar__plus_01_dot_48_bar__plus_01_dot_51_bar__minus_01_dot_93 WindowType) + (objectType Plate_bar__minus_01_dot_63_bar__plus_00_dot_24_bar__plus_02_dot_83 PlateType) + (objectType Chair_bar__plus_01_dot_64_bar_00_dot_00_bar__minus_00_dot_85 ChairType) + (objectType WateringCan_bar__minus_03_dot_25_bar_00_dot_00_bar__minus_01_dot_86 WateringCanType) + (objectType Chair_bar__plus_02_dot_29_bar_00_dot_00_bar__minus_00_dot_78 ChairType) + (objectType Box_bar__plus_01_dot_27_bar__plus_00_dot_16_bar__minus_00_dot_29 BoxType) + (objectType KeyChain_bar__minus_01_dot_77_bar__plus_00_dot_45_bar__plus_00_dot_02 KeyChainType) + (objectType Laptop_bar__plus_02_dot_55_bar__plus_00_dot_78_bar__minus_00_dot_05 LaptopType) + (objectType Statue_bar__minus_02_dot_02_bar__plus_00_dot_46_bar__minus_00_dot_36 StatueType) + (objectType Vase_bar__minus_02_dot_02_bar__plus_00_dot_45_bar__plus_00_dot_15 VaseType) + (objectType Television_bar__minus_01_dot_86_bar__plus_01_dot_20_bar__plus_02_dot_69 TelevisionType) + (objectType Candle_bar__minus_01_dot_94_bar__plus_00_dot_45_bar__minus_00_dot_11 CandleType) + (objectType Vase_bar__plus_01_dot_84_bar__plus_00_dot_78_bar__minus_00_dot_30 VaseType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType CreditCardType) + (canContain DiningTableType CandleType) + (canContain DiningTableType VaseType) + (canContain DiningTableType BoxType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType PlateType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType StatueType) + (canContain DiningTableType WateringCanType) + (canContain CoffeeTableType CandleType) + (canContain CoffeeTableType VaseType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType PlateType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType StatueType) + (canContain CoffeeTableType WateringCanType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain DiningTableType CandleType) + (canContain DiningTableType VaseType) + (canContain DiningTableType BoxType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType PlateType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType StatueType) + (canContain DiningTableType WateringCanType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (pickupable Pillow_bar__minus_03_dot_34_bar__plus_00_dot_65_bar__plus_00_dot_47) + (pickupable Statue_bar__minus_02_dot_18_bar__plus_00_dot_45_bar__plus_00_dot_02) + (pickupable CreditCard_bar__minus_03_dot_43_bar__plus_00_dot_53_bar__minus_00_dot_81) + (pickupable Plate_bar__minus_01_dot_86_bar__plus_00_dot_24_bar__plus_02_dot_75) + (pickupable Statue_bar__minus_02_dot_10_bar__plus_00_dot_46_bar__plus_00_dot_27) + (pickupable RemoteControl_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__plus_00_dot_27) + (pickupable Candle_bar__minus_01_dot_86_bar__plus_00_dot_23_bar__plus_02_dot_90) + (pickupable Plate_bar__minus_01_dot_63_bar__plus_00_dot_24_bar__plus_02_dot_83) + (pickupable WateringCan_bar__minus_03_dot_25_bar_00_dot_00_bar__minus_01_dot_86) + (pickupable Box_bar__plus_01_dot_27_bar__plus_00_dot_16_bar__minus_00_dot_29) + (pickupable KeyChain_bar__minus_01_dot_77_bar__plus_00_dot_45_bar__plus_00_dot_02) + (pickupable Laptop_bar__plus_02_dot_55_bar__plus_00_dot_78_bar__minus_00_dot_05) + (pickupable Statue_bar__minus_02_dot_02_bar__plus_00_dot_46_bar__minus_00_dot_36) + (pickupable Vase_bar__minus_02_dot_02_bar__plus_00_dot_45_bar__plus_00_dot_15) + (pickupable Candle_bar__minus_01_dot_94_bar__plus_00_dot_45_bar__minus_00_dot_11) + (pickupable Vase_bar__plus_01_dot_84_bar__plus_00_dot_78_bar__minus_00_dot_30) + (isReceptacleObject Plate_bar__minus_01_dot_86_bar__plus_00_dot_24_bar__plus_02_dot_75) + (isReceptacleObject Plate_bar__minus_01_dot_63_bar__plus_00_dot_24_bar__plus_02_dot_83) + (isReceptacleObject Box_bar__plus_01_dot_27_bar__plus_00_dot_16_bar__minus_00_dot_29) + + + (atLocation agent1 loc_bar_15_bar_3_bar_3_bar_30) + + (cleanable Plate_bar__minus_01_dot_86_bar__plus_00_dot_24_bar__plus_02_dot_75) + (cleanable Plate_bar__minus_01_dot_63_bar__plus_00_dot_24_bar__plus_02_dot_83) + + (heatable Plate_bar__minus_01_dot_86_bar__plus_00_dot_24_bar__plus_02_dot_75) + (heatable Plate_bar__minus_01_dot_63_bar__plus_00_dot_24_bar__plus_02_dot_83) + (coolable Plate_bar__minus_01_dot_86_bar__plus_00_dot_24_bar__plus_02_dot_75) + (coolable Plate_bar__minus_01_dot_63_bar__plus_00_dot_24_bar__plus_02_dot_83) + + + (toggleable FloorLamp_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_73) + + + + + (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 Vase_bar__plus_01_dot_84_bar__plus_00_dot_78_bar__minus_00_dot_30 DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29) + (inReceptacle Laptop_bar__plus_02_dot_55_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 Pillow_bar__minus_03_dot_34_bar__plus_00_dot_65_bar__plus_00_dot_47 Sofa_bar__minus_03_dot_44_bar__minus_00_dot_01_bar__minus_00_dot_04) + (inReceptacle CreditCard_bar__minus_03_dot_43_bar__plus_00_dot_53_bar__minus_00_dot_81 Sofa_bar__minus_03_dot_44_bar__minus_00_dot_01_bar__minus_00_dot_04) + (inReceptacle Statue_bar__minus_02_dot_02_bar__plus_00_dot_46_bar__minus_00_dot_36 CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02) + (inReceptacle Vase_bar__minus_02_dot_02_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 RemoteControl_bar__minus_01_dot_86_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 Statue_bar__minus_02_dot_18_bar__plus_00_dot_45_bar__plus_00_dot_02 CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02) + (inReceptacle Candle_bar__minus_01_dot_94_bar__plus_00_dot_45_bar__minus_00_dot_11 CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02) + (inReceptacle KeyChain_bar__minus_01_dot_77_bar__plus_00_dot_45_bar__plus_00_dot_02 CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02) + (inReceptacle Statue_bar__minus_02_dot_10_bar__plus_00_dot_46_bar__plus_00_dot_27 CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02) + (inReceptacle Plate_bar__minus_01_dot_63_bar__plus_00_dot_24_bar__plus_02_dot_83 DiningTable_bar__minus_01_dot_88_bar__plus_00_dot_27_bar__plus_02_dot_79) + (inReceptacle Plate_bar__minus_01_dot_86_bar__plus_00_dot_24_bar__plus_02_dot_75 DiningTable_bar__minus_01_dot_88_bar__plus_00_dot_27_bar__plus_02_dot_79) + (inReceptacle Candle_bar__minus_01_dot_86_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 Statue_bar__minus_02_dot_02_bar__plus_00_dot_46_bar__minus_00_dot_36 loc_bar__minus_4_bar_0_bar_3_bar_60) + (objectAtLocation Plate_bar__minus_01_dot_63_bar__plus_00_dot_24_bar__plus_02_dot_83 loc_bar__minus_9_bar_7_bar_0_bar_60) + (objectAtLocation Candle_bar__minus_01_dot_94_bar__plus_00_dot_45_bar__minus_00_dot_11 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__plus_01_dot_27_bar__plus_00_dot_16_bar__minus_00_dot_29 loc_bar_3_bar__minus_1_bar_1_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_86_bar__plus_00_dot_23_bar__plus_02_dot_90 loc_bar__minus_9_bar_7_bar_0_bar_60) + (objectAtLocation Vase_bar__minus_02_dot_02_bar__plus_00_dot_45_bar__plus_00_dot_15 loc_bar__minus_4_bar_0_bar_3_bar_60) + (objectAtLocation CreditCard_bar__minus_03_dot_43_bar__plus_00_dot_53_bar__minus_00_dot_81 loc_bar__minus_11_bar_0_bar_3_bar_60) + (objectAtLocation Vase_bar__plus_01_dot_84_bar__plus_00_dot_78_bar__minus_00_dot_30 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__plus_02_dot_55_bar__plus_00_dot_78_bar__minus_00_dot_05 loc_bar_8_bar__minus_5_bar_0_bar_60) + (objectAtLocation RemoteControl_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__plus_00_dot_27 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__minus_02_dot_18_bar__plus_00_dot_45_bar__plus_00_dot_02 loc_bar__minus_4_bar_0_bar_3_bar_60) + (objectAtLocation KeyChain_bar__minus_01_dot_77_bar__plus_00_dot_45_bar__plus_00_dot_02 loc_bar__minus_4_bar_0_bar_3_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_03_dot_34_bar__plus_00_dot_65_bar__plus_00_dot_47 loc_bar__minus_11_bar_0_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__minus_01_dot_86_bar__plus_00_dot_24_bar__plus_02_dot_75 loc_bar__minus_9_bar_7_bar_0_bar_60) + (objectAtLocation Statue_bar__minus_02_dot_10_bar__plus_00_dot_46_bar__plus_00_dot_27 loc_bar__minus_4_bar_0_bar_3_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 RemoteControlType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-223/trial_T20190909_110002_562344/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-223/trial_T20190909_110002_562344/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..3b40a285b634308bbd0db4fe3cd5c4790e13538c --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-223/trial_T20190909_110002_562344/traj_data.json @@ -0,0 +1,3662 @@ +{ + "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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"Turn on the lamp" + ], + "task_desc": "Carry a remote while turning on a lamp", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1MKCTVKE7J0ZP_35H6S234SDRRDAMQJ8HXA9N92HW56J", + "high_descs": [ + "Go forward to the wall, then turn left and move forward, then turn right and go to the coffee table.", + "Pick up the remote from the coffee table.", + "Turn around and go toward the entertainment center, then turn right to face the lamp.", + "Turn on the lamp." + ], + "task_desc": "Examine a remote in the lamp light.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2TBXASXZIRNNW_369J354OFG1PT7BA040OE6EYSQ7G69", + "high_descs": [ + "Walk over to the table", + "Grab the remote", + "Walk over to the lamp", + "Turn the lamp on" + ], + "task_desc": "Grab the remote and turn the lamp on", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-223/trial_T20190909_110037_453430/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-223/trial_T20190909_110037_453430/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..f9c9cdef6a55ef0fa113dbeccbb46b6030d55ddd --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-223/trial_T20190909_110037_453430/initial_state.pddl @@ -0,0 +1,482 @@ + +(define (problem plan_trial_T20190909_110037_453430) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Box_bar__plus_01_dot_27_bar__plus_00_dot_16_bar__minus_00_dot_29 - object + Candle_bar__plus_02_dot_11_bar__plus_00_dot_78_bar__minus_00_dot_05 - object + Candle_bar__plus_02_dot_55_bar__plus_00_dot_78_bar__minus_00_dot_54 - object + Candle_bar__minus_02_dot_27_bar__plus_00_dot_45_bar__plus_00_dot_27 - 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_86_bar__plus_00_dot_71_bar__plus_02_dot_83 - 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__minus_02_dot_10_bar__plus_00_dot_45_bar__plus_00_dot_27 - object + Laptop_bar__plus_01_dot_22_bar__plus_00_dot_78_bar__minus_00_dot_05 - object + Laptop_bar__plus_02_dot_11_bar__plus_00_dot_78_bar__minus_00_dot_42 - object + Laptop_bar__minus_03_dot_34_bar__plus_00_dot_58_bar__minus_00_dot_55 - 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_55_bar__plus_00_dot_79_bar__minus_00_dot_05 - object + RemoteControl_bar__plus_01_dot_66_bar__plus_00_dot_79_bar__plus_00_dot_08 - object + Statue_bar__plus_02_dot_55_bar__plus_00_dot_79_bar__minus_00_dot_42 - object + Statue_bar__minus_01_dot_86_bar__plus_00_dot_24_bar__plus_02_dot_71 - object + Statue_bar__minus_01_dot_86_bar__plus_00_dot_46_bar__minus_00_dot_36 - object + Television_bar__minus_01_dot_86_bar__plus_01_dot_20_bar__plus_02_dot_69 - object + Vase_bar__plus_01_dot_84_bar__plus_00_dot_78_bar__minus_00_dot_30 - object + Vase_bar__minus_02_dot_24_bar__plus_00_dot_71_bar__plus_02_dot_74 - 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_3_bar__minus_1_bar_1_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_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_9_bar_4_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Sofa_bar__minus_03_dot_44_bar__minus_00_dot_01_bar__minus_00_dot_04 SofaType) + (receptacleType DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29 DiningTableType) + (receptacleType CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02 CoffeeTableType) + (receptacleType ArmChair_bar__minus_02_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_58 ArmChairType) + (receptacleType ArmChair_bar__minus_00_dot_44_bar__plus_00_dot_00_bar__plus_01_dot_92 ArmChairType) + (receptacleType DiningTable_bar__minus_01_dot_88_bar__plus_00_dot_27_bar__plus_02_dot_79 DiningTableType) + (receptacleType ArmChair_bar__minus_00_dot_43_bar__plus_00_dot_00_bar__plus_01_dot_06 ArmChairType) + (receptacleType GarbageCan_bar__plus_00_dot_29_bar__plus_00_dot_00_bar__plus_01_dot_26 GarbageCanType) + (receptacleType TVStand_bar__minus_01_dot_86_bar__minus_00_dot_01_bar__plus_02_dot_79 TVStandType) + (objectType Window_bar__plus_03_dot_48_bar__plus_01_dot_51_bar__minus_01_dot_93 WindowType) + (objectType Laptop_bar__plus_02_dot_11_bar__plus_00_dot_78_bar__minus_00_dot_42 LaptopType) + (objectType FloorLamp_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_73 FloorLampType) + (objectType KeyChain_bar__minus_02_dot_10_bar__plus_00_dot_45_bar__plus_00_dot_27 KeyChainType) + (objectType Chair_bar__plus_01_dot_46_bar_00_dot_00_bar__plus_00_dot_20 ChairType) + (objectType LightSwitch_bar__minus_03_dot_90_bar__plus_01_dot_28_bar__plus_01_dot_68 LightSwitchType) + (objectType Painting_bar__plus_04_dot_14_bar__plus_01_dot_59_bar__minus_00_dot_30 PaintingType) + (objectType Painting_bar__minus_00_dot_06_bar__plus_01_dot_60_bar__plus_01_dot_73 PaintingType) + (objectType Laptop_bar__plus_01_dot_22_bar__plus_00_dot_78_bar__minus_00_dot_05 LaptopType) + (objectType CreditCard_bar__minus_01_dot_86_bar__plus_00_dot_71_bar__plus_02_dot_83 CreditCardType) + (objectType Chair_bar__plus_02_dot_22_bar_00_dot_00_bar__plus_00_dot_15 ChairType) + (objectType Statue_bar__minus_01_dot_86_bar__plus_00_dot_24_bar__plus_02_dot_71 StatueType) + (objectType RemoteControl_bar__plus_01_dot_66_bar__plus_00_dot_79_bar__plus_00_dot_08 RemoteControlType) + (objectType Window_bar__minus_02_dot_00_bar__plus_01_dot_51_bar__minus_01_dot_93 WindowType) + (objectType Vase_bar__minus_02_dot_24_bar__plus_00_dot_71_bar__plus_02_dot_74 VaseType) + (objectType Candle_bar__plus_02_dot_55_bar__plus_00_dot_78_bar__minus_00_dot_54 CandleType) + (objectType HousePlant_bar__minus_03_dot_48_bar__plus_00_dot_71_bar__minus_01_dot_59 HousePlantType) + (objectType Window_bar__plus_01_dot_48_bar__plus_01_dot_51_bar__minus_01_dot_93 WindowType) + (objectType Statue_bar__minus_01_dot_86_bar__plus_00_dot_46_bar__minus_00_dot_36 StatueType) + (objectType Chair_bar__plus_01_dot_64_bar_00_dot_00_bar__minus_00_dot_85 ChairType) + (objectType WateringCan_bar__minus_03_dot_25_bar_00_dot_00_bar__minus_01_dot_86 WateringCanType) + (objectType Chair_bar__plus_02_dot_29_bar_00_dot_00_bar__minus_00_dot_78 ChairType) + (objectType Box_bar__plus_01_dot_27_bar__plus_00_dot_16_bar__minus_00_dot_29 BoxType) + (objectType Candle_bar__plus_02_dot_11_bar__plus_00_dot_78_bar__minus_00_dot_05 CandleType) + (objectType Laptop_bar__minus_03_dot_34_bar__plus_00_dot_58_bar__minus_00_dot_55 LaptopType) + (objectType Pillow_bar__minus_01_dot_92_bar__plus_00_dot_36_bar__minus_01_dot_50 PillowType) + (objectType Statue_bar__plus_02_dot_55_bar__plus_00_dot_79_bar__minus_00_dot_42 StatueType) + (objectType Plate_bar__plus_02_dot_55_bar__plus_00_dot_79_bar__minus_00_dot_05 PlateType) + (objectType Television_bar__minus_01_dot_86_bar__plus_01_dot_20_bar__plus_02_dot_69 TelevisionType) + (objectType Candle_bar__minus_02_dot_27_bar__plus_00_dot_45_bar__plus_00_dot_27 CandleType) + (objectType Vase_bar__plus_01_dot_84_bar__plus_00_dot_78_bar__minus_00_dot_30 VaseType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType CreditCardType) + (canContain DiningTableType CandleType) + (canContain DiningTableType VaseType) + (canContain DiningTableType BoxType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType PlateType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType StatueType) + (canContain DiningTableType WateringCanType) + (canContain CoffeeTableType CandleType) + (canContain CoffeeTableType VaseType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType PlateType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType StatueType) + (canContain CoffeeTableType WateringCanType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain DiningTableType CandleType) + (canContain DiningTableType VaseType) + (canContain DiningTableType BoxType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType PlateType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType StatueType) + (canContain DiningTableType WateringCanType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (pickupable Laptop_bar__plus_02_dot_11_bar__plus_00_dot_78_bar__minus_00_dot_42) + (pickupable KeyChain_bar__minus_02_dot_10_bar__plus_00_dot_45_bar__plus_00_dot_27) + (pickupable Laptop_bar__plus_01_dot_22_bar__plus_00_dot_78_bar__minus_00_dot_05) + (pickupable CreditCard_bar__minus_01_dot_86_bar__plus_00_dot_71_bar__plus_02_dot_83) + (pickupable Statue_bar__minus_01_dot_86_bar__plus_00_dot_24_bar__plus_02_dot_71) + (pickupable RemoteControl_bar__plus_01_dot_66_bar__plus_00_dot_79_bar__plus_00_dot_08) + (pickupable Vase_bar__minus_02_dot_24_bar__plus_00_dot_71_bar__plus_02_dot_74) + (pickupable Candle_bar__plus_02_dot_55_bar__plus_00_dot_78_bar__minus_00_dot_54) + (pickupable Statue_bar__minus_01_dot_86_bar__plus_00_dot_46_bar__minus_00_dot_36) + (pickupable WateringCan_bar__minus_03_dot_25_bar_00_dot_00_bar__minus_01_dot_86) + (pickupable Box_bar__plus_01_dot_27_bar__plus_00_dot_16_bar__minus_00_dot_29) + (pickupable Candle_bar__plus_02_dot_11_bar__plus_00_dot_78_bar__minus_00_dot_05) + (pickupable Laptop_bar__minus_03_dot_34_bar__plus_00_dot_58_bar__minus_00_dot_55) + (pickupable Pillow_bar__minus_01_dot_92_bar__plus_00_dot_36_bar__minus_01_dot_50) + (pickupable Statue_bar__plus_02_dot_55_bar__plus_00_dot_79_bar__minus_00_dot_42) + (pickupable Plate_bar__plus_02_dot_55_bar__plus_00_dot_79_bar__minus_00_dot_05) + (pickupable Candle_bar__minus_02_dot_27_bar__plus_00_dot_45_bar__plus_00_dot_27) + (pickupable Vase_bar__plus_01_dot_84_bar__plus_00_dot_78_bar__minus_00_dot_30) + (isReceptacleObject Box_bar__plus_01_dot_27_bar__plus_00_dot_16_bar__minus_00_dot_29) + (isReceptacleObject Plate_bar__plus_02_dot_55_bar__plus_00_dot_79_bar__minus_00_dot_05) + + + (atLocation agent1 loc_bar__minus_9_bar_4_bar_3_bar_30) + + (cleanable Plate_bar__plus_02_dot_55_bar__plus_00_dot_79_bar__minus_00_dot_05) + + (heatable Plate_bar__plus_02_dot_55_bar__plus_00_dot_79_bar__minus_00_dot_05) + (coolable Plate_bar__plus_02_dot_55_bar__plus_00_dot_79_bar__minus_00_dot_05) + + + (toggleable FloorLamp_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_73) + + + + + (inReceptacle CreditCard_bar__minus_01_dot_86_bar__plus_00_dot_71_bar__plus_02_dot_83 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 Vase_bar__minus_02_dot_24_bar__plus_00_dot_71_bar__plus_02_dot_74 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 Statue_bar__plus_02_dot_55_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 Candle_bar__plus_02_dot_55_bar__plus_00_dot_78_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_55_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 Laptop_bar__plus_01_dot_22_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 Laptop_bar__plus_02_dot_11_bar__plus_00_dot_78_bar__minus_00_dot_42 DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29) + (inReceptacle Vase_bar__plus_01_dot_84_bar__plus_00_dot_78_bar__minus_00_dot_30 DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29) + (inReceptacle RemoteControl_bar__plus_01_dot_66_bar__plus_00_dot_79_bar__plus_00_dot_08 DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29) + (inReceptacle Candle_bar__plus_02_dot_11_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 Laptop_bar__minus_03_dot_34_bar__plus_00_dot_58_bar__minus_00_dot_55 Sofa_bar__minus_03_dot_44_bar__minus_00_dot_01_bar__minus_00_dot_04) + (inReceptacle KeyChain_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 Candle_bar__minus_02_dot_27_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 Statue_bar__minus_01_dot_86_bar__plus_00_dot_46_bar__minus_00_dot_36 CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02) + (inReceptacle Statue_bar__minus_01_dot_86_bar__plus_00_dot_24_bar__plus_02_dot_71 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 Statue_bar__minus_01_dot_86_bar__plus_00_dot_46_bar__minus_00_dot_36 loc_bar__minus_4_bar_0_bar_3_bar_60) + (objectAtLocation Laptop_bar__plus_02_dot_11_bar__plus_00_dot_78_bar__minus_00_dot_42 loc_bar_8_bar__minus_5_bar_0_bar_60) + (objectAtLocation Candle_bar__plus_02_dot_11_bar__plus_00_dot_78_bar__minus_00_dot_05 loc_bar_8_bar__minus_5_bar_0_bar_60) + (objectAtLocation Laptop_bar__plus_01_dot_22_bar__plus_00_dot_78_bar__minus_00_dot_05 loc_bar_8_bar__minus_5_bar_0_bar_60) + (objectAtLocation Candle_bar__minus_02_dot_27_bar__plus_00_dot_45_bar__plus_00_dot_27 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__plus_01_dot_27_bar__plus_00_dot_16_bar__minus_00_dot_29 loc_bar_3_bar__minus_1_bar_1_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__plus_02_dot_55_bar__plus_00_dot_78_bar__minus_00_dot_54 loc_bar_8_bar__minus_5_bar_0_bar_60) + (objectAtLocation Vase_bar__minus_02_dot_24_bar__plus_00_dot_71_bar__plus_02_dot_74 loc_bar__minus_8_bar_7_bar_0_bar_60) + (objectAtLocation CreditCard_bar__minus_01_dot_86_bar__plus_00_dot_71_bar__plus_02_dot_83 loc_bar__minus_8_bar_7_bar_0_bar_60) + (objectAtLocation Vase_bar__plus_01_dot_84_bar__plus_00_dot_78_bar__minus_00_dot_30 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_03_dot_34_bar__plus_00_dot_58_bar__minus_00_dot_55 loc_bar__minus_11_bar_0_bar_3_bar_60) + (objectAtLocation RemoteControl_bar__plus_01_dot_66_bar__plus_00_dot_79_bar__plus_00_dot_08 loc_bar_8_bar__minus_5_bar_0_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_42 loc_bar_8_bar__minus_5_bar_0_bar_60) + (objectAtLocation KeyChain_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 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_55_bar__plus_00_dot_79_bar__minus_00_dot_05 loc_bar_8_bar__minus_5_bar_0_bar_60) + (objectAtLocation Statue_bar__minus_01_dot_86_bar__plus_00_dot_24_bar__plus_02_dot_71 loc_bar__minus_9_bar_7_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 RemoteControlType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-223/trial_T20190909_110037_453430/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-223/trial_T20190909_110037_453430/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..fa222d97f2ac276f87dd87adf9ff5c783773fddd --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-223/trial_T20190909_110037_453430/traj_data.json @@ -0,0 +1,4066 @@ +{ + "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": "000000004.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000005.png", + "low_idx": 0 + 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+ "rotateOnTeleport": true, + "rotation": 270, + "x": -2.25, + "y": 0.9009992, + "z": 1.0 + }, + "object_poses": [ + { + "objectName": "Statue_eefd1644", + "position": { + "x": -1.86289167, + "y": 0.242763966, + "z": 2.712667 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Candle_3ee9e360", + "position": { + "x": 2.54884124, + "y": 0.784944534, + "z": -0.5384687 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Candle_3ee9e360", + "position": { + "x": -2.26652384, + "y": 0.4499162, + "z": 0.273055881 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Laptop_c9f0ebe9", + "position": { + "x": -3.34175682, + "y": 0.582104146, + "z": -0.5524758 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Laptop_c9f0ebe9", + "position": { + "x": 1.21915877, + "y": 0.7823, + "z": -0.0455313325 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Box_eaccedba", + "position": { + "x": 1.27, + "y": 0.155, + "z": -0.293 + }, + "rotation": { + "x": 0.0, + "y": 9.804032, + "z": 0.0 + } + }, + { + "objectName": "Candle_3ee9e360", + "position": { + "x": 2.10561371, + "y": 0.784944534, + "z": -0.0455313325 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Vase_f4354234", + "position": { + "x": -2.24262881, + "y": 0.7094989, + "z": 2.74431276 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_d7aec6d8", + "position": { + "x": -1.86140978, + "y": 0.708795965, + "z": 2.83168936 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Vase_95f65e00", + "position": { + "x": 1.84070361, + "y": 0.776816368, + "z": -0.298591346 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "WateringCan_d0feff7e", + "position": { + "x": -3.25224686, + "y": -0.000859186053, + "z": -1.86184561 + }, + "rotation": { + "x": -0.0020941745, + "y": 0.000389775232, + "z": 0.000298145751 + } + }, + { + "objectName": "Laptop_c9f0ebe9", + "position": { + "x": 2.10561371, + "y": 0.7823, + "z": -0.415234357 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "RemoteControl_51c35588", + "position": { + "x": 1.66238618, + "y": 0.785534143, + "z": 0.077703 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_28993a48", + "position": { + "x": 2.54884124, + "y": 0.7909794, + "z": -0.415234357 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_50799138", + "position": { + "x": -2.102423, + "y": 0.449418724, + "z": 0.273055881 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "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": 2.54884124, + "y": 0.789644, + "z": -0.0455313325 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_eefd1644", + "position": { + "x": -1.85627186, + "y": 0.4593356, + "z": -0.3645838 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [ + { + "isOn": false, + "objectType": "FloorLamp" + } + ], + "random_seed": 3818354480, + "scene_num": 223 + }, + "task_id": "trial_T20190909_110037_453430", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A2DN53DIE3049T_3F0BG9B9MSE8JYAFDKRMRKLYSYZY78", + "high_descs": [ + "Turn around, walk into the kitchen, to the table", + "Pick up the remote from the table", + "Turn back to the right, walk into the living room, then turn right and walk to the lamp", + "Use the remote to turn on the lamp" + ], + "task_desc": "turn on the lamp with a remote", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A20FCMWP43CVIU_3LQ8PUHQFOJJMN1MMBRVW9G4GITHIJ", + "high_descs": [ + "walk to face dining table", + "pick up remote from table", + "walk to face living room floor lamp", + "turn on floor lamp" + ], + "task_desc": "turn on floor lamp while holding remote", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1ELPYAFO7MANS_3OUYGIZWRAP0S9IU1YAUZEIZGEFP0S", + "high_descs": [ + "Turn around and walk to the left of the coffee table. Turn left and walk to the kitchen table, then turn left and walk to the left side of the table.", + "Pick up the remote on the table.", + "Turn right and walk to the coffee table, then turn right and walk to the floor lamp in the right corner of the room.", + "Turn on the lamp." + ], + "task_desc": "Look at a remote by the light of a lamp.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-223/trial_T20190909_110104_492441/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-223/trial_T20190909_110104_492441/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..711e13f2d7b87f44283174a4bab4b9f913b38d5a --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-223/trial_T20190909_110104_492441/initial_state.pddl @@ -0,0 +1,497 @@ + +(define (problem plan_trial_T20190909_110104_492441) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Box_bar__plus_02_dot_33_bar__plus_00_dot_94_bar__minus_00_dot_17 - object + Candle_bar__minus_01_dot_86_bar__plus_00_dot_23_bar__plus_02_dot_68 - object + Candle_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__plus_00_dot_02 - object + Candle_bar__minus_02_dot_27_bar__plus_00_dot_45_bar__minus_00_dot_24 - 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_86_bar__plus_00_dot_45_bar__minus_00_dot_36 - 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_88_bar__plus_00_dot_78_bar__minus_00_dot_54 - object + KeyChain_bar__plus_02_dot_55_bar__plus_00_dot_78_bar__minus_00_dot_54 - object + KeyChain_bar__minus_01_dot_63_bar__plus_00_dot_23_bar__plus_02_dot_68 - object + Laptop_bar__plus_02_dot_33_bar__plus_00_dot_78_bar__minus_00_dot_54 - object + Laptop_bar__minus_02_dot_10_bar__plus_00_dot_45_bar__plus_00_dot_27 - object + Laptop_bar__minus_03_dot_25_bar__plus_00_dot_58_bar__minus_00_dot_30 - 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_03_dot_34_bar__plus_00_dot_65_bar__plus_00_dot_47 - object + Pillow_bar__minus_03_dot_43_bar__plus_00_dot_65_bar__minus_00_dot_81 - object + Plate_bar__minus_02_dot_09_bar__plus_00_dot_24_bar__plus_02_dot_75 - object + RemoteControl_bar__minus_01_dot_94_bar__plus_00_dot_45_bar__plus_00_dot_02 - object + RemoteControl_bar__minus_02_dot_02_bar__plus_00_dot_45_bar__minus_00_dot_36 - object + Statue_bar__plus_01_dot_22_bar__plus_00_dot_79_bar__minus_00_dot_05 - object + Statue_bar__plus_01_dot_44_bar__plus_00_dot_79_bar__plus_00_dot_08 - object + Television_bar__minus_01_dot_86_bar__plus_01_dot_20_bar__plus_02_dot_69 - object + Vase_bar__plus_01_dot_66_bar__plus_00_dot_78_bar__minus_00_dot_54 - object + Vase_bar__minus_01_dot_63_bar__plus_00_dot_24_bar__plus_02_dot_83 - 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_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_2_bar_1_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Sofa_bar__minus_03_dot_44_bar__minus_00_dot_01_bar__minus_00_dot_04 SofaType) + (receptacleType DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29 DiningTableType) + (receptacleType CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02 CoffeeTableType) + (receptacleType ArmChair_bar__minus_02_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_58 ArmChairType) + (receptacleType ArmChair_bar__minus_00_dot_44_bar__plus_00_dot_00_bar__plus_01_dot_92 ArmChairType) + (receptacleType DiningTable_bar__minus_01_dot_88_bar__plus_00_dot_27_bar__plus_02_dot_79 DiningTableType) + (receptacleType ArmChair_bar__minus_00_dot_43_bar__plus_00_dot_00_bar__plus_01_dot_06 ArmChairType) + (receptacleType GarbageCan_bar__plus_00_dot_29_bar__plus_00_dot_00_bar__plus_01_dot_26 GarbageCanType) + (receptacleType TVStand_bar__minus_01_dot_86_bar__minus_00_dot_01_bar__plus_02_dot_79 TVStandType) + (objectType Vase_bar__plus_01_dot_66_bar__plus_00_dot_78_bar__minus_00_dot_54 VaseType) + (objectType Window_bar__plus_03_dot_48_bar__plus_01_dot_51_bar__minus_01_dot_93 WindowType) + (objectType Pillow_bar__minus_03_dot_34_bar__plus_00_dot_65_bar__plus_00_dot_47 PillowType) + (objectType Plate_bar__minus_02_dot_09_bar__plus_00_dot_24_bar__plus_02_dot_75 PlateType) + (objectType Laptop_bar__minus_02_dot_10_bar__plus_00_dot_45_bar__plus_00_dot_27 LaptopType) + (objectType FloorLamp_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_73 FloorLampType) + (objectType KeyChain_bar__minus_01_dot_63_bar__plus_00_dot_23_bar__plus_02_dot_68 KeyChainType) + (objectType Candle_bar__minus_01_dot_86_bar__plus_00_dot_23_bar__plus_02_dot_68 CandleType) + (objectType Box_bar__plus_02_dot_33_bar__plus_00_dot_94_bar__minus_00_dot_17 BoxType) + (objectType Chair_bar__plus_01_dot_46_bar_00_dot_00_bar__plus_00_dot_20 ChairType) + (objectType Statue_bar__plus_01_dot_22_bar__plus_00_dot_79_bar__minus_00_dot_05 StatueType) + (objectType Laptop_bar__minus_03_dot_25_bar__plus_00_dot_58_bar__minus_00_dot_30 LaptopType) + (objectType LightSwitch_bar__minus_03_dot_90_bar__plus_01_dot_28_bar__plus_01_dot_68 LightSwitchType) + (objectType Candle_bar__minus_02_dot_27_bar__plus_00_dot_45_bar__minus_00_dot_24 CandleType) + (objectType Painting_bar__plus_04_dot_14_bar__plus_01_dot_59_bar__minus_00_dot_30 PaintingType) + (objectType Painting_bar__minus_00_dot_06_bar__plus_01_dot_60_bar__plus_01_dot_73 PaintingType) + (objectType Laptop_bar__plus_02_dot_33_bar__plus_00_dot_78_bar__minus_00_dot_54 LaptopType) + (objectType KeyChain_bar__plus_02_dot_55_bar__plus_00_dot_78_bar__minus_00_dot_54 KeyChainType) + (objectType Chair_bar__plus_02_dot_22_bar_00_dot_00_bar__plus_00_dot_15 ChairType) + (objectType Window_bar__minus_02_dot_00_bar__plus_01_dot_51_bar__minus_01_dot_93 WindowType) + (objectType Statue_bar__plus_01_dot_44_bar__plus_00_dot_79_bar__plus_00_dot_08 StatueType) + (objectType RemoteControl_bar__minus_01_dot_94_bar__plus_00_dot_45_bar__plus_00_dot_02 RemoteControlType) + (objectType HousePlant_bar__minus_03_dot_48_bar__plus_00_dot_71_bar__minus_01_dot_59 HousePlantType) + (objectType CreditCard_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__minus_00_dot_36 CreditCardType) + (objectType Window_bar__plus_01_dot_48_bar__plus_01_dot_51_bar__minus_01_dot_93 WindowType) + (objectType Chair_bar__plus_01_dot_64_bar_00_dot_00_bar__minus_00_dot_85 ChairType) + (objectType WateringCan_bar__minus_03_dot_25_bar_00_dot_00_bar__minus_01_dot_86 WateringCanType) + (objectType Chair_bar__plus_02_dot_29_bar_00_dot_00_bar__minus_00_dot_78 ChairType) + (objectType RemoteControl_bar__minus_02_dot_02_bar__plus_00_dot_45_bar__minus_00_dot_36 RemoteControlType) + (objectType KeyChain_bar__plus_01_dot_88_bar__plus_00_dot_78_bar__minus_00_dot_54 KeyChainType) + (objectType Television_bar__minus_01_dot_86_bar__plus_01_dot_20_bar__plus_02_dot_69 TelevisionType) + (objectType Pillow_bar__minus_03_dot_43_bar__plus_00_dot_65_bar__minus_00_dot_81 PillowType) + (objectType Candle_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__plus_00_dot_02 CandleType) + (objectType Vase_bar__minus_01_dot_63_bar__plus_00_dot_24_bar__plus_02_dot_83 VaseType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType CreditCardType) + (canContain DiningTableType CandleType) + (canContain DiningTableType VaseType) + (canContain DiningTableType BoxType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType PlateType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType StatueType) + (canContain DiningTableType WateringCanType) + (canContain CoffeeTableType CandleType) + (canContain CoffeeTableType VaseType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType PlateType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType StatueType) + (canContain CoffeeTableType WateringCanType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain DiningTableType CandleType) + (canContain DiningTableType VaseType) + (canContain DiningTableType BoxType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType PlateType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType StatueType) + (canContain DiningTableType WateringCanType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (pickupable Vase_bar__plus_01_dot_66_bar__plus_00_dot_78_bar__minus_00_dot_54) + (pickupable Pillow_bar__minus_03_dot_34_bar__plus_00_dot_65_bar__plus_00_dot_47) + (pickupable Plate_bar__minus_02_dot_09_bar__plus_00_dot_24_bar__plus_02_dot_75) + (pickupable Laptop_bar__minus_02_dot_10_bar__plus_00_dot_45_bar__plus_00_dot_27) + (pickupable KeyChain_bar__minus_01_dot_63_bar__plus_00_dot_23_bar__plus_02_dot_68) + (pickupable Candle_bar__minus_01_dot_86_bar__plus_00_dot_23_bar__plus_02_dot_68) + (pickupable Box_bar__plus_02_dot_33_bar__plus_00_dot_94_bar__minus_00_dot_17) + (pickupable Statue_bar__plus_01_dot_22_bar__plus_00_dot_79_bar__minus_00_dot_05) + (pickupable Laptop_bar__minus_03_dot_25_bar__plus_00_dot_58_bar__minus_00_dot_30) + (pickupable Candle_bar__minus_02_dot_27_bar__plus_00_dot_45_bar__minus_00_dot_24) + (pickupable Laptop_bar__plus_02_dot_33_bar__plus_00_dot_78_bar__minus_00_dot_54) + (pickupable KeyChain_bar__plus_02_dot_55_bar__plus_00_dot_78_bar__minus_00_dot_54) + (pickupable Statue_bar__plus_01_dot_44_bar__plus_00_dot_79_bar__plus_00_dot_08) + (pickupable RemoteControl_bar__minus_01_dot_94_bar__plus_00_dot_45_bar__plus_00_dot_02) + (pickupable CreditCard_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__minus_00_dot_36) + (pickupable WateringCan_bar__minus_03_dot_25_bar_00_dot_00_bar__minus_01_dot_86) + (pickupable RemoteControl_bar__minus_02_dot_02_bar__plus_00_dot_45_bar__minus_00_dot_36) + (pickupable KeyChain_bar__plus_01_dot_88_bar__plus_00_dot_78_bar__minus_00_dot_54) + (pickupable Pillow_bar__minus_03_dot_43_bar__plus_00_dot_65_bar__minus_00_dot_81) + (pickupable Candle_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__plus_00_dot_02) + (pickupable Vase_bar__minus_01_dot_63_bar__plus_00_dot_24_bar__plus_02_dot_83) + (isReceptacleObject Plate_bar__minus_02_dot_09_bar__plus_00_dot_24_bar__plus_02_dot_75) + (isReceptacleObject Box_bar__plus_02_dot_33_bar__plus_00_dot_94_bar__minus_00_dot_17) + + + (atLocation agent1 loc_bar_2_bar_1_bar_3_bar_30) + + (cleanable Plate_bar__minus_02_dot_09_bar__plus_00_dot_24_bar__plus_02_dot_75) + + (heatable Plate_bar__minus_02_dot_09_bar__plus_00_dot_24_bar__plus_02_dot_75) + (coolable Plate_bar__minus_02_dot_09_bar__plus_00_dot_24_bar__plus_02_dot_75) + + + (toggleable FloorLamp_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_73) + + + + + (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 Vase_bar__plus_01_dot_66_bar__plus_00_dot_78_bar__minus_00_dot_54 DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29) + (inReceptacle Laptop_bar__plus_02_dot_33_bar__plus_00_dot_78_bar__minus_00_dot_54 DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29) + (inReceptacle KeyChain_bar__plus_02_dot_55_bar__plus_00_dot_78_bar__minus_00_dot_54 DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29) + (inReceptacle Box_bar__plus_02_dot_33_bar__plus_00_dot_94_bar__minus_00_dot_17 DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29) + (inReceptacle Statue_bar__plus_01_dot_22_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 Statue_bar__plus_01_dot_44_bar__plus_00_dot_79_bar__plus_00_dot_08 DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29) + (inReceptacle KeyChain_bar__plus_01_dot_88_bar__plus_00_dot_78_bar__minus_00_dot_54 DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29) + (inReceptacle Pillow_bar__minus_03_dot_43_bar__plus_00_dot_65_bar__minus_00_dot_81 Sofa_bar__minus_03_dot_44_bar__minus_00_dot_01_bar__minus_00_dot_04) + (inReceptacle Pillow_bar__minus_03_dot_34_bar__plus_00_dot_65_bar__plus_00_dot_47 Sofa_bar__minus_03_dot_44_bar__minus_00_dot_01_bar__minus_00_dot_04) + (inReceptacle Laptop_bar__minus_03_dot_25_bar__plus_00_dot_58_bar__minus_00_dot_30 Sofa_bar__minus_03_dot_44_bar__minus_00_dot_01_bar__minus_00_dot_04) + (inReceptacle RemoteControl_bar__minus_01_dot_94_bar__plus_00_dot_45_bar__plus_00_dot_02 CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02) + (inReceptacle Laptop_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 CreditCard_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__minus_00_dot_36 CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02) + (inReceptacle Candle_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__plus_00_dot_02 CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02) + (inReceptacle RemoteControl_bar__minus_02_dot_02_bar__plus_00_dot_45_bar__minus_00_dot_36 CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02) + (inReceptacle Candle_bar__minus_02_dot_27_bar__plus_00_dot_45_bar__minus_00_dot_24 CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02) + (inReceptacle KeyChain_bar__minus_01_dot_63_bar__plus_00_dot_23_bar__plus_02_dot_68 DiningTable_bar__minus_01_dot_88_bar__plus_00_dot_27_bar__plus_02_dot_79) + (inReceptacle Candle_bar__minus_01_dot_86_bar__plus_00_dot_23_bar__plus_02_dot_68 DiningTable_bar__minus_01_dot_88_bar__plus_00_dot_27_bar__plus_02_dot_79) + (inReceptacle Plate_bar__minus_02_dot_09_bar__plus_00_dot_24_bar__plus_02_dot_75 DiningTable_bar__minus_01_dot_88_bar__plus_00_dot_27_bar__plus_02_dot_79) + (inReceptacle Vase_bar__minus_01_dot_63_bar__plus_00_dot_24_bar__plus_02_dot_83 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 Pillow_bar__minus_03_dot_34_bar__plus_00_dot_65_bar__plus_00_dot_47 loc_bar__minus_11_bar_0_bar_3_bar_60) + (objectAtLocation KeyChain_bar__plus_02_dot_55_bar__plus_00_dot_78_bar__minus_00_dot_54 loc_bar_8_bar__minus_5_bar_0_bar_60) + (objectAtLocation RemoteControl_bar__minus_01_dot_94_bar__plus_00_dot_45_bar__plus_00_dot_02 loc_bar__minus_4_bar_0_bar_3_bar_60) + (objectAtLocation Laptop_bar__plus_02_dot_33_bar__plus_00_dot_78_bar__minus_00_dot_54 loc_bar_8_bar__minus_5_bar_0_bar_60) + (objectAtLocation Candle_bar__minus_01_dot_86_bar__plus_00_dot_23_bar__plus_02_dot_68 loc_bar__minus_9_bar_7_bar_0_bar_60) + (objectAtLocation Laptop_bar__minus_03_dot_25_bar__plus_00_dot_58_bar__minus_00_dot_30 loc_bar__minus_11_bar_0_bar_3_bar_60) + (objectAtLocation KeyChain_bar__plus_01_dot_88_bar__plus_00_dot_78_bar__minus_00_dot_54 loc_bar_8_bar__minus_5_bar_0_bar_60) + (objectAtLocation Candle_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__plus_00_dot_02 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__plus_02_dot_33_bar__plus_00_dot_94_bar__minus_00_dot_17 loc_bar_8_bar__minus_5_bar_0_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_02_dot_27_bar__plus_00_dot_45_bar__minus_00_dot_24 loc_bar__minus_4_bar_0_bar_3_bar_60) + (objectAtLocation Vase_bar__plus_01_dot_66_bar__plus_00_dot_78_bar__minus_00_dot_54 loc_bar_8_bar__minus_5_bar_0_bar_60) + (objectAtLocation CreditCard_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__minus_00_dot_36 loc_bar__minus_4_bar_0_bar_3_bar_60) + (objectAtLocation Vase_bar__minus_01_dot_63_bar__plus_00_dot_24_bar__plus_02_dot_83 loc_bar__minus_9_bar_7_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_10_bar__plus_00_dot_45_bar__plus_00_dot_27 loc_bar__minus_4_bar_0_bar_3_bar_60) + (objectAtLocation RemoteControl_bar__minus_02_dot_02_bar__plus_00_dot_45_bar__minus_00_dot_36 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_01_dot_22_bar__plus_00_dot_79_bar__minus_00_dot_05 loc_bar_8_bar__minus_5_bar_0_bar_60) + (objectAtLocation KeyChain_bar__minus_01_dot_63_bar__plus_00_dot_23_bar__plus_02_dot_68 loc_bar__minus_9_bar_7_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_03_dot_43_bar__plus_00_dot_65_bar__minus_00_dot_81 loc_bar__minus_11_bar_0_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__minus_02_dot_09_bar__plus_00_dot_24_bar__plus_02_dot_75 loc_bar__minus_9_bar_7_bar_0_bar_60) + (objectAtLocation Statue_bar__plus_01_dot_44_bar__plus_00_dot_79_bar__plus_00_dot_08 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 RemoteControlType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-223/trial_T20190909_110104_492441/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-223/trial_T20190909_110104_492441/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..64b5bc27fa1092a74e921d1c4451c50cb2f7a89f --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-223/trial_T20190909_110104_492441/traj_data.json @@ -0,0 +1,2961 @@ +{ + "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", 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floor lamp that is to the left of the two chairs. ", + "While holding the remote turn the lamp on so you can look at the remote." + ], + "task_desc": "Pick up remote and turn lamp on to look at it.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3PPLDHC3CG0YN_34S6N1K2ZYALCO9S7EO8OP8WXLDHLL", + "high_descs": [ + "Walk to the coffee table straight ahead. ", + "Pick up the remote to the left of the lap top. ", + "Walk over to the lamp in the corner of the room to the right of the television and look up at the lamp shade. ", + "Turn on the lamp. " + ], + "task_desc": "To pick up a remote and turn on the lamp. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A28Q5S6WK94WUN_3T3IWE1XG9EM8UG0ZDDTJUAEIMATQD", + "high_descs": [ + "go across the room to the coffee table", + "pick the remote up from the coffee table", + "take the remote and go to the lamp in the corner", + "turn on the lamp" + ], + "task_desc": "pick up the remote and turn on the light ", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-TissueBox-None-DeskLamp-225/trial_T20190906_192815_299058/game.tw-pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-TissueBox-None-DeskLamp-225/trial_T20190906_192815_299058/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..65609bbdbb295ead81f24bd0d24c533abcdd7495 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-TissueBox-None-DeskLamp-225/trial_T20190906_192815_299058/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: examine the tissuebox with the desklamp.\"\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_192815_299058)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Box_bar__minus_02_dot_37_bar__plus_00_dot_52_bar__plus_04_dot_65 - object\n Chair_bar__minus_04_dot_56_bar_00_dot_00_bar__plus_03_dot_87 - object\n CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_38_bar__plus_00_dot_71 - object\n DeskLamp_bar__minus_04_dot_66_bar__plus_00_dot_51_bar__plus_03_dot_32 - object\n FloorLamp_bar__minus_04_dot_64_bar__plus_00_dot_01_bar__plus_00_dot_36 - object\n HousePlant_bar__minus_03_dot_13_bar__plus_01_dot_50_bar__plus_00_dot_12 - object\n KeyChain_bar__minus_01_dot_97_bar__plus_00_dot_20_bar__plus_02_dot_76 - object\n KeyChain_bar__minus_02_dot_37_bar__plus_00_dot_40_bar__plus_04_dot_49 - object\n KeyChain_bar__minus_04_dot_55_bar__plus_00_dot_42_bar__plus_03_dot_31 - object\n Laptop_bar__minus_00_dot_34_bar__plus_00_dot_76_bar__plus_02_dot_38 - object\n LightSwitch_bar__minus_03_dot_23_bar__plus_01_dot_34_bar__plus_05_dot_00 - object\n Newspaper_bar__minus_02_dot_12_bar__plus_00_dot_20_bar__plus_02_dot_99 - object\n Painting_bar__minus_02_dot_51_bar__plus_01_dot_82_bar__plus_00_dot_11 - object\n Pillow_bar__minus_00_dot_97_bar__plus_00_dot_44_bar__plus_00_dot_64 - object\n RemoteControl_bar__minus_00_dot_33_bar__plus_00_dot_76_bar__plus_03_dot_13 - object\n RemoteControl_bar__minus_04_dot_35_bar__plus_00_dot_42_bar__plus_01_dot_16 - object\n Statue_bar__minus_01_dot_82_bar__plus_00_dot_20_bar__plus_02_dot_30 - object\n Statue_bar__minus_01_dot_87_bar__plus_01_dot_52_bar__plus_00_dot_15 - object\n Television_bar__plus_00_dot_00_bar__plus_01_dot_38_bar__plus_02_dot_66 - object\n TissueBox_bar__minus_00_dot_18_bar__plus_00_dot_76_bar__plus_02_dot_68 - object\n TissueBox_bar__minus_00_dot_23_bar__plus_00_dot_06_bar__plus_04_dot_78 - object\n TissueBox_bar__minus_00_dot_55_bar__plus_00_dot_77_bar__plus_02_dot_98 - object\n TissueBox_bar__minus_01_dot_82_bar__plus_00_dot_20_bar__plus_02_dot_64 - object\n Vase_bar__minus_02_dot_88_bar__plus_01_dot_52_bar__plus_00_dot_14 - object\n Watch_bar__minus_00_dot_43_bar__plus_00_dot_18_bar__plus_02_dot_47 - object\n Watch_bar__minus_04_dot_50_bar__plus_00_dot_42_bar__plus_03_dot_34 - object\n Window_bar__minus_01_dot_01_bar__plus_01_dot_39_bar__plus_00_dot_03 - object\n Window_bar__minus_03_dot_90_bar__plus_01_dot_39_bar__plus_00_dot_03 - object\n ArmChair_bar__minus_00_dot_88_bar__minus_00_dot_03_bar__plus_00_dot_57 - receptacle\n CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62 - receptacle\n Drawer_bar__minus_04_dot_43_bar__plus_00_dot_47_bar__plus_03_dot_34 - receptacle\n GarbageCan_bar__minus_00_dot_23_bar__plus_00_dot_01_bar__plus_04_dot_78 - receptacle\n Shelf_bar__minus_00_dot_34_bar__plus_00_dot_18_bar__plus_02_dot_67 - receptacle\n Shelf_bar__minus_00_dot_46_bar__plus_00_dot_17_bar__plus_03_dot_04 - receptacle\n Shelf_bar__minus_00_dot_46_bar__plus_00_dot_42_bar__plus_03_dot_04 - receptacle\n Shelf_bar__minus_00_dot_46_bar__plus_00_dot_48_bar__plus_02_dot_30 - receptacle\n Shelf_bar__minus_00_dot_46_bar__plus_00_dot_57_bar__plus_03_dot_04 - receptacle\n Shelf_bar__minus_00_dot_47_bar__plus_00_dot_18_bar__plus_02_dot_30 - receptacle\n SideTable_bar__minus_04_dot_61_bar__plus_00_dot_01_bar__plus_03_dot_35 - receptacle\n Sofa_bar__minus_02_dot_13_bar_00_dot_00_bar__plus_04_dot_56 - receptacle\n Sofa_bar__minus_04_dot_57_bar_00_dot_00_bar__plus_01_dot_90 - receptacle\n TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68 - receptacle\n loc_bar__minus_15_bar_17_bar_2_bar_60 - location\n loc_bar__minus_4_bar_5_bar_2_bar_15 - location\n loc_bar__minus_6_bar_8_bar_1_bar_45 - location\n loc_bar__minus_4_bar_11_bar_1_bar_15 - location\n loc_bar__minus_4_bar_7_bar_2_bar_60 - location\n loc_bar__minus_16_bar_15_bar_3_bar_60 - location\n loc_bar__minus_16_bar_2_bar_2_bar_30 - location\n loc_bar__minus_17_bar_17_bar_2_bar_60 - location\n loc_bar__minus_15_bar_18_bar_1_bar_30 - location\n loc_bar__minus_6_bar_14_bar_1_bar_60 - location\n loc_bar__minus_10_bar_13_bar_0_bar_45 - location\n loc_bar__minus_16_bar_2_bar_3_bar_60 - location\n loc_bar__minus_12_bar_3_bar_2_bar_15 - location\n loc_bar__minus_4_bar_11_bar_3_bar_60 - location\n loc_bar__minus_13_bar_8_bar_3_bar_45 - location\n loc_bar__minus_2_bar_17_bar_0_bar_60 - location\n loc_bar__minus_10_bar_3_bar_2_bar__minus_15 - location\n loc_bar__minus_9_bar_15_bar_0_bar_60 - location\n loc_bar__minus_6_bar_14_bar_1_bar_45 - location\n loc_bar__minus_13_bar_3_bar_2_bar_15 - location\n loc_bar__minus_5_bar_11_bar_1_bar_60 - location\n loc_bar__minus_5_bar_14_bar_1_bar_60 - location\n loc_bar__minus_7_bar_3_bar_2_bar_15 - location\n loc_bar__minus_6_bar_7_bar_1_bar_60 - location\n loc_bar__minus_7_bar_14_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType ArmChair_bar__minus_00_dot_88_bar__minus_00_dot_03_bar__plus_00_dot_57 ArmChairType)\n (receptacleType Sofa_bar__minus_02_dot_13_bar_00_dot_00_bar__plus_04_dot_56 SofaType)\n (receptacleType Drawer_bar__minus_04_dot_43_bar__plus_00_dot_47_bar__plus_03_dot_34 DrawerType)\n (receptacleType Shelf_bar__minus_00_dot_46_bar__plus_00_dot_17_bar__plus_03_dot_04 ShelfType)\n (receptacleType Shelf_bar__minus_00_dot_46_bar__plus_00_dot_57_bar__plus_03_dot_04 ShelfType)\n (receptacleType Shelf_bar__minus_00_dot_46_bar__plus_00_dot_48_bar__plus_02_dot_30 ShelfType)\n (receptacleType CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62 CoffeeTableType)\n (receptacleType Shelf_bar__minus_00_dot_34_bar__plus_00_dot_18_bar__plus_02_dot_67 ShelfType)\n (receptacleType Shelf_bar__minus_00_dot_46_bar__plus_00_dot_42_bar__plus_03_dot_04 ShelfType)\n (receptacleType Shelf_bar__minus_00_dot_47_bar__plus_00_dot_18_bar__plus_02_dot_30 ShelfType)\n (receptacleType GarbageCan_bar__minus_00_dot_23_bar__plus_00_dot_01_bar__plus_04_dot_78 GarbageCanType)\n (receptacleType TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68 TVStandType)\n (receptacleType Sofa_bar__minus_04_dot_57_bar_00_dot_00_bar__plus_01_dot_90 SofaType)\n (receptacleType SideTable_bar__minus_04_dot_61_bar__plus_00_dot_01_bar__plus_03_dot_35 SideTableType)\n (objectType TissueBox_bar__minus_00_dot_55_bar__plus_00_dot_77_bar__plus_02_dot_98 TissueBoxType)\n (objectType Box_bar__minus_02_dot_37_bar__plus_00_dot_52_bar__plus_04_dot_65 BoxType)\n (objectType Statue_bar__minus_01_dot_82_bar__plus_00_dot_20_bar__plus_02_dot_30 StatueType)\n (objectType RemoteControl_bar__minus_00_dot_33_bar__plus_00_dot_76_bar__plus_03_dot_13 RemoteControlType)\n (objectType Painting_bar__minus_02_dot_51_bar__plus_01_dot_82_bar__plus_00_dot_11 PaintingType)\n (objectType Window_bar__minus_03_dot_90_bar__plus_01_dot_39_bar__plus_00_dot_03 WindowType)\n (objectType LightSwitch_bar__minus_03_dot_23_bar__plus_01_dot_34_bar__plus_05_dot_00 LightSwitchType)\n (objectType KeyChain_bar__minus_04_dot_55_bar__plus_00_dot_42_bar__plus_03_dot_31 KeyChainType)\n (objectType DeskLamp_bar__minus_04_dot_66_bar__plus_00_dot_51_bar__plus_03_dot_32 DeskLampType)\n (objectType KeyChain_bar__minus_02_dot_37_bar__plus_00_dot_40_bar__plus_04_dot_49 KeyChainType)\n (objectType Pillow_bar__minus_00_dot_97_bar__plus_00_dot_44_bar__plus_00_dot_64 PillowType)\n (objectType KeyChain_bar__minus_01_dot_97_bar__plus_00_dot_20_bar__plus_02_dot_76 KeyChainType)\n (objectType Television_bar__plus_00_dot_00_bar__plus_01_dot_38_bar__plus_02_dot_66 TelevisionType)\n (objectType FloorLamp_bar__minus_04_dot_64_bar__plus_00_dot_01_bar__plus_00_dot_36 FloorLampType)\n (objectType Watch_bar__minus_00_dot_43_bar__plus_00_dot_18_bar__plus_02_dot_47 WatchType)\n (objectType Statue_bar__minus_01_dot_87_bar__plus_01_dot_52_bar__plus_00_dot_15 StatueType)\n (objectType Watch_bar__minus_04_dot_50_bar__plus_00_dot_42_bar__plus_03_dot_34 WatchType)\n (objectType Vase_bar__minus_02_dot_88_bar__plus_01_dot_52_bar__plus_00_dot_14 VaseType)\n (objectType HousePlant_bar__minus_03_dot_13_bar__plus_01_dot_50_bar__plus_00_dot_12 HousePlantType)\n (objectType Chair_bar__minus_04_dot_56_bar_00_dot_00_bar__plus_03_dot_87 ChairType)\n (objectType Newspaper_bar__minus_02_dot_12_bar__plus_00_dot_20_bar__plus_02_dot_99 NewspaperType)\n (objectType TissueBox_bar__minus_01_dot_82_bar__plus_00_dot_20_bar__plus_02_dot_64 TissueBoxType)\n (objectType Window_bar__minus_01_dot_01_bar__plus_01_dot_39_bar__plus_00_dot_03 WindowType)\n (objectType TissueBox_bar__minus_00_dot_23_bar__plus_00_dot_06_bar__plus_04_dot_78 TissueBoxType)\n (objectType CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_38_bar__plus_00_dot_71 CreditCardType)\n (objectType Laptop_bar__minus_00_dot_34_bar__plus_00_dot_76_bar__plus_02_dot_38 LaptopType)\n (objectType RemoteControl_bar__minus_04_dot_35_bar__plus_00_dot_42_bar__plus_01_dot_16 RemoteControlType)\n (objectType TissueBox_bar__minus_00_dot_18_bar__plus_00_dot_76_bar__plus_02_dot_68 TissueBoxType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType NewspaperType)\n (canContain ArmChairType CreditCardType)\n (canContain SofaType BoxType)\n (canContain SofaType LaptopType)\n (canContain SofaType PillowType)\n (canContain SofaType RemoteControlType)\n (canContain SofaType KeyChainType)\n (canContain SofaType NewspaperType)\n (canContain SofaType CreditCardType)\n (canContain DrawerType WatchType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain ShelfType WatchType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType VaseType)\n (canContain ShelfType BoxType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain ShelfType WatchType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType VaseType)\n (canContain ShelfType BoxType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain ShelfType WatchType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType VaseType)\n (canContain ShelfType BoxType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain CoffeeTableType WatchType)\n (canContain CoffeeTableType NewspaperType)\n (canContain CoffeeTableType VaseType)\n (canContain CoffeeTableType BoxType)\n (canContain CoffeeTableType KeyChainType)\n (canContain CoffeeTableType CreditCardType)\n (canContain CoffeeTableType LaptopType)\n (canContain CoffeeTableType RemoteControlType)\n (canContain CoffeeTableType TissueBoxType)\n (canContain CoffeeTableType StatueType)\n (canContain ShelfType WatchType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType VaseType)\n (canContain ShelfType BoxType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain ShelfType WatchType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType VaseType)\n (canContain ShelfType BoxType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain ShelfType WatchType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType VaseType)\n (canContain ShelfType BoxType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain GarbageCanType NewspaperType)\n (canContain GarbageCanType TissueBoxType)\n (canContain TVStandType TissueBoxType)\n (canContain SofaType BoxType)\n (canContain SofaType LaptopType)\n (canContain SofaType PillowType)\n (canContain SofaType RemoteControlType)\n (canContain SofaType KeyChainType)\n (canContain SofaType NewspaperType)\n (canContain SofaType CreditCardType)\n (canContain SideTableType WatchType)\n (canContain SideTableType NewspaperType)\n (canContain SideTableType VaseType)\n (canContain SideTableType BoxType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType TissueBoxType)\n (canContain SideTableType StatueType)\n (pickupable TissueBox_bar__minus_00_dot_55_bar__plus_00_dot_77_bar__plus_02_dot_98)\n (pickupable Box_bar__minus_02_dot_37_bar__plus_00_dot_52_bar__plus_04_dot_65)\n (pickupable Statue_bar__minus_01_dot_82_bar__plus_00_dot_20_bar__plus_02_dot_30)\n (pickupable RemoteControl_bar__minus_00_dot_33_bar__plus_00_dot_76_bar__plus_03_dot_13)\n (pickupable KeyChain_bar__minus_04_dot_55_bar__plus_00_dot_42_bar__plus_03_dot_31)\n (pickupable KeyChain_bar__minus_02_dot_37_bar__plus_00_dot_40_bar__plus_04_dot_49)\n (pickupable Pillow_bar__minus_00_dot_97_bar__plus_00_dot_44_bar__plus_00_dot_64)\n (pickupable KeyChain_bar__minus_01_dot_97_bar__plus_00_dot_20_bar__plus_02_dot_76)\n (pickupable Watch_bar__minus_00_dot_43_bar__plus_00_dot_18_bar__plus_02_dot_47)\n (pickupable Statue_bar__minus_01_dot_87_bar__plus_01_dot_52_bar__plus_00_dot_15)\n (pickupable Watch_bar__minus_04_dot_50_bar__plus_00_dot_42_bar__plus_03_dot_34)\n (pickupable Vase_bar__minus_02_dot_88_bar__plus_01_dot_52_bar__plus_00_dot_14)\n (pickupable Newspaper_bar__minus_02_dot_12_bar__plus_00_dot_20_bar__plus_02_dot_99)\n (pickupable TissueBox_bar__minus_01_dot_82_bar__plus_00_dot_20_bar__plus_02_dot_64)\n (pickupable TissueBox_bar__minus_00_dot_23_bar__plus_00_dot_06_bar__plus_04_dot_78)\n (pickupable CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_38_bar__plus_00_dot_71)\n (pickupable Laptop_bar__minus_00_dot_34_bar__plus_00_dot_76_bar__plus_02_dot_38)\n (pickupable RemoteControl_bar__minus_04_dot_35_bar__plus_00_dot_42_bar__plus_01_dot_16)\n (pickupable TissueBox_bar__minus_00_dot_18_bar__plus_00_dot_76_bar__plus_02_dot_68)\n (isReceptacleObject Box_bar__minus_02_dot_37_bar__plus_00_dot_52_bar__plus_04_dot_65)\n (openable Drawer_bar__minus_04_dot_43_bar__plus_00_dot_47_bar__plus_03_dot_34)\n \n (atLocation agent1 loc_bar__minus_7_bar_14_bar_0_bar_30)\n \n \n \n \n \n \n \n (toggleable DeskLamp_bar__minus_04_dot_66_bar__plus_00_dot_51_bar__plus_03_dot_32)\n (toggleable FloorLamp_bar__minus_04_dot_64_bar__plus_00_dot_01_bar__plus_00_dot_36)\n \n \n \n \n (inReceptacle DeskLamp_bar__minus_04_dot_66_bar__plus_00_dot_51_bar__plus_03_dot_32 SideTable_bar__minus_04_dot_61_bar__plus_00_dot_01_bar__plus_03_dot_35)\n (inReceptacle Box_bar__minus_02_dot_37_bar__plus_00_dot_52_bar__plus_04_dot_65 Sofa_bar__minus_02_dot_13_bar_00_dot_00_bar__plus_04_dot_56)\n (inReceptacle TissueBox_bar__minus_01_dot_82_bar__plus_00_dot_20_bar__plus_02_dot_64 CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62)\n (inReceptacle Newspaper_bar__minus_02_dot_12_bar__plus_00_dot_20_bar__plus_02_dot_99 CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62)\n (inReceptacle Statue_bar__minus_01_dot_82_bar__plus_00_dot_20_bar__plus_02_dot_30 CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62)\n (inReceptacle KeyChain_bar__minus_01_dot_97_bar__plus_00_dot_20_bar__plus_02_dot_76 CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62)\n (inReceptacle Watch_bar__minus_00_dot_43_bar__plus_00_dot_18_bar__plus_02_dot_47 Shelf_bar__minus_00_dot_47_bar__plus_00_dot_18_bar__plus_02_dot_30)\n (inReceptacle KeyChain_bar__minus_04_dot_55_bar__plus_00_dot_42_bar__plus_03_dot_31 Drawer_bar__minus_04_dot_43_bar__plus_00_dot_47_bar__plus_03_dot_34)\n (inReceptacle Watch_bar__minus_04_dot_50_bar__plus_00_dot_42_bar__plus_03_dot_34 Drawer_bar__minus_04_dot_43_bar__plus_00_dot_47_bar__plus_03_dot_34)\n (inReceptacle RemoteControl_bar__minus_04_dot_35_bar__plus_00_dot_42_bar__plus_01_dot_16 Sofa_bar__minus_04_dot_57_bar_00_dot_00_bar__plus_01_dot_90)\n (inReceptacle CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_38_bar__plus_00_dot_71 ArmChair_bar__minus_00_dot_88_bar__minus_00_dot_03_bar__plus_00_dot_57)\n (inReceptacle Pillow_bar__minus_00_dot_97_bar__plus_00_dot_44_bar__plus_00_dot_64 ArmChair_bar__minus_00_dot_88_bar__minus_00_dot_03_bar__plus_00_dot_57)\n (inReceptacle Laptop_bar__minus_00_dot_34_bar__plus_00_dot_76_bar__plus_02_dot_38 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68)\n (inReceptacle TissueBox_bar__minus_00_dot_55_bar__plus_00_dot_77_bar__plus_02_dot_98 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68)\n (inReceptacle RemoteControl_bar__minus_00_dot_33_bar__plus_00_dot_76_bar__plus_03_dot_13 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68)\n (inReceptacle TissueBox_bar__minus_00_dot_18_bar__plus_00_dot_76_bar__plus_02_dot_68 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68)\n (inReceptacle TissueBox_bar__minus_00_dot_23_bar__plus_00_dot_06_bar__plus_04_dot_78 GarbageCan_bar__minus_00_dot_23_bar__plus_00_dot_01_bar__plus_04_dot_78)\n \n \n (receptacleAtLocation ArmChair_bar__minus_00_dot_88_bar__minus_00_dot_03_bar__plus_00_dot_57 loc_bar__minus_4_bar_7_bar_2_bar_60)\n (receptacleAtLocation CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62 loc_bar__minus_4_bar_11_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_04_dot_43_bar__plus_00_dot_47_bar__plus_03_dot_34 loc_bar__minus_15_bar_17_bar_2_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_23_bar__plus_00_dot_01_bar__plus_04_dot_78 loc_bar__minus_2_bar_17_bar_0_bar_60)\n (receptacleAtLocation Shelf_bar__minus_00_dot_34_bar__plus_00_dot_18_bar__plus_02_dot_67 loc_bar__minus_6_bar_8_bar_1_bar_45)\n (receptacleAtLocation Shelf_bar__minus_00_dot_46_bar__plus_00_dot_17_bar__plus_03_dot_04 loc_bar__minus_6_bar_14_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__minus_00_dot_46_bar__plus_00_dot_42_bar__plus_03_dot_04 loc_bar__minus_6_bar_14_bar_1_bar_45)\n (receptacleAtLocation Shelf_bar__minus_00_dot_46_bar__plus_00_dot_48_bar__plus_02_dot_30 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__minus_00_dot_46_bar__plus_00_dot_57_bar__plus_03_dot_04 loc_bar__minus_5_bar_14_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__minus_00_dot_47_bar__plus_00_dot_18_bar__plus_02_dot_30 loc_bar__minus_6_bar_7_bar_1_bar_60)\n (receptacleAtLocation SideTable_bar__minus_04_dot_61_bar__plus_00_dot_01_bar__plus_03_dot_35 loc_bar__minus_17_bar_17_bar_2_bar_60)\n (receptacleAtLocation Sofa_bar__minus_02_dot_13_bar_00_dot_00_bar__plus_04_dot_56 loc_bar__minus_10_bar_13_bar_0_bar_45)\n (receptacleAtLocation Sofa_bar__minus_04_dot_57_bar_00_dot_00_bar__plus_01_dot_90 loc_bar__minus_13_bar_8_bar_3_bar_45)\n (receptacleAtLocation TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation Watch_bar__minus_04_dot_50_bar__plus_00_dot_42_bar__plus_03_dot_34 loc_bar__minus_15_bar_17_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__minus_01_dot_97_bar__plus_00_dot_20_bar__plus_02_dot_76 loc_bar__minus_4_bar_11_bar_3_bar_60)\n (objectAtLocation RemoteControl_bar__minus_04_dot_35_bar__plus_00_dot_42_bar__plus_01_dot_16 loc_bar__minus_13_bar_8_bar_3_bar_45)\n (objectAtLocation TissueBox_bar__minus_01_dot_82_bar__plus_00_dot_20_bar__plus_02_dot_64 loc_bar__minus_4_bar_11_bar_3_bar_60)\n (objectAtLocation KeyChain_bar__minus_04_dot_55_bar__plus_00_dot_42_bar__plus_03_dot_31 loc_bar__minus_15_bar_17_bar_2_bar_60)\n (objectAtLocation TissueBox_bar__minus_00_dot_18_bar__plus_00_dot_76_bar__plus_02_dot_68 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation TissueBox_bar__minus_00_dot_23_bar__plus_00_dot_06_bar__plus_04_dot_78 loc_bar__minus_2_bar_17_bar_0_bar_60)\n (objectAtLocation Chair_bar__minus_04_dot_56_bar_00_dot_00_bar__plus_03_dot_87 loc_bar__minus_16_bar_15_bar_3_bar_60)\n (objectAtLocation Box_bar__minus_02_dot_37_bar__plus_00_dot_52_bar__plus_04_dot_65 loc_bar__minus_10_bar_13_bar_0_bar_45)\n (objectAtLocation HousePlant_bar__minus_03_dot_13_bar__plus_01_dot_50_bar__plus_00_dot_12 loc_bar__minus_13_bar_3_bar_2_bar_15)\n (objectAtLocation CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_38_bar__plus_00_dot_71 loc_bar__minus_4_bar_7_bar_2_bar_60)\n (objectAtLocation Television_bar__plus_00_dot_00_bar__plus_01_dot_38_bar__plus_02_dot_66 loc_bar__minus_4_bar_11_bar_1_bar_15)\n (objectAtLocation DeskLamp_bar__minus_04_dot_66_bar__plus_00_dot_51_bar__plus_03_dot_32 loc_bar__minus_17_bar_17_bar_2_bar_60)\n (objectAtLocation TissueBox_bar__minus_00_dot_55_bar__plus_00_dot_77_bar__plus_02_dot_98 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_34_bar__plus_00_dot_76_bar__plus_02_dot_38 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation Vase_bar__minus_02_dot_88_bar__plus_01_dot_52_bar__plus_00_dot_14 loc_bar__minus_12_bar_3_bar_2_bar_15)\n (objectAtLocation RemoteControl_bar__minus_00_dot_33_bar__plus_00_dot_76_bar__plus_03_dot_13 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation Painting_bar__minus_02_dot_51_bar__plus_01_dot_82_bar__plus_00_dot_11 loc_bar__minus_10_bar_3_bar_2_bar__minus_15)\n (objectAtLocation Pillow_bar__minus_00_dot_97_bar__plus_00_dot_44_bar__plus_00_dot_64 loc_bar__minus_4_bar_7_bar_2_bar_60)\n (objectAtLocation FloorLamp_bar__minus_04_dot_64_bar__plus_00_dot_01_bar__plus_00_dot_36 loc_bar__minus_16_bar_2_bar_3_bar_60)\n (objectAtLocation KeyChain_bar__minus_02_dot_37_bar__plus_00_dot_40_bar__plus_04_dot_49 loc_bar__minus_9_bar_15_bar_0_bar_60)\n (objectAtLocation Watch_bar__minus_00_dot_43_bar__plus_00_dot_18_bar__plus_02_dot_47 loc_bar__minus_6_bar_7_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__minus_03_dot_23_bar__plus_01_dot_34_bar__plus_05_dot_00 loc_bar__minus_15_bar_18_bar_1_bar_30)\n (objectAtLocation Newspaper_bar__minus_02_dot_12_bar__plus_00_dot_20_bar__plus_02_dot_99 loc_bar__minus_4_bar_11_bar_3_bar_60)\n (objectAtLocation Window_bar__minus_01_dot_01_bar__plus_01_dot_39_bar__plus_00_dot_03 loc_bar__minus_4_bar_5_bar_2_bar_15)\n (objectAtLocation Window_bar__minus_03_dot_90_bar__plus_01_dot_39_bar__plus_00_dot_03 loc_bar__minus_16_bar_2_bar_2_bar_30)\n (objectAtLocation Statue_bar__minus_01_dot_82_bar__plus_00_dot_20_bar__plus_02_dot_30 loc_bar__minus_4_bar_11_bar_3_bar_60)\n (objectAtLocation Statue_bar__minus_01_dot_87_bar__plus_01_dot_52_bar__plus_00_dot_15 loc_bar__minus_7_bar_3_bar_2_bar_15)\n )\n \n\n (:goal\n (and\n (exists (?ot - object\n ?r - receptacle\n ?a - agent\n ?l - location)\n (and\n (objectType ?ot DeskLampType)\n (toggleable ?ot)\n (isToggled ?ot)\n (receptacleAtLocation ?r ?l)\n (atLocation ?a ?l)\n (inReceptacle ?ot ?r)\n )\n )\n (exists (?o - object\n ?a - agent)\n (and\n (objectType ?o TissueBoxType)\n (holds ?a ?o)\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to garbagecan 1", "take tissuebox 3 from garbagecan 1", "go to sidetable 1", "use desklamp 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-TissueBox-None-DeskLamp-225/trial_T20190906_192815_299058/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-TissueBox-None-DeskLamp-225/trial_T20190906_192815_299058/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..640d343ca6603df90aece2269efb49117a8e7ec9 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-TissueBox-None-DeskLamp-225/trial_T20190906_192815_299058/initial_state.pddl @@ -0,0 +1,540 @@ + +(define (problem plan_trial_T20190906_192815_299058) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Box_bar__minus_02_dot_37_bar__plus_00_dot_52_bar__plus_04_dot_65 - object + Chair_bar__minus_04_dot_56_bar_00_dot_00_bar__plus_03_dot_87 - object + CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_38_bar__plus_00_dot_71 - object + DeskLamp_bar__minus_04_dot_66_bar__plus_00_dot_51_bar__plus_03_dot_32 - object + FloorLamp_bar__minus_04_dot_64_bar__plus_00_dot_01_bar__plus_00_dot_36 - object + HousePlant_bar__minus_03_dot_13_bar__plus_01_dot_50_bar__plus_00_dot_12 - object + KeyChain_bar__minus_01_dot_97_bar__plus_00_dot_20_bar__plus_02_dot_76 - object + KeyChain_bar__minus_02_dot_37_bar__plus_00_dot_40_bar__plus_04_dot_49 - object + KeyChain_bar__minus_04_dot_55_bar__plus_00_dot_42_bar__plus_03_dot_31 - object + Laptop_bar__minus_00_dot_34_bar__plus_00_dot_76_bar__plus_02_dot_38 - object + LightSwitch_bar__minus_03_dot_23_bar__plus_01_dot_34_bar__plus_05_dot_00 - object + Newspaper_bar__minus_02_dot_12_bar__plus_00_dot_20_bar__plus_02_dot_99 - object + Painting_bar__minus_02_dot_51_bar__plus_01_dot_82_bar__plus_00_dot_11 - object + Pillow_bar__minus_00_dot_97_bar__plus_00_dot_44_bar__plus_00_dot_64 - object + RemoteControl_bar__minus_00_dot_33_bar__plus_00_dot_76_bar__plus_03_dot_13 - object + RemoteControl_bar__minus_04_dot_35_bar__plus_00_dot_42_bar__plus_01_dot_16 - object + Statue_bar__minus_01_dot_82_bar__plus_00_dot_20_bar__plus_02_dot_30 - object + Statue_bar__minus_01_dot_87_bar__plus_01_dot_52_bar__plus_00_dot_15 - object + Television_bar__plus_00_dot_00_bar__plus_01_dot_38_bar__plus_02_dot_66 - object + TissueBox_bar__minus_00_dot_18_bar__plus_00_dot_76_bar__plus_02_dot_68 - object + TissueBox_bar__minus_00_dot_23_bar__plus_00_dot_06_bar__plus_04_dot_78 - object + TissueBox_bar__minus_00_dot_55_bar__plus_00_dot_77_bar__plus_02_dot_98 - object + TissueBox_bar__minus_01_dot_82_bar__plus_00_dot_20_bar__plus_02_dot_64 - object + Vase_bar__minus_02_dot_88_bar__plus_01_dot_52_bar__plus_00_dot_14 - object + Watch_bar__minus_00_dot_43_bar__plus_00_dot_18_bar__plus_02_dot_47 - object + Watch_bar__minus_04_dot_50_bar__plus_00_dot_42_bar__plus_03_dot_34 - object + Window_bar__minus_01_dot_01_bar__plus_01_dot_39_bar__plus_00_dot_03 - object + Window_bar__minus_03_dot_90_bar__plus_01_dot_39_bar__plus_00_dot_03 - object + ArmChair_bar__minus_00_dot_88_bar__minus_00_dot_03_bar__plus_00_dot_57 - receptacle + CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62 - receptacle + Drawer_bar__minus_04_dot_43_bar__plus_00_dot_47_bar__plus_03_dot_34 - receptacle + GarbageCan_bar__minus_00_dot_23_bar__plus_00_dot_01_bar__plus_04_dot_78 - receptacle + Shelf_bar__minus_00_dot_34_bar__plus_00_dot_18_bar__plus_02_dot_67 - receptacle + Shelf_bar__minus_00_dot_46_bar__plus_00_dot_17_bar__plus_03_dot_04 - receptacle + Shelf_bar__minus_00_dot_46_bar__plus_00_dot_42_bar__plus_03_dot_04 - receptacle + Shelf_bar__minus_00_dot_46_bar__plus_00_dot_48_bar__plus_02_dot_30 - receptacle + Shelf_bar__minus_00_dot_46_bar__plus_00_dot_57_bar__plus_03_dot_04 - receptacle + Shelf_bar__minus_00_dot_47_bar__plus_00_dot_18_bar__plus_02_dot_30 - receptacle + SideTable_bar__minus_04_dot_61_bar__plus_00_dot_01_bar__plus_03_dot_35 - receptacle + Sofa_bar__minus_02_dot_13_bar_00_dot_00_bar__plus_04_dot_56 - receptacle + Sofa_bar__minus_04_dot_57_bar_00_dot_00_bar__plus_01_dot_90 - receptacle + TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68 - receptacle + loc_bar__minus_15_bar_17_bar_2_bar_60 - location + loc_bar__minus_4_bar_5_bar_2_bar_15 - location + loc_bar__minus_6_bar_8_bar_1_bar_45 - location + loc_bar__minus_4_bar_11_bar_1_bar_15 - location + loc_bar__minus_4_bar_7_bar_2_bar_60 - location + loc_bar__minus_16_bar_15_bar_3_bar_60 - location + loc_bar__minus_16_bar_2_bar_2_bar_30 - location + loc_bar__minus_17_bar_17_bar_2_bar_60 - location + loc_bar__minus_15_bar_18_bar_1_bar_30 - location + loc_bar__minus_6_bar_14_bar_1_bar_60 - location + loc_bar__minus_10_bar_13_bar_0_bar_45 - location + loc_bar__minus_16_bar_2_bar_3_bar_60 - location + loc_bar__minus_12_bar_3_bar_2_bar_15 - location + loc_bar__minus_4_bar_11_bar_3_bar_60 - location + loc_bar__minus_13_bar_8_bar_3_bar_45 - location + loc_bar__minus_2_bar_17_bar_0_bar_60 - location + loc_bar__minus_10_bar_3_bar_2_bar__minus_15 - location + loc_bar__minus_9_bar_15_bar_0_bar_60 - location + loc_bar__minus_6_bar_14_bar_1_bar_45 - location + loc_bar__minus_13_bar_3_bar_2_bar_15 - location + loc_bar__minus_5_bar_11_bar_1_bar_60 - location + loc_bar__minus_5_bar_14_bar_1_bar_60 - location + loc_bar__minus_7_bar_3_bar_2_bar_15 - location + loc_bar__minus_6_bar_7_bar_1_bar_60 - location + loc_bar__minus_7_bar_14_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType ArmChair_bar__minus_00_dot_88_bar__minus_00_dot_03_bar__plus_00_dot_57 ArmChairType) + (receptacleType Sofa_bar__minus_02_dot_13_bar_00_dot_00_bar__plus_04_dot_56 SofaType) + (receptacleType Drawer_bar__minus_04_dot_43_bar__plus_00_dot_47_bar__plus_03_dot_34 DrawerType) + (receptacleType Shelf_bar__minus_00_dot_46_bar__plus_00_dot_17_bar__plus_03_dot_04 ShelfType) + (receptacleType Shelf_bar__minus_00_dot_46_bar__plus_00_dot_57_bar__plus_03_dot_04 ShelfType) + (receptacleType Shelf_bar__minus_00_dot_46_bar__plus_00_dot_48_bar__plus_02_dot_30 ShelfType) + (receptacleType CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62 CoffeeTableType) + (receptacleType Shelf_bar__minus_00_dot_34_bar__plus_00_dot_18_bar__plus_02_dot_67 ShelfType) + (receptacleType Shelf_bar__minus_00_dot_46_bar__plus_00_dot_42_bar__plus_03_dot_04 ShelfType) + (receptacleType Shelf_bar__minus_00_dot_47_bar__plus_00_dot_18_bar__plus_02_dot_30 ShelfType) + (receptacleType GarbageCan_bar__minus_00_dot_23_bar__plus_00_dot_01_bar__plus_04_dot_78 GarbageCanType) + (receptacleType TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68 TVStandType) + (receptacleType Sofa_bar__minus_04_dot_57_bar_00_dot_00_bar__plus_01_dot_90 SofaType) + (receptacleType SideTable_bar__minus_04_dot_61_bar__plus_00_dot_01_bar__plus_03_dot_35 SideTableType) + (objectType TissueBox_bar__minus_00_dot_55_bar__plus_00_dot_77_bar__plus_02_dot_98 TissueBoxType) + (objectType Box_bar__minus_02_dot_37_bar__plus_00_dot_52_bar__plus_04_dot_65 BoxType) + (objectType Statue_bar__minus_01_dot_82_bar__plus_00_dot_20_bar__plus_02_dot_30 StatueType) + (objectType RemoteControl_bar__minus_00_dot_33_bar__plus_00_dot_76_bar__plus_03_dot_13 RemoteControlType) + (objectType Painting_bar__minus_02_dot_51_bar__plus_01_dot_82_bar__plus_00_dot_11 PaintingType) + (objectType Window_bar__minus_03_dot_90_bar__plus_01_dot_39_bar__plus_00_dot_03 WindowType) + (objectType LightSwitch_bar__minus_03_dot_23_bar__plus_01_dot_34_bar__plus_05_dot_00 LightSwitchType) + (objectType KeyChain_bar__minus_04_dot_55_bar__plus_00_dot_42_bar__plus_03_dot_31 KeyChainType) + (objectType DeskLamp_bar__minus_04_dot_66_bar__plus_00_dot_51_bar__plus_03_dot_32 DeskLampType) + (objectType KeyChain_bar__minus_02_dot_37_bar__plus_00_dot_40_bar__plus_04_dot_49 KeyChainType) + (objectType Pillow_bar__minus_00_dot_97_bar__plus_00_dot_44_bar__plus_00_dot_64 PillowType) + (objectType KeyChain_bar__minus_01_dot_97_bar__plus_00_dot_20_bar__plus_02_dot_76 KeyChainType) + (objectType Television_bar__plus_00_dot_00_bar__plus_01_dot_38_bar__plus_02_dot_66 TelevisionType) + (objectType FloorLamp_bar__minus_04_dot_64_bar__plus_00_dot_01_bar__plus_00_dot_36 FloorLampType) + (objectType Watch_bar__minus_00_dot_43_bar__plus_00_dot_18_bar__plus_02_dot_47 WatchType) + (objectType Statue_bar__minus_01_dot_87_bar__plus_01_dot_52_bar__plus_00_dot_15 StatueType) + (objectType Watch_bar__minus_04_dot_50_bar__plus_00_dot_42_bar__plus_03_dot_34 WatchType) + (objectType Vase_bar__minus_02_dot_88_bar__plus_01_dot_52_bar__plus_00_dot_14 VaseType) + (objectType HousePlant_bar__minus_03_dot_13_bar__plus_01_dot_50_bar__plus_00_dot_12 HousePlantType) + (objectType Chair_bar__minus_04_dot_56_bar_00_dot_00_bar__plus_03_dot_87 ChairType) + (objectType Newspaper_bar__minus_02_dot_12_bar__plus_00_dot_20_bar__plus_02_dot_99 NewspaperType) + (objectType TissueBox_bar__minus_01_dot_82_bar__plus_00_dot_20_bar__plus_02_dot_64 TissueBoxType) + (objectType Window_bar__minus_01_dot_01_bar__plus_01_dot_39_bar__plus_00_dot_03 WindowType) + (objectType TissueBox_bar__minus_00_dot_23_bar__plus_00_dot_06_bar__plus_04_dot_78 TissueBoxType) + (objectType CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_38_bar__plus_00_dot_71 CreditCardType) + (objectType Laptop_bar__minus_00_dot_34_bar__plus_00_dot_76_bar__plus_02_dot_38 LaptopType) + (objectType RemoteControl_bar__minus_04_dot_35_bar__plus_00_dot_42_bar__plus_01_dot_16 RemoteControlType) + (objectType TissueBox_bar__minus_00_dot_18_bar__plus_00_dot_76_bar__plus_02_dot_68 TissueBoxType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType NewspaperType) + (canContain ArmChairType CreditCardType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType NewspaperType) + (canContain SofaType CreditCardType) + (canContain DrawerType WatchType) + (canContain DrawerType NewspaperType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (canContain ShelfType WatchType) + (canContain ShelfType NewspaperType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType StatueType) + (canContain ShelfType WatchType) + (canContain ShelfType NewspaperType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType StatueType) + (canContain ShelfType WatchType) + (canContain ShelfType NewspaperType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType StatueType) + (canContain CoffeeTableType WatchType) + (canContain CoffeeTableType NewspaperType) + (canContain CoffeeTableType VaseType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType TissueBoxType) + (canContain CoffeeTableType StatueType) + (canContain ShelfType WatchType) + (canContain ShelfType NewspaperType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType StatueType) + (canContain ShelfType WatchType) + (canContain ShelfType NewspaperType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType StatueType) + (canContain ShelfType WatchType) + (canContain ShelfType NewspaperType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType StatueType) + (canContain GarbageCanType NewspaperType) + (canContain GarbageCanType TissueBoxType) + (canContain TVStandType TissueBoxType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType NewspaperType) + (canContain SofaType CreditCardType) + (canContain SideTableType WatchType) + (canContain SideTableType NewspaperType) + (canContain SideTableType VaseType) + (canContain SideTableType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType TissueBoxType) + (canContain SideTableType StatueType) + (pickupable TissueBox_bar__minus_00_dot_55_bar__plus_00_dot_77_bar__plus_02_dot_98) + (pickupable Box_bar__minus_02_dot_37_bar__plus_00_dot_52_bar__plus_04_dot_65) + (pickupable Statue_bar__minus_01_dot_82_bar__plus_00_dot_20_bar__plus_02_dot_30) + (pickupable RemoteControl_bar__minus_00_dot_33_bar__plus_00_dot_76_bar__plus_03_dot_13) + (pickupable KeyChain_bar__minus_04_dot_55_bar__plus_00_dot_42_bar__plus_03_dot_31) + (pickupable KeyChain_bar__minus_02_dot_37_bar__plus_00_dot_40_bar__plus_04_dot_49) + (pickupable Pillow_bar__minus_00_dot_97_bar__plus_00_dot_44_bar__plus_00_dot_64) + (pickupable KeyChain_bar__minus_01_dot_97_bar__plus_00_dot_20_bar__plus_02_dot_76) + (pickupable Watch_bar__minus_00_dot_43_bar__plus_00_dot_18_bar__plus_02_dot_47) + (pickupable Statue_bar__minus_01_dot_87_bar__plus_01_dot_52_bar__plus_00_dot_15) + (pickupable Watch_bar__minus_04_dot_50_bar__plus_00_dot_42_bar__plus_03_dot_34) + (pickupable Vase_bar__minus_02_dot_88_bar__plus_01_dot_52_bar__plus_00_dot_14) + (pickupable Newspaper_bar__minus_02_dot_12_bar__plus_00_dot_20_bar__plus_02_dot_99) + (pickupable TissueBox_bar__minus_01_dot_82_bar__plus_00_dot_20_bar__plus_02_dot_64) + (pickupable TissueBox_bar__minus_00_dot_23_bar__plus_00_dot_06_bar__plus_04_dot_78) + (pickupable CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_38_bar__plus_00_dot_71) + (pickupable Laptop_bar__minus_00_dot_34_bar__plus_00_dot_76_bar__plus_02_dot_38) + (pickupable RemoteControl_bar__minus_04_dot_35_bar__plus_00_dot_42_bar__plus_01_dot_16) + (pickupable TissueBox_bar__minus_00_dot_18_bar__plus_00_dot_76_bar__plus_02_dot_68) + (isReceptacleObject Box_bar__minus_02_dot_37_bar__plus_00_dot_52_bar__plus_04_dot_65) + (openable Drawer_bar__minus_04_dot_43_bar__plus_00_dot_47_bar__plus_03_dot_34) + + (atLocation agent1 loc_bar__minus_7_bar_14_bar_0_bar_30) + + + + + + + + (toggleable DeskLamp_bar__minus_04_dot_66_bar__plus_00_dot_51_bar__plus_03_dot_32) + (toggleable FloorLamp_bar__minus_04_dot_64_bar__plus_00_dot_01_bar__plus_00_dot_36) + + + + + (inReceptacle DeskLamp_bar__minus_04_dot_66_bar__plus_00_dot_51_bar__plus_03_dot_32 SideTable_bar__minus_04_dot_61_bar__plus_00_dot_01_bar__plus_03_dot_35) + (inReceptacle Box_bar__minus_02_dot_37_bar__plus_00_dot_52_bar__plus_04_dot_65 Sofa_bar__minus_02_dot_13_bar_00_dot_00_bar__plus_04_dot_56) + (inReceptacle TissueBox_bar__minus_01_dot_82_bar__plus_00_dot_20_bar__plus_02_dot_64 CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62) + (inReceptacle Newspaper_bar__minus_02_dot_12_bar__plus_00_dot_20_bar__plus_02_dot_99 CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62) + (inReceptacle Statue_bar__minus_01_dot_82_bar__plus_00_dot_20_bar__plus_02_dot_30 CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62) + (inReceptacle KeyChain_bar__minus_01_dot_97_bar__plus_00_dot_20_bar__plus_02_dot_76 CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62) + (inReceptacle Watch_bar__minus_00_dot_43_bar__plus_00_dot_18_bar__plus_02_dot_47 Shelf_bar__minus_00_dot_47_bar__plus_00_dot_18_bar__plus_02_dot_30) + (inReceptacle KeyChain_bar__minus_04_dot_55_bar__plus_00_dot_42_bar__plus_03_dot_31 Drawer_bar__minus_04_dot_43_bar__plus_00_dot_47_bar__plus_03_dot_34) + (inReceptacle Watch_bar__minus_04_dot_50_bar__plus_00_dot_42_bar__plus_03_dot_34 Drawer_bar__minus_04_dot_43_bar__plus_00_dot_47_bar__plus_03_dot_34) + (inReceptacle RemoteControl_bar__minus_04_dot_35_bar__plus_00_dot_42_bar__plus_01_dot_16 Sofa_bar__minus_04_dot_57_bar_00_dot_00_bar__plus_01_dot_90) + (inReceptacle CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_38_bar__plus_00_dot_71 ArmChair_bar__minus_00_dot_88_bar__minus_00_dot_03_bar__plus_00_dot_57) + (inReceptacle Pillow_bar__minus_00_dot_97_bar__plus_00_dot_44_bar__plus_00_dot_64 ArmChair_bar__minus_00_dot_88_bar__minus_00_dot_03_bar__plus_00_dot_57) + (inReceptacle Laptop_bar__minus_00_dot_34_bar__plus_00_dot_76_bar__plus_02_dot_38 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68) + (inReceptacle TissueBox_bar__minus_00_dot_55_bar__plus_00_dot_77_bar__plus_02_dot_98 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68) + (inReceptacle RemoteControl_bar__minus_00_dot_33_bar__plus_00_dot_76_bar__plus_03_dot_13 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68) + (inReceptacle TissueBox_bar__minus_00_dot_18_bar__plus_00_dot_76_bar__plus_02_dot_68 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68) + (inReceptacle TissueBox_bar__minus_00_dot_23_bar__plus_00_dot_06_bar__plus_04_dot_78 GarbageCan_bar__minus_00_dot_23_bar__plus_00_dot_01_bar__plus_04_dot_78) + + + (receptacleAtLocation ArmChair_bar__minus_00_dot_88_bar__minus_00_dot_03_bar__plus_00_dot_57 loc_bar__minus_4_bar_7_bar_2_bar_60) + (receptacleAtLocation CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62 loc_bar__minus_4_bar_11_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_04_dot_43_bar__plus_00_dot_47_bar__plus_03_dot_34 loc_bar__minus_15_bar_17_bar_2_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_23_bar__plus_00_dot_01_bar__plus_04_dot_78 loc_bar__minus_2_bar_17_bar_0_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_34_bar__plus_00_dot_18_bar__plus_02_dot_67 loc_bar__minus_6_bar_8_bar_1_bar_45) + (receptacleAtLocation Shelf_bar__minus_00_dot_46_bar__plus_00_dot_17_bar__plus_03_dot_04 loc_bar__minus_6_bar_14_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_46_bar__plus_00_dot_42_bar__plus_03_dot_04 loc_bar__minus_6_bar_14_bar_1_bar_45) + (receptacleAtLocation Shelf_bar__minus_00_dot_46_bar__plus_00_dot_48_bar__plus_02_dot_30 loc_bar__minus_5_bar_11_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_46_bar__plus_00_dot_57_bar__plus_03_dot_04 loc_bar__minus_5_bar_14_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_47_bar__plus_00_dot_18_bar__plus_02_dot_30 loc_bar__minus_6_bar_7_bar_1_bar_60) + (receptacleAtLocation SideTable_bar__minus_04_dot_61_bar__plus_00_dot_01_bar__plus_03_dot_35 loc_bar__minus_17_bar_17_bar_2_bar_60) + (receptacleAtLocation Sofa_bar__minus_02_dot_13_bar_00_dot_00_bar__plus_04_dot_56 loc_bar__minus_10_bar_13_bar_0_bar_45) + (receptacleAtLocation Sofa_bar__minus_04_dot_57_bar_00_dot_00_bar__plus_01_dot_90 loc_bar__minus_13_bar_8_bar_3_bar_45) + (receptacleAtLocation TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68 loc_bar__minus_5_bar_11_bar_1_bar_60) + (objectAtLocation Watch_bar__minus_04_dot_50_bar__plus_00_dot_42_bar__plus_03_dot_34 loc_bar__minus_15_bar_17_bar_2_bar_60) + (objectAtLocation KeyChain_bar__minus_01_dot_97_bar__plus_00_dot_20_bar__plus_02_dot_76 loc_bar__minus_4_bar_11_bar_3_bar_60) + (objectAtLocation RemoteControl_bar__minus_04_dot_35_bar__plus_00_dot_42_bar__plus_01_dot_16 loc_bar__minus_13_bar_8_bar_3_bar_45) + (objectAtLocation TissueBox_bar__minus_01_dot_82_bar__plus_00_dot_20_bar__plus_02_dot_64 loc_bar__minus_4_bar_11_bar_3_bar_60) + (objectAtLocation KeyChain_bar__minus_04_dot_55_bar__plus_00_dot_42_bar__plus_03_dot_31 loc_bar__minus_15_bar_17_bar_2_bar_60) + (objectAtLocation TissueBox_bar__minus_00_dot_18_bar__plus_00_dot_76_bar__plus_02_dot_68 loc_bar__minus_5_bar_11_bar_1_bar_60) + (objectAtLocation TissueBox_bar__minus_00_dot_23_bar__plus_00_dot_06_bar__plus_04_dot_78 loc_bar__minus_2_bar_17_bar_0_bar_60) + (objectAtLocation Chair_bar__minus_04_dot_56_bar_00_dot_00_bar__plus_03_dot_87 loc_bar__minus_16_bar_15_bar_3_bar_60) + (objectAtLocation Box_bar__minus_02_dot_37_bar__plus_00_dot_52_bar__plus_04_dot_65 loc_bar__minus_10_bar_13_bar_0_bar_45) + (objectAtLocation HousePlant_bar__minus_03_dot_13_bar__plus_01_dot_50_bar__plus_00_dot_12 loc_bar__minus_13_bar_3_bar_2_bar_15) + (objectAtLocation CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_38_bar__plus_00_dot_71 loc_bar__minus_4_bar_7_bar_2_bar_60) + (objectAtLocation Television_bar__plus_00_dot_00_bar__plus_01_dot_38_bar__plus_02_dot_66 loc_bar__minus_4_bar_11_bar_1_bar_15) + (objectAtLocation DeskLamp_bar__minus_04_dot_66_bar__plus_00_dot_51_bar__plus_03_dot_32 loc_bar__minus_17_bar_17_bar_2_bar_60) + (objectAtLocation TissueBox_bar__minus_00_dot_55_bar__plus_00_dot_77_bar__plus_02_dot_98 loc_bar__minus_5_bar_11_bar_1_bar_60) + (objectAtLocation Laptop_bar__minus_00_dot_34_bar__plus_00_dot_76_bar__plus_02_dot_38 loc_bar__minus_5_bar_11_bar_1_bar_60) + (objectAtLocation Vase_bar__minus_02_dot_88_bar__plus_01_dot_52_bar__plus_00_dot_14 loc_bar__minus_12_bar_3_bar_2_bar_15) + (objectAtLocation RemoteControl_bar__minus_00_dot_33_bar__plus_00_dot_76_bar__plus_03_dot_13 loc_bar__minus_5_bar_11_bar_1_bar_60) + (objectAtLocation Painting_bar__minus_02_dot_51_bar__plus_01_dot_82_bar__plus_00_dot_11 loc_bar__minus_10_bar_3_bar_2_bar__minus_15) + (objectAtLocation Pillow_bar__minus_00_dot_97_bar__plus_00_dot_44_bar__plus_00_dot_64 loc_bar__minus_4_bar_7_bar_2_bar_60) + (objectAtLocation FloorLamp_bar__minus_04_dot_64_bar__plus_00_dot_01_bar__plus_00_dot_36 loc_bar__minus_16_bar_2_bar_3_bar_60) + (objectAtLocation KeyChain_bar__minus_02_dot_37_bar__plus_00_dot_40_bar__plus_04_dot_49 loc_bar__minus_9_bar_15_bar_0_bar_60) + (objectAtLocation Watch_bar__minus_00_dot_43_bar__plus_00_dot_18_bar__plus_02_dot_47 loc_bar__minus_6_bar_7_bar_1_bar_60) + (objectAtLocation LightSwitch_bar__minus_03_dot_23_bar__plus_01_dot_34_bar__plus_05_dot_00 loc_bar__minus_15_bar_18_bar_1_bar_30) + (objectAtLocation Newspaper_bar__minus_02_dot_12_bar__plus_00_dot_20_bar__plus_02_dot_99 loc_bar__minus_4_bar_11_bar_3_bar_60) + (objectAtLocation Window_bar__minus_01_dot_01_bar__plus_01_dot_39_bar__plus_00_dot_03 loc_bar__minus_4_bar_5_bar_2_bar_15) + (objectAtLocation Window_bar__minus_03_dot_90_bar__plus_01_dot_39_bar__plus_00_dot_03 loc_bar__minus_16_bar_2_bar_2_bar_30) + (objectAtLocation Statue_bar__minus_01_dot_82_bar__plus_00_dot_20_bar__plus_02_dot_30 loc_bar__minus_4_bar_11_bar_3_bar_60) + (objectAtLocation Statue_bar__minus_01_dot_87_bar__plus_01_dot_52_bar__plus_00_dot_15 loc_bar__minus_7_bar_3_bar_2_bar_15) + ) + + + (: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 TissueBoxType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-TissueBox-None-DeskLamp-225/trial_T20190906_192815_299058/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-TissueBox-None-DeskLamp-225/trial_T20190906_192815_299058/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..50d4ce82b5e9cc84a379301e7979b7067333270d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-TissueBox-None-DeskLamp-225/trial_T20190906_192815_299058/traj_data.json @@ -0,0 +1,2316 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": 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"trial_T20190906_192815_299058", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AM2KK02JXXW48_33UKMF931C1RFLMUK9I7ND1Z7P6TTI", + "high_descs": [ + "Move to the white table.", + "Pick up the tissue box at the front of the table. ", + "Bring the tissue box to the lamp on the table next to the couch.", + "Turn on the lamp on the table. " + ], + "task_desc": "Examine the tissue box in the light of the lamp. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AD0NVUGLDYDYN_37WLF8U1WS7MA4LVUNWMBCMP440K6O", + "high_descs": [ + "Turn around, walk to the tv cabinet", + "Grab the tissue box on the cabinet", + "Turn around and walk to the end table with a lamp", + "Turn on the lamp" + ], + "task_desc": "Grab the tissue box on the TV cabinet, turn on the lamp on the side table", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AUTYWXILTACCR_3L6L49WXW3E5DYWE4CZ1CPJTBMS45T", + "high_descs": [ + "Turn around and walk to the desk on your left.", + "Pick up a box of tissues from the desk.", + "Turn around and walk to the end table on the other side of the room.", + "Turn on the lamp on the end table." + ], + "task_desc": "Pick up a box of tissues, turn on a lamp.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-TissueBox-None-DeskLamp-225/trial_T20190906_192828_730493/game.tw-pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-TissueBox-None-DeskLamp-225/trial_T20190906_192828_730493/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..a68ffea14449ccf54d950ef8503a68cc0625e3db --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-TissueBox-None-DeskLamp-225/trial_T20190906_192828_730493/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: examine the tissuebox with the desklamp.\"\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_192828_730493)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Box_bar__minus_02_dot_11_bar__plus_00_dot_29_bar__plus_02_dot_93 - object\n Box_bar__minus_02_dot_37_bar__plus_00_dot_52_bar__plus_04_dot_65 - object\n Chair_bar__minus_04_dot_56_bar_00_dot_00_bar__plus_03_dot_87 - object\n CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_36_bar__plus_00_dot_78 - object\n DeskLamp_bar__minus_04_dot_66_bar__plus_00_dot_51_bar__plus_03_dot_32 - object\n FloorLamp_bar__minus_04_dot_64_bar__plus_00_dot_01_bar__plus_00_dot_36 - object\n HousePlant_bar__minus_03_dot_13_bar__plus_01_dot_50_bar__plus_00_dot_12 - object\n KeyChain_bar__minus_04_dot_57_bar__plus_00_dot_51_bar__plus_03_dot_30 - object\n Laptop_bar__minus_00_dot_34_bar__plus_00_dot_76_bar__plus_02_dot_38 - object\n LightSwitch_bar__minus_03_dot_23_bar__plus_01_dot_34_bar__plus_05_dot_00 - object\n Newspaper_bar__minus_00_dot_20_bar__plus_00_dot_19_bar__plus_02_dot_61 - object\n Painting_bar__minus_02_dot_51_bar__plus_01_dot_82_bar__plus_00_dot_11 - object\n Pillow_bar__minus_04_dot_42_bar__plus_00_dot_48_bar__plus_02_dot_64 - object\n RemoteControl_bar__minus_00_dot_69_bar__plus_00_dot_38_bar__plus_00_dot_50 - object\n Statue_bar__minus_00_dot_40_bar__plus_00_dot_78_bar__plus_02_dot_98 - object\n Statue_bar__minus_01_dot_89_bar__plus_00_dot_21_bar__plus_02_dot_53 - object\n Television_bar__plus_00_dot_00_bar__plus_01_dot_38_bar__plus_02_dot_66 - object\n TissueBox_bar__minus_01_dot_89_bar__plus_00_dot_20_bar__plus_02_dot_99 - object\n Vase_bar__minus_02_dot_88_bar__plus_01_dot_52_bar__plus_00_dot_14 - object\n Watch_bar__minus_00_dot_36_bar__plus_00_dot_18_bar__plus_03_dot_10 - object\n Watch_bar__minus_00_dot_53_bar__plus_00_dot_49_bar__plus_02_dot_41 - object\n Watch_bar__minus_04_dot_52_bar__plus_00_dot_51_bar__plus_03_dot_21 - object\n Window_bar__minus_01_dot_01_bar__plus_01_dot_39_bar__plus_00_dot_03 - object\n Window_bar__minus_03_dot_90_bar__plus_01_dot_39_bar__plus_00_dot_03 - object\n ArmChair_bar__minus_00_dot_88_bar__minus_00_dot_03_bar__plus_00_dot_57 - receptacle\n CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62 - receptacle\n Drawer_bar__minus_04_dot_43_bar__plus_00_dot_47_bar__plus_03_dot_34 - receptacle\n GarbageCan_bar__minus_00_dot_23_bar__plus_00_dot_01_bar__plus_04_dot_78 - receptacle\n Shelf_bar__minus_00_dot_34_bar__plus_00_dot_18_bar__plus_02_dot_67 - receptacle\n Shelf_bar__minus_00_dot_46_bar__plus_00_dot_17_bar__plus_03_dot_04 - receptacle\n Shelf_bar__minus_00_dot_46_bar__plus_00_dot_42_bar__plus_03_dot_04 - receptacle\n Shelf_bar__minus_00_dot_46_bar__plus_00_dot_48_bar__plus_02_dot_30 - receptacle\n Shelf_bar__minus_00_dot_46_bar__plus_00_dot_57_bar__plus_03_dot_04 - receptacle\n Shelf_bar__minus_00_dot_47_bar__plus_00_dot_18_bar__plus_02_dot_30 - receptacle\n SideTable_bar__minus_04_dot_61_bar__plus_00_dot_01_bar__plus_03_dot_35 - receptacle\n Sofa_bar__minus_02_dot_13_bar_00_dot_00_bar__plus_04_dot_56 - receptacle\n Sofa_bar__minus_04_dot_57_bar_00_dot_00_bar__plus_01_dot_90 - receptacle\n TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68 - receptacle\n loc_bar__minus_15_bar_17_bar_2_bar_60 - location\n loc_bar__minus_4_bar_5_bar_2_bar_15 - location\n loc_bar__minus_6_bar_8_bar_1_bar_45 - location\n loc_bar__minus_4_bar_11_bar_1_bar_15 - location\n loc_bar__minus_4_bar_7_bar_2_bar_60 - location\n loc_bar__minus_16_bar_15_bar_3_bar_60 - location\n loc_bar__minus_16_bar_2_bar_2_bar_30 - location\n loc_bar__minus_17_bar_17_bar_2_bar_60 - location\n loc_bar__minus_15_bar_18_bar_1_bar_30 - location\n loc_bar__minus_6_bar_14_bar_1_bar_60 - location\n loc_bar__minus_10_bar_13_bar_0_bar_45 - location\n loc_bar__minus_16_bar_2_bar_3_bar_60 - location\n loc_bar__minus_12_bar_3_bar_2_bar_15 - location\n loc_bar__minus_4_bar_11_bar_3_bar_60 - location\n loc_bar__minus_13_bar_8_bar_3_bar_45 - location\n loc_bar__minus_2_bar_17_bar_0_bar_60 - location\n loc_bar__minus_10_bar_3_bar_2_bar__minus_15 - location\n loc_bar__minus_6_bar_14_bar_1_bar_45 - location\n loc_bar__minus_13_bar_3_bar_2_bar_15 - location\n loc_bar__minus_5_bar_11_bar_1_bar_60 - location\n loc_bar__minus_5_bar_14_bar_1_bar_60 - location\n loc_bar__minus_6_bar_7_bar_1_bar_60 - location\n loc_bar__minus_1_bar_17_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType ArmChair_bar__minus_00_dot_88_bar__minus_00_dot_03_bar__plus_00_dot_57 ArmChairType)\n (receptacleType Sofa_bar__minus_02_dot_13_bar_00_dot_00_bar__plus_04_dot_56 SofaType)\n (receptacleType Drawer_bar__minus_04_dot_43_bar__plus_00_dot_47_bar__plus_03_dot_34 DrawerType)\n (receptacleType Shelf_bar__minus_00_dot_46_bar__plus_00_dot_17_bar__plus_03_dot_04 ShelfType)\n (receptacleType Shelf_bar__minus_00_dot_46_bar__plus_00_dot_57_bar__plus_03_dot_04 ShelfType)\n (receptacleType Shelf_bar__minus_00_dot_46_bar__plus_00_dot_48_bar__plus_02_dot_30 ShelfType)\n (receptacleType CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62 CoffeeTableType)\n (receptacleType Shelf_bar__minus_00_dot_34_bar__plus_00_dot_18_bar__plus_02_dot_67 ShelfType)\n (receptacleType Shelf_bar__minus_00_dot_46_bar__plus_00_dot_42_bar__plus_03_dot_04 ShelfType)\n (receptacleType Shelf_bar__minus_00_dot_47_bar__plus_00_dot_18_bar__plus_02_dot_30 ShelfType)\n (receptacleType GarbageCan_bar__minus_00_dot_23_bar__plus_00_dot_01_bar__plus_04_dot_78 GarbageCanType)\n (receptacleType TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68 TVStandType)\n (receptacleType Sofa_bar__minus_04_dot_57_bar_00_dot_00_bar__plus_01_dot_90 SofaType)\n (receptacleType SideTable_bar__minus_04_dot_61_bar__plus_00_dot_01_bar__plus_03_dot_35 SideTableType)\n (objectType Box_bar__minus_02_dot_37_bar__plus_00_dot_52_bar__plus_04_dot_65 BoxType)\n (objectType Box_bar__minus_02_dot_11_bar__plus_00_dot_29_bar__plus_02_dot_93 BoxType)\n (objectType Watch_bar__minus_00_dot_36_bar__plus_00_dot_18_bar__plus_03_dot_10 WatchType)\n (objectType Painting_bar__minus_02_dot_51_bar__plus_01_dot_82_bar__plus_00_dot_11 PaintingType)\n (objectType Window_bar__minus_03_dot_90_bar__plus_01_dot_39_bar__plus_00_dot_03 WindowType)\n (objectType LightSwitch_bar__minus_03_dot_23_bar__plus_01_dot_34_bar__plus_05_dot_00 LightSwitchType)\n (objectType TissueBox_bar__minus_01_dot_89_bar__plus_00_dot_20_bar__plus_02_dot_99 TissueBoxType)\n (objectType Watch_bar__minus_00_dot_53_bar__plus_00_dot_49_bar__plus_02_dot_41 WatchType)\n (objectType Statue_bar__minus_01_dot_89_bar__plus_00_dot_21_bar__plus_02_dot_53 StatueType)\n (objectType Pillow_bar__minus_04_dot_42_bar__plus_00_dot_48_bar__plus_02_dot_64 PillowType)\n (objectType DeskLamp_bar__minus_04_dot_66_bar__plus_00_dot_51_bar__plus_03_dot_32 DeskLampType)\n (objectType Television_bar__plus_00_dot_00_bar__plus_01_dot_38_bar__plus_02_dot_66 TelevisionType)\n (objectType FloorLamp_bar__minus_04_dot_64_bar__plus_00_dot_01_bar__plus_00_dot_36 FloorLampType)\n (objectType KeyChain_bar__minus_04_dot_57_bar__plus_00_dot_51_bar__plus_03_dot_30 KeyChainType)\n (objectType Vase_bar__minus_02_dot_88_bar__plus_01_dot_52_bar__plus_00_dot_14 VaseType)\n (objectType CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_36_bar__plus_00_dot_78 CreditCardType)\n (objectType HousePlant_bar__minus_03_dot_13_bar__plus_01_dot_50_bar__plus_00_dot_12 HousePlantType)\n (objectType Chair_bar__minus_04_dot_56_bar_00_dot_00_bar__plus_03_dot_87 ChairType)\n (objectType Window_bar__minus_01_dot_01_bar__plus_01_dot_39_bar__plus_00_dot_03 WindowType)\n (objectType Newspaper_bar__minus_00_dot_20_bar__plus_00_dot_19_bar__plus_02_dot_61 NewspaperType)\n (objectType RemoteControl_bar__minus_00_dot_69_bar__plus_00_dot_38_bar__plus_00_dot_50 RemoteControlType)\n (objectType Watch_bar__minus_04_dot_52_bar__plus_00_dot_51_bar__plus_03_dot_21 WatchType)\n (objectType Laptop_bar__minus_00_dot_34_bar__plus_00_dot_76_bar__plus_02_dot_38 LaptopType)\n (objectType Statue_bar__minus_00_dot_40_bar__plus_00_dot_78_bar__plus_02_dot_98 StatueType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType NewspaperType)\n (canContain ArmChairType CreditCardType)\n (canContain SofaType BoxType)\n (canContain SofaType LaptopType)\n (canContain SofaType PillowType)\n (canContain SofaType RemoteControlType)\n (canContain SofaType KeyChainType)\n (canContain SofaType NewspaperType)\n (canContain SofaType CreditCardType)\n (canContain DrawerType WatchType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain ShelfType WatchType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType VaseType)\n (canContain ShelfType BoxType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain ShelfType WatchType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType VaseType)\n (canContain ShelfType BoxType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain ShelfType WatchType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType VaseType)\n (canContain ShelfType BoxType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain CoffeeTableType WatchType)\n (canContain CoffeeTableType NewspaperType)\n (canContain CoffeeTableType VaseType)\n (canContain CoffeeTableType BoxType)\n (canContain CoffeeTableType KeyChainType)\n (canContain CoffeeTableType CreditCardType)\n (canContain CoffeeTableType LaptopType)\n (canContain CoffeeTableType RemoteControlType)\n (canContain CoffeeTableType TissueBoxType)\n (canContain CoffeeTableType StatueType)\n (canContain ShelfType WatchType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType VaseType)\n (canContain ShelfType BoxType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain ShelfType WatchType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType VaseType)\n (canContain ShelfType BoxType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain ShelfType WatchType)\n (canContain ShelfType NewspaperType)\n (canContain ShelfType VaseType)\n (canContain ShelfType BoxType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType RemoteControlType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain GarbageCanType NewspaperType)\n (canContain GarbageCanType TissueBoxType)\n (canContain TVStandType TissueBoxType)\n (canContain SofaType BoxType)\n (canContain SofaType LaptopType)\n (canContain SofaType PillowType)\n (canContain SofaType RemoteControlType)\n (canContain SofaType KeyChainType)\n (canContain SofaType NewspaperType)\n (canContain SofaType CreditCardType)\n (canContain SideTableType WatchType)\n (canContain SideTableType NewspaperType)\n (canContain SideTableType VaseType)\n (canContain SideTableType BoxType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType TissueBoxType)\n (canContain SideTableType StatueType)\n (pickupable Box_bar__minus_02_dot_37_bar__plus_00_dot_52_bar__plus_04_dot_65)\n (pickupable Box_bar__minus_02_dot_11_bar__plus_00_dot_29_bar__plus_02_dot_93)\n (pickupable Watch_bar__minus_00_dot_36_bar__plus_00_dot_18_bar__plus_03_dot_10)\n (pickupable TissueBox_bar__minus_01_dot_89_bar__plus_00_dot_20_bar__plus_02_dot_99)\n (pickupable Watch_bar__minus_00_dot_53_bar__plus_00_dot_49_bar__plus_02_dot_41)\n (pickupable Statue_bar__minus_01_dot_89_bar__plus_00_dot_21_bar__plus_02_dot_53)\n (pickupable Pillow_bar__minus_04_dot_42_bar__plus_00_dot_48_bar__plus_02_dot_64)\n (pickupable KeyChain_bar__minus_04_dot_57_bar__plus_00_dot_51_bar__plus_03_dot_30)\n (pickupable Vase_bar__minus_02_dot_88_bar__plus_01_dot_52_bar__plus_00_dot_14)\n (pickupable CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_36_bar__plus_00_dot_78)\n (pickupable Newspaper_bar__minus_00_dot_20_bar__plus_00_dot_19_bar__plus_02_dot_61)\n (pickupable RemoteControl_bar__minus_00_dot_69_bar__plus_00_dot_38_bar__plus_00_dot_50)\n (pickupable Watch_bar__minus_04_dot_52_bar__plus_00_dot_51_bar__plus_03_dot_21)\n (pickupable Laptop_bar__minus_00_dot_34_bar__plus_00_dot_76_bar__plus_02_dot_38)\n (pickupable Statue_bar__minus_00_dot_40_bar__plus_00_dot_78_bar__plus_02_dot_98)\n (isReceptacleObject Box_bar__minus_02_dot_37_bar__plus_00_dot_52_bar__plus_04_dot_65)\n (isReceptacleObject Box_bar__minus_02_dot_11_bar__plus_00_dot_29_bar__plus_02_dot_93)\n (openable Drawer_bar__minus_04_dot_43_bar__plus_00_dot_47_bar__plus_03_dot_34)\n \n (atLocation agent1 loc_bar__minus_1_bar_17_bar_0_bar_30)\n \n \n \n \n \n \n \n (toggleable DeskLamp_bar__minus_04_dot_66_bar__plus_00_dot_51_bar__plus_03_dot_32)\n (toggleable FloorLamp_bar__minus_04_dot_64_bar__plus_00_dot_01_bar__plus_00_dot_36)\n \n \n \n \n (inReceptacle Watch_bar__minus_00_dot_36_bar__plus_00_dot_18_bar__plus_03_dot_10 Shelf_bar__minus_00_dot_46_bar__plus_00_dot_17_bar__plus_03_dot_04)\n (inReceptacle Watch_bar__minus_04_dot_52_bar__plus_00_dot_51_bar__plus_03_dot_21 SideTable_bar__minus_04_dot_61_bar__plus_00_dot_01_bar__plus_03_dot_35)\n (inReceptacle KeyChain_bar__minus_04_dot_57_bar__plus_00_dot_51_bar__plus_03_dot_30 SideTable_bar__minus_04_dot_61_bar__plus_00_dot_01_bar__plus_03_dot_35)\n (inReceptacle DeskLamp_bar__minus_04_dot_66_bar__plus_00_dot_51_bar__plus_03_dot_32 SideTable_bar__minus_04_dot_61_bar__plus_00_dot_01_bar__plus_03_dot_35)\n (inReceptacle Newspaper_bar__minus_00_dot_20_bar__plus_00_dot_19_bar__plus_02_dot_61 Shelf_bar__minus_00_dot_34_bar__plus_00_dot_18_bar__plus_02_dot_67)\n (inReceptacle Box_bar__minus_02_dot_37_bar__plus_00_dot_52_bar__plus_04_dot_65 Sofa_bar__minus_02_dot_13_bar_00_dot_00_bar__plus_04_dot_56)\n (inReceptacle Watch_bar__minus_00_dot_53_bar__plus_00_dot_49_bar__plus_02_dot_41 Shelf_bar__minus_00_dot_46_bar__plus_00_dot_48_bar__plus_02_dot_30)\n (inReceptacle Statue_bar__minus_01_dot_89_bar__plus_00_dot_21_bar__plus_02_dot_53 CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62)\n (inReceptacle TissueBox_bar__minus_01_dot_89_bar__plus_00_dot_20_bar__plus_02_dot_99 CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62)\n (inReceptacle Box_bar__minus_02_dot_11_bar__plus_00_dot_29_bar__plus_02_dot_93 CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62)\n (inReceptacle Pillow_bar__minus_04_dot_42_bar__plus_00_dot_48_bar__plus_02_dot_64 Sofa_bar__minus_04_dot_57_bar_00_dot_00_bar__plus_01_dot_90)\n (inReceptacle CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_36_bar__plus_00_dot_78 ArmChair_bar__minus_00_dot_88_bar__minus_00_dot_03_bar__plus_00_dot_57)\n (inReceptacle RemoteControl_bar__minus_00_dot_69_bar__plus_00_dot_38_bar__plus_00_dot_50 ArmChair_bar__minus_00_dot_88_bar__minus_00_dot_03_bar__plus_00_dot_57)\n (inReceptacle Laptop_bar__minus_00_dot_34_bar__plus_00_dot_76_bar__plus_02_dot_38 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68)\n (inReceptacle Statue_bar__minus_00_dot_40_bar__plus_00_dot_78_bar__plus_02_dot_98 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68)\n \n \n (receptacleAtLocation ArmChair_bar__minus_00_dot_88_bar__minus_00_dot_03_bar__plus_00_dot_57 loc_bar__minus_4_bar_7_bar_2_bar_60)\n (receptacleAtLocation CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62 loc_bar__minus_4_bar_11_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_04_dot_43_bar__plus_00_dot_47_bar__plus_03_dot_34 loc_bar__minus_15_bar_17_bar_2_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_23_bar__plus_00_dot_01_bar__plus_04_dot_78 loc_bar__minus_2_bar_17_bar_0_bar_60)\n (receptacleAtLocation Shelf_bar__minus_00_dot_34_bar__plus_00_dot_18_bar__plus_02_dot_67 loc_bar__minus_6_bar_8_bar_1_bar_45)\n (receptacleAtLocation Shelf_bar__minus_00_dot_46_bar__plus_00_dot_17_bar__plus_03_dot_04 loc_bar__minus_6_bar_14_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__minus_00_dot_46_bar__plus_00_dot_42_bar__plus_03_dot_04 loc_bar__minus_6_bar_14_bar_1_bar_45)\n (receptacleAtLocation Shelf_bar__minus_00_dot_46_bar__plus_00_dot_48_bar__plus_02_dot_30 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__minus_00_dot_46_bar__plus_00_dot_57_bar__plus_03_dot_04 loc_bar__minus_5_bar_14_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__minus_00_dot_47_bar__plus_00_dot_18_bar__plus_02_dot_30 loc_bar__minus_6_bar_7_bar_1_bar_60)\n (receptacleAtLocation SideTable_bar__minus_04_dot_61_bar__plus_00_dot_01_bar__plus_03_dot_35 loc_bar__minus_17_bar_17_bar_2_bar_60)\n (receptacleAtLocation Sofa_bar__minus_02_dot_13_bar_00_dot_00_bar__plus_04_dot_56 loc_bar__minus_10_bar_13_bar_0_bar_45)\n (receptacleAtLocation Sofa_bar__minus_04_dot_57_bar_00_dot_00_bar__plus_01_dot_90 loc_bar__minus_13_bar_8_bar_3_bar_45)\n (receptacleAtLocation TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation Watch_bar__minus_04_dot_52_bar__plus_00_dot_51_bar__plus_03_dot_21 loc_bar__minus_17_bar_17_bar_2_bar_60)\n (objectAtLocation Box_bar__minus_02_dot_11_bar__plus_00_dot_29_bar__plus_02_dot_93 loc_bar__minus_4_bar_11_bar_3_bar_60)\n (objectAtLocation Watch_bar__minus_00_dot_36_bar__plus_00_dot_18_bar__plus_03_dot_10 loc_bar__minus_6_bar_14_bar_1_bar_60)\n (objectAtLocation Chair_bar__minus_04_dot_56_bar_00_dot_00_bar__plus_03_dot_87 loc_bar__minus_16_bar_15_bar_3_bar_60)\n (objectAtLocation Box_bar__minus_02_dot_37_bar__plus_00_dot_52_bar__plus_04_dot_65 loc_bar__minus_10_bar_13_bar_0_bar_45)\n (objectAtLocation HousePlant_bar__minus_03_dot_13_bar__plus_01_dot_50_bar__plus_00_dot_12 loc_bar__minus_13_bar_3_bar_2_bar_15)\n (objectAtLocation CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_36_bar__plus_00_dot_78 loc_bar__minus_4_bar_7_bar_2_bar_60)\n (objectAtLocation Television_bar__plus_00_dot_00_bar__plus_01_dot_38_bar__plus_02_dot_66 loc_bar__minus_4_bar_11_bar_1_bar_15)\n (objectAtLocation DeskLamp_bar__minus_04_dot_66_bar__plus_00_dot_51_bar__plus_03_dot_32 loc_bar__minus_17_bar_17_bar_2_bar_60)\n (objectAtLocation TissueBox_bar__minus_01_dot_89_bar__plus_00_dot_20_bar__plus_02_dot_99 loc_bar__minus_4_bar_11_bar_3_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_34_bar__plus_00_dot_76_bar__plus_02_dot_38 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation Vase_bar__minus_02_dot_88_bar__plus_01_dot_52_bar__plus_00_dot_14 loc_bar__minus_12_bar_3_bar_2_bar_15)\n (objectAtLocation RemoteControl_bar__minus_00_dot_69_bar__plus_00_dot_38_bar__plus_00_dot_50 loc_bar__minus_4_bar_7_bar_2_bar_60)\n (objectAtLocation Painting_bar__minus_02_dot_51_bar__plus_01_dot_82_bar__plus_00_dot_11 loc_bar__minus_10_bar_3_bar_2_bar__minus_15)\n (objectAtLocation Pillow_bar__minus_04_dot_42_bar__plus_00_dot_48_bar__plus_02_dot_64 loc_bar__minus_13_bar_8_bar_3_bar_45)\n (objectAtLocation FloorLamp_bar__minus_04_dot_64_bar__plus_00_dot_01_bar__plus_00_dot_36 loc_bar__minus_16_bar_2_bar_3_bar_60)\n (objectAtLocation KeyChain_bar__minus_04_dot_57_bar__plus_00_dot_51_bar__plus_03_dot_30 loc_bar__minus_17_bar_17_bar_2_bar_60)\n (objectAtLocation Watch_bar__minus_00_dot_53_bar__plus_00_dot_49_bar__plus_02_dot_41 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__minus_03_dot_23_bar__plus_01_dot_34_bar__plus_05_dot_00 loc_bar__minus_15_bar_18_bar_1_bar_30)\n (objectAtLocation Newspaper_bar__minus_00_dot_20_bar__plus_00_dot_19_bar__plus_02_dot_61 loc_bar__minus_6_bar_8_bar_1_bar_45)\n (objectAtLocation Window_bar__minus_01_dot_01_bar__plus_01_dot_39_bar__plus_00_dot_03 loc_bar__minus_4_bar_5_bar_2_bar_15)\n (objectAtLocation Window_bar__minus_03_dot_90_bar__plus_01_dot_39_bar__plus_00_dot_03 loc_bar__minus_16_bar_2_bar_2_bar_30)\n (objectAtLocation Statue_bar__minus_01_dot_89_bar__plus_00_dot_21_bar__plus_02_dot_53 loc_bar__minus_4_bar_11_bar_3_bar_60)\n (objectAtLocation Statue_bar__minus_00_dot_40_bar__plus_00_dot_78_bar__plus_02_dot_98 loc_bar__minus_5_bar_11_bar_1_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?ot - object\n ?r - receptacle\n ?a - agent\n ?l - location)\n (and\n (objectType ?ot DeskLampType)\n (toggleable ?ot)\n (isToggled ?ot)\n (receptacleAtLocation ?r ?l)\n (atLocation ?a ?l)\n (inReceptacle ?ot ?r)\n )\n )\n (exists (?o - object\n ?a - agent)\n (and\n (objectType ?o TissueBoxType)\n (holds ?a ?o)\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to coffeetable 1", "take tissuebox 1 from coffeetable 1", "go to sidetable 1", "use desklamp 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-TissueBox-None-DeskLamp-225/trial_T20190906_192828_730493/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-TissueBox-None-DeskLamp-225/trial_T20190906_192828_730493/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..78ad4d515c4678c9ec3be4c542cefe539f345b68 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-TissueBox-None-DeskLamp-225/trial_T20190906_192828_730493/initial_state.pddl @@ -0,0 +1,521 @@ + +(define (problem plan_trial_T20190906_192828_730493) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Box_bar__minus_02_dot_11_bar__plus_00_dot_29_bar__plus_02_dot_93 - object + Box_bar__minus_02_dot_37_bar__plus_00_dot_52_bar__plus_04_dot_65 - object + Chair_bar__minus_04_dot_56_bar_00_dot_00_bar__plus_03_dot_87 - object + CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_36_bar__plus_00_dot_78 - object + DeskLamp_bar__minus_04_dot_66_bar__plus_00_dot_51_bar__plus_03_dot_32 - object + FloorLamp_bar__minus_04_dot_64_bar__plus_00_dot_01_bar__plus_00_dot_36 - object + HousePlant_bar__minus_03_dot_13_bar__plus_01_dot_50_bar__plus_00_dot_12 - object + KeyChain_bar__minus_04_dot_57_bar__plus_00_dot_51_bar__plus_03_dot_30 - object + Laptop_bar__minus_00_dot_34_bar__plus_00_dot_76_bar__plus_02_dot_38 - object + LightSwitch_bar__minus_03_dot_23_bar__plus_01_dot_34_bar__plus_05_dot_00 - object + Newspaper_bar__minus_00_dot_20_bar__plus_00_dot_19_bar__plus_02_dot_61 - object + Painting_bar__minus_02_dot_51_bar__plus_01_dot_82_bar__plus_00_dot_11 - object + Pillow_bar__minus_04_dot_42_bar__plus_00_dot_48_bar__plus_02_dot_64 - object + RemoteControl_bar__minus_00_dot_69_bar__plus_00_dot_38_bar__plus_00_dot_50 - object + Statue_bar__minus_00_dot_40_bar__plus_00_dot_78_bar__plus_02_dot_98 - object + Statue_bar__minus_01_dot_89_bar__plus_00_dot_21_bar__plus_02_dot_53 - object + Television_bar__plus_00_dot_00_bar__plus_01_dot_38_bar__plus_02_dot_66 - object + TissueBox_bar__minus_01_dot_89_bar__plus_00_dot_20_bar__plus_02_dot_99 - object + Vase_bar__minus_02_dot_88_bar__plus_01_dot_52_bar__plus_00_dot_14 - object + Watch_bar__minus_00_dot_36_bar__plus_00_dot_18_bar__plus_03_dot_10 - object + Watch_bar__minus_00_dot_53_bar__plus_00_dot_49_bar__plus_02_dot_41 - object + Watch_bar__minus_04_dot_52_bar__plus_00_dot_51_bar__plus_03_dot_21 - object + Window_bar__minus_01_dot_01_bar__plus_01_dot_39_bar__plus_00_dot_03 - object + Window_bar__minus_03_dot_90_bar__plus_01_dot_39_bar__plus_00_dot_03 - object + ArmChair_bar__minus_00_dot_88_bar__minus_00_dot_03_bar__plus_00_dot_57 - receptacle + CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62 - receptacle + Drawer_bar__minus_04_dot_43_bar__plus_00_dot_47_bar__plus_03_dot_34 - receptacle + GarbageCan_bar__minus_00_dot_23_bar__plus_00_dot_01_bar__plus_04_dot_78 - receptacle + Shelf_bar__minus_00_dot_34_bar__plus_00_dot_18_bar__plus_02_dot_67 - receptacle + Shelf_bar__minus_00_dot_46_bar__plus_00_dot_17_bar__plus_03_dot_04 - receptacle + Shelf_bar__minus_00_dot_46_bar__plus_00_dot_42_bar__plus_03_dot_04 - receptacle + Shelf_bar__minus_00_dot_46_bar__plus_00_dot_48_bar__plus_02_dot_30 - receptacle + Shelf_bar__minus_00_dot_46_bar__plus_00_dot_57_bar__plus_03_dot_04 - receptacle + Shelf_bar__minus_00_dot_47_bar__plus_00_dot_18_bar__plus_02_dot_30 - receptacle + SideTable_bar__minus_04_dot_61_bar__plus_00_dot_01_bar__plus_03_dot_35 - receptacle + Sofa_bar__minus_02_dot_13_bar_00_dot_00_bar__plus_04_dot_56 - receptacle + Sofa_bar__minus_04_dot_57_bar_00_dot_00_bar__plus_01_dot_90 - receptacle + TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68 - receptacle + loc_bar__minus_15_bar_17_bar_2_bar_60 - location + loc_bar__minus_4_bar_5_bar_2_bar_15 - location + loc_bar__minus_6_bar_8_bar_1_bar_45 - location + loc_bar__minus_4_bar_11_bar_1_bar_15 - location + loc_bar__minus_4_bar_7_bar_2_bar_60 - location + loc_bar__minus_16_bar_15_bar_3_bar_60 - location + loc_bar__minus_16_bar_2_bar_2_bar_30 - location + loc_bar__minus_17_bar_17_bar_2_bar_60 - location + loc_bar__minus_15_bar_18_bar_1_bar_30 - location + loc_bar__minus_6_bar_14_bar_1_bar_60 - location + loc_bar__minus_10_bar_13_bar_0_bar_45 - location + loc_bar__minus_16_bar_2_bar_3_bar_60 - location + loc_bar__minus_12_bar_3_bar_2_bar_15 - location + loc_bar__minus_4_bar_11_bar_3_bar_60 - location + loc_bar__minus_13_bar_8_bar_3_bar_45 - location + loc_bar__minus_2_bar_17_bar_0_bar_60 - location + loc_bar__minus_10_bar_3_bar_2_bar__minus_15 - location + loc_bar__minus_6_bar_14_bar_1_bar_45 - location + loc_bar__minus_13_bar_3_bar_2_bar_15 - location + loc_bar__minus_5_bar_11_bar_1_bar_60 - location + loc_bar__minus_5_bar_14_bar_1_bar_60 - location + loc_bar__minus_6_bar_7_bar_1_bar_60 - location + loc_bar__minus_1_bar_17_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType ArmChair_bar__minus_00_dot_88_bar__minus_00_dot_03_bar__plus_00_dot_57 ArmChairType) + (receptacleType Sofa_bar__minus_02_dot_13_bar_00_dot_00_bar__plus_04_dot_56 SofaType) + (receptacleType Drawer_bar__minus_04_dot_43_bar__plus_00_dot_47_bar__plus_03_dot_34 DrawerType) + (receptacleType Shelf_bar__minus_00_dot_46_bar__plus_00_dot_17_bar__plus_03_dot_04 ShelfType) + (receptacleType Shelf_bar__minus_00_dot_46_bar__plus_00_dot_57_bar__plus_03_dot_04 ShelfType) + (receptacleType Shelf_bar__minus_00_dot_46_bar__plus_00_dot_48_bar__plus_02_dot_30 ShelfType) + (receptacleType CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62 CoffeeTableType) + (receptacleType Shelf_bar__minus_00_dot_34_bar__plus_00_dot_18_bar__plus_02_dot_67 ShelfType) + (receptacleType Shelf_bar__minus_00_dot_46_bar__plus_00_dot_42_bar__plus_03_dot_04 ShelfType) + (receptacleType Shelf_bar__minus_00_dot_47_bar__plus_00_dot_18_bar__plus_02_dot_30 ShelfType) + (receptacleType GarbageCan_bar__minus_00_dot_23_bar__plus_00_dot_01_bar__plus_04_dot_78 GarbageCanType) + (receptacleType TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68 TVStandType) + (receptacleType Sofa_bar__minus_04_dot_57_bar_00_dot_00_bar__plus_01_dot_90 SofaType) + (receptacleType SideTable_bar__minus_04_dot_61_bar__plus_00_dot_01_bar__plus_03_dot_35 SideTableType) + (objectType Box_bar__minus_02_dot_37_bar__plus_00_dot_52_bar__plus_04_dot_65 BoxType) + (objectType Box_bar__minus_02_dot_11_bar__plus_00_dot_29_bar__plus_02_dot_93 BoxType) + (objectType Watch_bar__minus_00_dot_36_bar__plus_00_dot_18_bar__plus_03_dot_10 WatchType) + (objectType Painting_bar__minus_02_dot_51_bar__plus_01_dot_82_bar__plus_00_dot_11 PaintingType) + (objectType Window_bar__minus_03_dot_90_bar__plus_01_dot_39_bar__plus_00_dot_03 WindowType) + (objectType LightSwitch_bar__minus_03_dot_23_bar__plus_01_dot_34_bar__plus_05_dot_00 LightSwitchType) + (objectType TissueBox_bar__minus_01_dot_89_bar__plus_00_dot_20_bar__plus_02_dot_99 TissueBoxType) + (objectType Watch_bar__minus_00_dot_53_bar__plus_00_dot_49_bar__plus_02_dot_41 WatchType) + (objectType Statue_bar__minus_01_dot_89_bar__plus_00_dot_21_bar__plus_02_dot_53 StatueType) + (objectType Pillow_bar__minus_04_dot_42_bar__plus_00_dot_48_bar__plus_02_dot_64 PillowType) + (objectType DeskLamp_bar__minus_04_dot_66_bar__plus_00_dot_51_bar__plus_03_dot_32 DeskLampType) + (objectType Television_bar__plus_00_dot_00_bar__plus_01_dot_38_bar__plus_02_dot_66 TelevisionType) + (objectType FloorLamp_bar__minus_04_dot_64_bar__plus_00_dot_01_bar__plus_00_dot_36 FloorLampType) + (objectType KeyChain_bar__minus_04_dot_57_bar__plus_00_dot_51_bar__plus_03_dot_30 KeyChainType) + (objectType Vase_bar__minus_02_dot_88_bar__plus_01_dot_52_bar__plus_00_dot_14 VaseType) + (objectType CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_36_bar__plus_00_dot_78 CreditCardType) + (objectType HousePlant_bar__minus_03_dot_13_bar__plus_01_dot_50_bar__plus_00_dot_12 HousePlantType) + (objectType Chair_bar__minus_04_dot_56_bar_00_dot_00_bar__plus_03_dot_87 ChairType) + (objectType Window_bar__minus_01_dot_01_bar__plus_01_dot_39_bar__plus_00_dot_03 WindowType) + (objectType Newspaper_bar__minus_00_dot_20_bar__plus_00_dot_19_bar__plus_02_dot_61 NewspaperType) + (objectType RemoteControl_bar__minus_00_dot_69_bar__plus_00_dot_38_bar__plus_00_dot_50 RemoteControlType) + (objectType Watch_bar__minus_04_dot_52_bar__plus_00_dot_51_bar__plus_03_dot_21 WatchType) + (objectType Laptop_bar__minus_00_dot_34_bar__plus_00_dot_76_bar__plus_02_dot_38 LaptopType) + (objectType Statue_bar__minus_00_dot_40_bar__plus_00_dot_78_bar__plus_02_dot_98 StatueType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType NewspaperType) + (canContain ArmChairType CreditCardType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType NewspaperType) + (canContain SofaType CreditCardType) + (canContain DrawerType WatchType) + (canContain DrawerType NewspaperType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (canContain ShelfType WatchType) + (canContain ShelfType NewspaperType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType StatueType) + (canContain ShelfType WatchType) + (canContain ShelfType NewspaperType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType StatueType) + (canContain ShelfType WatchType) + (canContain ShelfType NewspaperType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType StatueType) + (canContain CoffeeTableType WatchType) + (canContain CoffeeTableType NewspaperType) + (canContain CoffeeTableType VaseType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType TissueBoxType) + (canContain CoffeeTableType StatueType) + (canContain ShelfType WatchType) + (canContain ShelfType NewspaperType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType StatueType) + (canContain ShelfType WatchType) + (canContain ShelfType NewspaperType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType StatueType) + (canContain ShelfType WatchType) + (canContain ShelfType NewspaperType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType StatueType) + (canContain GarbageCanType NewspaperType) + (canContain GarbageCanType TissueBoxType) + (canContain TVStandType TissueBoxType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType NewspaperType) + (canContain SofaType CreditCardType) + (canContain SideTableType WatchType) + (canContain SideTableType NewspaperType) + (canContain SideTableType VaseType) + (canContain SideTableType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType TissueBoxType) + (canContain SideTableType StatueType) + (pickupable Box_bar__minus_02_dot_37_bar__plus_00_dot_52_bar__plus_04_dot_65) + (pickupable Box_bar__minus_02_dot_11_bar__plus_00_dot_29_bar__plus_02_dot_93) + (pickupable Watch_bar__minus_00_dot_36_bar__plus_00_dot_18_bar__plus_03_dot_10) + (pickupable TissueBox_bar__minus_01_dot_89_bar__plus_00_dot_20_bar__plus_02_dot_99) + (pickupable Watch_bar__minus_00_dot_53_bar__plus_00_dot_49_bar__plus_02_dot_41) + (pickupable Statue_bar__minus_01_dot_89_bar__plus_00_dot_21_bar__plus_02_dot_53) + (pickupable Pillow_bar__minus_04_dot_42_bar__plus_00_dot_48_bar__plus_02_dot_64) + (pickupable KeyChain_bar__minus_04_dot_57_bar__plus_00_dot_51_bar__plus_03_dot_30) + (pickupable Vase_bar__minus_02_dot_88_bar__plus_01_dot_52_bar__plus_00_dot_14) + (pickupable CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_36_bar__plus_00_dot_78) + (pickupable Newspaper_bar__minus_00_dot_20_bar__plus_00_dot_19_bar__plus_02_dot_61) + (pickupable RemoteControl_bar__minus_00_dot_69_bar__plus_00_dot_38_bar__plus_00_dot_50) + (pickupable Watch_bar__minus_04_dot_52_bar__plus_00_dot_51_bar__plus_03_dot_21) + (pickupable Laptop_bar__minus_00_dot_34_bar__plus_00_dot_76_bar__plus_02_dot_38) + (pickupable Statue_bar__minus_00_dot_40_bar__plus_00_dot_78_bar__plus_02_dot_98) + (isReceptacleObject Box_bar__minus_02_dot_37_bar__plus_00_dot_52_bar__plus_04_dot_65) + (isReceptacleObject Box_bar__minus_02_dot_11_bar__plus_00_dot_29_bar__plus_02_dot_93) + (openable Drawer_bar__minus_04_dot_43_bar__plus_00_dot_47_bar__plus_03_dot_34) + + (atLocation agent1 loc_bar__minus_1_bar_17_bar_0_bar_30) + + + + + + + + (toggleable DeskLamp_bar__minus_04_dot_66_bar__plus_00_dot_51_bar__plus_03_dot_32) + (toggleable FloorLamp_bar__minus_04_dot_64_bar__plus_00_dot_01_bar__plus_00_dot_36) + + + + + (inReceptacle Watch_bar__minus_00_dot_36_bar__plus_00_dot_18_bar__plus_03_dot_10 Shelf_bar__minus_00_dot_46_bar__plus_00_dot_17_bar__plus_03_dot_04) + (inReceptacle Watch_bar__minus_04_dot_52_bar__plus_00_dot_51_bar__plus_03_dot_21 SideTable_bar__minus_04_dot_61_bar__plus_00_dot_01_bar__plus_03_dot_35) + (inReceptacle KeyChain_bar__minus_04_dot_57_bar__plus_00_dot_51_bar__plus_03_dot_30 SideTable_bar__minus_04_dot_61_bar__plus_00_dot_01_bar__plus_03_dot_35) + (inReceptacle DeskLamp_bar__minus_04_dot_66_bar__plus_00_dot_51_bar__plus_03_dot_32 SideTable_bar__minus_04_dot_61_bar__plus_00_dot_01_bar__plus_03_dot_35) + (inReceptacle Newspaper_bar__minus_00_dot_20_bar__plus_00_dot_19_bar__plus_02_dot_61 Shelf_bar__minus_00_dot_34_bar__plus_00_dot_18_bar__plus_02_dot_67) + (inReceptacle Box_bar__minus_02_dot_37_bar__plus_00_dot_52_bar__plus_04_dot_65 Sofa_bar__minus_02_dot_13_bar_00_dot_00_bar__plus_04_dot_56) + (inReceptacle Watch_bar__minus_00_dot_53_bar__plus_00_dot_49_bar__plus_02_dot_41 Shelf_bar__minus_00_dot_46_bar__plus_00_dot_48_bar__plus_02_dot_30) + (inReceptacle Statue_bar__minus_01_dot_89_bar__plus_00_dot_21_bar__plus_02_dot_53 CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62) + (inReceptacle TissueBox_bar__minus_01_dot_89_bar__plus_00_dot_20_bar__plus_02_dot_99 CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62) + (inReceptacle Box_bar__minus_02_dot_11_bar__plus_00_dot_29_bar__plus_02_dot_93 CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62) + (inReceptacle Pillow_bar__minus_04_dot_42_bar__plus_00_dot_48_bar__plus_02_dot_64 Sofa_bar__minus_04_dot_57_bar_00_dot_00_bar__plus_01_dot_90) + (inReceptacle CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_36_bar__plus_00_dot_78 ArmChair_bar__minus_00_dot_88_bar__minus_00_dot_03_bar__plus_00_dot_57) + (inReceptacle RemoteControl_bar__minus_00_dot_69_bar__plus_00_dot_38_bar__plus_00_dot_50 ArmChair_bar__minus_00_dot_88_bar__minus_00_dot_03_bar__plus_00_dot_57) + (inReceptacle Laptop_bar__minus_00_dot_34_bar__plus_00_dot_76_bar__plus_02_dot_38 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68) + (inReceptacle Statue_bar__minus_00_dot_40_bar__plus_00_dot_78_bar__plus_02_dot_98 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68) + + + (receptacleAtLocation ArmChair_bar__minus_00_dot_88_bar__minus_00_dot_03_bar__plus_00_dot_57 loc_bar__minus_4_bar_7_bar_2_bar_60) + (receptacleAtLocation CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62 loc_bar__minus_4_bar_11_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_04_dot_43_bar__plus_00_dot_47_bar__plus_03_dot_34 loc_bar__minus_15_bar_17_bar_2_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_23_bar__plus_00_dot_01_bar__plus_04_dot_78 loc_bar__minus_2_bar_17_bar_0_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_34_bar__plus_00_dot_18_bar__plus_02_dot_67 loc_bar__minus_6_bar_8_bar_1_bar_45) + (receptacleAtLocation Shelf_bar__minus_00_dot_46_bar__plus_00_dot_17_bar__plus_03_dot_04 loc_bar__minus_6_bar_14_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_46_bar__plus_00_dot_42_bar__plus_03_dot_04 loc_bar__minus_6_bar_14_bar_1_bar_45) + (receptacleAtLocation Shelf_bar__minus_00_dot_46_bar__plus_00_dot_48_bar__plus_02_dot_30 loc_bar__minus_5_bar_11_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_46_bar__plus_00_dot_57_bar__plus_03_dot_04 loc_bar__minus_5_bar_14_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_47_bar__plus_00_dot_18_bar__plus_02_dot_30 loc_bar__minus_6_bar_7_bar_1_bar_60) + (receptacleAtLocation SideTable_bar__minus_04_dot_61_bar__plus_00_dot_01_bar__plus_03_dot_35 loc_bar__minus_17_bar_17_bar_2_bar_60) + (receptacleAtLocation Sofa_bar__minus_02_dot_13_bar_00_dot_00_bar__plus_04_dot_56 loc_bar__minus_10_bar_13_bar_0_bar_45) + (receptacleAtLocation Sofa_bar__minus_04_dot_57_bar_00_dot_00_bar__plus_01_dot_90 loc_bar__minus_13_bar_8_bar_3_bar_45) + (receptacleAtLocation TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68 loc_bar__minus_5_bar_11_bar_1_bar_60) + (objectAtLocation Watch_bar__minus_04_dot_52_bar__plus_00_dot_51_bar__plus_03_dot_21 loc_bar__minus_17_bar_17_bar_2_bar_60) + (objectAtLocation Box_bar__minus_02_dot_11_bar__plus_00_dot_29_bar__plus_02_dot_93 loc_bar__minus_4_bar_11_bar_3_bar_60) + (objectAtLocation Watch_bar__minus_00_dot_36_bar__plus_00_dot_18_bar__plus_03_dot_10 loc_bar__minus_6_bar_14_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_04_dot_56_bar_00_dot_00_bar__plus_03_dot_87 loc_bar__minus_16_bar_15_bar_3_bar_60) + (objectAtLocation Box_bar__minus_02_dot_37_bar__plus_00_dot_52_bar__plus_04_dot_65 loc_bar__minus_10_bar_13_bar_0_bar_45) + (objectAtLocation HousePlant_bar__minus_03_dot_13_bar__plus_01_dot_50_bar__plus_00_dot_12 loc_bar__minus_13_bar_3_bar_2_bar_15) + (objectAtLocation CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_36_bar__plus_00_dot_78 loc_bar__minus_4_bar_7_bar_2_bar_60) + (objectAtLocation Television_bar__plus_00_dot_00_bar__plus_01_dot_38_bar__plus_02_dot_66 loc_bar__minus_4_bar_11_bar_1_bar_15) + (objectAtLocation DeskLamp_bar__minus_04_dot_66_bar__plus_00_dot_51_bar__plus_03_dot_32 loc_bar__minus_17_bar_17_bar_2_bar_60) + (objectAtLocation TissueBox_bar__minus_01_dot_89_bar__plus_00_dot_20_bar__plus_02_dot_99 loc_bar__minus_4_bar_11_bar_3_bar_60) + (objectAtLocation Laptop_bar__minus_00_dot_34_bar__plus_00_dot_76_bar__plus_02_dot_38 loc_bar__minus_5_bar_11_bar_1_bar_60) + (objectAtLocation Vase_bar__minus_02_dot_88_bar__plus_01_dot_52_bar__plus_00_dot_14 loc_bar__minus_12_bar_3_bar_2_bar_15) + (objectAtLocation RemoteControl_bar__minus_00_dot_69_bar__plus_00_dot_38_bar__plus_00_dot_50 loc_bar__minus_4_bar_7_bar_2_bar_60) + (objectAtLocation Painting_bar__minus_02_dot_51_bar__plus_01_dot_82_bar__plus_00_dot_11 loc_bar__minus_10_bar_3_bar_2_bar__minus_15) + (objectAtLocation Pillow_bar__minus_04_dot_42_bar__plus_00_dot_48_bar__plus_02_dot_64 loc_bar__minus_13_bar_8_bar_3_bar_45) + (objectAtLocation FloorLamp_bar__minus_04_dot_64_bar__plus_00_dot_01_bar__plus_00_dot_36 loc_bar__minus_16_bar_2_bar_3_bar_60) + (objectAtLocation KeyChain_bar__minus_04_dot_57_bar__plus_00_dot_51_bar__plus_03_dot_30 loc_bar__minus_17_bar_17_bar_2_bar_60) + (objectAtLocation Watch_bar__minus_00_dot_53_bar__plus_00_dot_49_bar__plus_02_dot_41 loc_bar__minus_5_bar_11_bar_1_bar_60) + (objectAtLocation LightSwitch_bar__minus_03_dot_23_bar__plus_01_dot_34_bar__plus_05_dot_00 loc_bar__minus_15_bar_18_bar_1_bar_30) + (objectAtLocation Newspaper_bar__minus_00_dot_20_bar__plus_00_dot_19_bar__plus_02_dot_61 loc_bar__minus_6_bar_8_bar_1_bar_45) + (objectAtLocation Window_bar__minus_01_dot_01_bar__plus_01_dot_39_bar__plus_00_dot_03 loc_bar__minus_4_bar_5_bar_2_bar_15) + (objectAtLocation Window_bar__minus_03_dot_90_bar__plus_01_dot_39_bar__plus_00_dot_03 loc_bar__minus_16_bar_2_bar_2_bar_30) + (objectAtLocation Statue_bar__minus_01_dot_89_bar__plus_00_dot_21_bar__plus_02_dot_53 loc_bar__minus_4_bar_11_bar_3_bar_60) + (objectAtLocation Statue_bar__minus_00_dot_40_bar__plus_00_dot_78_bar__plus_02_dot_98 loc_bar__minus_5_bar_11_bar_1_bar_60) + ) + + + (: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 TissueBoxType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git 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tissues.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1GVTH5YS3WOK0_3ERMJ6L4D1904SZ3Y9EUW3EPOGOM7V", + "high_descs": [ + "Turn left and head towards the coffee table to your left.", + "Pick up the tissue box from the table.", + "Turn right and head towards the table with the lamp.", + "Turn on the lamp." + ], + "task_desc": "Examine a tissue box by the light of a lamp.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1HKHM4NVAO98H_3KXIR214I7XDE1DRMTX3EIGHR9K243", + "high_descs": [ + "walk over to the white table in the middle of the room", + "grab the tissues off of the table", + "walk over to the white desk next to the couch", + "turn on the lamp" + ], + "task_desc": "turn on the lamp next to the couch while holding a box of tissues", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-DishSponge-None-Cabinet-5/trial_T20190906_192821_060129/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-DishSponge-None-Cabinet-5/trial_T20190906_192821_060129/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..62fd89529a2b341ac1afc716945d09e179262dd0 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-DishSponge-None-Cabinet-5/trial_T20190906_192821_060129/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 dishsponge 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_T20190906_192821_060129)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__minus_00_dot_60_bar__plus_01_dot_18_bar__plus_00_dot_57 - object\n Bowl_bar__plus_02_dot_00_bar__plus_01_dot_10_bar__minus_00_dot_46 - object\n Bowl_bar__plus_02_dot_80_bar__plus_00_dot_55_bar__plus_00_dot_14 - object\n Bread_bar__plus_00_dot_07_bar__plus_01_dot_21_bar__plus_00_dot_57 - object\n ButterKnife_bar__minus_00_dot_63_bar__plus_00_dot_91_bar__plus_00_dot_03 - object\n ButterKnife_bar__minus_01_dot_26_bar__plus_00_dot_91_bar__minus_02_dot_10 - object\n Chair_bar__minus_00_dot_08_bar__plus_00_dot_01_bar__plus_00_dot_76 - object\n Chair_bar__minus_00_dot_46_bar__plus_00_dot_01_bar__plus_00_dot_75 - object\n Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 - object\n DishSponge_bar__plus_01_dot_19_bar__plus_00_dot_91_bar__minus_02_dot_01 - object\n Egg_bar__plus_01_dot_92_bar__plus_00_dot_10_bar__plus_00_dot_11 - object\n Egg_bar__minus_00_dot_20_bar__plus_00_dot_80_bar__minus_02_dot_12 - object\n Faucet_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_02_dot_20 - object\n Fork_bar__minus_00_dot_38_bar__plus_00_dot_76_bar__minus_02_dot_06 - object\n Fork_bar__minus_00_dot_78_bar__plus_00_dot_91_bar__minus_01_dot_76 - object\n HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 - object\n Kettle_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_53 - object\n Kettle_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67 - object\n Knife_bar__minus_00_dot_03_bar__plus_00_dot_79_bar__minus_02_dot_01 - object\n Knife_bar__minus_01_dot_28_bar__plus_00_dot_94_bar__plus_00_dot_24 - object\n Ladle_bar__plus_01_dot_69_bar__plus_00_dot_15_bar__minus_01_dot_27 - object\n Ladle_bar__minus_00_dot_65_bar__plus_00_dot_73_bar__plus_00_dot_19 - object\n Lettuce_bar__plus_01_dot_95_bar__plus_01_dot_18_bar__minus_00_dot_74 - object\n Lettuce_bar__plus_02_dot_00_bar__plus_00_dot_89_bar__minus_00_dot_64 - object\n LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_30_bar__plus_02_dot_00 - object\n Mug_bar__plus_00_dot_50_bar__plus_00_dot_96_bar__minus_01_dot_90 - object\n Pan_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 - object\n PaperTowelRoll_bar__plus_03_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_09 - object\n PepperShaker_bar__plus_03_dot_01_bar__plus_00_dot_55_bar__plus_00_dot_25 - object\n PepperShaker_bar__minus_00_dot_15_bar__plus_01_dot_13_bar__plus_00_dot_49 - object\n Plate_bar__plus_01_dot_89_bar__plus_01_dot_43_bar__minus_00_dot_74 - object\n Potato_bar__plus_01_dot_42_bar__plus_00_dot_94_bar__minus_01_dot_76 - object\n Potato_bar__plus_01_dot_85_bar__plus_00_dot_09_bar__plus_00_dot_17 - object\n Potato_bar__plus_01_dot_88_bar__plus_01_dot_05_bar__minus_01_dot_30 - object\n Pot_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 - object\n Pot_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 - object\n SaltShaker_bar__plus_01_dot_46_bar__plus_00_dot_11_bar__minus_01_dot_33 - object\n SaltShaker_bar__plus_01_dot_64_bar__plus_00_dot_91_bar__minus_02_dot_27 - object\n SaltShaker_bar__minus_00_dot_91_bar__plus_00_dot_91_bar__minus_01_dot_38 - object\n Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01 - object\n SoapBottle_bar__minus_00_dot_91_bar__plus_00_dot_91_bar__minus_00_dot_35 - object\n Spatula_bar__minus_00_dot_29_bar__plus_00_dot_78_bar__minus_01_dot_95 - object\n Spoon_bar__minus_00_dot_19_bar__plus_00_dot_70_bar__plus_00_dot_18 - object\n Spoon_bar__minus_00_dot_76_bar__plus_00_dot_70_bar__minus_01_dot_85 - object\n Spoon_bar__minus_01_dot_25_bar__plus_00_dot_91_bar__minus_00_dot_29 - object\n Statue_bar__plus_01_dot_42_bar__plus_00_dot_92_bar__minus_02_dot_18 - object\n Statue_bar__minus_00_dot_85_bar__plus_00_dot_92_bar__plus_00_dot_19 - object\n Statue_bar__minus_01_dot_06_bar__plus_00_dot_92_bar__plus_00_dot_14 - object\n StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_68 - object\n StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_83 - object\n StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_97 - object\n StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_01_dot_12 - object\n Tomato_bar__minus_00_dot_20_bar__plus_00_dot_81_bar__minus_01_dot_90 - object\n Vase_bar__minus_00_dot_62_bar__plus_00_dot_11_bar__minus_01_dot_92 - object\n Vase_bar__minus_00_dot_65_bar__plus_00_dot_11_bar__plus_00_dot_09 - object\n Vase_bar__minus_00_dot_82_bar__plus_01_dot_14_bar__plus_00_dot_53 - object\n Cabinet_bar__plus_00_dot_12_bar__plus_02_dot_27_bar__minus_02_dot_00 - receptacle\n Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle\n Cabinet_bar__plus_01_dot_18_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle\n Cabinet_bar__plus_01_dot_38_bar__plus_00_dot_46_bar__minus_01_dot_69 - receptacle\n Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06 - receptacle\n Cabinet_bar__plus_01_dot_74_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_42_bar__plus_00_dot_37_bar__minus_00_dot_01 - receptacle\n Cabinet_bar__minus_00_dot_45_bar__plus_00_dot_47_bar__minus_00_dot_01 - 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_00_dot_05 - 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__plus_00_dot_38 - receptacle\n Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_00_dot_77 - 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_84 - receptacle\n Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_01_dot_42 - receptacle\n CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_02_dot_13 - receptacle\n CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01 - receptacle\n CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57 - receptacle\n CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19 - receptacle\n Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01 - receptacle\n Drawer_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_00_dot_01 - receptacle\n Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69 - receptacle\n Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54 - receptacle\n GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14 - receptacle\n Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35 - receptacle\n Shelf_bar__plus_02_dot_81_bar__plus_00_dot_16_bar__plus_00_dot_14 - receptacle\n Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14 - receptacle\n Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14 - receptacle\n Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_00_dot_67 - receptacle\n StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13 - receptacle\n StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_00_dot_76 - receptacle\n StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_02 - receptacle\n Toaster_bar__plus_00_dot_84_bar__plus_00_dot_90_bar__minus_02_dot_06 - receptacle\n loc_bar__minus_2_bar__minus_2_bar_3_bar__minus_30 - location\n loc_bar__minus_2_bar__minus_1_bar_3_bar__minus_30 - location\n loc_bar_3_bar__minus_2_bar_3_bar_45 - location\n loc_bar_8_bar_3_bar_2_bar_60 - location\n loc_bar_4_bar__minus_5_bar_1_bar__minus_30 - location\n loc_bar_2_bar__minus_4_bar_1_bar_60 - location\n loc_bar__minus_2_bar__minus_4_bar_3_bar_45 - location\n loc_bar_2_bar__minus_5_bar_2_bar_45 - location\n loc_bar_8_bar_3_bar_1_bar_45 - location\n loc_bar__minus_2_bar__minus_3_bar_3_bar_45 - location\n loc_bar__minus_1_bar__minus_3_bar_2_bar_45 - location\n loc_bar__minus_2_bar__minus_4_bar_3_bar__minus_30 - location\n loc_bar_4_bar__minus_5_bar_1_bar_45 - location\n loc_bar_4_bar__minus_3_bar_1_bar_60 - location\n loc_bar_0_bar_5_bar_2_bar_60 - location\n loc_bar_2_bar_6_bar_0_bar_30 - location\n loc_bar__minus_2_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar_0_bar__minus_2_bar_3_bar_60 - location\n loc_bar_11_bar_6_bar_2_bar_45 - location\n loc_bar_10_bar_5_bar_2_bar_45 - location\n loc_bar__minus_2_bar__minus_2_bar_0_bar_45 - location\n loc_bar_4_bar__minus_5_bar_2_bar_45 - location\n loc_bar_1_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar_0_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar__minus_2_bar__minus_5_bar_3_bar_45 - location\n loc_bar_0_bar__minus_5_bar_3_bar_45 - location\n loc_bar_0_bar__minus_5_bar_2_bar_45 - location\n loc_bar__minus_2_bar_5_bar_2_bar_60 - location\n loc_bar_4_bar__minus_3_bar_2_bar_45 - location\n loc_bar_2_bar__minus_5_bar_2_bar__minus_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_5_bar_2_bar__minus_30 - location\n loc_bar__minus_1_bar__minus_4_bar_0_bar_45 - location\n loc_bar_0_bar__minus_2_bar_0_bar_60 - location\n loc_bar__minus_2_bar__minus_4_bar_0_bar_45 - location\n loc_bar_3_bar__minus_5_bar_2_bar_45 - location\n loc_bar__minus_2_bar__minus_4_bar_3_bar_60 - location\n loc_bar__minus_1_bar__minus_5_bar_3_bar__minus_15 - location\n loc_bar_2_bar_3_bar_3_bar_30 - location\n loc_bar__minus_2_bar__minus_5_bar_3_bar__minus_30 - location\n loc_bar_0_bar_6_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_84 CabinetType)\n (receptacleType Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14 ShelfType)\n (receptacleType Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_37_bar__minus_00_dot_01 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_01_dot_42 CabinetType)\n (receptacleType StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__plus_00_dot_38 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_03 CabinetType)\n (receptacleType 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CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle Apple_bar__minus_00_dot_60_bar__plus_01_dot_18_bar__plus_00_dot_57 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle Kettle_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_53 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle PepperShaker_bar__minus_00_dot_15_bar__plus_01_dot_13_bar__plus_00_dot_49 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle Pot_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13)\n (inReceptacle Pot_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13)\n (inReceptacle Spoon_bar__minus_00_dot_19_bar__plus_00_dot_70_bar__plus_00_dot_18 Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01)\n (inReceptacle SaltShaker_bar__plus_01_dot_64_bar__plus_00_dot_91_bar__minus_02_dot_27 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Potato_bar__plus_01_dot_42_bar__plus_00_dot_94_bar__minus_01_dot_76 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle DishSponge_bar__plus_01_dot_19_bar__plus_00_dot_91_bar__minus_02_dot_01 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Fork_bar__minus_00_dot_78_bar__plus_00_dot_91_bar__minus_01_dot_76 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Mug_bar__plus_00_dot_50_bar__plus_00_dot_96_bar__minus_01_dot_90 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Statue_bar__plus_01_dot_42_bar__plus_00_dot_92_bar__minus_02_dot_18 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle SaltShaker_bar__minus_00_dot_91_bar__plus_00_dot_91_bar__minus_01_dot_38 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle ButterKnife_bar__minus_01_dot_26_bar__plus_00_dot_91_bar__minus_02_dot_10 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Potato_bar__plus_01_dot_85_bar__plus_00_dot_09_bar__plus_00_dot_17 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14)\n (inReceptacle Egg_bar__plus_01_dot_92_bar__plus_00_dot_10_bar__plus_00_dot_11 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14)\n (inReceptacle PaperTowelRoll_bar__plus_03_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_09 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14)\n (inReceptacle Potato_bar__plus_01_dot_88_bar__plus_01_dot_05_bar__minus_01_dot_30 Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35)\n (inReceptacle Bowl_bar__plus_02_dot_80_bar__plus_00_dot_55_bar__plus_00_dot_14 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14)\n (inReceptacle PepperShaker_bar__plus_03_dot_01_bar__plus_00_dot_55_bar__plus_00_dot_25 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14)\n (inReceptacle Bowl_bar__plus_02_dot_00_bar__plus_01_dot_10_bar__minus_00_dot_46 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Lettuce_bar__plus_02_dot_00_bar__plus_00_dot_89_bar__minus_00_dot_64 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Lettuce_bar__plus_01_dot_95_bar__plus_01_dot_18_bar__minus_00_dot_74 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Plate_bar__plus_01_dot_89_bar__plus_01_dot_43_bar__minus_00_dot_74 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Fork_bar__minus_00_dot_38_bar__plus_00_dot_76_bar__minus_02_dot_06 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Spatula_bar__minus_00_dot_29_bar__plus_00_dot_78_bar__minus_01_dot_95 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Tomato_bar__minus_00_dot_20_bar__plus_00_dot_81_bar__minus_01_dot_90 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Egg_bar__minus_00_dot_20_bar__plus_00_dot_80_bar__minus_02_dot_12 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Knife_bar__minus_00_dot_03_bar__plus_00_dot_79_bar__minus_02_dot_01 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Mug_bar__plus_00_dot_50_bar__plus_00_dot_96_bar__minus_01_dot_90 CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_02_dot_13)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_12_bar__plus_02_dot_27_bar__minus_02_dot_00 loc_bar_1_bar__minus_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar_2_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_46_bar__minus_01_dot_69 loc_bar_4_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_4_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_74_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_5_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_42_bar__plus_00_dot_37_bar__minus_00_dot_01 loc_bar__minus_1_bar__minus_4_bar_0_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_45_bar__plus_00_dot_47_bar__minus_00_dot_01 loc_bar__minus_2_bar__minus_4_bar_0_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_46_bar__plus_02_dot_27_bar__minus_02_dot_00 loc_bar_0_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 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Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69 loc_bar_0_bar__minus_5_bar_3_bar_45)\n (receptacleAtLocation Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14 loc_bar_8_bar_3_bar_2_bar_60)\n (receptacleAtLocation Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35 loc_bar_4_bar__minus_5_bar_1_bar_45)\n (receptacleAtLocation Shelf_bar__plus_02_dot_81_bar__plus_00_dot_16_bar__plus_00_dot_14 loc_bar_11_bar_6_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14 loc_bar_10_bar_5_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14 loc_bar_8_bar_3_bar_1_bar_45)\n (receptacleAtLocation Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin loc_bar_0_bar__minus_5_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_00_dot_67 loc_bar__minus_2_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13 loc_bar__minus_2_bar__minus_5_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_00_dot_76 loc_bar__minus_2_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_02 loc_bar__minus_2_bar__minus_4_bar_3_bar_45)\n (receptacleAtLocation Toaster_bar__plus_00_dot_84_bar__plus_00_dot_90_bar__minus_02_dot_06 loc_bar_3_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Statue_bar__plus_01_dot_42_bar__plus_00_dot_92_bar__minus_02_dot_18 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_76_bar__plus_00_dot_70_bar__minus_01_dot_85 loc_bar_0_bar__minus_5_bar_3_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_63_bar__plus_00_dot_91_bar__plus_00_dot_03 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation PepperShaker_bar__minus_00_dot_15_bar__plus_01_dot_13_bar__plus_00_dot_49 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Lettuce_bar__plus_01_dot_95_bar__plus_01_dot_18_bar__minus_00_dot_74 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation SaltShaker_bar__plus_01_dot_46_bar__plus_00_dot_11_bar__minus_01_dot_33 loc_bar_2_bar__minus_4_bar_1_bar_60)\n (objectAtLocation Egg_bar__plus_01_dot_92_bar__plus_00_dot_10_bar__plus_00_dot_11 loc_bar_8_bar_3_bar_2_bar_60)\n (objectAtLocation Pot_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 loc_bar__minus_2_bar__minus_5_bar_3_bar_45)\n (objectAtLocation Potato_bar__plus_01_dot_88_bar__plus_01_dot_05_bar__minus_01_dot_30 loc_bar_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Kettle_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_53 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Ladle_bar__plus_01_dot_69_bar__plus_00_dot_15_bar__minus_01_dot_27 loc_bar_2_bar__minus_4_bar_1_bar_60)\n (objectAtLocation Fork_bar__minus_00_dot_78_bar__plus_00_dot_91_bar__minus_01_dot_76 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Bowl_bar__plus_02_dot_80_bar__plus_00_dot_55_bar__plus_00_dot_14 loc_bar_10_bar_5_bar_2_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_03_bar__plus_00_dot_79_bar__minus_02_dot_01 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation SaltShaker_bar__plus_01_dot_64_bar__plus_00_dot_91_bar__minus_02_dot_27 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_19_bar__plus_00_dot_70_bar__plus_00_dot_18 loc_bar_3_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Potato_bar__plus_01_dot_85_bar__plus_00_dot_09_bar__plus_00_dot_17 loc_bar_8_bar_3_bar_2_bar_60)\n (objectAtLocation Statue_bar__minus_01_dot_06_bar__plus_00_dot_92_bar__plus_00_dot_14 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Chair_bar__minus_00_dot_46_bar__plus_00_dot_01_bar__plus_00_dot_75 loc_bar__minus_2_bar_5_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_08_bar__plus_00_dot_01_bar__plus_00_dot_76 loc_bar_0_bar_5_bar_2_bar_60)\n (objectAtLocation HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Pan_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 loc_bar__minus_2_bar__minus_3_bar_3_bar_45)\n (objectAtLocation Knife_bar__minus_01_dot_28_bar__plus_00_dot_94_bar__plus_00_dot_24 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Bowl_bar__plus_02_dot_00_bar__plus_01_dot_10_bar__minus_00_dot_46 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Fork_bar__minus_00_dot_38_bar__plus_00_dot_76_bar__minus_02_dot_06 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Ladle_bar__minus_00_dot_65_bar__plus_00_dot_73_bar__plus_00_dot_19 loc_bar_0_bar__minus_2_bar_0_bar_60)\n (objectAtLocation Apple_bar__minus_00_dot_60_bar__plus_01_dot_18_bar__plus_00_dot_57 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Kettle_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67 loc_bar__minus_2_bar__minus_3_bar_3_bar_45)\n (objectAtLocation Vase_bar__minus_00_dot_62_bar__plus_00_dot_11_bar__minus_01_dot_92 loc_bar__minus_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Potato_bar__plus_01_dot_42_bar__plus_00_dot_94_bar__minus_01_dot_76 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Pot_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 loc_bar__minus_2_bar__minus_5_bar_3_bar_45)\n (objectAtLocation Bread_bar__plus_00_dot_07_bar__plus_01_dot_21_bar__plus_00_dot_57 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Plate_bar__plus_01_dot_89_bar__plus_01_dot_43_bar__minus_00_dot_74 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_30_bar__plus_02_dot_00 loc_bar_2_bar_6_bar_0_bar_30)\n (objectAtLocation Spatula_bar__minus_00_dot_29_bar__plus_00_dot_78_bar__minus_01_dot_95 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation PaperTowelRoll_bar__plus_03_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_09 loc_bar_8_bar_3_bar_1_bar_45)\n (objectAtLocation Vase_bar__minus_00_dot_82_bar__plus_01_dot_14_bar__plus_00_dot_53 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Egg_bar__minus_00_dot_20_bar__plus_00_dot_80_bar__minus_02_dot_12 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_91_bar__plus_00_dot_91_bar__minus_00_dot_35 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_91_bar__plus_00_dot_91_bar__minus_01_dot_38 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__plus_02_dot_00_bar__plus_00_dot_89_bar__minus_00_dot_64 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__plus_03_dot_01_bar__plus_00_dot_55_bar__plus_00_dot_25 loc_bar_10_bar_5_bar_2_bar_45)\n (objectAtLocation ButterKnife_bar__minus_01_dot_26_bar__plus_00_dot_91_bar__minus_02_dot_10 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_83 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_68 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_97 loc_bar__minus_2_bar__minus_4_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_01_dot_12 loc_bar__minus_2_bar__minus_4_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__plus_01_dot_19_bar__plus_00_dot_91_bar__minus_02_dot_01 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Vase_bar__minus_00_dot_65_bar__plus_00_dot_11_bar__plus_00_dot_09 loc_bar__minus_2_bar__minus_4_bar_0_bar_45)\n (objectAtLocation Spoon_bar__minus_01_dot_25_bar__plus_00_dot_91_bar__minus_00_dot_29 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Tomato_bar__minus_00_dot_20_bar__plus_00_dot_81_bar__minus_01_dot_90 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Mug_bar__plus_00_dot_50_bar__plus_00_dot_96_bar__minus_01_dot_90 loc_bar_2_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Statue_bar__minus_00_dot_85_bar__plus_00_dot_92_bar__plus_00_dot_19 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o DishSpongeType)\n (receptacleType ?r CabinetType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take dishsponge 1 from countertop 1", "go to cabinet 16", "open cabinet 16", "move dishsponge 1 to cabinet 16"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-DishSponge-None-Cabinet-5/trial_T20190906_192821_060129/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-DishSponge-None-Cabinet-5/trial_T20190906_192821_060129/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..1bcdcb054652ac4f14b98469edb97c4e0a85cbe6 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-DishSponge-None-Cabinet-5/trial_T20190906_192821_060129/initial_state.pddl @@ -0,0 +1,1218 @@ + +(define (problem plan_trial_T20190906_192821_060129) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__minus_00_dot_60_bar__plus_01_dot_18_bar__plus_00_dot_57 - object + Bowl_bar__plus_02_dot_00_bar__plus_01_dot_10_bar__minus_00_dot_46 - object + Bowl_bar__plus_02_dot_80_bar__plus_00_dot_55_bar__plus_00_dot_14 - object + Bread_bar__plus_00_dot_07_bar__plus_01_dot_21_bar__plus_00_dot_57 - object + ButterKnife_bar__minus_00_dot_63_bar__plus_00_dot_91_bar__plus_00_dot_03 - object + ButterKnife_bar__minus_01_dot_26_bar__plus_00_dot_91_bar__minus_02_dot_10 - object + Chair_bar__minus_00_dot_08_bar__plus_00_dot_01_bar__plus_00_dot_76 - object + Chair_bar__minus_00_dot_46_bar__plus_00_dot_01_bar__plus_00_dot_75 - object + Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 - object + DishSponge_bar__plus_01_dot_19_bar__plus_00_dot_91_bar__minus_02_dot_01 - object + Egg_bar__plus_01_dot_92_bar__plus_00_dot_10_bar__plus_00_dot_11 - object + Egg_bar__minus_00_dot_20_bar__plus_00_dot_80_bar__minus_02_dot_12 - object + Faucet_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_02_dot_20 - object + Fork_bar__minus_00_dot_38_bar__plus_00_dot_76_bar__minus_02_dot_06 - object + Fork_bar__minus_00_dot_78_bar__plus_00_dot_91_bar__minus_01_dot_76 - object + HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 - object + Kettle_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_53 - object + Kettle_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67 - object + Knife_bar__minus_00_dot_03_bar__plus_00_dot_79_bar__minus_02_dot_01 - object + Knife_bar__minus_01_dot_28_bar__plus_00_dot_94_bar__plus_00_dot_24 - object + Ladle_bar__plus_01_dot_69_bar__plus_00_dot_15_bar__minus_01_dot_27 - object + Ladle_bar__minus_00_dot_65_bar__plus_00_dot_73_bar__plus_00_dot_19 - object + Lettuce_bar__plus_01_dot_95_bar__plus_01_dot_18_bar__minus_00_dot_74 - object + Lettuce_bar__plus_02_dot_00_bar__plus_00_dot_89_bar__minus_00_dot_64 - object + LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_30_bar__plus_02_dot_00 - object + Mug_bar__plus_00_dot_50_bar__plus_00_dot_96_bar__minus_01_dot_90 - object + Pan_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 - object + PaperTowelRoll_bar__plus_03_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_09 - object + PepperShaker_bar__plus_03_dot_01_bar__plus_00_dot_55_bar__plus_00_dot_25 - object + PepperShaker_bar__minus_00_dot_15_bar__plus_01_dot_13_bar__plus_00_dot_49 - object + Plate_bar__plus_01_dot_89_bar__plus_01_dot_43_bar__minus_00_dot_74 - object + Potato_bar__plus_01_dot_42_bar__plus_00_dot_94_bar__minus_01_dot_76 - object + Potato_bar__plus_01_dot_85_bar__plus_00_dot_09_bar__plus_00_dot_17 - object + Potato_bar__plus_01_dot_88_bar__plus_01_dot_05_bar__minus_01_dot_30 - object + Pot_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 - object + Pot_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 - object + SaltShaker_bar__plus_01_dot_46_bar__plus_00_dot_11_bar__minus_01_dot_33 - object + SaltShaker_bar__plus_01_dot_64_bar__plus_00_dot_91_bar__minus_02_dot_27 - object + SaltShaker_bar__minus_00_dot_91_bar__plus_00_dot_91_bar__minus_01_dot_38 - object + Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01 - object + SoapBottle_bar__minus_00_dot_91_bar__plus_00_dot_91_bar__minus_00_dot_35 - object + Spatula_bar__minus_00_dot_29_bar__plus_00_dot_78_bar__minus_01_dot_95 - object + Spoon_bar__minus_00_dot_19_bar__plus_00_dot_70_bar__plus_00_dot_18 - object + Spoon_bar__minus_00_dot_76_bar__plus_00_dot_70_bar__minus_01_dot_85 - object + Spoon_bar__minus_01_dot_25_bar__plus_00_dot_91_bar__minus_00_dot_29 - object + Statue_bar__plus_01_dot_42_bar__plus_00_dot_92_bar__minus_02_dot_18 - object + Statue_bar__minus_00_dot_85_bar__plus_00_dot_92_bar__plus_00_dot_19 - object + Statue_bar__minus_01_dot_06_bar__plus_00_dot_92_bar__plus_00_dot_14 - object + StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_68 - object + StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_83 - object + StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_97 - object + StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_01_dot_12 - object + Tomato_bar__minus_00_dot_20_bar__plus_00_dot_81_bar__minus_01_dot_90 - object + Vase_bar__minus_00_dot_62_bar__plus_00_dot_11_bar__minus_01_dot_92 - object + Vase_bar__minus_00_dot_65_bar__plus_00_dot_11_bar__plus_00_dot_09 - object + Vase_bar__minus_00_dot_82_bar__plus_01_dot_14_bar__plus_00_dot_53 - object + Cabinet_bar__plus_00_dot_12_bar__plus_02_dot_27_bar__minus_02_dot_00 - receptacle + 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_46_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_74_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_42_bar__plus_00_dot_37_bar__minus_00_dot_01 - receptacle + Cabinet_bar__minus_00_dot_45_bar__plus_00_dot_47_bar__minus_00_dot_01 - 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_00_dot_05 - 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__plus_00_dot_38 - receptacle + Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_00_dot_77 - 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_84 - receptacle + Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_01_dot_42 - receptacle + CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_02_dot_13 - receptacle + CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01 - receptacle + CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57 - receptacle + CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19 - receptacle + Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01 - receptacle + Drawer_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_00_dot_01 - receptacle + Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69 - receptacle + Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54 - receptacle + GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14 - receptacle + Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35 - receptacle + Shelf_bar__plus_02_dot_81_bar__plus_00_dot_16_bar__plus_00_dot_14 - receptacle + Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14 - receptacle + Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14 - receptacle + Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin - receptacle + StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_00_dot_67 - receptacle + StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13 - receptacle + StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_00_dot_76 - receptacle + StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_02 - receptacle + Toaster_bar__plus_00_dot_84_bar__plus_00_dot_90_bar__minus_02_dot_06 - receptacle + loc_bar__minus_2_bar__minus_2_bar_3_bar__minus_30 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loc_bar__minus_2_bar__minus_2_bar_0_bar_45 - location + loc_bar_4_bar__minus_5_bar_2_bar_45 - location + loc_bar_1_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_0_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar__minus_2_bar__minus_5_bar_3_bar_45 - location + loc_bar_0_bar__minus_5_bar_3_bar_45 - location + loc_bar_0_bar__minus_5_bar_2_bar_45 - location + loc_bar__minus_2_bar_5_bar_2_bar_60 - location + loc_bar_4_bar__minus_3_bar_2_bar_45 - location + loc_bar_2_bar__minus_5_bar_2_bar__minus_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_5_bar_2_bar__minus_30 - location + loc_bar__minus_1_bar__minus_4_bar_0_bar_45 - location + loc_bar_0_bar__minus_2_bar_0_bar_60 - location + loc_bar__minus_2_bar__minus_4_bar_0_bar_45 - location + loc_bar_3_bar__minus_5_bar_2_bar_45 - location + loc_bar__minus_2_bar__minus_4_bar_3_bar_60 - location + 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Potato_bar__plus_01_dot_85_bar__plus_00_dot_09_bar__plus_00_dot_17) + (coolable Bread_bar__plus_00_dot_07_bar__plus_01_dot_21_bar__plus_00_dot_57) + (coolable Pot_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13) + (coolable Bowl_bar__plus_02_dot_80_bar__plus_00_dot_55_bar__plus_00_dot_14) + (coolable Mug_bar__plus_00_dot_50_bar__plus_00_dot_96_bar__minus_01_dot_90) + + + + + + (sliceable Apple_bar__minus_00_dot_60_bar__plus_01_dot_18_bar__plus_00_dot_57) + (sliceable Tomato_bar__minus_00_dot_20_bar__plus_00_dot_81_bar__minus_01_dot_90) + (sliceable Potato_bar__plus_01_dot_88_bar__plus_01_dot_05_bar__minus_01_dot_30) + (sliceable Lettuce_bar__plus_01_dot_95_bar__plus_01_dot_18_bar__minus_00_dot_74) + (sliceable Potato_bar__plus_01_dot_42_bar__plus_00_dot_94_bar__minus_01_dot_76) + (sliceable Egg_bar__plus_01_dot_92_bar__plus_00_dot_10_bar__plus_00_dot_11) + (sliceable Egg_bar__minus_00_dot_20_bar__plus_00_dot_80_bar__minus_02_dot_12) + (sliceable Lettuce_bar__plus_02_dot_00_bar__plus_00_dot_89_bar__minus_00_dot_64) + (sliceable Potato_bar__plus_01_dot_85_bar__plus_00_dot_09_bar__plus_00_dot_17) + (sliceable Bread_bar__plus_00_dot_07_bar__plus_01_dot_21_bar__plus_00_dot_57) + + (inReceptacle Spoon_bar__minus_00_dot_76_bar__plus_00_dot_70_bar__minus_01_dot_85 Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69) + (inReceptacle Pan_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_00_dot_67) + (inReceptacle Kettle_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67 StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_00_dot_67) + (inReceptacle Ladle_bar__plus_01_dot_69_bar__plus_00_dot_15_bar__minus_01_dot_27 Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06) + (inReceptacle SaltShaker_bar__plus_01_dot_46_bar__plus_00_dot_11_bar__minus_01_dot_33 Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06) + (inReceptacle Pan_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_00_dot_76) + (inReceptacle Vase_bar__minus_00_dot_62_bar__plus_00_dot_11_bar__minus_01_dot_92 Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_01_dot_69) + (inReceptacle Pot_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_02) + (inReceptacle Knife_bar__minus_01_dot_28_bar__plus_00_dot_94_bar__plus_00_dot_24 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle Spoon_bar__minus_01_dot_25_bar__plus_00_dot_91_bar__minus_00_dot_29 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle ButterKnife_bar__minus_00_dot_63_bar__plus_00_dot_91_bar__plus_00_dot_03 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle Statue_bar__minus_01_dot_06_bar__plus_00_dot_92_bar__plus_00_dot_14 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle Statue_bar__minus_00_dot_85_bar__plus_00_dot_92_bar__plus_00_dot_19 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle SoapBottle_bar__minus_00_dot_91_bar__plus_00_dot_91_bar__minus_00_dot_35 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle Ladle_bar__minus_00_dot_65_bar__plus_00_dot_73_bar__plus_00_dot_19 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_00_dot_01) + (inReceptacle Vase_bar__minus_00_dot_65_bar__plus_00_dot_11_bar__plus_00_dot_09 Cabinet_bar__minus_00_dot_45_bar__plus_00_dot_47_bar__minus_00_dot_01) + (inReceptacle Vase_bar__minus_00_dot_82_bar__plus_01_dot_14_bar__plus_00_dot_53 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle Bread_bar__plus_00_dot_07_bar__plus_01_dot_21_bar__plus_00_dot_57 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle Apple_bar__minus_00_dot_60_bar__plus_01_dot_18_bar__plus_00_dot_57 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle Kettle_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_53 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle PepperShaker_bar__minus_00_dot_15_bar__plus_01_dot_13_bar__plus_00_dot_49 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle Pot_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13) + (inReceptacle Pot_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13) + (inReceptacle Spoon_bar__minus_00_dot_19_bar__plus_00_dot_70_bar__plus_00_dot_18 Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01) + (inReceptacle SaltShaker_bar__plus_01_dot_64_bar__plus_00_dot_91_bar__minus_02_dot_27 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Potato_bar__plus_01_dot_42_bar__plus_00_dot_94_bar__minus_01_dot_76 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle DishSponge_bar__plus_01_dot_19_bar__plus_00_dot_91_bar__minus_02_dot_01 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Fork_bar__minus_00_dot_78_bar__plus_00_dot_91_bar__minus_01_dot_76 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Mug_bar__plus_00_dot_50_bar__plus_00_dot_96_bar__minus_01_dot_90 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Statue_bar__plus_01_dot_42_bar__plus_00_dot_92_bar__minus_02_dot_18 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle SaltShaker_bar__minus_00_dot_91_bar__plus_00_dot_91_bar__minus_01_dot_38 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle ButterKnife_bar__minus_01_dot_26_bar__plus_00_dot_91_bar__minus_02_dot_10 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Potato_bar__plus_01_dot_85_bar__plus_00_dot_09_bar__plus_00_dot_17 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14) + (inReceptacle Egg_bar__plus_01_dot_92_bar__plus_00_dot_10_bar__plus_00_dot_11 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14) + (inReceptacle PaperTowelRoll_bar__plus_03_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_09 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14) + (inReceptacle Potato_bar__plus_01_dot_88_bar__plus_01_dot_05_bar__minus_01_dot_30 Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35) + (inReceptacle Bowl_bar__plus_02_dot_80_bar__plus_00_dot_55_bar__plus_00_dot_14 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14) + (inReceptacle PepperShaker_bar__plus_03_dot_01_bar__plus_00_dot_55_bar__plus_00_dot_25 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14) + (inReceptacle Bowl_bar__plus_02_dot_00_bar__plus_01_dot_10_bar__minus_00_dot_46 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle Lettuce_bar__plus_02_dot_00_bar__plus_00_dot_89_bar__minus_00_dot_64 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle Lettuce_bar__plus_01_dot_95_bar__plus_01_dot_18_bar__minus_00_dot_74 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle Plate_bar__plus_01_dot_89_bar__plus_01_dot_43_bar__minus_00_dot_74 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle Fork_bar__minus_00_dot_38_bar__plus_00_dot_76_bar__minus_02_dot_06 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Spatula_bar__minus_00_dot_29_bar__plus_00_dot_78_bar__minus_01_dot_95 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Tomato_bar__minus_00_dot_20_bar__plus_00_dot_81_bar__minus_01_dot_90 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Egg_bar__minus_00_dot_20_bar__plus_00_dot_80_bar__minus_02_dot_12 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Knife_bar__minus_00_dot_03_bar__plus_00_dot_79_bar__minus_02_dot_01 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Mug_bar__plus_00_dot_50_bar__plus_00_dot_96_bar__minus_01_dot_90 CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_02_dot_13) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_12_bar__plus_02_dot_27_bar__minus_02_dot_00 loc_bar_1_bar__minus_5_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar_2_bar__minus_5_bar_2_bar__minus_30) + (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) + (receptacleAtLocation Cabinet_bar__plus_01_dot_38_bar__plus_00_dot_46_bar__minus_01_dot_69 loc_bar_4_bar__minus_3_bar_2_bar_45) + (receptacleAtLocation Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06 loc_bar_2_bar__minus_4_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_74_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar_4_bar__minus_5_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_03 loc_bar_4_bar__minus_5_bar_1_bar__minus_30) + (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) + (receptacleAtLocation Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_37_bar__minus_00_dot_01 loc_bar__minus_1_bar__minus_4_bar_0_bar_45) + (receptacleAtLocation Cabinet_bar__minus_00_dot_45_bar__plus_00_dot_47_bar__minus_00_dot_01 loc_bar__minus_2_bar__minus_4_bar_0_bar_45) + (receptacleAtLocation Cabinet_bar__minus_00_dot_46_bar__plus_02_dot_27_bar__minus_02_dot_00 loc_bar_0_bar__minus_5_bar_2_bar__minus_30) + 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Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_84 loc_bar__minus_2_bar__minus_5_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_01_dot_42 loc_bar__minus_2_bar__minus_4_bar_3_bar__minus_30) + (receptacleAtLocation CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_02_dot_13 loc_bar_2_bar__minus_5_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01 loc_bar_4_bar__minus_5_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57 loc_bar_2_bar_3_bar_3_bar_30) + (receptacleAtLocation CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19 loc_bar__minus_2_bar__minus_2_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01 loc_bar_3_bar__minus_2_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_00_dot_01 loc_bar_0_bar__minus_2_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69 loc_bar_0_bar__minus_5_bar_3_bar_45) + (receptacleAtLocation Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54 loc_bar_4_bar__minus_3_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14 loc_bar_8_bar_3_bar_2_bar_60) + (receptacleAtLocation Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35 loc_bar_4_bar__minus_5_bar_1_bar_45) + (receptacleAtLocation Shelf_bar__plus_02_dot_81_bar__plus_00_dot_16_bar__plus_00_dot_14 loc_bar_11_bar_6_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14 loc_bar_10_bar_5_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14 loc_bar_8_bar_3_bar_1_bar_45) + 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Spoon_bar__minus_00_dot_76_bar__plus_00_dot_70_bar__minus_01_dot_85 loc_bar_0_bar__minus_5_bar_3_bar_45) + (objectAtLocation ButterKnife_bar__minus_00_dot_63_bar__plus_00_dot_91_bar__plus_00_dot_03 loc_bar__minus_2_bar__minus_2_bar_0_bar_45) + (objectAtLocation PepperShaker_bar__minus_00_dot_15_bar__plus_01_dot_13_bar__plus_00_dot_49 loc_bar_2_bar_3_bar_3_bar_30) + (objectAtLocation Lettuce_bar__plus_01_dot_95_bar__plus_01_dot_18_bar__minus_00_dot_74 loc_bar_4_bar__minus_3_bar_1_bar_60) + (objectAtLocation SaltShaker_bar__plus_01_dot_46_bar__plus_00_dot_11_bar__minus_01_dot_33 loc_bar_2_bar__minus_4_bar_1_bar_60) + (objectAtLocation Egg_bar__plus_01_dot_92_bar__plus_00_dot_10_bar__plus_00_dot_11 loc_bar_8_bar_3_bar_2_bar_60) + (objectAtLocation Pot_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 loc_bar__minus_2_bar__minus_5_bar_3_bar_45) + (objectAtLocation Potato_bar__plus_01_dot_88_bar__plus_01_dot_05_bar__minus_01_dot_30 loc_bar_4_bar__minus_5_bar_1_bar_45) + 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"object_toggles": [], + "random_seed": 2907727637, + "scene_num": 5 + }, + "task_id": "trial_T20190906_192821_060129", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1GVTH5YS3WOK0_39GHHAVOMI8DKXBZTE3VDZ2YTHB4JR", + "high_descs": [ + "Turn around and head straight towards the toaster on the counter.", + "Pick up the green sponge from the counter.", + "Look down and find the cabinet to the left of the dishwasher.", + "Open the cabinet, place the sponge in it, and close the cabinet door." + ], + "task_desc": "Place the green sponge in the cabinet beside the dish washer.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1CY7IOJ9YH136_3K772S5NPBSZLTD2UKCNA8YATGHHEP", + "high_descs": [ + "Go to counter by microwave and coffee maker", + "Pick up green sponge next to toaster", + "Go to bottom left cabinet door next to large door with horizontal handle", + "Open cabinet door, place sponge in cabinet, close door" + ], + "task_desc": "Move green sponge from counter to cabinet below", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1MKCTVKE7J0ZP_3Y54SXRO1O26FY1JKE8HS9N1QYZUTM", + "high_descs": [ + "Go to the counter behind you, near the dishwasher.", + "Pick up the sponge to the left of the toaster.", + "Go to the cabinet to the left of the dishwasher and open it.", + "Place the sponge inside the cabinet." + ], + "task_desc": "Put a sponge in a cabinet.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-DishSponge-None-Cabinet-5/trial_T20190906_192854_230657/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-DishSponge-None-Cabinet-5/trial_T20190906_192854_230657/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..28ff477597eb1a6bd7469330a476bb05ea18e9bc --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-DishSponge-None-Cabinet-5/trial_T20190906_192854_230657/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 dishsponge on 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_T20190906_192854_230657)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__plus_02_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_83 - object\n Bowl_bar__plus_02_dot_00_bar__plus_01_dot_42_bar__minus_00_dot_37 - object\n Bowl_bar__plus_02_dot_00_bar__plus_01_dot_42_bar__minus_00_dot_74 - object\n Bread_bar__minus_01_dot_15_bar__plus_00_dot_98_bar__minus_00_dot_19 - object\n ButterKnife_bar__minus_00_dot_15_bar__plus_01_dot_13_bar__plus_00_dot_53 - object\n ButterKnife_bar__minus_00_dot_20_bar__plus_00_dot_76_bar__minus_02_dot_06 - object\n Chair_bar__minus_00_dot_08_bar__plus_00_dot_01_bar__plus_00_dot_76 - object\n Chair_bar__minus_00_dot_46_bar__plus_00_dot_01_bar__plus_00_dot_75 - object\n Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 - object\n DishSponge_bar__plus_01_dot_42_bar__plus_00_dot_91_bar__minus_01_dot_84 - object\n DishSponge_bar__plus_02_dot_00_bar__plus_00_dot_06_bar__plus_00_dot_11 - object\n DishSponge_bar__minus_00_dot_82_bar__plus_01_dot_13_bar__plus_00_dot_53 - object\n DishSponge_bar__minus_00_dot_91_bar__plus_00_dot_91_bar__minus_00_dot_23 - object\n Egg_bar__minus_00_dot_21_bar__plus_00_dot_95_bar__plus_00_dot_29 - object\n Egg_bar__minus_00_dot_60_bar__plus_01_dot_17_bar__plus_00_dot_66 - object\n Egg_bar__minus_01_dot_26_bar__plus_00_dot_94_bar__minus_02_dot_27 - object\n Faucet_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_02_dot_20 - object\n Fork_bar__minus_00_dot_05_bar__plus_00_dot_70_bar__plus_00_dot_18 - object\n Fork_bar__minus_01_dot_24_bar__plus_00_dot_91_bar__minus_01_dot_72 - object\n Fork_bar__minus_01_dot_28_bar__plus_00_dot_91_bar__plus_00_dot_03 - object\n HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 - object\n Kettle_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 - object\n Kettle_bar__minus_01_dot_14_bar__plus_00_dot_91_bar__minus_01_dot_85 - object\n Knife_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__minus_02_dot_06 - object\n Knife_bar__minus_00_dot_38_bar__plus_01_dot_16_bar__plus_00_dot_71 - object\n Ladle_bar__minus_00_dot_42_bar__plus_00_dot_95_bar__plus_00_dot_03 - object\n Ladle_bar__minus_01_dot_24_bar__plus_00_dot_95_bar__minus_01_dot_55 - object\n Ladle_bar__minus_01_dot_26_bar__plus_00_dot_95_bar__minus_01_dot_93 - object\n Lettuce_bar__minus_00_dot_78_bar__plus_00_dot_99_bar__minus_01_dot_85 - object\n LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_30_bar__plus_02_dot_00 - object\n Mug_bar__plus_02_dot_06_bar__plus_00_dot_81_bar__minus_00_dot_55 - object\n Mug_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__minus_02_dot_01 - object\n Mug_bar__minus_00_dot_63_bar__plus_00_dot_91_bar__plus_00_dot_29 - object\n Pan_bar__plus_01_dot_89_bar__plus_01_dot_10_bar__minus_00_dot_37 - object\n Pan_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67 - object\n Pan_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 - object\n PaperTowelRoll_bar__minus_01_dot_05_bar__plus_01_dot_24_bar__plus_00_dot_66 - object\n PepperShaker_bar__plus_00_dot_07_bar__plus_01_dot_13_bar__plus_00_dot_49 - object\n PepperShaker_bar__plus_02_dot_80_bar__plus_00_dot_55_bar__plus_00_dot_25 - object\n PepperShaker_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_24 - object\n Plate_bar__minus_00_dot_99_bar__plus_00_dot_13_bar__minus_00_dot_25 - object\n Plate_bar__minus_01_dot_32_bar__plus_01_dot_66_bar__minus_01_dot_85 - object\n Potato_bar__plus_01_dot_85_bar__plus_01_dot_05_bar__minus_01_dot_35 - object\n Pot_bar__minus_01_dot_09_bar__plus_00_dot_90_bar__plus_00_dot_24 - object\n SaltShaker_bar__plus_02_dot_90_bar__plus_00_dot_88_bar__plus_00_dot_17 - object\n SaltShaker_bar__minus_00_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_14 - object\n SaltShaker_bar__minus_01_dot_41_bar__plus_00_dot_91_bar__minus_00_dot_41 - object\n Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01 - object\n SoapBottle_bar__minus_00_dot_91_bar__plus_00_dot_91_bar__minus_01_dot_38 - object\n SoapBottle_bar__minus_00_dot_99_bar__plus_00_dot_13_bar__minus_01_dot_43 - object\n Spatula_bar__minus_00_dot_42_bar__plus_00_dot_93_bar__plus_00_dot_24 - object\n Spatula_bar__minus_00_dot_54_bar__plus_00_dot_71_bar__plus_00_dot_10 - object\n Spoon_bar__minus_00_dot_63_bar__plus_00_dot_91_bar__plus_00_dot_08 - object\n Statue_bar__plus_03_dot_00_bar__plus_00_dot_89_bar__plus_00_dot_17 - object\n Statue_bar__minus_00_dot_85_bar__plus_00_dot_92_bar__plus_00_dot_03 - object\n Statue_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_00_dot_23 - object\n StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_68 - object\n StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_83 - object\n StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_97 - object\n StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_01_dot_12 - object\n Tomato_bar__plus_01_dot_19_bar__plus_00_dot_96_bar__minus_01_dot_76 - object\n Tomato_bar__plus_01_dot_84_bar__plus_01_dot_48_bar__minus_00_dot_64 - object\n Tomato_bar__plus_01_dot_85_bar__plus_00_dot_11_bar__plus_00_dot_14 - object\n Vase_bar__plus_02_dot_70_bar__plus_00_dot_87_bar__plus_00_dot_18 - object\n Vase_bar__plus_02_dot_98_bar__plus_00_dot_54_bar__plus_00_dot_13 - object\n Vase_bar__minus_01_dot_27_bar__plus_01_dot_66_bar__minus_00_dot_35 - object\n Cabinet_bar__plus_00_dot_12_bar__plus_02_dot_27_bar__minus_02_dot_00 - receptacle\n Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle\n Cabinet_bar__plus_01_dot_18_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle\n Cabinet_bar__plus_01_dot_38_bar__plus_00_dot_46_bar__minus_01_dot_69 - receptacle\n Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06 - receptacle\n Cabinet_bar__plus_01_dot_74_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_42_bar__plus_00_dot_37_bar__minus_00_dot_01 - receptacle\n Cabinet_bar__minus_00_dot_45_bar__plus_00_dot_47_bar__minus_00_dot_01 - 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_00_dot_05 - 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__plus_00_dot_38 - receptacle\n Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_00_dot_77 - 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_84 - receptacle\n Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_01_dot_42 - receptacle\n CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_02_dot_13 - receptacle\n CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01 - receptacle\n CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57 - receptacle\n CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19 - receptacle\n Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01 - receptacle\n Drawer_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_00_dot_01 - receptacle\n Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69 - receptacle\n Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54 - receptacle\n GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14 - receptacle\n Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35 - receptacle\n Shelf_bar__plus_02_dot_81_bar__plus_00_dot_16_bar__plus_00_dot_14 - receptacle\n Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14 - receptacle\n Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14 - receptacle\n Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_00_dot_67 - receptacle\n StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13 - receptacle\n StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_00_dot_76 - receptacle\n StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_02 - receptacle\n Toaster_bar__plus_00_dot_84_bar__plus_00_dot_90_bar__minus_02_dot_06 - receptacle\n loc_bar__minus_2_bar__minus_2_bar_3_bar__minus_30 - location\n loc_bar__minus_2_bar__minus_1_bar_3_bar__minus_30 - location\n loc_bar_3_bar__minus_2_bar_3_bar_45 - location\n loc_bar_8_bar_3_bar_2_bar_60 - location\n loc_bar_4_bar__minus_5_bar_1_bar__minus_30 - location\n loc_bar_2_bar__minus_4_bar_1_bar_60 - location\n loc_bar__minus_2_bar__minus_4_bar_3_bar_45 - location\n loc_bar_2_bar__minus_5_bar_2_bar_45 - location\n loc_bar_8_bar_3_bar_1_bar_45 - location\n loc_bar__minus_2_bar__minus_3_bar_3_bar_45 - location\n loc_bar__minus_1_bar__minus_3_bar_2_bar_45 - location\n loc_bar__minus_2_bar__minus_4_bar_3_bar__minus_30 - location\n loc_bar_4_bar__minus_5_bar_1_bar_45 - location\n loc_bar_4_bar__minus_3_bar_1_bar_60 - location\n loc_bar_0_bar_5_bar_2_bar_60 - location\n loc_bar_2_bar_6_bar_0_bar_30 - location\n loc_bar__minus_2_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar_0_bar__minus_2_bar_3_bar_60 - location\n loc_bar_11_bar_6_bar_2_bar_45 - location\n loc_bar_10_bar_5_bar_2_bar_45 - location\n loc_bar__minus_2_bar__minus_2_bar_0_bar_45 - location\n loc_bar_4_bar__minus_5_bar_2_bar_45 - location\n loc_bar_1_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar_0_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar__minus_2_bar__minus_5_bar_3_bar_45 - location\n loc_bar_0_bar__minus_5_bar_3_bar_45 - location\n loc_bar_0_bar__minus_5_bar_2_bar_45 - location\n loc_bar__minus_2_bar_5_bar_2_bar_60 - location\n loc_bar_4_bar__minus_3_bar_2_bar_45 - location\n loc_bar_2_bar__minus_5_bar_2_bar__minus_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_5_bar_2_bar__minus_30 - location\n loc_bar__minus_1_bar__minus_4_bar_0_bar_45 - location\n loc_bar_0_bar__minus_2_bar_0_bar_60 - location\n loc_bar__minus_2_bar__minus_4_bar_0_bar_45 - location\n loc_bar_3_bar__minus_5_bar_2_bar_45 - location\n loc_bar__minus_2_bar__minus_4_bar_3_bar_60 - location\n loc_bar__minus_1_bar__minus_5_bar_3_bar__minus_15 - location\n loc_bar_2_bar_3_bar_3_bar_30 - location\n loc_bar__minus_2_bar__minus_5_bar_3_bar__minus_30 - location\n loc_bar_2_bar__minus_1_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType 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Pan_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_00_dot_76)\n (inReceptacle Plate_bar__minus_01_dot_32_bar__plus_01_dot_66_bar__minus_01_dot_85 Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_01_dot_98)\n (inReceptacle Vase_bar__minus_01_dot_27_bar__plus_01_dot_66_bar__minus_00_dot_35 Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_00_dot_77)\n (inReceptacle SoapBottle_bar__minus_00_dot_99_bar__plus_00_dot_13_bar__minus_01_dot_43 Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_01_dot_67)\n (inReceptacle Plate_bar__minus_00_dot_99_bar__plus_00_dot_13_bar__minus_00_dot_25 Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_00_dot_05)\n (inReceptacle Bread_bar__minus_01_dot_15_bar__plus_00_dot_98_bar__minus_00_dot_19 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle 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PaperTowelRoll_bar__minus_01_dot_05_bar__plus_01_dot_24_bar__plus_00_dot_66 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle Knife_bar__minus_00_dot_38_bar__plus_01_dot_16_bar__plus_00_dot_71 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle Egg_bar__minus_00_dot_60_bar__plus_01_dot_17_bar__plus_00_dot_66 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle Kettle_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13)\n (inReceptacle Fork_bar__minus_00_dot_05_bar__plus_00_dot_70_bar__plus_00_dot_18 Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01)\n (inReceptacle 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Tomato_bar__plus_01_dot_19_bar__plus_00_dot_96_bar__minus_01_dot_76 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle DishSponge_bar__plus_01_dot_42_bar__plus_00_dot_91_bar__minus_01_dot_84 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Ladle_bar__minus_01_dot_24_bar__plus_00_dot_95_bar__minus_01_dot_55 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Tomato_bar__plus_01_dot_85_bar__plus_00_dot_11_bar__plus_00_dot_14 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14)\n (inReceptacle DishSponge_bar__plus_02_dot_00_bar__plus_00_dot_06_bar__plus_00_dot_11 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14)\n (inReceptacle Vase_bar__plus_02_dot_70_bar__plus_00_dot_87_bar__plus_00_dot_18 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14)\n (inReceptacle Statue_bar__plus_03_dot_00_bar__plus_00_dot_89_bar__plus_00_dot_17 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14)\n (inReceptacle SaltShaker_bar__plus_02_dot_90_bar__plus_00_dot_88_bar__plus_00_dot_17 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14)\n (inReceptacle Potato_bar__plus_01_dot_85_bar__plus_01_dot_05_bar__minus_01_dot_35 Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35)\n (inReceptacle PepperShaker_bar__plus_02_dot_80_bar__plus_00_dot_55_bar__plus_00_dot_25 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14)\n (inReceptacle Vase_bar__plus_02_dot_98_bar__plus_00_dot_54_bar__plus_00_dot_13 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14)\n (inReceptacle Pan_bar__plus_01_dot_89_bar__plus_01_dot_10_bar__minus_00_dot_37 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Apple_bar__plus_02_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_83 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Mug_bar__plus_02_dot_06_bar__plus_00_dot_81_bar__minus_00_dot_55 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Bowl_bar__plus_02_dot_00_bar__plus_01_dot_42_bar__minus_00_dot_74 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Tomato_bar__plus_01_dot_84_bar__plus_01_dot_48_bar__minus_00_dot_64 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Bowl_bar__plus_02_dot_00_bar__plus_01_dot_42_bar__minus_00_dot_37 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Knife_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__minus_02_dot_06 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Mug_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__minus_02_dot_01 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle ButterKnife_bar__minus_00_dot_20_bar__plus_00_dot_76_bar__minus_02_dot_06 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_12_bar__plus_02_dot_27_bar__minus_02_dot_00 loc_bar_1_bar__minus_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar_2_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_46_bar__minus_01_dot_69 loc_bar_4_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_4_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_74_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_5_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_42_bar__plus_00_dot_37_bar__minus_00_dot_01 loc_bar__minus_1_bar__minus_4_bar_0_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_45_bar__plus_00_dot_47_bar__minus_00_dot_01 loc_bar__minus_2_bar__minus_4_bar_0_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_46_bar__plus_02_dot_27_bar__minus_02_dot_00 loc_bar_0_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_00_dot_05 loc_bar_0_bar__minus_2_bar_3_bar_60)\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_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__plus_00_dot_38 loc_bar__minus_2_bar__minus_1_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_00_dot_77 loc_bar__minus_2_bar__minus_2_bar_3_bar__minus_30)\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_84 loc_bar__minus_2_bar__minus_5_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_01_dot_42 loc_bar__minus_2_bar__minus_4_bar_3_bar__minus_30)\n (receptacleAtLocation CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_02_dot_13 loc_bar_2_bar__minus_5_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57 loc_bar_2_bar_3_bar_3_bar_30)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01 loc_bar_3_bar__minus_2_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_00_dot_01 loc_bar_0_bar__minus_2_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69 loc_bar_0_bar__minus_5_bar_3_bar_45)\n (receptacleAtLocation Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14 loc_bar_8_bar_3_bar_2_bar_60)\n (receptacleAtLocation Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35 loc_bar_4_bar__minus_5_bar_1_bar_45)\n (receptacleAtLocation Shelf_bar__plus_02_dot_81_bar__plus_00_dot_16_bar__plus_00_dot_14 loc_bar_11_bar_6_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14 loc_bar_10_bar_5_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14 loc_bar_8_bar_3_bar_1_bar_45)\n (receptacleAtLocation Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin loc_bar_0_bar__minus_5_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_00_dot_67 loc_bar__minus_2_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13 loc_bar__minus_2_bar__minus_5_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_00_dot_76 loc_bar__minus_2_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_02 loc_bar__minus_2_bar__minus_4_bar_3_bar_45)\n (receptacleAtLocation Toaster_bar__plus_00_dot_84_bar__plus_00_dot_90_bar__minus_02_dot_06 loc_bar_3_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Statue_bar__minus_00_dot_85_bar__plus_00_dot_92_bar__plus_00_dot_03 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__minus_02_dot_01 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Tomato_bar__plus_01_dot_84_bar__plus_01_dot_48_bar__minus_00_dot_64 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation DishSponge_bar__minus_00_dot_91_bar__plus_00_dot_91_bar__minus_00_dot_23 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_15_bar__plus_01_dot_13_bar__plus_00_dot_53 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation PepperShaker_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_24 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation SaltShaker_bar__plus_02_dot_90_bar__plus_00_dot_88_bar__plus_00_dot_17 loc_bar_8_bar_3_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_99_bar__plus_00_dot_13_bar__minus_01_dot_43 loc_bar_0_bar__minus_4_bar_3_bar_60)\n (objectAtLocation Egg_bar__minus_00_dot_21_bar__plus_00_dot_95_bar__plus_00_dot_29 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Spatula_bar__minus_00_dot_54_bar__plus_00_dot_71_bar__plus_00_dot_10 loc_bar_0_bar__minus_2_bar_0_bar_60)\n (objectAtLocation Plate_bar__minus_00_dot_99_bar__plus_00_dot_13_bar__minus_00_dot_25 loc_bar_0_bar__minus_2_bar_3_bar_60)\n (objectAtLocation Kettle_bar__minus_01_dot_14_bar__plus_00_dot_91_bar__minus_01_dot_85 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Ladle_bar__minus_01_dot_24_bar__plus_00_dot_95_bar__minus_01_dot_55 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Fork_bar__minus_01_dot_24_bar__plus_00_dot_91_bar__minus_01_dot_72 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Bowl_bar__plus_02_dot_00_bar__plus_01_dot_42_bar__minus_00_dot_74 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Knife_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__minus_02_dot_06 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Pan_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 loc_bar__minus_2_bar__minus_3_bar_3_bar_45)\n (objectAtLocation Mug_bar__plus_02_dot_06_bar__plus_00_dot_81_bar__minus_00_dot_55 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__plus_02_dot_80_bar__plus_00_dot_55_bar__plus_00_dot_25 loc_bar_10_bar_5_bar_2_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_14 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Tomato_bar__plus_01_dot_85_bar__plus_00_dot_11_bar__plus_00_dot_14 loc_bar_8_bar_3_bar_2_bar_60)\n (objectAtLocation Egg_bar__minus_01_dot_26_bar__plus_00_dot_94_bar__minus_02_dot_27 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Fork_bar__minus_00_dot_05_bar__plus_00_dot_70_bar__plus_00_dot_18 loc_bar_3_bar__minus_2_bar_3_bar_45)\n (objectAtLocation DishSponge_bar__plus_02_dot_00_bar__plus_00_dot_06_bar__plus_00_dot_11 loc_bar_8_bar_3_bar_2_bar_60)\n (objectAtLocation DishSponge_bar__minus_00_dot_82_bar__plus_01_dot_13_bar__plus_00_dot_53 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Ladle_bar__minus_01_dot_26_bar__plus_00_dot_95_bar__minus_01_dot_93 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Statue_bar__plus_03_dot_00_bar__plus_00_dot_89_bar__plus_00_dot_17 loc_bar_8_bar_3_bar_1_bar_45)\n (objectAtLocation Pan_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Chair_bar__minus_00_dot_46_bar__plus_00_dot_01_bar__plus_00_dot_75 loc_bar__minus_2_bar_5_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_08_bar__plus_00_dot_01_bar__plus_00_dot_76 loc_bar_0_bar_5_bar_2_bar_60)\n (objectAtLocation HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Pan_bar__plus_01_dot_89_bar__plus_01_dot_10_bar__minus_00_dot_37 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Knife_bar__minus_00_dot_38_bar__plus_01_dot_16_bar__plus_00_dot_71 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Bowl_bar__plus_02_dot_00_bar__plus_01_dot_42_bar__minus_00_dot_37 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Fork_bar__minus_01_dot_28_bar__plus_00_dot_91_bar__plus_00_dot_03 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Ladle_bar__minus_00_dot_42_bar__plus_00_dot_95_bar__plus_00_dot_03 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Apple_bar__plus_02_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_83 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Kettle_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 loc_bar__minus_2_bar__minus_5_bar_3_bar_45)\n (objectAtLocation Vase_bar__minus_01_dot_27_bar__plus_01_dot_66_bar__minus_00_dot_35 loc_bar__minus_2_bar__minus_2_bar_3_bar__minus_30)\n (objectAtLocation Potato_bar__plus_01_dot_85_bar__plus_01_dot_05_bar__minus_01_dot_35 loc_bar_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Pot_bar__minus_01_dot_09_bar__plus_00_dot_90_bar__plus_00_dot_24 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Bread_bar__minus_01_dot_15_bar__plus_00_dot_98_bar__minus_00_dot_19 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Plate_bar__minus_01_dot_32_bar__plus_01_dot_66_bar__minus_01_dot_85 loc_bar__minus_1_bar__minus_5_bar_3_bar__minus_15)\n (objectAtLocation LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_30_bar__plus_02_dot_00 loc_bar_2_bar_6_bar_0_bar_30)\n (objectAtLocation Spatula_bar__minus_00_dot_42_bar__plus_00_dot_93_bar__plus_00_dot_24 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation PaperTowelRoll_bar__minus_01_dot_05_bar__plus_01_dot_24_bar__plus_00_dot_66 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Vase_bar__plus_02_dot_70_bar__plus_00_dot_87_bar__plus_00_dot_18 loc_bar_8_bar_3_bar_1_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_60_bar__plus_01_dot_17_bar__plus_00_dot_66 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation SoapBottle_bar__minus_00_dot_91_bar__plus_00_dot_91_bar__minus_01_dot_38 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation SaltShaker_bar__minus_01_dot_41_bar__plus_00_dot_91_bar__minus_00_dot_41 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Lettuce_bar__minus_00_dot_78_bar__plus_00_dot_99_bar__minus_01_dot_85 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__plus_00_dot_07_bar__plus_01_dot_13_bar__plus_00_dot_49 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation ButterKnife_bar__minus_00_dot_20_bar__plus_00_dot_76_bar__minus_02_dot_06 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_83 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_68 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_97 loc_bar__minus_2_bar__minus_4_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_01_dot_12 loc_bar__minus_2_bar__minus_4_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__plus_01_dot_42_bar__plus_00_dot_91_bar__minus_01_dot_84 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Vase_bar__plus_02_dot_98_bar__plus_00_dot_54_bar__plus_00_dot_13 loc_bar_10_bar_5_bar_2_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_63_bar__plus_00_dot_91_bar__plus_00_dot_08 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Tomato_bar__plus_01_dot_19_bar__plus_00_dot_96_bar__minus_01_dot_76 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_63_bar__plus_00_dot_91_bar__plus_00_dot_29 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Statue_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_00_dot_23 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o DishSpongeType)\n (receptacleType ?r CabinetType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 3", "take dishsponge 4 from countertop 3", "go to cabinet 16", "open cabinet 16", "move dishsponge 4 to cabinet 16"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-DishSponge-None-Cabinet-5/trial_T20190906_192854_230657/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-DishSponge-None-Cabinet-5/trial_T20190906_192854_230657/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..a81980f5ca66c238f221d290a32ed785286d4fed --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-DishSponge-None-Cabinet-5/trial_T20190906_192854_230657/initial_state.pddl @@ -0,0 +1,1287 @@ + +(define (problem plan_trial_T20190906_192854_230657) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__plus_02_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_83 - object + Bowl_bar__plus_02_dot_00_bar__plus_01_dot_42_bar__minus_00_dot_37 - object + Bowl_bar__plus_02_dot_00_bar__plus_01_dot_42_bar__minus_00_dot_74 - object + Bread_bar__minus_01_dot_15_bar__plus_00_dot_98_bar__minus_00_dot_19 - object + ButterKnife_bar__minus_00_dot_15_bar__plus_01_dot_13_bar__plus_00_dot_53 - object + ButterKnife_bar__minus_00_dot_20_bar__plus_00_dot_76_bar__minus_02_dot_06 - object + Chair_bar__minus_00_dot_08_bar__plus_00_dot_01_bar__plus_00_dot_76 - object + Chair_bar__minus_00_dot_46_bar__plus_00_dot_01_bar__plus_00_dot_75 - object + Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 - object + DishSponge_bar__plus_01_dot_42_bar__plus_00_dot_91_bar__minus_01_dot_84 - object + DishSponge_bar__plus_02_dot_00_bar__plus_00_dot_06_bar__plus_00_dot_11 - object + DishSponge_bar__minus_00_dot_82_bar__plus_01_dot_13_bar__plus_00_dot_53 - object + DishSponge_bar__minus_00_dot_91_bar__plus_00_dot_91_bar__minus_00_dot_23 - object + Egg_bar__minus_00_dot_21_bar__plus_00_dot_95_bar__plus_00_dot_29 - object + Egg_bar__minus_00_dot_60_bar__plus_01_dot_17_bar__plus_00_dot_66 - object + Egg_bar__minus_01_dot_26_bar__plus_00_dot_94_bar__minus_02_dot_27 - object + Faucet_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_02_dot_20 - object + Fork_bar__minus_00_dot_05_bar__plus_00_dot_70_bar__plus_00_dot_18 - object + Fork_bar__minus_01_dot_24_bar__plus_00_dot_91_bar__minus_01_dot_72 - object + Fork_bar__minus_01_dot_28_bar__plus_00_dot_91_bar__plus_00_dot_03 - object + HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 - object + Kettle_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 - object + Kettle_bar__minus_01_dot_14_bar__plus_00_dot_91_bar__minus_01_dot_85 - object + Knife_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__minus_02_dot_06 - object + Knife_bar__minus_00_dot_38_bar__plus_01_dot_16_bar__plus_00_dot_71 - object + Ladle_bar__minus_00_dot_42_bar__plus_00_dot_95_bar__plus_00_dot_03 - object + Ladle_bar__minus_01_dot_24_bar__plus_00_dot_95_bar__minus_01_dot_55 - object + Ladle_bar__minus_01_dot_26_bar__plus_00_dot_95_bar__minus_01_dot_93 - object + Lettuce_bar__minus_00_dot_78_bar__plus_00_dot_99_bar__minus_01_dot_85 - object + LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_30_bar__plus_02_dot_00 - object + Mug_bar__plus_02_dot_06_bar__plus_00_dot_81_bar__minus_00_dot_55 - object + Mug_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__minus_02_dot_01 - object + Mug_bar__minus_00_dot_63_bar__plus_00_dot_91_bar__plus_00_dot_29 - object + Pan_bar__plus_01_dot_89_bar__plus_01_dot_10_bar__minus_00_dot_37 - object + Pan_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67 - object + Pan_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 - object + PaperTowelRoll_bar__minus_01_dot_05_bar__plus_01_dot_24_bar__plus_00_dot_66 - object + PepperShaker_bar__plus_00_dot_07_bar__plus_01_dot_13_bar__plus_00_dot_49 - object + PepperShaker_bar__plus_02_dot_80_bar__plus_00_dot_55_bar__plus_00_dot_25 - object + PepperShaker_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_24 - object + Plate_bar__minus_00_dot_99_bar__plus_00_dot_13_bar__minus_00_dot_25 - object + Plate_bar__minus_01_dot_32_bar__plus_01_dot_66_bar__minus_01_dot_85 - object + Potato_bar__plus_01_dot_85_bar__plus_01_dot_05_bar__minus_01_dot_35 - object + Pot_bar__minus_01_dot_09_bar__plus_00_dot_90_bar__plus_00_dot_24 - object + SaltShaker_bar__plus_02_dot_90_bar__plus_00_dot_88_bar__plus_00_dot_17 - object + SaltShaker_bar__minus_00_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_14 - object + SaltShaker_bar__minus_01_dot_41_bar__plus_00_dot_91_bar__minus_00_dot_41 - object + Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01 - object + SoapBottle_bar__minus_00_dot_91_bar__plus_00_dot_91_bar__minus_01_dot_38 - object + SoapBottle_bar__minus_00_dot_99_bar__plus_00_dot_13_bar__minus_01_dot_43 - object + Spatula_bar__minus_00_dot_42_bar__plus_00_dot_93_bar__plus_00_dot_24 - object + Spatula_bar__minus_00_dot_54_bar__plus_00_dot_71_bar__plus_00_dot_10 - object + Spoon_bar__minus_00_dot_63_bar__plus_00_dot_91_bar__plus_00_dot_08 - object + Statue_bar__plus_03_dot_00_bar__plus_00_dot_89_bar__plus_00_dot_17 - object + Statue_bar__minus_00_dot_85_bar__plus_00_dot_92_bar__plus_00_dot_03 - object + Statue_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_00_dot_23 - object + StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_68 - object + StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_83 - object + StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_97 - object + StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_01_dot_12 - object + Tomato_bar__plus_01_dot_19_bar__plus_00_dot_96_bar__minus_01_dot_76 - object + Tomato_bar__plus_01_dot_84_bar__plus_01_dot_48_bar__minus_00_dot_64 - object + Tomato_bar__plus_01_dot_85_bar__plus_00_dot_11_bar__plus_00_dot_14 - object + Vase_bar__plus_02_dot_70_bar__plus_00_dot_87_bar__plus_00_dot_18 - object + Vase_bar__plus_02_dot_98_bar__plus_00_dot_54_bar__plus_00_dot_13 - object + Vase_bar__minus_01_dot_27_bar__plus_01_dot_66_bar__minus_00_dot_35 - object + Cabinet_bar__plus_00_dot_12_bar__plus_02_dot_27_bar__minus_02_dot_00 - receptacle + 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_46_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_74_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_42_bar__plus_00_dot_37_bar__minus_00_dot_01 - receptacle + Cabinet_bar__minus_00_dot_45_bar__plus_00_dot_47_bar__minus_00_dot_01 - 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_00_dot_05 - 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__plus_00_dot_38 - receptacle + Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_00_dot_77 - 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_84 - receptacle + Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_01_dot_42 - receptacle + CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_02_dot_13 - receptacle + CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01 - receptacle + CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57 - receptacle + CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19 - receptacle + Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01 - receptacle + Drawer_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_00_dot_01 - receptacle + Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69 - receptacle + Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54 - receptacle + GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14 - receptacle + Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35 - receptacle + Shelf_bar__plus_02_dot_81_bar__plus_00_dot_16_bar__plus_00_dot_14 - receptacle + Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14 - receptacle + Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14 - receptacle + Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin - receptacle + StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_00_dot_67 - receptacle + StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13 - receptacle + StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_00_dot_76 - receptacle + StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_02 - receptacle + Toaster_bar__plus_00_dot_84_bar__plus_00_dot_90_bar__minus_02_dot_06 - receptacle + loc_bar__minus_2_bar__minus_2_bar_3_bar__minus_30 - location + loc_bar__minus_2_bar__minus_1_bar_3_bar__minus_30 - location + loc_bar_3_bar__minus_2_bar_3_bar_45 - location + loc_bar_8_bar_3_bar_2_bar_60 - location + loc_bar_4_bar__minus_5_bar_1_bar__minus_30 - location + loc_bar_2_bar__minus_4_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_4_bar_3_bar_45 - location + loc_bar_2_bar__minus_5_bar_2_bar_45 - location + loc_bar_8_bar_3_bar_1_bar_45 - location + loc_bar__minus_2_bar__minus_3_bar_3_bar_45 - location + loc_bar__minus_1_bar__minus_3_bar_2_bar_45 - location + loc_bar__minus_2_bar__minus_4_bar_3_bar__minus_30 - location + loc_bar_4_bar__minus_5_bar_1_bar_45 - location + loc_bar_4_bar__minus_3_bar_1_bar_60 - location + loc_bar_0_bar_5_bar_2_bar_60 - location + loc_bar_2_bar_6_bar_0_bar_30 - location + loc_bar__minus_2_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_0_bar__minus_2_bar_3_bar_60 - location + loc_bar_11_bar_6_bar_2_bar_45 - location + loc_bar_10_bar_5_bar_2_bar_45 - location + loc_bar__minus_2_bar__minus_2_bar_0_bar_45 - location + loc_bar_4_bar__minus_5_bar_2_bar_45 - location + loc_bar_1_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_0_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar__minus_2_bar__minus_5_bar_3_bar_45 - location + loc_bar_0_bar__minus_5_bar_3_bar_45 - location + loc_bar_0_bar__minus_5_bar_2_bar_45 - location + loc_bar__minus_2_bar_5_bar_2_bar_60 - location + loc_bar_4_bar__minus_3_bar_2_bar_45 - location + loc_bar_2_bar__minus_5_bar_2_bar__minus_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_5_bar_2_bar__minus_30 - location + loc_bar__minus_1_bar__minus_4_bar_0_bar_45 - location + loc_bar_0_bar__minus_2_bar_0_bar_60 - location + loc_bar__minus_2_bar__minus_4_bar_0_bar_45 - location + loc_bar_3_bar__minus_5_bar_2_bar_45 - location + loc_bar__minus_2_bar__minus_4_bar_3_bar_60 - location + loc_bar__minus_1_bar__minus_5_bar_3_bar__minus_15 - location + loc_bar_2_bar_3_bar_3_bar_30 - location + loc_bar__minus_2_bar__minus_5_bar_3_bar__minus_30 - location + loc_bar_2_bar__minus_1_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_84 CabinetType) + (receptacleType Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14 ShelfType) + (receptacleType Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_37_bar__minus_00_dot_01 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_01_dot_42 CabinetType) + (receptacleType StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13 StoveBurnerType) + (receptacleType Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__plus_00_dot_38 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_03 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_00_dot_05 CabinetType) + (receptacleType GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14 GarbageCanType) + (receptacleType CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01 CounterTopType) + (receptacleType Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00 CabinetType) + (receptacleType Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35 MicrowaveType) + (receptacleType Toaster_bar__plus_00_dot_84_bar__plus_00_dot_90_bar__minus_02_dot_06 ToasterType) + (receptacleType Cabinet_bar__plus_01_dot_74_bar__plus_02_dot_02_bar__minus_02_dot_00 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_00_dot_77 CabinetType) + (receptacleType Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14 ShelfType) + (receptacleType Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01 DrawerType) + (receptacleType Cabinet_bar__plus_00_dot_12_bar__plus_02_dot_27_bar__minus_02_dot_00 CabinetType) + (receptacleType 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Plate_bar__minus_01_dot_32_bar__plus_01_dot_66_bar__minus_01_dot_85 Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_01_dot_98) + (inReceptacle Vase_bar__minus_01_dot_27_bar__plus_01_dot_66_bar__minus_00_dot_35 Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_00_dot_77) + (inReceptacle SoapBottle_bar__minus_00_dot_99_bar__plus_00_dot_13_bar__minus_01_dot_43 Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_01_dot_67) + (inReceptacle Plate_bar__minus_00_dot_99_bar__plus_00_dot_13_bar__minus_00_dot_25 Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_00_dot_05) + (inReceptacle Bread_bar__minus_01_dot_15_bar__plus_00_dot_98_bar__minus_00_dot_19 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle Egg_bar__minus_00_dot_21_bar__plus_00_dot_95_bar__plus_00_dot_29 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle Spatula_bar__minus_00_dot_42_bar__plus_00_dot_93_bar__plus_00_dot_24 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle PepperShaker_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_24 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle Pan_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle Statue_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_00_dot_23 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle SaltShaker_bar__minus_01_dot_41_bar__plus_00_dot_91_bar__minus_00_dot_41 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle Fork_bar__minus_01_dot_28_bar__plus_00_dot_91_bar__plus_00_dot_03 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle Ladle_bar__minus_00_dot_42_bar__plus_00_dot_95_bar__plus_00_dot_03 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle Pot_bar__minus_01_dot_09_bar__plus_00_dot_90_bar__plus_00_dot_24 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle Spoon_bar__minus_00_dot_63_bar__plus_00_dot_91_bar__plus_00_dot_08 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle Statue_bar__minus_00_dot_85_bar__plus_00_dot_92_bar__plus_00_dot_03 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle DishSponge_bar__minus_00_dot_91_bar__plus_00_dot_91_bar__minus_00_dot_23 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle Mug_bar__minus_00_dot_63_bar__plus_00_dot_91_bar__plus_00_dot_29 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle SaltShaker_bar__minus_00_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_14 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle Spatula_bar__minus_00_dot_54_bar__plus_00_dot_71_bar__plus_00_dot_10 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_00_dot_01) + (inReceptacle PepperShaker_bar__plus_00_dot_07_bar__plus_01_dot_13_bar__plus_00_dot_49 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle DishSponge_bar__minus_00_dot_82_bar__plus_01_dot_13_bar__plus_00_dot_53 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle ButterKnife_bar__minus_00_dot_15_bar__plus_01_dot_13_bar__plus_00_dot_53 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle PaperTowelRoll_bar__minus_01_dot_05_bar__plus_01_dot_24_bar__plus_00_dot_66 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle Knife_bar__minus_00_dot_38_bar__plus_01_dot_16_bar__plus_00_dot_71 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle Egg_bar__minus_00_dot_60_bar__plus_01_dot_17_bar__plus_00_dot_66 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle Kettle_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13) + (inReceptacle Fork_bar__minus_00_dot_05_bar__plus_00_dot_70_bar__plus_00_dot_18 Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01) + (inReceptacle Egg_bar__minus_01_dot_26_bar__plus_00_dot_94_bar__minus_02_dot_27 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Fork_bar__minus_01_dot_24_bar__plus_00_dot_91_bar__minus_01_dot_72 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Ladle_bar__minus_01_dot_26_bar__plus_00_dot_95_bar__minus_01_dot_93 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Lettuce_bar__minus_00_dot_78_bar__plus_00_dot_99_bar__minus_01_dot_85 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Kettle_bar__minus_01_dot_14_bar__plus_00_dot_91_bar__minus_01_dot_85 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle SoapBottle_bar__minus_00_dot_91_bar__plus_00_dot_91_bar__minus_01_dot_38 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Tomato_bar__plus_01_dot_19_bar__plus_00_dot_96_bar__minus_01_dot_76 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle DishSponge_bar__plus_01_dot_42_bar__plus_00_dot_91_bar__minus_01_dot_84 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Ladle_bar__minus_01_dot_24_bar__plus_00_dot_95_bar__minus_01_dot_55 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Tomato_bar__plus_01_dot_85_bar__plus_00_dot_11_bar__plus_00_dot_14 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14) + (inReceptacle DishSponge_bar__plus_02_dot_00_bar__plus_00_dot_06_bar__plus_00_dot_11 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14) + (inReceptacle Vase_bar__plus_02_dot_70_bar__plus_00_dot_87_bar__plus_00_dot_18 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14) + (inReceptacle Statue_bar__plus_03_dot_00_bar__plus_00_dot_89_bar__plus_00_dot_17 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14) + (inReceptacle SaltShaker_bar__plus_02_dot_90_bar__plus_00_dot_88_bar__plus_00_dot_17 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14) + (inReceptacle Potato_bar__plus_01_dot_85_bar__plus_01_dot_05_bar__minus_01_dot_35 Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35) + (inReceptacle PepperShaker_bar__plus_02_dot_80_bar__plus_00_dot_55_bar__plus_00_dot_25 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14) + (inReceptacle Vase_bar__plus_02_dot_98_bar__plus_00_dot_54_bar__plus_00_dot_13 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14) + (inReceptacle Pan_bar__plus_01_dot_89_bar__plus_01_dot_10_bar__minus_00_dot_37 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle Apple_bar__plus_02_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_83 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle Mug_bar__plus_02_dot_06_bar__plus_00_dot_81_bar__minus_00_dot_55 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle Bowl_bar__plus_02_dot_00_bar__plus_01_dot_42_bar__minus_00_dot_74 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle Tomato_bar__plus_01_dot_84_bar__plus_01_dot_48_bar__minus_00_dot_64 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle Bowl_bar__plus_02_dot_00_bar__plus_01_dot_42_bar__minus_00_dot_37 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Knife_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__minus_02_dot_06 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Mug_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__minus_02_dot_01 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle 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sponge on the counter.", + "Take a few steps back, turn left to face the microwave, and look at the cabinet below the microwave.", + "Open the cabinet, place the sponge in it, and close the door." + ], + "task_desc": "Place the sponge inside the cabinet below the microwave.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1MKCTVKE7J0ZP_3OLF68YTNCICHK5KJPM1B4W6SPJAF8", + "high_descs": [ + "Go to the counter in front of you, near the toaster.", + "Pick up the sponge, to the left of the tomato.", + "Turn around right, until you're facing the cabinet next to the right of the fridge.", + "Place the sponge in the cabinet." + ], + "task_desc": "Put a sponge in the cabinet. ", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-DishSponge-None-Cabinet-5/trial_T20190906_192916_142208/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-DishSponge-None-Cabinet-5/trial_T20190906_192916_142208/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..25c83d6b57a767df6660143c0d5cd4ec0138f0d2 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-DishSponge-None-Cabinet-5/trial_T20190906_192916_142208/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 dishsponge on 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_T20190906_192916_142208)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__plus_01_dot_85_bar__plus_00_dot_11_bar__plus_00_dot_14 - object\n Apple_bar__plus_01_dot_91_bar__plus_01_dot_06_bar__minus_01_dot_19 - object\n Bowl_bar__plus_01_dot_84_bar__plus_00_dot_81_bar__minus_00_dot_64 - object\n Bowl_bar__plus_01_dot_85_bar__plus_01_dot_01_bar__minus_01_dot_35 - object\n Bread_bar__minus_01_dot_15_bar__plus_00_dot_98_bar__minus_00_dot_19 - object\n ButterKnife_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_66 - object\n Chair_bar__minus_00_dot_08_bar__plus_00_dot_01_bar__plus_00_dot_76 - object\n Chair_bar__minus_00_dot_46_bar__plus_00_dot_01_bar__plus_00_dot_75 - object\n Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 - object\n DishSponge_bar__plus_02_dot_00_bar__plus_00_dot_06_bar__plus_00_dot_14 - object\n DishSponge_bar__minus_01_dot_26_bar__plus_00_dot_91_bar__minus_01_dot_76 - object\n Egg_bar__plus_01_dot_95_bar__plus_01_dot_13_bar__minus_00_dot_64 - object\n Egg_bar__minus_00_dot_91_bar__plus_00_dot_94_bar__minus_01_dot_47 - object\n Faucet_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_02_dot_20 - object\n Fork_bar__minus_00_dot_61_bar__plus_00_dot_69_bar__plus_00_dot_19 - object\n HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 - object\n Kettle_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67 - object\n Knife_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__minus_02_dot_06 - object\n Knife_bar__minus_00_dot_42_bar__plus_00_dot_94_bar__plus_00_dot_19 - object\n Ladle_bar__minus_00_dot_03_bar__plus_00_dot_80_bar__minus_02_dot_06 - object\n Ladle_bar__minus_00_dot_32_bar__plus_00_dot_73_bar__plus_00_dot_18 - object\n Lettuce_bar__plus_02_dot_00_bar__plus_01_dot_18_bar__minus_00_dot_55 - object\n Lettuce_bar__minus_00_dot_26_bar__plus_00_dot_87_bar__minus_01_dot_97 - object\n LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_30_bar__plus_02_dot_00 - object\n Mug_bar__plus_01_dot_95_bar__plus_00_dot_81_bar__minus_00_dot_46 - object\n Mug_bar__minus_00_dot_90_bar__plus_00_dot_91_bar__minus_02_dot_01 - object\n Pan_bar__plus_01_dot_95_bar__plus_01_dot_43_bar__minus_00_dot_46 - object\n PaperTowelRoll_bar__plus_03_dot_01_bar__plus_00_dot_66_bar__plus_00_dot_14 - object\n PepperShaker_bar__plus_00_dot_01_bar__plus_00_dot_69_bar__plus_00_dot_26 - object\n PepperShaker_bar__plus_03_dot_11_bar__plus_00_dot_55_bar__plus_00_dot_19 - object\n PepperShaker_bar__minus_00_dot_69_bar__plus_00_dot_69_bar__minus_01_dot_80 - object\n Plate_bar__plus_01_dot_19_bar__plus_00_dot_91_bar__minus_01_dot_84 - object\n Plate_bar__minus_00_dot_60_bar__plus_01_dot_13_bar__plus_00_dot_53 - object\n Potato_bar__plus_02_dot_00_bar__plus_00_dot_85_bar__minus_00_dot_37 - object\n Potato_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__minus_02_dot_12 - object\n Pot_bar__plus_01_dot_42_bar__plus_00_dot_91_bar__minus_02_dot_18 - object\n Pot_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 - object\n SaltShaker_bar__plus_02_dot_49_bar__plus_00_dot_88_bar__plus_00_dot_17 - object\n Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01 - object\n SoapBottle_bar__plus_02_dot_90_bar__plus_00_dot_88_bar__plus_00_dot_20 - object\n Spatula_bar__minus_00_dot_15_bar__plus_01_dot_15_bar__plus_00_dot_57 - object\n Spatula_bar__minus_00_dot_54_bar__plus_00_dot_71_bar__plus_00_dot_10 - object\n Spoon_bar__plus_00_dot_07_bar__plus_01_dot_13_bar__plus_00_dot_53 - object\n Statue_bar__minus_01_dot_28_bar__plus_00_dot_92_bar__plus_00_dot_24 - object\n Statue_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_00_dot_17 - object\n StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_68 - object\n StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_83 - object\n StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_97 - object\n StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_01_dot_12 - object\n Tomato_bar__minus_00_dot_82_bar__plus_01_dot_18_bar__plus_00_dot_57 - object\n Vase_bar__minus_00_dot_78_bar__plus_00_dot_92_bar__minus_01_dot_85 - object\n Vase_bar__minus_00_dot_99_bar__plus_00_dot_91_bar__minus_01_dot_81 - object\n Vase_bar__minus_01_dot_16_bar__plus_00_dot_91_bar__minus_01_dot_47 - object\n Cabinet_bar__plus_00_dot_12_bar__plus_02_dot_27_bar__minus_02_dot_00 - receptacle\n Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle\n Cabinet_bar__plus_01_dot_18_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle\n Cabinet_bar__plus_01_dot_38_bar__plus_00_dot_46_bar__minus_01_dot_69 - receptacle\n Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06 - receptacle\n Cabinet_bar__plus_01_dot_74_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_42_bar__plus_00_dot_37_bar__minus_00_dot_01 - receptacle\n Cabinet_bar__minus_00_dot_45_bar__plus_00_dot_47_bar__minus_00_dot_01 - 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_00_dot_05 - 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__plus_00_dot_38 - receptacle\n Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_00_dot_77 - 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_84 - receptacle\n Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_01_dot_42 - receptacle\n CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_02_dot_13 - receptacle\n CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01 - receptacle\n CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57 - receptacle\n CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19 - receptacle\n Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01 - receptacle\n Drawer_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_00_dot_01 - receptacle\n Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69 - receptacle\n Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54 - receptacle\n GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14 - receptacle\n Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35 - receptacle\n Shelf_bar__plus_02_dot_81_bar__plus_00_dot_16_bar__plus_00_dot_14 - receptacle\n Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14 - receptacle\n Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14 - receptacle\n Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_00_dot_67 - receptacle\n StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13 - receptacle\n StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_00_dot_76 - receptacle\n StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_02 - receptacle\n Toaster_bar__plus_00_dot_84_bar__plus_00_dot_90_bar__minus_02_dot_06 - receptacle\n loc_bar__minus_2_bar__minus_2_bar_3_bar__minus_30 - location\n loc_bar__minus_2_bar__minus_1_bar_3_bar__minus_30 - location\n loc_bar_3_bar__minus_2_bar_3_bar_45 - location\n loc_bar_8_bar_3_bar_2_bar_60 - location\n loc_bar_4_bar__minus_5_bar_1_bar__minus_30 - location\n loc_bar_2_bar__minus_4_bar_1_bar_60 - location\n loc_bar__minus_2_bar__minus_4_bar_3_bar_45 - location\n loc_bar_2_bar__minus_5_bar_2_bar_45 - location\n loc_bar_1_bar_4_bar_3_bar_60 - location\n loc_bar_8_bar_3_bar_1_bar_45 - location\n loc_bar__minus_2_bar__minus_3_bar_3_bar_45 - location\n loc_bar__minus_1_bar__minus_3_bar_2_bar_45 - location\n loc_bar__minus_2_bar__minus_4_bar_3_bar__minus_30 - location\n loc_bar_4_bar__minus_5_bar_1_bar_45 - location\n loc_bar_4_bar__minus_3_bar_1_bar_60 - location\n loc_bar_2_bar_6_bar_0_bar_30 - location\n loc_bar__minus_2_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar_0_bar__minus_2_bar_3_bar_60 - location\n loc_bar_11_bar_6_bar_2_bar_45 - location\n loc_bar_10_bar_5_bar_2_bar_45 - location\n loc_bar__minus_2_bar__minus_2_bar_0_bar_45 - location\n loc_bar_4_bar__minus_5_bar_2_bar_45 - location\n loc_bar_1_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar_0_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar__minus_2_bar__minus_5_bar_3_bar_45 - location\n loc_bar_0_bar__minus_5_bar_3_bar_45 - location\n loc_bar_0_bar__minus_5_bar_2_bar_45 - location\n loc_bar__minus_2_bar_5_bar_2_bar_60 - location\n loc_bar_4_bar__minus_3_bar_2_bar_45 - location\n loc_bar_2_bar__minus_5_bar_2_bar__minus_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_5_bar_2_bar__minus_30 - location\n loc_bar__minus_1_bar__minus_4_bar_0_bar_45 - location\n loc_bar_0_bar__minus_2_bar_0_bar_60 - location\n loc_bar__minus_2_bar__minus_4_bar_0_bar_45 - location\n loc_bar_3_bar__minus_5_bar_2_bar_45 - location\n loc_bar__minus_2_bar__minus_4_bar_3_bar_60 - location\n loc_bar__minus_1_bar__minus_5_bar_3_bar__minus_15 - location\n loc_bar_2_bar_3_bar_3_bar_30 - location\n loc_bar__minus_2_bar__minus_5_bar_3_bar__minus_30 - location\n loc_bar_11_bar_3_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_84 CabinetType)\n (receptacleType Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14 ShelfType)\n (receptacleType 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Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_12_bar__plus_02_dot_27_bar__minus_02_dot_00 loc_bar_1_bar__minus_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar_2_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_46_bar__minus_01_dot_69 loc_bar_4_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_4_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_74_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 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Knife_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__minus_02_dot_06 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Bowl_bar__plus_01_dot_85_bar__plus_01_dot_01_bar__minus_01_dot_35 loc_bar_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Fork_bar__minus_00_dot_61_bar__plus_00_dot_69_bar__plus_00_dot_19 loc_bar_0_bar__minus_2_bar_0_bar_60)\n (objectAtLocation Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Ladle_bar__minus_00_dot_32_bar__plus_00_dot_73_bar__plus_00_dot_18 loc_bar_3_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Apple_bar__plus_01_dot_85_bar__plus_00_dot_11_bar__plus_00_dot_14 loc_bar_8_bar_3_bar_2_bar_60)\n (objectAtLocation Kettle_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67 loc_bar__minus_2_bar__minus_3_bar_3_bar_45)\n (objectAtLocation Vase_bar__minus_01_dot_16_bar__plus_00_dot_91_bar__minus_01_dot_47 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__minus_02_dot_12 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Pot_bar__plus_01_dot_42_bar__plus_00_dot_91_bar__minus_02_dot_18 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Bread_bar__minus_01_dot_15_bar__plus_00_dot_98_bar__minus_00_dot_19 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Plate_bar__plus_01_dot_19_bar__plus_00_dot_91_bar__minus_01_dot_84 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_30_bar__plus_02_dot_00 loc_bar_2_bar_6_bar_0_bar_30)\n (objectAtLocation Spatula_bar__minus_00_dot_15_bar__plus_01_dot_15_bar__plus_00_dot_57 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation PaperTowelRoll_bar__plus_03_dot_01_bar__plus_00_dot_66_bar__plus_00_dot_14 loc_bar_10_bar_5_bar_2_bar_45)\n (objectAtLocation Vase_bar__minus_00_dot_78_bar__plus_00_dot_92_bar__minus_01_dot_85 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_91_bar__plus_00_dot_94_bar__minus_01_dot_47 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__plus_02_dot_90_bar__plus_00_dot_88_bar__plus_00_dot_20 loc_bar_8_bar_3_bar_1_bar_45)\n (objectAtLocation SaltShaker_bar__plus_02_dot_49_bar__plus_00_dot_88_bar__plus_00_dot_17 loc_bar_8_bar_3_bar_1_bar_45)\n (objectAtLocation Lettuce_bar__plus_02_dot_00_bar__plus_01_dot_18_bar__minus_00_dot_55 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__plus_00_dot_01_bar__plus_00_dot_69_bar__plus_00_dot_26 loc_bar_3_bar__minus_2_bar_3_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_66 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_83 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_68 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_97 loc_bar__minus_2_bar__minus_4_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_01_dot_12 loc_bar__minus_2_bar__minus_4_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__plus_02_dot_00_bar__plus_00_dot_06_bar__plus_00_dot_14 loc_bar_8_bar_3_bar_2_bar_60)\n (objectAtLocation Vase_bar__minus_00_dot_99_bar__plus_00_dot_91_bar__minus_01_dot_81 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Spoon_bar__plus_00_dot_07_bar__plus_01_dot_13_bar__plus_00_dot_53 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Tomato_bar__minus_00_dot_82_bar__plus_01_dot_18_bar__plus_00_dot_57 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Mug_bar__minus_00_dot_90_bar__plus_00_dot_91_bar__minus_02_dot_01 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Statue_bar__minus_01_dot_28_bar__plus_00_dot_92_bar__plus_00_dot_24 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o DishSpongeType)\n (receptacleType ?r CabinetType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take dishsponge 2 from countertop 1", "go to cabinet 16", "open cabinet 16", "move dishsponge 2 to cabinet 16"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-DishSponge-None-Cabinet-5/trial_T20190906_192916_142208/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-DishSponge-None-Cabinet-5/trial_T20190906_192916_142208/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..88c5d29c55ad345751b5c4ffacc9dbc2c191d8d8 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-DishSponge-None-Cabinet-5/trial_T20190906_192916_142208/initial_state.pddl @@ -0,0 +1,1205 @@ + +(define (problem plan_trial_T20190906_192916_142208) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__plus_01_dot_85_bar__plus_00_dot_11_bar__plus_00_dot_14 - object + Apple_bar__plus_01_dot_91_bar__plus_01_dot_06_bar__minus_01_dot_19 - object + Bowl_bar__plus_01_dot_84_bar__plus_00_dot_81_bar__minus_00_dot_64 - object + Bowl_bar__plus_01_dot_85_bar__plus_01_dot_01_bar__minus_01_dot_35 - object + Bread_bar__minus_01_dot_15_bar__plus_00_dot_98_bar__minus_00_dot_19 - object + ButterKnife_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_66 - object + Chair_bar__minus_00_dot_08_bar__plus_00_dot_01_bar__plus_00_dot_76 - object + Chair_bar__minus_00_dot_46_bar__plus_00_dot_01_bar__plus_00_dot_75 - object + Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 - object + DishSponge_bar__plus_02_dot_00_bar__plus_00_dot_06_bar__plus_00_dot_14 - object + DishSponge_bar__minus_01_dot_26_bar__plus_00_dot_91_bar__minus_01_dot_76 - object + Egg_bar__plus_01_dot_95_bar__plus_01_dot_13_bar__minus_00_dot_64 - object + Egg_bar__minus_00_dot_91_bar__plus_00_dot_94_bar__minus_01_dot_47 - object + Faucet_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_02_dot_20 - object + Fork_bar__minus_00_dot_61_bar__plus_00_dot_69_bar__plus_00_dot_19 - object + HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 - object + Kettle_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67 - object + Knife_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__minus_02_dot_06 - object + Knife_bar__minus_00_dot_42_bar__plus_00_dot_94_bar__plus_00_dot_19 - object + Ladle_bar__minus_00_dot_03_bar__plus_00_dot_80_bar__minus_02_dot_06 - object + Ladle_bar__minus_00_dot_32_bar__plus_00_dot_73_bar__plus_00_dot_18 - object + Lettuce_bar__plus_02_dot_00_bar__plus_01_dot_18_bar__minus_00_dot_55 - object + Lettuce_bar__minus_00_dot_26_bar__plus_00_dot_87_bar__minus_01_dot_97 - object + LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_30_bar__plus_02_dot_00 - object + Mug_bar__plus_01_dot_95_bar__plus_00_dot_81_bar__minus_00_dot_46 - object + Mug_bar__minus_00_dot_90_bar__plus_00_dot_91_bar__minus_02_dot_01 - object + Pan_bar__plus_01_dot_95_bar__plus_01_dot_43_bar__minus_00_dot_46 - object + PaperTowelRoll_bar__plus_03_dot_01_bar__plus_00_dot_66_bar__plus_00_dot_14 - object + PepperShaker_bar__plus_00_dot_01_bar__plus_00_dot_69_bar__plus_00_dot_26 - object + PepperShaker_bar__plus_03_dot_11_bar__plus_00_dot_55_bar__plus_00_dot_19 - object + PepperShaker_bar__minus_00_dot_69_bar__plus_00_dot_69_bar__minus_01_dot_80 - object + Plate_bar__plus_01_dot_19_bar__plus_00_dot_91_bar__minus_01_dot_84 - object + Plate_bar__minus_00_dot_60_bar__plus_01_dot_13_bar__plus_00_dot_53 - object + Potato_bar__plus_02_dot_00_bar__plus_00_dot_85_bar__minus_00_dot_37 - object + Potato_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__minus_02_dot_12 - object + Pot_bar__plus_01_dot_42_bar__plus_00_dot_91_bar__minus_02_dot_18 - object + Pot_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 - object + SaltShaker_bar__plus_02_dot_49_bar__plus_00_dot_88_bar__plus_00_dot_17 - object + Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01 - object + SoapBottle_bar__plus_02_dot_90_bar__plus_00_dot_88_bar__plus_00_dot_20 - object + Spatula_bar__minus_00_dot_15_bar__plus_01_dot_15_bar__plus_00_dot_57 - object + Spatula_bar__minus_00_dot_54_bar__plus_00_dot_71_bar__plus_00_dot_10 - object + Spoon_bar__plus_00_dot_07_bar__plus_01_dot_13_bar__plus_00_dot_53 - object + Statue_bar__minus_01_dot_28_bar__plus_00_dot_92_bar__plus_00_dot_24 - object + Statue_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_00_dot_17 - object + StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_68 - object + StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_83 - object + StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_97 - object + StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_01_dot_12 - object + Tomato_bar__minus_00_dot_82_bar__plus_01_dot_18_bar__plus_00_dot_57 - object + Vase_bar__minus_00_dot_78_bar__plus_00_dot_92_bar__minus_01_dot_85 - object + Vase_bar__minus_00_dot_99_bar__plus_00_dot_91_bar__minus_01_dot_81 - object + Vase_bar__minus_01_dot_16_bar__plus_00_dot_91_bar__minus_01_dot_47 - object + Cabinet_bar__plus_00_dot_12_bar__plus_02_dot_27_bar__minus_02_dot_00 - receptacle + 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_46_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_74_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_42_bar__plus_00_dot_37_bar__minus_00_dot_01 - receptacle + Cabinet_bar__minus_00_dot_45_bar__plus_00_dot_47_bar__minus_00_dot_01 - 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_00_dot_05 - 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__plus_00_dot_38 - receptacle + Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_00_dot_77 - 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_84 - receptacle + Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_01_dot_42 - receptacle + CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_02_dot_13 - receptacle + CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01 - receptacle + CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57 - receptacle + CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19 - receptacle + Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01 - receptacle + Drawer_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_00_dot_01 - receptacle + Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69 - receptacle + Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54 - receptacle + GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14 - receptacle + Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35 - receptacle + Shelf_bar__plus_02_dot_81_bar__plus_00_dot_16_bar__plus_00_dot_14 - receptacle + Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14 - receptacle + Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14 - receptacle + Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin - receptacle + StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_00_dot_67 - receptacle + StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13 - receptacle + StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_00_dot_76 - receptacle + StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_02 - receptacle + Toaster_bar__plus_00_dot_84_bar__plus_00_dot_90_bar__minus_02_dot_06 - receptacle + loc_bar__minus_2_bar__minus_2_bar_3_bar__minus_30 - location + loc_bar__minus_2_bar__minus_1_bar_3_bar__minus_30 - location + loc_bar_3_bar__minus_2_bar_3_bar_45 - location + loc_bar_8_bar_3_bar_2_bar_60 - location + loc_bar_4_bar__minus_5_bar_1_bar__minus_30 - location + loc_bar_2_bar__minus_4_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_4_bar_3_bar_45 - location + loc_bar_2_bar__minus_5_bar_2_bar_45 - location + loc_bar_1_bar_4_bar_3_bar_60 - location + loc_bar_8_bar_3_bar_1_bar_45 - location + loc_bar__minus_2_bar__minus_3_bar_3_bar_45 - location + loc_bar__minus_1_bar__minus_3_bar_2_bar_45 - location + loc_bar__minus_2_bar__minus_4_bar_3_bar__minus_30 - location + loc_bar_4_bar__minus_5_bar_1_bar_45 - location + loc_bar_4_bar__minus_3_bar_1_bar_60 - location + loc_bar_2_bar_6_bar_0_bar_30 - location + loc_bar__minus_2_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_0_bar__minus_2_bar_3_bar_60 - location + loc_bar_11_bar_6_bar_2_bar_45 - location + loc_bar_10_bar_5_bar_2_bar_45 - location + loc_bar__minus_2_bar__minus_2_bar_0_bar_45 - location + loc_bar_4_bar__minus_5_bar_2_bar_45 - location + loc_bar_1_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_0_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar__minus_2_bar__minus_5_bar_3_bar_45 - location + loc_bar_0_bar__minus_5_bar_3_bar_45 - location + loc_bar_0_bar__minus_5_bar_2_bar_45 - location + loc_bar__minus_2_bar_5_bar_2_bar_60 - location + loc_bar_4_bar__minus_3_bar_2_bar_45 - location + loc_bar_2_bar__minus_5_bar_2_bar__minus_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_5_bar_2_bar__minus_30 - location + loc_bar__minus_1_bar__minus_4_bar_0_bar_45 - location + loc_bar_0_bar__minus_2_bar_0_bar_60 - location + loc_bar__minus_2_bar__minus_4_bar_0_bar_45 - location + loc_bar_3_bar__minus_5_bar_2_bar_45 - location + loc_bar__minus_2_bar__minus_4_bar_3_bar_60 - location + loc_bar__minus_1_bar__minus_5_bar_3_bar__minus_15 - location + loc_bar_2_bar_3_bar_3_bar_30 - location + loc_bar__minus_2_bar__minus_5_bar_3_bar__minus_30 - location + loc_bar_11_bar_3_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_84 CabinetType) + (receptacleType Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14 ShelfType) + (receptacleType Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_37_bar__minus_00_dot_01 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_01_dot_42 CabinetType) + (receptacleType StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13 StoveBurnerType) + (receptacleType 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Statue_bar__minus_01_dot_28_bar__plus_00_dot_92_bar__plus_00_dot_24 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle Knife_bar__minus_00_dot_42_bar__plus_00_dot_94_bar__plus_00_dot_19 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle Statue_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_00_dot_17 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle Fork_bar__minus_00_dot_61_bar__plus_00_dot_69_bar__plus_00_dot_19 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_00_dot_01) + (inReceptacle Spatula_bar__minus_00_dot_54_bar__plus_00_dot_71_bar__plus_00_dot_10 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_00_dot_01) + (inReceptacle Plate_bar__minus_00_dot_60_bar__plus_01_dot_13_bar__plus_00_dot_53 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle Tomato_bar__minus_00_dot_82_bar__plus_01_dot_18_bar__plus_00_dot_57 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle ButterKnife_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_66 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle Spoon_bar__plus_00_dot_07_bar__plus_01_dot_13_bar__plus_00_dot_53 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle Spatula_bar__minus_00_dot_15_bar__plus_01_dot_15_bar__plus_00_dot_57 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle PepperShaker_bar__plus_00_dot_01_bar__plus_00_dot_69_bar__plus_00_dot_26 Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01) + (inReceptacle Ladle_bar__minus_00_dot_32_bar__plus_00_dot_73_bar__plus_00_dot_18 Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01) + (inReceptacle Mug_bar__minus_00_dot_90_bar__plus_00_dot_91_bar__minus_02_dot_01 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Plate_bar__plus_01_dot_19_bar__plus_00_dot_91_bar__minus_01_dot_84 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Egg_bar__minus_00_dot_91_bar__plus_00_dot_94_bar__minus_01_dot_47 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Vase_bar__minus_00_dot_78_bar__plus_00_dot_92_bar__minus_01_dot_85 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Pot_bar__plus_01_dot_42_bar__plus_00_dot_91_bar__minus_02_dot_18 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Vase_bar__minus_00_dot_99_bar__plus_00_dot_91_bar__minus_01_dot_81 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Vase_bar__minus_01_dot_16_bar__plus_00_dot_91_bar__minus_01_dot_47 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle DishSponge_bar__minus_01_dot_26_bar__plus_00_dot_91_bar__minus_01_dot_76 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle DishSponge_bar__plus_02_dot_00_bar__plus_00_dot_06_bar__plus_00_dot_14 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14) + (inReceptacle Apple_bar__plus_01_dot_85_bar__plus_00_dot_11_bar__plus_00_dot_14 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14) + (inReceptacle SoapBottle_bar__plus_02_dot_90_bar__plus_00_dot_88_bar__plus_00_dot_20 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14) + (inReceptacle SaltShaker_bar__plus_02_dot_49_bar__plus_00_dot_88_bar__plus_00_dot_17 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14) + (inReceptacle Bowl_bar__plus_01_dot_85_bar__plus_01_dot_01_bar__minus_01_dot_35 Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35) + (inReceptacle Apple_bar__plus_01_dot_91_bar__plus_01_dot_06_bar__minus_01_dot_19 Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35) + (inReceptacle PaperTowelRoll_bar__plus_03_dot_01_bar__plus_00_dot_66_bar__plus_00_dot_14 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14) + (inReceptacle PepperShaker_bar__plus_03_dot_11_bar__plus_00_dot_55_bar__plus_00_dot_19 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14) + (inReceptacle Lettuce_bar__plus_02_dot_00_bar__plus_01_dot_18_bar__minus_00_dot_55 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle Pan_bar__plus_01_dot_95_bar__plus_01_dot_43_bar__minus_00_dot_46 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle Egg_bar__plus_01_dot_95_bar__plus_01_dot_13_bar__minus_00_dot_64 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle Bowl_bar__plus_01_dot_84_bar__plus_00_dot_81_bar__minus_00_dot_64 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle Mug_bar__plus_01_dot_95_bar__plus_00_dot_81_bar__minus_00_dot_46 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle Potato_bar__plus_02_dot_00_bar__plus_00_dot_85_bar__minus_00_dot_37 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Lettuce_bar__minus_00_dot_26_bar__plus_00_dot_87_bar__minus_01_dot_97 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Knife_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__minus_02_dot_06 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Potato_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__minus_02_dot_12 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_12_bar__plus_02_dot_27_bar__minus_02_dot_00 loc_bar_1_bar__minus_5_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar_2_bar__minus_5_bar_2_bar__minus_30) + (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) + (receptacleAtLocation Cabinet_bar__plus_01_dot_38_bar__plus_00_dot_46_bar__minus_01_dot_69 loc_bar_4_bar__minus_3_bar_2_bar_45) + (receptacleAtLocation Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06 loc_bar_2_bar__minus_4_bar_1_bar_60) + 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Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_01_dot_42 loc_bar__minus_2_bar__minus_4_bar_3_bar__minus_30) + (receptacleAtLocation CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_02_dot_13 loc_bar_2_bar__minus_5_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01 loc_bar_4_bar__minus_5_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57 loc_bar_2_bar_3_bar_3_bar_30) + (receptacleAtLocation CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19 loc_bar__minus_2_bar__minus_2_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01 loc_bar_3_bar__minus_2_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_00_dot_01 loc_bar_0_bar__minus_2_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69 loc_bar_0_bar__minus_5_bar_3_bar_45) + (receptacleAtLocation Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54 loc_bar_4_bar__minus_3_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14 loc_bar_8_bar_3_bar_2_bar_60) + (receptacleAtLocation Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35 loc_bar_4_bar__minus_5_bar_1_bar_45) + (receptacleAtLocation Shelf_bar__plus_02_dot_81_bar__plus_00_dot_16_bar__plus_00_dot_14 loc_bar_11_bar_6_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14 loc_bar_10_bar_5_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14 loc_bar_8_bar_3_bar_1_bar_45) + (receptacleAtLocation Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin loc_bar_0_bar__minus_5_bar_2_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_00_dot_67 loc_bar__minus_2_bar__minus_3_bar_3_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13 loc_bar__minus_2_bar__minus_5_bar_3_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_00_dot_76 loc_bar__minus_2_bar__minus_3_bar_3_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_02 loc_bar__minus_2_bar__minus_4_bar_3_bar_45) + (receptacleAtLocation Toaster_bar__plus_00_dot_84_bar__plus_00_dot_90_bar__minus_02_dot_06 loc_bar_3_bar__minus_5_bar_2_bar_45) + (objectAtLocation Statue_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_00_dot_17 loc_bar__minus_2_bar__minus_2_bar_0_bar_45) + (objectAtLocation Mug_bar__plus_01_dot_95_bar__plus_00_dot_81_bar__minus_00_dot_46 loc_bar_4_bar__minus_3_bar_1_bar_60) + (objectAtLocation DishSponge_bar__minus_01_dot_26_bar__plus_00_dot_91_bar__minus_01_dot_76 loc_bar_4_bar__minus_5_bar_2_bar_45) + (objectAtLocation PepperShaker_bar__minus_00_dot_69_bar__plus_00_dot_69_bar__minus_01_dot_80 loc_bar_0_bar__minus_5_bar_3_bar_45) + (objectAtLocation Lettuce_bar__minus_00_dot_26_bar__plus_00_dot_87_bar__minus_01_dot_97 loc_bar_0_bar__minus_5_bar_2_bar_45) + (objectAtLocation Egg_bar__plus_01_dot_95_bar__plus_01_dot_13_bar__minus_00_dot_64 loc_bar_4_bar__minus_3_bar_1_bar_60) + (objectAtLocation Spatula_bar__minus_00_dot_54_bar__plus_00_dot_71_bar__plus_00_dot_10 loc_bar_0_bar__minus_2_bar_0_bar_60) + (objectAtLocation Plate_bar__minus_00_dot_60_bar__plus_01_dot_13_bar__plus_00_dot_53 loc_bar_2_bar_3_bar_3_bar_30) + (objectAtLocation Pot_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 loc_bar__minus_2_bar__minus_3_bar_3_bar_45) + (objectAtLocation Potato_bar__plus_02_dot_00_bar__plus_00_dot_85_bar__minus_00_dot_37 loc_bar_4_bar__minus_3_bar_1_bar_60) + 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+ "z": 1.40334191e-14 + } + }, + { + "objectName": "Bowl_4de763d6", + "position": { + "x": 1.84610152, + "y": 1.012568, + "z": -1.35028613 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_b0cc376f", + "position": { + "x": 0.0129125118, + "y": 0.6919774, + "z": 0.2639125 + }, + "rotation": { + "x": 7.01670955e-15, + "y": 180.0, + "z": 7.01670955e-15 + } + }, + { + "objectName": "PepperShaker_b0cc376f", + "position": { + "x": 3.10956717, + "y": 0.5483649, + "z": 0.193871573 + }, + "rotation": { + "x": 3.415104e-06, + "y": 180.0003, + "z": -3.4150853e-06 + } + }, + { + "objectName": "Lettuce_9396b7e6", + "position": { + "x": 2.000557, + "y": 1.1752938, + "z": -0.551290035 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Mug_8066794b", + "position": { + "x": -0.8979949, + "y": 0.906300068, + "z": -2.014 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_3526507b", + "position": { + "x": 1.84506106, + "y": 0.111713648, + "z": 0.138 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pan_14c38bc8", + "position": { + "x": 1.94580269, + "y": 1.42739844, + "z": -0.4581866 + }, + "rotation": { + "x": 0.0, + "y": 0.000169038554, + "z": 0.0 + } + }, + { + "objectName": "Knife_84756f6d", + "position": { + "x": -0.420080632, + "y": 0.9370277, + "z": 0.1888 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_4de763d6", + "position": { + "x": 1.83629513, + "y": 0.8142541, + "z": -0.644393563 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Fork_66b6c857", + "position": { + "x": -0.6116, + "y": 0.6949624, + "z": 0.190700009 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_11735285", + "position": { + "x": 0.1015501, + "y": 0.750666142, + "z": -1.9382143 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Ladle_43faf0e4", + "position": { + "x": -0.0310187489, + "y": 0.8002961, + "z": -2.06327963 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 1.40334191e-14 + } + }, + { + "objectName": "Apple_3526507b", + "position": { + "x": 1.91098571, + "y": 1.06404126, + "z": -1.1927526 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Kettle_7c4fce22", + "position": { + "x": -1.0561, + "y": 0.956400037, + "z": -0.672 + }, + "rotation": { + "x": 0.0, + "y": 180.000336, + "z": 0.0 + } + }, + { + "objectName": "Vase_777c51a0", + "position": { + "x": -1.15760458, + "y": 0.9134594, + "z": -1.46934056 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Potato_8a9da01b", + "position": { + "x": 2.00055718, + "y": 0.8478101, + "z": -0.365082026 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Pot_b40d1b1e", + "position": { + "x": -1.2899, + "y": 0.957, + "z": -0.756 + }, + "rotation": { + "x": 0.0, + "y": 180.000336, + "z": 0.0 + } + }, + { + "objectName": "Bread_0d0ef808", + "position": { + "x": -1.148, + "y": 0.9816431, + "z": -0.192999989 + }, + "rotation": { + "x": -1.74953732e-06, + "y": 1.14185536e-06, + "z": -3.223676e-05 + } + }, + { + "objectName": "Plate_c0097cec", + "position": { + "x": -0.5988306, + "y": 1.1299423, + "z": 0.529798 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spatula_ef52a4ea", + "position": { + "x": -0.5434533, + "y": 0.7094137, + "z": 0.102337241 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "PaperTowelRoll_e7f3845e", + "position": { + "x": 3.005867, + "y": 0.656344056, + "z": 0.142098531 + }, + "rotation": { + "x": 3.415104e-06, + "y": 180.0003, + "z": -3.4150853e-06 + } + }, + { + "objectName": "Vase_f4e7dd3c", + "position": { + "x": -0.7776127, + "y": 0.917670548, + "z": -1.84518552 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Egg_c00db6cc", + "position": { + "x": 1.94580221, + "y": 1.13246286, + "z": -0.644393 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_99ef625f", + "position": { + "x": 2.90061474, + "y": 0.879929543, + "z": 0.195735678 + }, + "rotation": { + "x": 3.415104e-06, + "y": 180.0003, + "z": -3.4150853e-06 + } + }, + { + "objectName": "SaltShaker_52c85e6d", + "position": { + "x": 2.4912014, + "y": 0.876137257, + "z": 0.168569818 + }, + "rotation": { + "x": 3.415104e-06, + "y": 180.0003, + "z": -3.4150853e-06 + } + }, + { + "objectName": "Lettuce_9396b7e6", + "position": { + "x": -0.256136268, + "y": 0.867284536, + "z": -1.96958852 + }, + "rotation": { + "x": 327.9844, + "y": 40.84584, + "z": 31.4721088 + } + }, + { + "objectName": "PepperShaker_b0cc376f", + "position": { + "x": -0.691673338, + "y": 0.69072, + "z": -1.80263734 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_1a7bf448", + "position": { + "x": -0.375432163, + "y": 1.13154221, + "z": 0.662104 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_42dba209", + "position": { + "x": -1.25914133, + "y": 0.9108642, + "z": -1.76077831 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Vase_3478a6e4", + "position": { + "x": -0.993096, + "y": 0.908998847, + "z": -1.8069706 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_80376f38", + "position": { + "x": 0.0713647, + "y": 1.13262951, + "z": 0.529798 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_74fc855a", + "position": { + "x": -0.822229, + "y": 1.18106067, + "z": 0.5739 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_8066794b", + "position": { + "x": 1.945803, + "y": 0.812138855, + "z": -0.458185971 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Statue_bb70ba4e", + "position": { + "x": -1.33056784, + "y": 0.920563936, + "z": -0.170473665 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 792752735, + "scene_num": 5 + }, + "task_id": "trial_T20190906_192916_142208", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AKW57KYG90X61_3DR23U6WE8VPQ24XUETCOR1Y48BTE6", + "high_descs": [ + "turn around, head towards the shelf, turn left and locate the gas cooker", + "pick up the sponge from the gas cooker", + "turn right and head towards the table", + "open the shelf beneath it and place the sponge in it" + ], + "task_desc": "place a sponge in a shelf", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AD0NVUGLDYDYN_3HOSI13XH25DH7U0CTIDD51R1A6DDY", + "high_descs": [ + "Turn around and walk to the stove in the kitchen", + "Grab the green sponge by the grey bottle", + "Turn right to the cabinet in the corner", + "open the cabinet, put the sponge in it, close the cabinet" + ], + "task_desc": "Move the green sponge by the stove to the cabinet in the corner", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1GVTH5YS3WOK0_3SKRO2GZ748R3IKYOHK5GGV8WK5K1T", + "high_descs": [ + "Turn around, head towards the kitchen counter, turn left towards the dishwasher, then turn right towards the stove.", + "Pick up the green sponger next to the vase on the counter.", + "Turn right and head towards the cabinet below the knife on the counter and open the cabinet.", + "Place the sponge inside the cabinet and close the door." + ], + "task_desc": "Place the sponge from the counter into the cabinet.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pan-None-SinkBasin-2/trial_T20190907_211651_985339/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pan-None-SinkBasin-2/trial_T20190907_211651_985339/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..f1ccb6e06ef2171696142fde26d421ec90a76fda --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pan-None-SinkBasin-2/trial_T20190907_211651_985339/initial_state.pddl @@ -0,0 +1,1192 @@ + +(define (problem plan_trial_T20190907_211651_985339) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__plus_00_dot_00_bar__plus_00_dot_98_bar__plus_01_dot_20 - object + Bowl_bar__plus_00_dot_21_bar__plus_00_dot_92_bar__plus_00_dot_04 - object + Bowl_bar__minus_01_dot_46_bar__plus_00_dot_91_bar__minus_01_dot_61 - object + Bowl_bar__minus_01_dot_80_bar__plus_01_dot_47_bar__minus_00_dot_08 - object + Bread_bar__minus_00_dot_11_bar__plus_01_dot_01_bar__plus_00_dot_04 - object + Bread_bar__minus_00_dot_84_bar__plus_00_dot_99_bar__minus_01_dot_51 - object + ButterKnife_bar__plus_00_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_74 - object + ButterKnife_bar__plus_01_dot_76_bar__plus_00_dot_47_bar__minus_00_dot_02 - object + ButterKnife_bar__minus_01_dot_67_bar__plus_00_dot_91_bar__minus_01_dot_51 - object + CellPhone_bar__plus_01_dot_77_bar__plus_00_dot_76_bar__plus_01_dot_22 - object + CellPhone_bar__minus_00_dot_64_bar__plus_00_dot_91_bar__minus_01_dot_42 - object + Chair_bar__minus_00_dot_06_bar__plus_00_dot_52_bar__plus_01_dot_37 - object + Cup_bar__plus_01_dot_90_bar__plus_00_dot_91_bar__plus_01_dot_41 - object + Cup_bar__plus_01_dot_99_bar__plus_01_dot_00_bar__minus_00_dot_70 - object + DishSponge_bar__plus_00_dot_25_bar__plus_00_dot_11_bar__minus_01_dot_47 - object + DishSponge_bar__plus_00_dot_32_bar__plus_00_dot_93_bar__plus_00_dot_74 - object + DishSponge_bar__minus_01_dot_87_bar__plus_00_dot_91_bar__minus_01_dot_22 - object + Egg_bar__plus_01_dot_92_bar__plus_01_dot_06_bar__minus_00_dot_55 - object + Egg_bar__minus_00_dot_21_bar__plus_00_dot_98_bar__plus_00_dot_51 - object + Egg_bar__minus_01_dot_81_bar__plus_00_dot_97_bar__minus_00_dot_96 - object + Faucet_bar__minus_00_dot_02_bar__plus_01_dot_14_bar__minus_01_dot_61 - object + Fork_bar__plus_00_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_42 - object + Fork_bar__plus_01_dot_81_bar__plus_00_dot_70_bar__minus_00_dot_15 - object + Fork_bar__minus_01_dot_64_bar__plus_00_dot_91_bar__minus_01_dot_06 - object + Kettle_bar__plus_01_dot_84_bar__plus_00_dot_91_bar__minus_00_dot_13 - object + Kettle_bar__plus_02_dot_00_bar__plus_01_dot_66_bar__minus_01_dot_05 - object + Knife_bar__plus_01_dot_66_bar__plus_00_dot_14_bar__plus_00_dot_75 - object + Knife_bar__minus_01_dot_05_bar__plus_00_dot_93_bar__minus_01_dot_22 - object + Ladle_bar__plus_01_dot_65_bar__plus_00_dot_96_bar__minus_00_dot_29 - object + Ladle_bar__plus_01_dot_66_bar__plus_00_dot_59_bar__plus_01_dot_22 - object + Ladle_bar__plus_01_dot_76_bar__plus_00_dot_16_bar__plus_00_dot_05 - object + Lettuce_bar__plus_01_dot_55_bar__plus_00_dot_99_bar__plus_01_dot_18 - object + LightSwitch_bar__minus_00_dot_15_bar__plus_01_dot_29_bar__plus_03_dot_70 - object + Mug_bar__plus_01_dot_99_bar__plus_01_dot_00_bar__minus_00_dot_81 - object + Mug_bar__minus_01_dot_11_bar__plus_00_dot_11_bar__minus_01_dot_30 - object + Mug_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_01_dot_49 - object + Pan_bar__plus_00_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_61 - object + PepperShaker_bar__plus_01_dot_61_bar__plus_00_dot_69_bar__plus_00_dot_67 - object + PepperShaker_bar__minus_00_dot_21_bar__plus_00_dot_92_bar__plus_00_dot_27 - object + PepperShaker_bar__minus_01_dot_73_bar__plus_00_dot_91_bar__minus_00_dot_82 - object + Plate_bar__plus_00_dot_11_bar__plus_00_dot_92_bar__plus_00_dot_27 - object + Plate_bar__minus_01_dot_75_bar__plus_01_dot_68_bar__plus_00_dot_20 - object + Potato_bar__minus_00_dot_32_bar__plus_00_dot_95_bar__plus_00_dot_04 - object + Potato_bar__minus_01_dot_86_bar__plus_01_dot_49_bar__plus_00_dot_20 - object + Potato_bar__minus_01_dot_86_bar__plus_01_dot_49_bar__minus_00_dot_27 - object + Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_38 - object + Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_82 - object + SaltShaker_bar__minus_00_dot_74_bar__plus_01_dot_68_bar__minus_01_dot_73 - object + Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44 - object + SoapBottle_bar__plus_00_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_97 - object + SoapBottle_bar__plus_01_dot_80_bar__plus_00_dot_92_bar__minus_01_dot_32 - object + SoapBottle_bar__minus_00_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_74 - object + Spatula_bar__plus_01_dot_66_bar__plus_00_dot_16_bar__plus_01_dot_09 - object + Spatula_bar__plus_01_dot_82_bar__plus_00_dot_36_bar__plus_00_dot_67 - object + 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Fork_bar__minus_01_dot_64_bar__plus_00_dot_91_bar__minus_01_dot_06) + (cleanable Knife_bar__plus_01_dot_66_bar__plus_00_dot_14_bar__plus_00_dot_75) + (cleanable Potato_bar__minus_00_dot_32_bar__plus_00_dot_95_bar__plus_00_dot_04) + (cleanable DishSponge_bar__plus_00_dot_25_bar__plus_00_dot_11_bar__minus_01_dot_47) + (cleanable Cup_bar__plus_01_dot_99_bar__plus_01_dot_00_bar__minus_00_dot_70) + (cleanable Apple_bar__plus_00_dot_00_bar__plus_00_dot_98_bar__plus_01_dot_20) + (cleanable Kettle_bar__plus_02_dot_00_bar__plus_01_dot_66_bar__minus_01_dot_05) + (cleanable DishSponge_bar__minus_01_dot_87_bar__plus_00_dot_91_bar__minus_01_dot_22) + (cleanable Ladle_bar__plus_01_dot_76_bar__plus_00_dot_16_bar__plus_00_dot_05) + (cleanable Egg_bar__minus_00_dot_21_bar__plus_00_dot_98_bar__plus_00_dot_51) + + (heatable Mug_bar__minus_01_dot_11_bar__plus_00_dot_11_bar__minus_01_dot_30) + (heatable Potato_bar__minus_01_dot_86_bar__plus_01_dot_49_bar__plus_00_dot_20) + (heatable Bread_bar__minus_00_dot_11_bar__plus_01_dot_01_bar__plus_00_dot_04) + (heatable Plate_bar__minus_01_dot_75_bar__plus_01_dot_68_bar__plus_00_dot_20) + (heatable Tomato_bar__minus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_97) + (heatable Egg_bar__minus_01_dot_81_bar__plus_00_dot_97_bar__minus_00_dot_96) + (heatable Mug_bar__plus_01_dot_99_bar__plus_01_dot_00_bar__minus_00_dot_81) + (heatable Plate_bar__plus_00_dot_11_bar__plus_00_dot_92_bar__plus_00_dot_27) + (heatable Tomato_bar__minus_01_dot_80_bar__plus_00_dot_10_bar__plus_01_dot_29) + (heatable Potato_bar__minus_01_dot_86_bar__plus_01_dot_49_bar__minus_00_dot_27) + (heatable Mug_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_01_dot_49) + (heatable Tomato_bar__minus_00_dot_32_bar__plus_00_dot_98_bar__plus_00_dot_27) + (heatable Cup_bar__plus_01_dot_90_bar__plus_00_dot_91_bar__plus_01_dot_41) + (heatable Egg_bar__plus_01_dot_92_bar__plus_01_dot_06_bar__minus_00_dot_55) + (heatable Bread_bar__minus_00_dot_84_bar__plus_00_dot_99_bar__minus_01_dot_51) + (heatable Potato_bar__minus_00_dot_32_bar__plus_00_dot_95_bar__plus_00_dot_04) + (heatable Cup_bar__plus_01_dot_99_bar__plus_01_dot_00_bar__minus_00_dot_70) + (heatable Apple_bar__plus_00_dot_00_bar__plus_00_dot_98_bar__plus_01_dot_20) + (heatable Egg_bar__minus_00_dot_21_bar__plus_00_dot_98_bar__plus_00_dot_51) + (coolable Mug_bar__minus_01_dot_11_bar__plus_00_dot_11_bar__minus_01_dot_30) + (coolable Potato_bar__minus_01_dot_86_bar__plus_01_dot_49_bar__plus_00_dot_20) + (coolable Bowl_bar__plus_00_dot_21_bar__plus_00_dot_92_bar__plus_00_dot_04) + (coolable Bread_bar__minus_00_dot_11_bar__plus_01_dot_01_bar__plus_00_dot_04) + (coolable Plate_bar__minus_01_dot_75_bar__plus_01_dot_68_bar__plus_00_dot_20) + (coolable Pan_bar__plus_00_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_61) + (coolable Lettuce_bar__plus_01_dot_55_bar__plus_00_dot_99_bar__plus_01_dot_18) + (coolable Tomato_bar__minus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_97) + (coolable Bowl_bar__minus_01_dot_46_bar__plus_00_dot_91_bar__minus_01_dot_61) + (coolable Egg_bar__minus_01_dot_81_bar__plus_00_dot_97_bar__minus_00_dot_96) + (coolable Mug_bar__plus_01_dot_99_bar__plus_01_dot_00_bar__minus_00_dot_81) + (coolable Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_82) + (coolable Bowl_bar__minus_01_dot_80_bar__plus_01_dot_47_bar__minus_00_dot_08) + (coolable Plate_bar__plus_00_dot_11_bar__plus_00_dot_92_bar__plus_00_dot_27) + (coolable Tomato_bar__minus_01_dot_80_bar__plus_00_dot_10_bar__plus_01_dot_29) + (coolable Potato_bar__minus_01_dot_86_bar__plus_01_dot_49_bar__minus_00_dot_27) + (coolable Mug_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_01_dot_49) + (coolable Tomato_bar__minus_00_dot_32_bar__plus_00_dot_98_bar__plus_00_dot_27) + (coolable Cup_bar__plus_01_dot_90_bar__plus_00_dot_91_bar__plus_01_dot_41) + (coolable 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counter behind the fork", + "Carry the plate to the sink", + "Place the plate in the sink basin" + ], + "task_desc": "Move a plate from the counter to the sink", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A272X64FOZFYLB_3TU5ZICBRGIVPL2E07DHRCUPA1RQ8A", + "high_descs": [ + "Turn around and walk to the pan on the counter top by the sink.", + "Pick up the pan from the counter top.", + "Walk to the sink.", + "Put the pan in the sink basin." + ], + "task_desc": "Place a pan in a sink basin.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pan-None-SinkBasin-2/trial_T20190907_211711_402849/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pan-None-SinkBasin-2/trial_T20190907_211711_402849/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..5a618f239a82fad7ea3ae525d03b5d81222ffcce --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pan-None-SinkBasin-2/trial_T20190907_211711_402849/initial_state.pddl @@ -0,0 +1,1102 @@ + +(define (problem plan_trial_T20190907_211711_402849) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__minus_01_dot_63_bar__plus_00_dot_62_bar__minus_00_dot_27 - object + Apple_bar__minus_01_dot_75_bar__plus_01_dot_52_bar__plus_00_dot_30 - object + Apple_bar__minus_01_dot_99_bar__plus_00_dot_96_bar__minus_00_dot_96 - object + Bowl_bar__plus_00_dot_21_bar__plus_00_dot_92_bar__plus_00_dot_04 - object + Bowl_bar__minus_00_dot_19_bar__plus_00_dot_11_bar__minus_01_dot_28 - object + Bowl_bar__minus_01_dot_84_bar__plus_01_dot_66_bar__minus_01_dot_06 - object + Bread_bar__minus_00_dot_11_bar__plus_01_dot_01_bar__plus_00_dot_74 - object + Bread_bar__minus_00_dot_32_bar__plus_01_dot_01_bar__plus_00_dot_51 - object + ButterKnife_bar__plus_00_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_04 - object + ButterKnife_bar__plus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_51 - object + ButterKnife_bar__plus_01_dot_77_bar__plus_00_dot_58_bar__plus_00_dot_13 - object + CellPhone_bar__plus_01_dot_80_bar__plus_00_dot_91_bar__minus_01_dot_32 - object + CellPhone_bar__minus_00_dot_32_bar__plus_00_dot_92_bar__plus_00_dot_74 - object + Chair_bar__minus_00_dot_06_bar__plus_00_dot_52_bar__plus_01_dot_37 - object + Cup_bar__minus_00_dot_11_bar__plus_00_dot_92_bar__plus_00_dot_51 - object + Cup_bar__minus_01_dot_59_bar__plus_01_dot_47_bar__minus_00_dot_27 - object + DishSponge_bar__plus_01_dot_66_bar__plus_00_dot_23_bar__plus_00_dot_46 - object + DishSponge_bar__plus_02_dot_03_bar__plus_00_dot_91_bar__plus_00_dot_03 - object + DishSponge_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_01_dot_29 - object + Egg_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_01_dot_20 - object + Faucet_bar__minus_00_dot_02_bar__plus_01_dot_14_bar__minus_01_dot_61 - object + Fork_bar__plus_01_dot_71_bar__plus_00_dot_46_bar__plus_01_dot_35 - object + Kettle_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_82 - object + Knife_bar__minus_01_dot_90_bar__plus_00_dot_93_bar__minus_00_dot_91 - object + Ladle_bar__plus_01_dot_66_bar__plus_00_dot_16_bar__plus_00_dot_45 - object + Ladle_bar__plus_01_dot_66_bar__plus_00_dot_59_bar__plus_01_dot_28 - object + Lettuce_bar__plus_00_dot_11_bar__plus_01_dot_00_bar__plus_00_dot_51 - object + Lettuce_bar__minus_01_dot_55_bar__plus_00_dot_99_bar__minus_00_dot_91 - object + LightSwitch_bar__minus_00_dot_15_bar__plus_01_dot_29_bar__plus_03_dot_70 - object + Mug_bar__plus_02_dot_02_bar__plus_01_dot_00_bar__minus_00_dot_81 - object + Pan_bar__minus_01_dot_67_bar__plus_00_dot_91_bar__minus_01_dot_71 - object + PepperShaker_bar__plus_01_dot_23_bar__plus_00_dot_11_bar__minus_01_dot_54 - object + Plate_bar__plus_00_dot_19_bar__plus_00_dot_11_bar__minus_01_dot_47 - object + Plate_bar__plus_01_dot_96_bar__plus_01_dot_66_bar__minus_01_dot_05 - object + Plate_bar__minus_00_dot_21_bar__plus_00_dot_92_bar__plus_00_dot_04 - object + Potato_bar__plus_01_dot_12_bar__plus_00_dot_94_bar__minus_01_dot_51 - object + Potato_bar__plus_01_dot_96_bar__plus_01_dot_03_bar__minus_00_dot_60 - object + Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_60 - object + SaltShaker_bar__plus_00_dot_21_bar__plus_00_dot_92_bar__plus_00_dot_74 - object + SaltShaker_bar__minus_01_dot_48_bar__plus_01_dot_68_bar__minus_01_dot_61 - object + Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44 - object + SoapBottle_bar__plus_00_dot_32_bar__plus_00_dot_93_bar__plus_00_dot_27 - object + Spatula_bar__plus_01_dot_82_bar__plus_00_dot_59_bar__plus_00_dot_60 - object + Spatula_bar__minus_01_dot_67_bar__plus_00_dot_93_bar__minus_01_dot_22 - object + Spoon_bar__plus_01_dot_66_bar__plus_00_dot_23_bar__plus_01_dot_09 - object + StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_46 - object + StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_52 - object + StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_57 - object + StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_63 - object + StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_68 - object + StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_74 - object + Tomato_bar__minus_01_dot_69_bar__plus_00_dot_62_bar__plus_00_dot_20 - object + Window_bar__plus_02_dot_22_bar__plus_01_dot_57_bar__minus_00_dot_39 - object + Window_bar__minus_00_dot_01_bar__plus_01_dot_58_bar__minus_01_dot_82 - object + Window_bar__minus_03_dot_24_bar__plus_01_dot_62_bar__plus_02_dot_69 - object + Cabinet_bar__plus_00_dot_41_bar__plus_00_dot_48_bar__plus_00_dot_45 - receptacle + Cabinet_bar__plus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 - receptacle + Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 - receptacle + Cabinet_bar__plus_01_dot_71_bar__plus_02_dot_02_bar__minus_01_dot_45 - receptacle + Cabinet_bar__plus_01_dot_79_bar__plus_02_dot_02_bar__minus_00_dot_82 - receptacle + Cabinet_bar__minus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 - receptacle + Cabinet_bar__minus_00_dot_63_bar__plus_02_dot_02_bar__minus_01_dot_45 - receptacle + Cabinet_bar__minus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 - receptacle + Cabinet_bar__minus_01_dot_70_bar__plus_02_dot_02_bar__minus_01_dot_45 - receptacle + CoffeeMachine_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__minus_01_dot_60 - receptacle + CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51 - receptacle + CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51 - receptacle + Drawer_bar__plus_00_dot_81_bar__plus_00_dot_48_bar__minus_01_dot_16 - receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_14_bar__plus_00_dot_60 - receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__plus_01_dot_22 - receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__minus_00_dot_02 - receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_31_bar__plus_00_dot_60 - receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__minus_00_dot_02 - receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_52_bar__plus_01_dot_22 - receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_54_bar__plus_00_dot_60 - receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_60_bar__minus_00_dot_02 - receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__plus_00_dot_61 - receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__minus_00_dot_02 - receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_78_bar__plus_01_dot_22 - receptacle + Drawer_bar__minus_00_dot_70_bar__plus_00_dot_48_bar__minus_01_dot_16 - receptacle + Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01 - receptacle + GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_01_dot_33 - receptacle + Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77 - receptacle + Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin - receptacle + StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_38 - receptacle + StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_60 - receptacle + StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_82 - receptacle + StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_38 - receptacle + StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_60 - receptacle + StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_82 - receptacle + Toaster_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__minus_00_dot_34 - receptacle + loc_bar_4_bar__minus_3_bar_1_bar__minus_30 - location + loc_bar_3_bar_1_bar_1_bar_60 - location + loc_bar_5_bar_2_bar_1_bar_60 - location + loc_bar_3_bar_4_bar_1_bar_60 - location + loc_bar_2_bar_7_bar_1_bar_60 - location + loc_bar__minus_3_bar__minus_1_bar_2_bar_60 - location + loc_bar__minus_3_bar__minus_2_bar_2_bar_60 - location + loc_bar_4_bar__minus_3_bar_1_bar_45 - location + loc_bar_0_bar__minus_3_bar_2_bar_45 - location + loc_bar_5_bar_3_bar_1_bar_60 - location + loc_bar_3_bar_7_bar_2_bar_60 - location + loc_bar_0_bar_8_bar_2_bar_60 - location + loc_bar_3_bar_3_bar_1_bar_60 - location + loc_bar_5_bar_0_bar_1_bar_60 - location + loc_bar_5_bar_5_bar_1_bar_60 - location + loc_bar_5_bar_0_bar_2_bar_45 - location + loc_bar_5_bar_4_bar_3_bar_60 - location + loc_bar__minus_10_bar_11_bar_3_bar_0 - location + loc_bar_4_bar_3_bar_2_bar_60 - location + loc_bar__minus_5_bar_6_bar_3_bar_60 - location + loc_bar__minus_3_bar_0_bar_3_bar_60 - location + loc_bar__minus_3_bar__minus_3_bar_3_bar__minus_15 - location + loc_bar__minus_1_bar_12_bar_0_bar_30 - location + loc_bar_5_bar_3_bar_1_bar_45 - location + loc_bar__minus_3_bar__minus_3_bar_2_bar_45 - location + loc_bar__minus_3_bar__minus_3_bar_2_bar__minus_30 - location + loc_bar_4_bar__minus_3_bar_2_bar_45 - location + loc_bar_5_bar_2_bar_1_bar_45 - location + loc_bar_3_bar__minus_1_bar_2_bar_60 - location + loc_bar_3_bar_6_bar_1_bar_45 - location + loc_bar_3_bar_2_bar_3_bar_45 - location + loc_bar_4_bar__minus_1_bar_1_bar_45 - location + loc_bar_0_bar__minus_3_bar_2_bar_60 - location + loc_bar_5_bar_5_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_82 StoveBurnerType) + (receptacleType Cabinet_bar__minus_01_dot_70_bar__plus_02_dot_02_bar__minus_01_dot_45 CabinetType) + (receptacleType CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51 CounterTopType) + (receptacleType Cabinet_bar__plus_01_dot_79_bar__plus_02_dot_02_bar__minus_00_dot_82 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 CabinetType) + (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__plus_00_dot_61 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_70_bar__plus_00_dot_48_bar__minus_01_dot_16 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_78_bar__plus_01_dot_22 DrawerType) + (receptacleType Cabinet_bar__minus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 CabinetType) + (receptacleType Cabinet_bar__plus_00_dot_41_bar__plus_00_dot_48_bar__plus_00_dot_45 CabinetType) + (receptacleType CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51 CounterTopType) + (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_31_bar__plus_00_dot_60 DrawerType) + (receptacleType Toaster_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__minus_00_dot_34 ToasterType) + (receptacleType CoffeeMachine_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__minus_01_dot_60 CoffeeMachineType) + (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_14_bar__plus_00_dot_60 DrawerType) + (receptacleType Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77 MicrowaveType) + (receptacleType StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_60 StoveBurnerType) + (receptacleType Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 CabinetType) + (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__minus_00_dot_02 DrawerType) + (receptacleType Cabinet_bar__minus_00_dot_63_bar__plus_02_dot_02_bar__minus_01_dot_45 CabinetType) + (receptacleType Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin SinkBasinType) + (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__minus_00_dot_02 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_54_bar__plus_00_dot_60 DrawerType) + (receptacleType Cabinet_bar__plus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 CabinetType) + (receptacleType StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_38 StoveBurnerType) + (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__minus_00_dot_02 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__plus_01_dot_22 DrawerType) + (receptacleType StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_82 StoveBurnerType) + (receptacleType StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_38 StoveBurnerType) + (receptacleType Cabinet_bar__plus_01_dot_71_bar__plus_02_dot_02_bar__minus_01_dot_45 CabinetType) + (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_60_bar__minus_00_dot_02 DrawerType) + (receptacleType StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_60 StoveBurnerType) + (receptacleType 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Lettuce_bar__minus_01_dot_55_bar__plus_00_dot_99_bar__minus_00_dot_91) + (cleanable Kettle_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_82) + (cleanable Egg_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_01_dot_20) + (cleanable ButterKnife_bar__plus_01_dot_77_bar__plus_00_dot_58_bar__plus_00_dot_13) + (cleanable Plate_bar__plus_01_dot_96_bar__plus_01_dot_66_bar__minus_01_dot_05) + (cleanable Pan_bar__minus_01_dot_67_bar__plus_00_dot_91_bar__minus_01_dot_71) + (cleanable Ladle_bar__plus_01_dot_66_bar__plus_00_dot_59_bar__plus_01_dot_28) + (cleanable Knife_bar__minus_01_dot_90_bar__plus_00_dot_93_bar__minus_00_dot_91) + (cleanable Spatula_bar__plus_01_dot_82_bar__plus_00_dot_59_bar__plus_00_dot_60) + (cleanable Spoon_bar__plus_01_dot_66_bar__plus_00_dot_23_bar__plus_01_dot_09) + (cleanable Plate_bar__minus_00_dot_21_bar__plus_00_dot_92_bar__plus_00_dot_04) + (cleanable Cup_bar__minus_00_dot_11_bar__plus_00_dot_92_bar__plus_00_dot_51) + (cleanable Apple_bar__minus_01_dot_63_bar__plus_00_dot_62_bar__minus_00_dot_27) + (cleanable Bowl_bar__minus_01_dot_84_bar__plus_01_dot_66_bar__minus_01_dot_06) + (cleanable Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_60) + (cleanable DishSponge_bar__plus_02_dot_03_bar__plus_00_dot_91_bar__plus_00_dot_03) + (cleanable Tomato_bar__minus_01_dot_69_bar__plus_00_dot_62_bar__plus_00_dot_20) + (cleanable Apple_bar__minus_01_dot_75_bar__plus_01_dot_52_bar__plus_00_dot_30) + (cleanable Fork_bar__plus_01_dot_71_bar__plus_00_dot_46_bar__plus_01_dot_35) + (cleanable Lettuce_bar__plus_00_dot_11_bar__plus_01_dot_00_bar__plus_00_dot_51) + (cleanable DishSponge_bar__plus_01_dot_66_bar__plus_00_dot_23_bar__plus_00_dot_46) + (cleanable ButterKnife_bar__plus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_51) + (cleanable Ladle_bar__plus_01_dot_66_bar__plus_00_dot_16_bar__plus_00_dot_45) + (cleanable Mug_bar__plus_02_dot_02_bar__plus_01_dot_00_bar__minus_00_dot_81) + (cleanable Plate_bar__plus_00_dot_19_bar__plus_00_dot_11_bar__minus_01_dot_47) + (cleanable Potato_bar__plus_01_dot_12_bar__plus_00_dot_94_bar__minus_01_dot_51) + (cleanable Apple_bar__minus_01_dot_99_bar__plus_00_dot_96_bar__minus_00_dot_96) + (cleanable ButterKnife_bar__plus_00_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_04) + + (heatable Cup_bar__minus_01_dot_59_bar__plus_01_dot_47_bar__minus_00_dot_27) + (heatable Potato_bar__plus_01_dot_96_bar__plus_01_dot_03_bar__minus_00_dot_60) + (heatable Egg_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_01_dot_20) + (heatable Plate_bar__plus_01_dot_96_bar__plus_01_dot_66_bar__minus_01_dot_05) + (heatable Plate_bar__minus_00_dot_21_bar__plus_00_dot_92_bar__plus_00_dot_04) + (heatable Cup_bar__minus_00_dot_11_bar__plus_00_dot_92_bar__plus_00_dot_51) + (heatable Apple_bar__minus_01_dot_63_bar__plus_00_dot_62_bar__minus_00_dot_27) + (heatable Tomato_bar__minus_01_dot_69_bar__plus_00_dot_62_bar__plus_00_dot_20) + (heatable Apple_bar__minus_01_dot_75_bar__plus_01_dot_52_bar__plus_00_dot_30) + (heatable Bread_bar__minus_00_dot_32_bar__plus_01_dot_01_bar__plus_00_dot_51) + (heatable Bread_bar__minus_00_dot_11_bar__plus_01_dot_01_bar__plus_00_dot_74) + (heatable Mug_bar__plus_02_dot_02_bar__plus_01_dot_00_bar__minus_00_dot_81) + (heatable Plate_bar__plus_00_dot_19_bar__plus_00_dot_11_bar__minus_01_dot_47) + (heatable Potato_bar__plus_01_dot_12_bar__plus_00_dot_94_bar__minus_01_dot_51) + (heatable Apple_bar__minus_01_dot_99_bar__plus_00_dot_96_bar__minus_00_dot_96) + (coolable Bowl_bar__minus_00_dot_19_bar__plus_00_dot_11_bar__minus_01_dot_28) + (coolable Cup_bar__minus_01_dot_59_bar__plus_01_dot_47_bar__minus_00_dot_27) + (coolable Bowl_bar__plus_00_dot_21_bar__plus_00_dot_92_bar__plus_00_dot_04) + (coolable Potato_bar__plus_01_dot_96_bar__plus_01_dot_03_bar__minus_00_dot_60) + (coolable Lettuce_bar__minus_01_dot_55_bar__plus_00_dot_99_bar__minus_00_dot_91) + (coolable Egg_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_01_dot_20) + (coolable Plate_bar__plus_01_dot_96_bar__plus_01_dot_66_bar__minus_01_dot_05) + (coolable Pan_bar__minus_01_dot_67_bar__plus_00_dot_91_bar__minus_01_dot_71) + (coolable Plate_bar__minus_00_dot_21_bar__plus_00_dot_92_bar__plus_00_dot_04) + (coolable Cup_bar__minus_00_dot_11_bar__plus_00_dot_92_bar__plus_00_dot_51) + (coolable Apple_bar__minus_01_dot_63_bar__plus_00_dot_62_bar__minus_00_dot_27) + (coolable Bowl_bar__minus_01_dot_84_bar__plus_01_dot_66_bar__minus_01_dot_06) + (coolable Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_60) + (coolable Tomato_bar__minus_01_dot_69_bar__plus_00_dot_62_bar__plus_00_dot_20) + (coolable Apple_bar__minus_01_dot_75_bar__plus_01_dot_52_bar__plus_00_dot_30) + (coolable Lettuce_bar__plus_00_dot_11_bar__plus_01_dot_00_bar__plus_00_dot_51) + (coolable Bread_bar__minus_00_dot_32_bar__plus_01_dot_01_bar__plus_00_dot_51) + (coolable Bread_bar__minus_00_dot_11_bar__plus_01_dot_01_bar__plus_00_dot_74) + (coolable Mug_bar__plus_02_dot_02_bar__plus_01_dot_00_bar__minus_00_dot_81) + (coolable Plate_bar__plus_00_dot_19_bar__plus_00_dot_11_bar__minus_01_dot_47) + (coolable Potato_bar__plus_01_dot_12_bar__plus_00_dot_94_bar__minus_01_dot_51) + (coolable Apple_bar__minus_01_dot_99_bar__plus_00_dot_96_bar__minus_00_dot_96) + + + + + + (sliceable Potato_bar__plus_01_dot_96_bar__plus_01_dot_03_bar__minus_00_dot_60) + (sliceable Lettuce_bar__minus_01_dot_55_bar__plus_00_dot_99_bar__minus_00_dot_91) + (sliceable Egg_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_01_dot_20) + (sliceable Apple_bar__minus_01_dot_63_bar__plus_00_dot_62_bar__minus_00_dot_27) + (sliceable Tomato_bar__minus_01_dot_69_bar__plus_00_dot_62_bar__plus_00_dot_20) + (sliceable Apple_bar__minus_01_dot_75_bar__plus_01_dot_52_bar__plus_00_dot_30) + (sliceable Lettuce_bar__plus_00_dot_11_bar__plus_01_dot_00_bar__plus_00_dot_51) + (sliceable 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Plate_bar__plus_01_dot_96_bar__plus_01_dot_66_bar__minus_01_dot_05 Cabinet_bar__plus_01_dot_79_bar__plus_02_dot_02_bar__minus_00_dot_82) + (inReceptacle Plate_bar__plus_00_dot_19_bar__plus_00_dot_11_bar__minus_01_dot_47 Cabinet_bar__plus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15) + (inReceptacle Ladle_bar__plus_01_dot_66_bar__plus_00_dot_16_bar__plus_00_dot_45 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_14_bar__plus_00_dot_60) + (inReceptacle PepperShaker_bar__plus_01_dot_23_bar__plus_00_dot_11_bar__minus_01_dot_54 Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15) + (inReceptacle DishSponge_bar__plus_01_dot_66_bar__plus_00_dot_23_bar__plus_00_dot_46 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_31_bar__plus_00_dot_60) + (inReceptacle Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_60 StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_60) + (inReceptacle Kettle_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_82 StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_82) + (inReceptacle Ladle_bar__plus_01_dot_66_bar__plus_00_dot_59_bar__plus_01_dot_28 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_52_bar__plus_01_dot_22) + (inReceptacle Pan_bar__minus_01_dot_67_bar__plus_00_dot_91_bar__minus_01_dot_71 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Spatula_bar__minus_01_dot_67_bar__plus_00_dot_93_bar__minus_01_dot_22 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle CellPhone_bar__plus_01_dot_80_bar__plus_00_dot_91_bar__minus_01_dot_32 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Window_bar__plus_02_dot_22_bar__plus_01_dot_57_bar__minus_00_dot_39 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle DishSponge_bar__plus_02_dot_03_bar__plus_00_dot_91_bar__plus_00_dot_03 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Lettuce_bar__minus_01_dot_55_bar__plus_00_dot_99_bar__minus_00_dot_91 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Potato_bar__plus_01_dot_12_bar__plus_00_dot_94_bar__minus_01_dot_51 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Knife_bar__minus_01_dot_90_bar__plus_00_dot_93_bar__minus_00_dot_91 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Apple_bar__minus_01_dot_99_bar__plus_00_dot_96_bar__minus_00_dot_96 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Window_bar__minus_00_dot_01_bar__plus_01_dot_58_bar__minus_01_dot_82 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle SaltShaker_bar__minus_01_dot_48_bar__plus_01_dot_68_bar__minus_01_dot_61 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CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle ButterKnife_bar__plus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_51 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Bread_bar__minus_00_dot_11_bar__plus_01_dot_01_bar__plus_00_dot_74 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle SaltShaker_bar__plus_00_dot_21_bar__plus_00_dot_92_bar__plus_00_dot_74 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Cup_bar__minus_00_dot_11_bar__plus_00_dot_92_bar__plus_00_dot_51 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Lettuce_bar__plus_00_dot_11_bar__plus_01_dot_00_bar__plus_00_dot_51 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle ButterKnife_bar__plus_00_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_04 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Bread_bar__minus_00_dot_32_bar__plus_01_dot_01_bar__plus_00_dot_51 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Spoon_bar__plus_01_dot_66_bar__plus_00_dot_23_bar__plus_01_dot_09 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__plus_01_dot_22) + (inReceptacle Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_60 StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_82) + (inReceptacle DishSponge_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_01_dot_29 GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_01_dot_33) + (inReceptacle Potato_bar__plus_01_dot_96_bar__plus_01_dot_03_bar__minus_00_dot_60 Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77) + (inReceptacle Mug_bar__plus_02_dot_02_bar__plus_01_dot_00_bar__minus_00_dot_81 Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77) + (inReceptacle Apple_bar__minus_01_dot_75_bar__plus_01_dot_52_bar__plus_00_dot_30 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01) + (inReceptacle Apple_bar__minus_01_dot_63_bar__plus_00_dot_62_bar__minus_00_dot_27 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01) + (inReceptacle Cup_bar__minus_01_dot_59_bar__plus_01_dot_47_bar__minus_00_dot_27 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01) + (inReceptacle Tomato_bar__minus_01_dot_69_bar__plus_00_dot_62_bar__plus_00_dot_20 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_41_bar__plus_00_dot_48_bar__plus_00_dot_45 loc_bar_5_bar_4_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__plus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 loc_bar_3_bar__minus_1_bar_2_bar_60) + (receptacleAtLocation 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CoffeeMachine_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__minus_01_dot_60 loc_bar_4_bar__minus_3_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51 loc_bar__minus_3_bar__minus_3_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51 loc_bar_3_bar_2_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_81_bar__plus_00_dot_48_bar__minus_01_dot_16 loc_bar_5_bar_0_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_14_bar__plus_00_dot_60 loc_bar_3_bar_7_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__plus_01_dot_22 loc_bar_2_bar_7_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__minus_00_dot_02 loc_bar_5_bar_0_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_31_bar__plus_00_dot_60 loc_bar_5_bar_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__minus_00_dot_02 loc_bar_5_bar_0_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_52_bar__plus_01_dot_22 loc_bar_3_bar_3_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_54_bar__plus_00_dot_60 loc_bar_5_bar_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_60_bar__minus_00_dot_02 loc_bar_4_bar_3_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__plus_00_dot_61 loc_bar_3_bar_4_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__minus_00_dot_02 loc_bar_3_bar_1_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_78_bar__plus_01_dot_22 loc_bar_3_bar_6_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_48_bar__minus_01_dot_16 loc_bar__minus_3_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01 loc_bar__minus_3_bar_0_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_01_dot_33 loc_bar__minus_5_bar_6_bar_3_bar_60) + (receptacleAtLocation Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77 loc_bar_4_bar__minus_3_bar_1_bar_45) + (receptacleAtLocation Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin loc_bar_0_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_38 loc_bar_5_bar_2_bar_1_bar_60) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_60 loc_bar_5_bar_2_bar_1_bar_60) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_82 loc_bar_5_bar_3_bar_1_bar_60) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_38 loc_bar_5_bar_2_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_60 loc_bar_5_bar_2_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_82 loc_bar_5_bar_3_bar_1_bar_45) + (receptacleAtLocation Toaster_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__minus_00_dot_34 loc_bar_4_bar__minus_1_bar_1_bar_45) + (objectAtLocation Bowl_bar__minus_01_dot_84_bar__plus_01_dot_66_bar__minus_01_dot_06 loc_bar__minus_3_bar__minus_3_bar_3_bar__minus_15) + (objectAtLocation DishSponge_bar__plus_02_dot_03_bar__plus_00_dot_91_bar__plus_00_dot_03 loc_bar__minus_3_bar__minus_3_bar_2_bar_45) + (objectAtLocation Potato_bar__plus_01_dot_96_bar__plus_01_dot_03_bar__minus_00_dot_60 loc_bar_4_bar__minus_3_bar_1_bar_45) + (objectAtLocation Bread_bar__minus_00_dot_11_bar__plus_01_dot_01_bar__plus_00_dot_74 loc_bar_3_bar_2_bar_3_bar_45) + (objectAtLocation ButterKnife_bar__plus_00_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_04 loc_bar_3_bar_2_bar_3_bar_45) + (objectAtLocation CellPhone_bar__plus_01_dot_80_bar__plus_00_dot_91_bar__minus_01_dot_32 loc_bar__minus_3_bar__minus_3_bar_2_bar_45) + (objectAtLocation SaltShaker_bar__plus_00_dot_21_bar__plus_00_dot_92_bar__plus_00_dot_74 loc_bar_3_bar_2_bar_3_bar_45) + (objectAtLocation Apple_bar__minus_01_dot_75_bar__plus_01_dot_52_bar__plus_00_dot_30 loc_bar__minus_3_bar_0_bar_3_bar_60) + (objectAtLocation Spatula_bar__plus_01_dot_82_bar__plus_00_dot_59_bar__plus_00_dot_60 loc_bar_5_bar_2_bar_1_bar_60) + (objectAtLocation Lettuce_bar__minus_01_dot_55_bar__plus_00_dot_99_bar__minus_00_dot_91 loc_bar__minus_3_bar__minus_3_bar_2_bar_45) + (objectAtLocation Plate_bar__plus_00_dot_19_bar__plus_00_dot_11_bar__minus_01_dot_47 loc_bar_3_bar__minus_1_bar_2_bar_60) + (objectAtLocation Ladle_bar__plus_01_dot_66_bar__plus_00_dot_59_bar__plus_01_dot_28 loc_bar_3_bar_3_bar_1_bar_60) + (objectAtLocation Cup_bar__minus_01_dot_59_bar__plus_01_dot_47_bar__minus_00_dot_27 loc_bar__minus_3_bar_0_bar_3_bar_60) + (objectAtLocation Apple_bar__minus_01_dot_99_bar__plus_00_dot_96_bar__minus_00_dot_96 loc_bar__minus_3_bar__minus_3_bar_2_bar_45) + (objectAtLocation Bowl_bar__minus_00_dot_19_bar__plus_00_dot_11_bar__minus_01_dot_28 loc_bar__minus_3_bar__minus_1_bar_2_bar_60) + (objectAtLocation Plate_bar__minus_00_dot_21_bar__plus_00_dot_92_bar__plus_00_dot_04 loc_bar_3_bar_2_bar_3_bar_45) + (objectAtLocation ButterKnife_bar__plus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_51 loc_bar_3_bar_2_bar_3_bar_45) + (objectAtLocation DishSponge_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_01_dot_29 loc_bar__minus_5_bar_6_bar_3_bar_60) + (objectAtLocation Window_bar__minus_00_dot_01_bar__plus_01_dot_58_bar__minus_01_dot_82 loc_bar__minus_3_bar__minus_3_bar_2_bar_45) + (objectAtLocation Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44 loc_bar_0_bar__minus_3_bar_2_bar_45) + (objectAtLocation Window_bar__plus_02_dot_22_bar__plus_01_dot_57_bar__minus_00_dot_39 loc_bar__minus_3_bar__minus_3_bar_2_bar_45) + (objectAtLocation Chair_bar__minus_00_dot_06_bar__plus_00_dot_52_bar__plus_01_dot_37 loc_bar_0_bar_8_bar_2_bar_60) + (objectAtLocation Window_bar__minus_03_dot_24_bar__plus_01_dot_62_bar__plus_02_dot_69 loc_bar__minus_10_bar_11_bar_3_bar_0) + (objectAtLocation SoapBottle_bar__plus_00_dot_32_bar__plus_00_dot_93_bar__plus_00_dot_27 loc_bar_3_bar_2_bar_3_bar_45) + (objectAtLocation Cup_bar__minus_00_dot_11_bar__plus_00_dot_92_bar__plus_00_dot_51 loc_bar_3_bar_2_bar_3_bar_45) + (objectAtLocation LightSwitch_bar__minus_00_dot_15_bar__plus_01_dot_29_bar__plus_03_dot_70 loc_bar__minus_1_bar_12_bar_0_bar_30) + (objectAtLocation Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_60 loc_bar_5_bar_3_bar_1_bar_45) + (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_57 loc_bar_5_bar_2_bar_1_bar_60) + (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_63 loc_bar_5_bar_3_bar_1_bar_60) + (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_74 loc_bar_5_bar_3_bar_1_bar_60) + (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_68 loc_bar_5_bar_3_bar_1_bar_60) + (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_46 loc_bar_5_bar_2_bar_1_bar_60) + (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_52 loc_bar_5_bar_2_bar_1_bar_60) + (objectAtLocation Fork_bar__plus_01_dot_71_bar__plus_00_dot_46_bar__plus_01_dot_35 loc_bar_5_bar_5_bar_1_bar_60) + (objectAtLocation Ladle_bar__plus_01_dot_66_bar__plus_00_dot_16_bar__plus_00_dot_45 loc_bar_3_bar_7_bar_2_bar_60) + (objectAtLocation Kettle_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_82 loc_bar_5_bar_3_bar_1_bar_60) + (objectAtLocation Egg_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_01_dot_20 loc_bar_3_bar_2_bar_3_bar_45) + (objectAtLocation Plate_bar__plus_01_dot_96_bar__plus_01_dot_66_bar__minus_01_dot_05 loc_bar_4_bar__minus_3_bar_1_bar__minus_30) + (objectAtLocation Pan_bar__minus_01_dot_67_bar__plus_00_dot_91_bar__minus_01_dot_71 loc_bar__minus_3_bar__minus_3_bar_2_bar_45) + (objectAtLocation Lettuce_bar__plus_00_dot_11_bar__plus_01_dot_00_bar__plus_00_dot_51 loc_bar_3_bar_2_bar_3_bar_45) + (objectAtLocation Spatula_bar__minus_01_dot_67_bar__plus_00_dot_93_bar__minus_01_dot_22 loc_bar__minus_3_bar__minus_3_bar_2_bar_45) + (objectAtLocation Apple_bar__minus_01_dot_63_bar__plus_00_dot_62_bar__minus_00_dot_27 loc_bar__minus_3_bar_0_bar_3_bar_60) + (objectAtLocation Knife_bar__minus_01_dot_90_bar__plus_00_dot_93_bar__minus_00_dot_91 loc_bar__minus_3_bar__minus_3_bar_2_bar_45) + (objectAtLocation SaltShaker_bar__minus_01_dot_48_bar__plus_01_dot_68_bar__minus_01_dot_61 loc_bar__minus_3_bar__minus_3_bar_2_bar__minus_30) + (objectAtLocation PepperShaker_bar__plus_01_dot_23_bar__plus_00_dot_11_bar__minus_01_dot_54 loc_bar_3_bar__minus_1_bar_2_bar_60) + (objectAtLocation CellPhone_bar__minus_00_dot_32_bar__plus_00_dot_92_bar__plus_00_dot_74 loc_bar_3_bar_2_bar_3_bar_45) + (objectAtLocation ButterKnife_bar__plus_01_dot_77_bar__plus_00_dot_58_bar__plus_00_dot_13 loc_bar_4_bar_3_bar_2_bar_60) + (objectAtLocation Bread_bar__minus_00_dot_32_bar__plus_01_dot_01_bar__plus_00_dot_51 loc_bar_3_bar_2_bar_3_bar_45) + (objectAtLocation Tomato_bar__minus_01_dot_69_bar__plus_00_dot_62_bar__plus_00_dot_20 loc_bar__minus_3_bar_0_bar_3_bar_60) + (objectAtLocation Potato_bar__plus_01_dot_12_bar__plus_00_dot_94_bar__minus_01_dot_51 loc_bar__minus_3_bar__minus_3_bar_2_bar_45) + (objectAtLocation DishSponge_bar__plus_01_dot_66_bar__plus_00_dot_23_bar__plus_00_dot_46 loc_bar_5_bar_2_bar_1_bar_60) + (objectAtLocation Spoon_bar__plus_01_dot_66_bar__plus_00_dot_23_bar__plus_01_dot_09 loc_bar_2_bar_7_bar_1_bar_60) + (objectAtLocation Mug_bar__plus_02_dot_02_bar__plus_01_dot_00_bar__minus_00_dot_81 loc_bar_4_bar__minus_3_bar_1_bar_45) + (objectAtLocation Bowl_bar__plus_00_dot_21_bar__plus_00_dot_92_bar__plus_00_dot_04 loc_bar_3_bar_2_bar_3_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o PanType) + (receptacleType ?r SinkBasinType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pan-None-SinkBasin-2/trial_T20190907_211711_402849/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pan-None-SinkBasin-2/trial_T20190907_211711_402849/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..fe1034b706f41b06229d4917acf0472a01c04f49 --- /dev/null +++ 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"A3MXBLYX2CDGTP_37TRT2X24T8X5WW88TDILD844E1JBW", + "high_descs": [ + "Turn right and the left and walk past the dishwasher towards the marble counter, then turn right and stop at the counter to the right of the sink.", + "Pick up the plate from the counter.", + "Turn left and walk to the sink on your right.", + "Put the plate in the sink." + ], + "task_desc": "Take the plate from the counter and put it in the sink.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1WJU1IQ3UTRC6_3B3WTRP3DEJEB7J33OTUVQRXE3U290", + "high_descs": [ + "Turn right, go to the sink and turn right again until the corner.", + "Pick up the pan from the corner of the countertop.", + "Turn left and go to the sink.", + "Put the pan in the sink." + ], + "task_desc": "Put the pan in the sink.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A38Z99XF4NDNH0_3QAPZX2QN7UWFDVQ3SA12FQ4BZT20H", + "high_descs": [ + "Move to the countertop to the far right of the kitchen sink", + "Pick up the plate towards the back on top of the counter", + "Carry the plate to the sink", + "Place the plate in the sink basin" + ], + "task_desc": "\nPut a plate in the sink", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pan-None-SinkBasin-2/trial_T20190907_211728_072381/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pan-None-SinkBasin-2/trial_T20190907_211728_072381/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..fb2b26b027748e397e69b17e11106aeaab863536 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pan-None-SinkBasin-2/trial_T20190907_211728_072381/initial_state.pddl @@ -0,0 +1,1147 @@ + +(define (problem plan_trial_T20190907_211728_072381) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__plus_01_dot_96_bar__plus_01_dot_06_bar__minus_00_dot_81 - object + 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DishSponge_bar__plus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_27 - object + DishSponge_bar__plus_00_dot_75_bar__plus_00_dot_67_bar__minus_01_dot_33 - object + Egg_bar__minus_01_dot_66_bar__plus_00_dot_40_bar__minus_00_dot_27 - object + Faucet_bar__minus_00_dot_02_bar__plus_01_dot_14_bar__minus_01_dot_61 - object + Fork_bar__plus_00_dot_11_bar__plus_00_dot_92_bar__plus_00_dot_04 - object + Fork_bar__plus_00_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_51 - object + Fork_bar__plus_01_dot_99_bar__plus_00_dot_91_bar__plus_01_dot_33 - object + Kettle_bar__plus_01_dot_73_bar__plus_00_dot_91_bar__plus_01_dot_33 - object + Knife_bar__plus_01_dot_71_bar__plus_00_dot_61_bar__plus_00_dot_13 - object + Knife_bar__plus_01_dot_76_bar__plus_00_dot_57_bar__plus_01_dot_15 - object + Knife_bar__plus_01_dot_77_bar__plus_00_dot_79_bar__plus_01_dot_37 - object + Ladle_bar__plus_01_dot_71_bar__plus_00_dot_74_bar__plus_00_dot_05 - object + 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receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_78_bar__plus_01_dot_22 - receptacle + Drawer_bar__minus_00_dot_70_bar__plus_00_dot_48_bar__minus_01_dot_16 - receptacle + Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01 - receptacle + GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_01_dot_33 - receptacle + Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77 - receptacle + Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin - receptacle + StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_38 - receptacle + StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_60 - receptacle + StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_82 - receptacle + StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_38 - receptacle + StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_60 - receptacle + StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_82 - receptacle + Toaster_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__minus_00_dot_34 - receptacle + loc_bar_4_bar__minus_3_bar_1_bar__minus_30 - location + loc_bar_3_bar_1_bar_1_bar_60 - location + loc_bar_5_bar_2_bar_1_bar_60 - location + loc_bar_3_bar_4_bar_1_bar_60 - location + loc_bar_2_bar_7_bar_1_bar_60 - location + loc_bar__minus_3_bar__minus_1_bar_2_bar_60 - location + loc_bar__minus_3_bar__minus_2_bar_2_bar_60 - location + loc_bar_4_bar__minus_3_bar_1_bar_45 - location + loc_bar_0_bar__minus_3_bar_2_bar_45 - location + loc_bar_5_bar_3_bar_1_bar_60 - location + loc_bar_3_bar_7_bar_2_bar_60 - location + loc_bar_0_bar_8_bar_2_bar_60 - location + loc_bar_3_bar_3_bar_1_bar_60 - location + loc_bar_5_bar_0_bar_1_bar_60 - location + loc_bar_5_bar_0_bar_2_bar_45 - location + loc_bar_5_bar_4_bar_3_bar_60 - location + loc_bar__minus_10_bar_11_bar_3_bar_0 - location + loc_bar_4_bar_3_bar_2_bar_60 - location + loc_bar__minus_5_bar_6_bar_3_bar_60 - location + loc_bar__minus_3_bar_0_bar_3_bar_60 - location + loc_bar__minus_3_bar__minus_3_bar_3_bar__minus_15 - location + loc_bar__minus_1_bar_12_bar_0_bar_30 - location + loc_bar_5_bar_3_bar_1_bar_45 - location + loc_bar__minus_3_bar__minus_3_bar_2_bar_45 - location + loc_bar__minus_3_bar__minus_3_bar_2_bar__minus_30 - location + loc_bar_4_bar__minus_3_bar_2_bar_45 - location + loc_bar_5_bar_2_bar_1_bar_45 - location + loc_bar_3_bar__minus_1_bar_2_bar_60 - location + loc_bar_3_bar_6_bar_1_bar_45 - location + loc_bar_3_bar_2_bar_3_bar_45 - location + loc_bar_4_bar__minus_1_bar_1_bar_45 - location + loc_bar_0_bar__minus_3_bar_2_bar_60 - location + loc_bar_2_bar_11_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_82 StoveBurnerType) + (receptacleType Cabinet_bar__minus_01_dot_70_bar__plus_02_dot_02_bar__minus_01_dot_45 CabinetType) + (receptacleType 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(receptacleType Toaster_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__minus_00_dot_34 ToasterType) + (receptacleType CoffeeMachine_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__minus_01_dot_60 CoffeeMachineType) + (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_14_bar__plus_00_dot_60 DrawerType) + (receptacleType Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77 MicrowaveType) + (receptacleType StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_60 StoveBurnerType) + (receptacleType Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 CabinetType) + (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__minus_00_dot_02 DrawerType) + (receptacleType Cabinet_bar__minus_00_dot_63_bar__plus_02_dot_02_bar__minus_01_dot_45 CabinetType) + (receptacleType Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin SinkBasinType) + (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__minus_00_dot_02 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_54_bar__plus_00_dot_60 DrawerType) + (receptacleType Cabinet_bar__plus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 CabinetType) + (receptacleType StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_38 StoveBurnerType) + (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__minus_00_dot_02 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__plus_01_dot_22 DrawerType) + (receptacleType StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_82 StoveBurnerType) + (receptacleType StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_38 StoveBurnerType) + (receptacleType Cabinet_bar__plus_01_dot_71_bar__plus_02_dot_02_bar__minus_01_dot_45 CabinetType) + (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_60_bar__minus_00_dot_02 DrawerType) + (receptacleType StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_60 StoveBurnerType) + (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_52_bar__plus_01_dot_22 DrawerType) + (receptacleType GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_01_dot_33 GarbageCanType) + (receptacleType Drawer_bar__plus_00_dot_81_bar__plus_00_dot_48_bar__minus_01_dot_16 DrawerType) + (receptacleType Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01 FridgeType) + (objectType StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_46 StoveKnobType) + (objectType LightSwitch_bar__minus_00_dot_15_bar__plus_01_dot_29_bar__plus_03_dot_70 LightSwitchType) + (objectType Kettle_bar__plus_01_dot_73_bar__plus_00_dot_91_bar__plus_01_dot_33 KettleType) + (objectType Spatula_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__minus_00_dot_91 SpatulaType) + (objectType Mug_bar__plus_01_dot_89_bar__plus_01_dot_00_bar__minus_00_dot_60 MugType) + (objectType StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_68 StoveKnobType) + (objectType PepperShaker_bar__minus_00_dot_74_bar__plus_01_dot_68_bar__minus_01_dot_69 PepperShakerType) + (objectType DishSponge_bar__plus_00_dot_75_bar__plus_00_dot_67_bar__minus_01_dot_33 DishSpongeType) + (objectType Fork_bar__plus_00_dot_11_bar__plus_00_dot_92_bar__plus_00_dot_04 ForkType) + (objectType Ladle_bar__plus_01_dot_71_bar__plus_00_dot_74_bar__plus_00_dot_05 LadleType) + (objectType Pan_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_38 PanType) + (objectType Plate_bar__minus_01_dot_20_bar__plus_00_dot_11_bar__minus_01_dot_42 PlateType) + (objectType Tomato_bar__minus_01_dot_75_bar__plus_00_dot_89_bar__minus_00_dot_18 TomatoType) + (objectType Window_bar__plus_02_dot_22_bar__plus_01_dot_57_bar__minus_00_dot_39 WindowType) + (objectType Chair_bar__minus_00_dot_06_bar__plus_00_dot_52_bar__plus_01_dot_37 ChairType) + (objectType 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(isReceptacleObject Pan_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_38) + (isReceptacleObject Plate_bar__minus_01_dot_20_bar__plus_00_dot_11_bar__minus_01_dot_42) + (isReceptacleObject Bowl_bar__plus_00_dot_21_bar__plus_00_dot_92_bar__plus_00_dot_51) + (isReceptacleObject Pot_bar__plus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_97) + (isReceptacleObject Pot_bar__minus_00_dot_25_bar__plus_00_dot_12_bar__minus_01_dot_35) + (isReceptacleObject Bowl_bar__plus_01_dot_23_bar__plus_00_dot_11_bar__minus_01_dot_42) + (isReceptacleObject Pan_bar__minus_00_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_74) + (isReceptacleObject Cup_bar__minus_01_dot_63_bar__plus_00_dot_56_bar__minus_00_dot_27) + (isReceptacleObject Pan_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_82) + (isReceptacleObject Cup_bar__plus_00_dot_00_bar__plus_00_dot_92_bar__plus_00_dot_51) + (isReceptacleObject Bowl_bar__minus_01_dot_70_bar__plus_01_dot_47_bar__plus_00_dot_20) + (openable Cabinet_bar__minus_01_dot_70_bar__plus_02_dot_02_bar__minus_01_dot_45) + (openable Cabinet_bar__plus_01_dot_79_bar__plus_02_dot_02_bar__minus_00_dot_82) + (openable Cabinet_bar__minus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15) + (openable Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__plus_00_dot_61) + (openable Drawer_bar__minus_00_dot_70_bar__plus_00_dot_48_bar__minus_01_dot_16) + (openable Drawer_bar__plus_01_dot_50_bar__plus_00_dot_78_bar__plus_01_dot_22) + (openable Cabinet_bar__minus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15) + (openable Cabinet_bar__plus_00_dot_41_bar__plus_00_dot_48_bar__plus_00_dot_45) + (openable Drawer_bar__plus_01_dot_50_bar__plus_00_dot_14_bar__plus_00_dot_60) + (openable Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77) + (openable Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15) + (openable Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__minus_00_dot_02) + (openable Cabinet_bar__minus_00_dot_63_bar__plus_02_dot_02_bar__minus_01_dot_45) + (openable Cabinet_bar__plus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15) + (openable Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__plus_01_dot_22) + (openable Cabinet_bar__plus_01_dot_71_bar__plus_02_dot_02_bar__minus_01_dot_45) + (openable Drawer_bar__plus_01_dot_50_bar__plus_00_dot_60_bar__minus_00_dot_02) + (openable Drawer_bar__plus_01_dot_50_bar__plus_00_dot_52_bar__plus_01_dot_22) + (openable Drawer_bar__plus_00_dot_81_bar__plus_00_dot_48_bar__minus_01_dot_16) + (openable Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01) + + (atLocation agent1 loc_bar_2_bar_11_bar_0_bar_30) + + (cleanable Kettle_bar__plus_01_dot_73_bar__plus_00_dot_91_bar__plus_01_dot_33) + (cleanable Spatula_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__minus_00_dot_91) + (cleanable Mug_bar__plus_01_dot_89_bar__plus_01_dot_00_bar__minus_00_dot_60) + (cleanable DishSponge_bar__plus_00_dot_75_bar__plus_00_dot_67_bar__minus_01_dot_33) + (cleanable Fork_bar__plus_00_dot_11_bar__plus_00_dot_92_bar__plus_00_dot_04) + (cleanable Ladle_bar__plus_01_dot_71_bar__plus_00_dot_74_bar__plus_00_dot_05) + (cleanable Pan_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_38) + (cleanable Plate_bar__minus_01_dot_20_bar__plus_00_dot_11_bar__minus_01_dot_42) + (cleanable Tomato_bar__minus_01_dot_75_bar__plus_00_dot_89_bar__minus_00_dot_18) + (cleanable Apple_bar__minus_01_dot_80_bar__plus_00_dot_09_bar__plus_01_dot_37) + (cleanable Spoon_bar__plus_00_dot_11_bar__plus_00_dot_93_bar__minus_00_dot_19) + (cleanable Bowl_bar__plus_00_dot_21_bar__plus_00_dot_92_bar__plus_00_dot_51) + (cleanable Tomato_bar__minus_01_dot_80_bar__plus_01_dot_73_bar__plus_00_dot_20) + (cleanable Spoon_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_04) + (cleanable ButterKnife_bar__plus_01_dot_66_bar__plus_00_dot_76_bar__plus_01_dot_22) + (cleanable Lettuce_bar__plus_00_dot_00_bar__plus_01_dot_00_bar__plus_01_dot_20) + (cleanable Egg_bar__minus_01_dot_66_bar__plus_00_dot_40_bar__minus_00_dot_27) + (cleanable Ladle_bar__minus_01_dot_90_bar__plus_00_dot_96_bar__minus_00_dot_96) + (cleanable Fork_bar__plus_01_dot_99_bar__plus_00_dot_91_bar__plus_01_dot_33) + (cleanable Lettuce_bar__plus_00_dot_00_bar__plus_01_dot_00_bar__plus_00_dot_04) + (cleanable Pot_bar__plus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_97) + (cleanable Potato_bar__plus_01_dot_55_bar__plus_00_dot_94_bar__plus_01_dot_11) + (cleanable Pot_bar__minus_00_dot_25_bar__plus_00_dot_12_bar__minus_01_dot_35) + (cleanable Lettuce_bar__minus_01_dot_80_bar__plus_01_dot_75_bar__minus_00_dot_18) + (cleanable Apple_bar__plus_01_dot_96_bar__plus_01_dot_06_bar__minus_00_dot_81) + (cleanable Knife_bar__plus_01_dot_76_bar__plus_00_dot_57_bar__plus_01_dot_15) + (cleanable Knife_bar__plus_01_dot_71_bar__plus_00_dot_61_bar__plus_00_dot_13) + (cleanable Bowl_bar__plus_01_dot_23_bar__plus_00_dot_11_bar__minus_01_dot_42) + (cleanable ButterKnife_bar__plus_02_dot_03_bar__plus_00_dot_91_bar__minus_01_dot_51) + (cleanable Fork_bar__plus_00_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_51) + (cleanable ButterKnife_bar__plus_01_dot_76_bar__plus_00_dot_14_bar__plus_01_dot_28) + (cleanable Knife_bar__plus_01_dot_77_bar__plus_00_dot_79_bar__plus_01_dot_37) + (cleanable Pan_bar__minus_00_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_74) + (cleanable Cup_bar__minus_01_dot_63_bar__plus_00_dot_56_bar__minus_00_dot_27) + (cleanable Pan_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_82) + (cleanable Spoon_bar__plus_01_dot_82_bar__plus_00_dot_47_bar__minus_00_dot_16) + (cleanable Cup_bar__plus_00_dot_00_bar__plus_00_dot_92_bar__plus_00_dot_51) + (cleanable Ladle_bar__minus_01_dot_67_bar__plus_00_dot_96_bar__minus_01_dot_51) + (cleanable Bowl_bar__minus_01_dot_70_bar__plus_01_dot_47_bar__plus_00_dot_20) + (cleanable DishSponge_bar__plus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_27) + (cleanable Potato_bar__minus_00_dot_32_bar__plus_00_dot_95_bar__plus_00_dot_27) + + (heatable Mug_bar__plus_01_dot_89_bar__plus_01_dot_00_bar__minus_00_dot_60) + (heatable Plate_bar__minus_01_dot_20_bar__plus_00_dot_11_bar__minus_01_dot_42) + (heatable Tomato_bar__minus_01_dot_75_bar__plus_00_dot_89_bar__minus_00_dot_18) + (heatable Apple_bar__minus_01_dot_80_bar__plus_00_dot_09_bar__plus_01_dot_37) + (heatable Tomato_bar__minus_01_dot_80_bar__plus_01_dot_73_bar__plus_00_dot_20) + (heatable Egg_bar__minus_01_dot_66_bar__plus_00_dot_40_bar__minus_00_dot_27) + (heatable Potato_bar__plus_01_dot_55_bar__plus_00_dot_94_bar__plus_01_dot_11) + (heatable Apple_bar__plus_01_dot_96_bar__plus_01_dot_06_bar__minus_00_dot_81) + (heatable Cup_bar__minus_01_dot_63_bar__plus_00_dot_56_bar__minus_00_dot_27) + (heatable Cup_bar__plus_00_dot_00_bar__plus_00_dot_92_bar__plus_00_dot_51) + (heatable Potato_bar__minus_00_dot_32_bar__plus_00_dot_95_bar__plus_00_dot_27) + (heatable Bread_bar__plus_00_dot_26_bar__plus_00_dot_99_bar__minus_00_dot_09) + (coolable Mug_bar__plus_01_dot_89_bar__plus_01_dot_00_bar__minus_00_dot_60) + (coolable Pan_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_38) + (coolable Plate_bar__minus_01_dot_20_bar__plus_00_dot_11_bar__minus_01_dot_42) + (coolable Tomato_bar__minus_01_dot_75_bar__plus_00_dot_89_bar__minus_00_dot_18) + (coolable Apple_bar__minus_01_dot_80_bar__plus_00_dot_09_bar__plus_01_dot_37) + (coolable Bowl_bar__plus_00_dot_21_bar__plus_00_dot_92_bar__plus_00_dot_51) + (coolable Tomato_bar__minus_01_dot_80_bar__plus_01_dot_73_bar__plus_00_dot_20) + (coolable Lettuce_bar__plus_00_dot_00_bar__plus_01_dot_00_bar__plus_01_dot_20) + (coolable Egg_bar__minus_01_dot_66_bar__plus_00_dot_40_bar__minus_00_dot_27) + (coolable Lettuce_bar__plus_00_dot_00_bar__plus_01_dot_00_bar__plus_00_dot_04) + (coolable Pot_bar__plus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_97) + (coolable Potato_bar__plus_01_dot_55_bar__plus_00_dot_94_bar__plus_01_dot_11) + (coolable Pot_bar__minus_00_dot_25_bar__plus_00_dot_12_bar__minus_01_dot_35) + (coolable Lettuce_bar__minus_01_dot_80_bar__plus_01_dot_75_bar__minus_00_dot_18) + (coolable Apple_bar__plus_01_dot_96_bar__plus_01_dot_06_bar__minus_00_dot_81) + (coolable Bowl_bar__plus_01_dot_23_bar__plus_00_dot_11_bar__minus_01_dot_42) + (coolable Pan_bar__minus_00_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_74) + (coolable Cup_bar__minus_01_dot_63_bar__plus_00_dot_56_bar__minus_00_dot_27) + (coolable Pan_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_82) + (coolable Cup_bar__plus_00_dot_00_bar__plus_00_dot_92_bar__plus_00_dot_51) + (coolable Bowl_bar__minus_01_dot_70_bar__plus_01_dot_47_bar__plus_00_dot_20) + (coolable Potato_bar__minus_00_dot_32_bar__plus_00_dot_95_bar__plus_00_dot_27) + (coolable Bread_bar__plus_00_dot_26_bar__plus_00_dot_99_bar__minus_00_dot_09) + + + + + + (sliceable Tomato_bar__minus_01_dot_75_bar__plus_00_dot_89_bar__minus_00_dot_18) + (sliceable Apple_bar__minus_01_dot_80_bar__plus_00_dot_09_bar__plus_01_dot_37) + (sliceable Tomato_bar__minus_01_dot_80_bar__plus_01_dot_73_bar__plus_00_dot_20) + (sliceable Lettuce_bar__plus_00_dot_00_bar__plus_01_dot_00_bar__plus_01_dot_20) + (sliceable Egg_bar__minus_01_dot_66_bar__plus_00_dot_40_bar__minus_00_dot_27) + (sliceable Lettuce_bar__plus_00_dot_00_bar__plus_01_dot_00_bar__plus_00_dot_04) + (sliceable Potato_bar__plus_01_dot_55_bar__plus_00_dot_94_bar__plus_01_dot_11) + (sliceable Lettuce_bar__minus_01_dot_80_bar__plus_01_dot_75_bar__minus_00_dot_18) + (sliceable Apple_bar__plus_01_dot_96_bar__plus_01_dot_06_bar__minus_00_dot_81) + (sliceable Potato_bar__minus_00_dot_32_bar__plus_00_dot_95_bar__plus_00_dot_27) + (sliceable Bread_bar__plus_00_dot_26_bar__plus_00_dot_99_bar__minus_00_dot_09) + + (inReceptacle Pot_bar__minus_00_dot_25_bar__plus_00_dot_12_bar__minus_01_dot_35 Cabinet_bar__minus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15) + (inReceptacle DishSponge_bar__plus_00_dot_75_bar__plus_00_dot_67_bar__minus_01_dot_33 Drawer_bar__plus_00_dot_81_bar__plus_00_dot_48_bar__minus_01_dot_16) + (inReceptacle Pan_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_82 StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_60) + (inReceptacle Ladle_bar__plus_01_dot_71_bar__plus_00_dot_74_bar__plus_00_dot_05 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__minus_00_dot_02) + (inReceptacle Knife_bar__plus_01_dot_71_bar__plus_00_dot_61_bar__plus_00_dot_13 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_60_bar__minus_00_dot_02) + (inReceptacle Pan_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_38 StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_38) + (inReceptacle SaltShaker_bar__minus_01_dot_96_bar__plus_01_dot_66_bar__minus_01_dot_36 Cabinet_bar__minus_01_dot_70_bar__plus_02_dot_02_bar__minus_01_dot_45) + (inReceptacle Bowl_bar__plus_01_dot_23_bar__plus_00_dot_11_bar__minus_01_dot_42 Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15) + (inReceptacle Pan_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_38 StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_60) + (inReceptacle Spoon_bar__plus_01_dot_82_bar__plus_00_dot_47_bar__minus_00_dot_16 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__minus_00_dot_02) + (inReceptacle Pan_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_82 StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_82) + (inReceptacle Knife_bar__plus_01_dot_76_bar__plus_00_dot_57_bar__plus_01_dot_15 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_52_bar__plus_01_dot_22) + (inReceptacle CellPhone_bar__plus_01_dot_81_bar__plus_00_dot_46_bar__plus_01_dot_28 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_52_bar__plus_01_dot_22) + (inReceptacle Ladle_bar__minus_01_dot_90_bar__plus_00_dot_96_bar__minus_00_dot_96 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Kettle_bar__plus_01_dot_73_bar__plus_00_dot_91_bar__plus_01_dot_33 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Fork_bar__plus_01_dot_99_bar__plus_00_dot_91_bar__plus_01_dot_33 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Spatula_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__minus_00_dot_91 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Pan_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_82 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Potato_bar__plus_01_dot_55_bar__plus_00_dot_94_bar__plus_01_dot_11 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Ladle_bar__minus_01_dot_67_bar__plus_00_dot_96_bar__minus_01_dot_51 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Pan_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_38 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Window_bar__plus_02_dot_22_bar__plus_01_dot_57_bar__minus_00_dot_39 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle ButterKnife_bar__plus_02_dot_03_bar__plus_00_dot_91_bar__minus_01_dot_51 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Fork_bar__plus_00_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_51 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Window_bar__minus_00_dot_01_bar__plus_01_dot_58_bar__minus_01_dot_82 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle SaltShaker_bar__plus_01_dot_61_bar__plus_00_dot_69_bar__plus_00_dot_41 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__plus_00_dot_61) + (inReceptacle PepperShaker_bar__minus_00_dot_74_bar__plus_01_dot_68_bar__minus_01_dot_69 Cabinet_bar__minus_00_dot_63_bar__plus_02_dot_02_bar__minus_01_dot_45) + (inReceptacle SaltShaker_bar__minus_00_dot_87_bar__plus_01_dot_68_bar__minus_01_dot_73 Cabinet_bar__minus_00_dot_63_bar__plus_02_dot_02_bar__minus_01_dot_45) + (inReceptacle Pan_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_38 StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_38) + (inReceptacle ButterKnife_bar__plus_01_dot_66_bar__plus_00_dot_76_bar__plus_01_dot_22 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_78_bar__plus_01_dot_22) + (inReceptacle Knife_bar__plus_01_dot_77_bar__plus_00_dot_79_bar__plus_01_dot_37 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_78_bar__plus_01_dot_22) + (inReceptacle SoapBottle_bar__plus_00_dot_32_bar__plus_00_dot_93_bar__plus_01_dot_20 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Spoon_bar__plus_00_dot_11_bar__plus_00_dot_93_bar__minus_00_dot_19 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Pan_bar__minus_00_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_74 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Bowl_bar__plus_00_dot_21_bar__plus_00_dot_92_bar__plus_00_dot_51 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Lettuce_bar__plus_00_dot_00_bar__plus_01_dot_00_bar__plus_00_dot_04 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Pot_bar__plus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_97 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Fork_bar__plus_00_dot_11_bar__plus_00_dot_92_bar__plus_00_dot_04 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Spoon_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_04 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Cup_bar__plus_00_dot_00_bar__plus_00_dot_92_bar__plus_00_dot_51 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle DishSponge_bar__plus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_27 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Potato_bar__minus_00_dot_32_bar__plus_00_dot_95_bar__plus_00_dot_27 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Bread_bar__plus_00_dot_26_bar__plus_00_dot_99_bar__minus_00_dot_09 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Lettuce_bar__plus_00_dot_00_bar__plus_01_dot_00_bar__plus_01_dot_20 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle ButterKnife_bar__plus_01_dot_76_bar__plus_00_dot_14_bar__plus_01_dot_28 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__plus_01_dot_22) + (inReceptacle Pan_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_82 StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_82) + (inReceptacle PepperShaker_bar__minus_01_dot_15_bar__plus_00_dot_11_bar__minus_01_dot_61 Cabinet_bar__minus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15) + (inReceptacle Plate_bar__minus_01_dot_20_bar__plus_00_dot_11_bar__minus_01_dot_42 Cabinet_bar__minus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15) + (inReceptacle Apple_bar__minus_01_dot_80_bar__plus_00_dot_09_bar__plus_01_dot_37 GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_01_dot_33) + (inReceptacle Apple_bar__plus_01_dot_96_bar__plus_01_dot_06_bar__minus_00_dot_81 Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77) + (inReceptacle Mug_bar__plus_01_dot_89_bar__plus_01_dot_00_bar__minus_00_dot_60 Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77) + (inReceptacle Cup_bar__minus_01_dot_63_bar__plus_00_dot_56_bar__minus_00_dot_27 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01) + (inReceptacle Lettuce_bar__minus_01_dot_80_bar__plus_01_dot_75_bar__minus_00_dot_18 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01) + (inReceptacle Tomato_bar__minus_01_dot_80_bar__plus_01_dot_73_bar__plus_00_dot_20 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01) + (inReceptacle Tomato_bar__minus_01_dot_75_bar__plus_00_dot_89_bar__minus_00_dot_18 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01) + (inReceptacle Bowl_bar__minus_01_dot_70_bar__plus_01_dot_47_bar__plus_00_dot_20 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01) + 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Tomato_bar__minus_01_dot_75_bar__plus_00_dot_89_bar__minus_00_dot_18 loc_bar__minus_3_bar_0_bar_3_bar_60) + (objectAtLocation Potato_bar__minus_00_dot_32_bar__plus_00_dot_95_bar__plus_00_dot_27 loc_bar_3_bar_2_bar_3_bar_45) + (objectAtLocation DishSponge_bar__plus_00_dot_75_bar__plus_00_dot_67_bar__minus_01_dot_33 loc_bar_5_bar_0_bar_2_bar_45) + (objectAtLocation Spoon_bar__plus_00_dot_11_bar__plus_00_dot_93_bar__minus_00_dot_19 loc_bar_3_bar_2_bar_3_bar_45) + (objectAtLocation Mug_bar__plus_01_dot_89_bar__plus_01_dot_00_bar__minus_00_dot_60 loc_bar_4_bar__minus_3_bar_1_bar_45) + (objectAtLocation Bowl_bar__minus_01_dot_70_bar__plus_01_dot_47_bar__plus_00_dot_20 loc_bar__minus_3_bar_0_bar_3_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o PanType) + (receptacleType ?r SinkBasinType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git 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}, + { + "objectName": "Apple_487a7950", + "position": { + "x": -1.796, + "y": 0.09461791, + "z": 1.37116122 + }, + "rotation": { + "x": 0.0, + "y": 269.999939, + "z": 0.0 + } + }, + { + "objectName": "Knife_e0496240", + "position": { + "x": 1.76926708, + "y": 0.7852966, + "z": 1.36581 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": -7.062251e-30 + } + }, + { + "objectName": "SaltShaker_586649ce", + "position": { + "x": 1.6107775, + "y": 0.691707, + "z": 0.41386044 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_14add4df", + "position": { + "x": -0.744763732, + "y": 1.67594481, + "z": -1.69013023 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CellPhone_6cb12d41", + "position": { + "x": 1.81233084, + "y": 0.459169626, + "z": 1.284925 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_4f8c70c0", + "position": { + "x": 1.76229656, + "y": 0.1412848, + "z": 1.284925 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_48e00ad2", + "position": { + "x": 0.259214, + "y": 0.987441063, + "z": -0.09273726 + }, + "rotation": { + "x": 359.811371, + "y": 330.871155, + "z": 359.923218 + } + }, + { + "objectName": "Tomato_448791c6", + "position": { + "x": -1.80318034, + "y": 1.73225, + "z": 0.201504588 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Potato_5e728867", + "position": { + "x": 1.55363727, + "y": 0.9352317, + "z": 1.10763264 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_e1c57c26", + "position": { + "x": 0.214458212, + "y": 0.9251642, + "z": 0.273899674 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_bfeb74cb", + "position": { + "x": -0.21363543, + "y": 0.9267294, + "z": 0.0417993069 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_b045e42b", + "position": { + "x": 1.89233732, + "y": 1.00142312, + "z": -0.5996125 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_253fa632", + "position": { + "x": 0.214458212, + "y": 0.9240406, + "z": 0.506000042 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 1659685403, + "scene_num": 2 + }, + "task_id": "trial_T20190907_211728_072381", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1DMXEJGJY02E1_3FE7TXL1LL4K360PKQ4GHLHMO2SQ22", + "high_descs": [ + "Turn around and go to the stove.", + "Pick up the pan on the back right burner.", + "Go to the sink on your right.", + "Put the pan in the sink." + ], + "task_desc": "Put a pan in the sink.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A38Z99XF4NDNH0_3KWTYT0873K1B63ZA4YIY6L4Y5PL50", + "high_descs": [ + "Move to face the stove top on top of the kitchen counter", + "Pick up the pan sitting on the back right burner", + "Turn and carry the pan to the kitchen sink", + "Place the pan in the kitchen sink" + ], + "task_desc": "Move a pan to the sink", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2A4UAFZ5LW71K_3YHH42UU5EW2GZHYDYS6HBPDHXAL0B", + "high_descs": [ + "turn right, turn right, walk across and stop to turn left and face the stove", + "pick up the pan that is on the stove", + "turn right, walk forward, turn right, turn left to face the sink", + "put the pan in the sink" + ], + "task_desc": "take a pan to the sink", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Plunger-None-Cabinet-402/trial_T20190907_125900_688389/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Plunger-None-Cabinet-402/trial_T20190907_125900_688389/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..03c54189993a90ba0893e34501df35eddcd8d37d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Plunger-None-Cabinet-402/trial_T20190907_125900_688389/initial_state.pddl @@ -0,0 +1,511 @@ + +(define (problem plan_trial_T20190907_125900_688389) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Bathtub_bar__minus_02_dot_90_bar__plus_00_dot_67_bar__plus_02_dot_86 - object + Candle_bar__minus_02_dot_84_bar__plus_00_dot_69_bar__plus_02_dot_92 - object + Candle_bar__minus_03_dot_30_bar__plus_00_dot_69_bar__plus_01_dot_89 - object + Candle_bar__minus_03_dot_89_bar__plus_00_dot_55_bar__plus_00_dot_93 - object + Cloth_bar__minus_03_dot_66_bar__plus_00_dot_54_bar__plus_00_dot_93 - 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_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_02_dot_18_bar__plus_00_dot_03_bar__plus_04_dot_97 - object + SoapBar_bar__minus_03_dot_70_bar__plus_00_dot_19_bar__plus_02_dot_66 - object + SoapBottle_bar__minus_01_dot_01_bar__plus_00_dot_97_bar__plus_04_dot_80 - object + SoapBottle_bar__minus_03_dot_60_bar__plus_00_dot_55_bar__plus_00_dot_56 - object + SoapBottle_bar__minus_03_dot_83_bar__plus_00_dot_55_bar__plus_01_dot_11 - object + SprayBottle_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__plus_03_dot_35 - object + SprayBottle_bar__minus_00_dot_39_bar__plus_00_dot_04_bar__plus_04_dot_95 - object + TissueBox_bar__minus_01_dot_23_bar__plus_00_dot_04_bar__plus_04_dot_95 - object + ToiletPaper_bar__minus_00_dot_29_bar__plus_00_dot_04_bar__plus_04_dot_83 - object + ToiletPaper_bar__minus_00_dot_71_bar__plus_00_dot_03_bar__plus_04_dot_77 - object + ToiletPaper_bar__minus_03_dot_83_bar__plus_00_dot_67_bar__plus_01_dot_87 - 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_12_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__minus_01_dot_96_bar__plus_00_dot_36_bar__plus_04_dot_63 CabinetType) + (receptacleType HandTowelHolder_bar__minus_02_dot_09_bar__plus_01_dot_54_bar__plus_05_dot_15 HandTowelHolderType) + (receptacleType TowelHolder_bar__minus_00_dot_07_bar__plus_01_dot_41_bar__plus_02_dot_43 TowelHolderType) + (receptacleType Cabinet_bar__minus_00_dot_12_bar__plus_00_dot_36_bar__plus_04_dot_63 CabinetType) + (receptacleType ToiletPaperHanger_bar__minus_00_dot_07_bar__plus_01_dot_13_bar__plus_03_dot_69 ToiletPaperHangerType) + (receptacleType Cabinet_bar__minus_01_dot_03_bar__plus_00_dot_36_bar__plus_04_dot_63 CabinetType) + (receptacleType Sink_bar__minus_01_dot_53_bar__plus_00_dot_93_bar__plus_04_dot_87_bar_SinkBasin SinkBasinType) + (receptacleType Bathtub_bar__minus_02_dot_90_bar__plus_00_dot_67_bar__plus_02_dot_86_bar_BathtubBasin BathtubBasinType) + (receptacleType CounterTop_bar__minus_01_dot_02_bar__plus_00_dot_95_bar__plus_04_dot_88 CounterTopType) + (receptacleType Cabinet_bar__minus_01_dot_06_bar__plus_00_dot_36_bar__plus_04_dot_63 CabinetType) + (receptacleType TowelHolder_bar__minus_01_dot_72_bar__plus_01_dot_21_bar__plus_01_dot_74 TowelHolderType) + (receptacleType HandTowelHolder_bar__minus_00_dot_07_bar__plus_01_dot_57_bar__plus_04_dot_81 HandTowelHolderType) + (receptacleType Toilet_bar__minus_00_dot_52_bar_00_dot_00_bar__plus_03_dot_22 ToiletType) + (receptacleType Shelf_bar__minus_03_dot_71_bar__plus_00_dot_53_bar__plus_00_dot_95 ShelfType) + (receptacleType Sink_bar__minus_00_dot_58_bar__plus_00_dot_93_bar__plus_04_dot_87_bar_SinkBasin SinkBasinType) + (receptacleType GarbageCan_bar__minus_02_dot_20_bar_00_dot_00_bar__plus_04_dot_95 GarbageCanType) + (objectType Plunger_bar__minus_00_dot_21_bar_00_dot_00_bar__plus_03_dot_54 PlungerType) + (objectType Bathtub_bar__minus_02_dot_90_bar__plus_00_dot_67_bar__plus_02_dot_86 BathtubType) + (objectType HandTowel_bar__minus_02_dot_09_bar__plus_01_dot_44_bar__plus_05_dot_11 HandTowelType) + (objectType Candle_bar__minus_03_dot_30_bar__plus_00_dot_69_bar__plus_01_dot_89 CandleType) + (objectType TissueBox_bar__minus_01_dot_23_bar__plus_00_dot_04_bar__plus_04_dot_95 TissueBoxType) + (objectType LightSwitch_bar__minus_02_dot_50_bar__plus_01_dot_37_bar__plus_05_dot_15 LightSwitchType) + (objectType ShowerGlass_bar__plus_00_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_00 ShowerGlassType) + (objectType Candle_bar__minus_02_dot_84_bar__plus_00_dot_69_bar__plus_02_dot_92 CandleType) + (objectType SoapBottle_bar__minus_01_dot_01_bar__plus_00_dot_97_bar__plus_04_dot_80 SoapBottleType) + (objectType Sink_bar__minus_01_dot_53_bar__plus_00_dot_93_bar__plus_04_dot_87 SinkType) + (objectType Sink_bar__minus_00_dot_58_bar__plus_00_dot_93_bar__plus_04_dot_87 SinkType) + (objectType ToiletPaper_bar__minus_00_dot_71_bar__plus_00_dot_03_bar__plus_04_dot_77 ToiletPaperType) + (objectType Towel_bar__minus_01_dot_72_bar__plus_01_dot_23_bar__plus_01_dot_85 TowelType) + (objectType ToiletPaper_bar__minus_00_dot_29_bar__plus_00_dot_04_bar__plus_04_dot_83 ToiletPaperType) + (objectType ToiletPaper_bar__minus_03_dot_83_bar__plus_00_dot_67_bar__plus_01_dot_87 ToiletPaperType) + (objectType SprayBottle_bar__minus_00_dot_39_bar__plus_00_dot_04_bar__plus_04_dot_95 SprayBottleType) + (objectType Window_bar__minus_01_dot_99_bar__plus_01_dot_89_bar__plus_00_dot_14 WindowType) + (objectType ScrubBrush_bar__minus_00_dot_23_bar_00_dot_00_bar__plus_03_dot_86 ScrubBrushType) + (objectType SoapBottle_bar__minus_03_dot_60_bar__plus_00_dot_55_bar__plus_00_dot_56 SoapBottleType) + (objectType SprayBottle_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__plus_03_dot_35 SprayBottleType) + (objectType ShowerDoor_bar__minus_00_dot_28_bar__plus_01_dot_23_bar__plus_01_dot_73 ShowerDoorType) + (objectType Cloth_bar__minus_03_dot_66_bar__plus_00_dot_54_bar__plus_00_dot_93 ClothType) + (objectType SoapBottle_bar__minus_03_dot_83_bar__plus_00_dot_55_bar__plus_01_dot_11 SoapBottleType) + (objectType SoapBar_bar__minus_02_dot_18_bar__plus_00_dot_03_bar__plus_04_dot_97 SoapBarType) + (objectType Mirror_bar__minus_00_dot_98_bar__plus_01_dot_58_bar__plus_05_dot_15 MirrorType) + (objectType SoapBar_bar__minus_03_dot_70_bar__plus_00_dot_19_bar__plus_02_dot_66 SoapBarType) + (objectType Candle_bar__minus_03_dot_89_bar__plus_00_dot_55_bar__plus_00_dot_93 CandleType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType TissueBoxType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain HandTowelHolderType HandTowelType) + (canContain TowelHolderType TowelType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType TissueBoxType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType TissueBoxType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain BathtubBasinType ClothType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain CounterTopType CandleType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType TissueBoxType) + (canContain CounterTopType HandTowelType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType TissueBoxType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain TowelHolderType TowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType ClothType) + (canContain ToiletType CandleType) + (canContain ToiletType SoapBarType) + (canContain ToiletType SprayBottleType) + (canContain ToiletType TissueBoxType) + (canContain ShelfType CandleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType ClothType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType TissueBoxType) + (canContain GarbageCanType HandTowelType) + (pickupable Plunger_bar__minus_00_dot_21_bar_00_dot_00_bar__plus_03_dot_54) + (pickupable HandTowel_bar__minus_02_dot_09_bar__plus_01_dot_44_bar__plus_05_dot_11) + (pickupable Candle_bar__minus_03_dot_30_bar__plus_00_dot_69_bar__plus_01_dot_89) + (pickupable TissueBox_bar__minus_01_dot_23_bar__plus_00_dot_04_bar__plus_04_dot_95) + (pickupable Candle_bar__minus_02_dot_84_bar__plus_00_dot_69_bar__plus_02_dot_92) + (pickupable SoapBottle_bar__minus_01_dot_01_bar__plus_00_dot_97_bar__plus_04_dot_80) + (pickupable ToiletPaper_bar__minus_00_dot_71_bar__plus_00_dot_03_bar__plus_04_dot_77) + (pickupable Towel_bar__minus_01_dot_72_bar__plus_01_dot_23_bar__plus_01_dot_85) + (pickupable ToiletPaper_bar__minus_00_dot_29_bar__plus_00_dot_04_bar__plus_04_dot_83) + (pickupable ToiletPaper_bar__minus_03_dot_83_bar__plus_00_dot_67_bar__plus_01_dot_87) + (pickupable SprayBottle_bar__minus_00_dot_39_bar__plus_00_dot_04_bar__plus_04_dot_95) + (pickupable ScrubBrush_bar__minus_00_dot_23_bar_00_dot_00_bar__plus_03_dot_86) + (pickupable SoapBottle_bar__minus_03_dot_60_bar__plus_00_dot_55_bar__plus_00_dot_56) + (pickupable SprayBottle_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__plus_03_dot_35) + (pickupable Cloth_bar__minus_03_dot_66_bar__plus_00_dot_54_bar__plus_00_dot_93) + (pickupable SoapBottle_bar__minus_03_dot_83_bar__plus_00_dot_55_bar__plus_01_dot_11) + (pickupable SoapBar_bar__minus_02_dot_18_bar__plus_00_dot_03_bar__plus_04_dot_97) + (pickupable SoapBar_bar__minus_03_dot_70_bar__plus_00_dot_19_bar__plus_02_dot_66) + (pickupable Candle_bar__minus_03_dot_89_bar__plus_00_dot_55_bar__plus_00_dot_93) + + (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) + (openable Cabinet_bar__minus_01_dot_06_bar__plus_00_dot_36_bar__plus_04_dot_63) + + (atLocation agent1 loc_bar__minus_10_bar_12_bar_3_bar_30) + + (cleanable Cloth_bar__minus_03_dot_66_bar__plus_00_dot_54_bar__plus_00_dot_93) + (cleanable SoapBar_bar__minus_02_dot_18_bar__plus_00_dot_03_bar__plus_04_dot_97) + (cleanable SoapBar_bar__minus_03_dot_70_bar__plus_00_dot_19_bar__plus_02_dot_66) + + + + + + + + + + + (inReceptacle SoapBar_bar__minus_03_dot_70_bar__plus_00_dot_19_bar__plus_02_dot_66 Bathtub_bar__minus_02_dot_90_bar__plus_00_dot_67_bar__plus_02_dot_86_bar_BathtubBasin) + (inReceptacle SprayBottle_bar__minus_00_dot_39_bar__plus_00_dot_04_bar__plus_04_dot_95 Cabinet_bar__minus_00_dot_12_bar__plus_00_dot_36_bar__plus_04_dot_63) + (inReceptacle ToiletPaper_bar__minus_00_dot_29_bar__plus_00_dot_04_bar__plus_04_dot_83 Cabinet_bar__minus_00_dot_12_bar__plus_00_dot_36_bar__plus_04_dot_63) + (inReceptacle SoapBar_bar__minus_02_dot_18_bar__plus_00_dot_03_bar__plus_04_dot_97 GarbageCan_bar__minus_02_dot_20_bar_00_dot_00_bar__plus_04_dot_95) + (inReceptacle SoapBottle_bar__minus_01_dot_01_bar__plus_00_dot_97_bar__plus_04_dot_80 CounterTop_bar__minus_01_dot_02_bar__plus_00_dot_95_bar__plus_04_dot_88) + (inReceptacle ToiletPaper_bar__minus_00_dot_71_bar__plus_00_dot_03_bar__plus_04_dot_77 Cabinet_bar__minus_01_dot_03_bar__plus_00_dot_36_bar__plus_04_dot_63) + (inReceptacle TissueBox_bar__minus_01_dot_23_bar__plus_00_dot_04_bar__plus_04_dot_95 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 SoapBottle_bar__minus_03_dot_60_bar__plus_00_dot_55_bar__plus_00_dot_56 Shelf_bar__minus_03_dot_71_bar__plus_00_dot_53_bar__plus_00_dot_95) + (inReceptacle Cloth_bar__minus_03_dot_66_bar__plus_00_dot_54_bar__plus_00_dot_93 Shelf_bar__minus_03_dot_71_bar__plus_00_dot_53_bar__plus_00_dot_95) + (inReceptacle SoapBottle_bar__minus_03_dot_83_bar__plus_00_dot_55_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_89_bar__plus_00_dot_55_bar__plus_00_dot_93 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 SprayBottle_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__plus_03_dot_35 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_00_dot_16_bar__plus_01_dot_05_bar__plus_03_dot_35 loc_bar__minus_2_bar_10_bar_0_bar_60) + (objectAtLocation ToiletPaper_bar__minus_03_dot_83_bar__plus_00_dot_67_bar__plus_01_dot_87 loc_bar__minus_10_bar_11_bar_3_bar_60) + (objectAtLocation SoapBar_bar__minus_02_dot_18_bar__plus_00_dot_03_bar__plus_04_dot_97 loc_bar__minus_11_bar_16_bar_0_bar_60) + (objectAtLocation SoapBottle_bar__minus_03_dot_83_bar__plus_00_dot_55_bar__plus_01_dot_11 loc_bar__minus_9_bar_8_bar_3_bar_30) + (objectAtLocation Candle_bar__minus_03_dot_30_bar__plus_00_dot_69_bar__plus_01_dot_89 loc_bar__minus_10_bar_11_bar_3_bar_60) + (objectAtLocation SoapBottle_bar__minus_01_dot_01_bar__plus_00_dot_97_bar__plus_04_dot_80 loc_bar__minus_4_bar_17_bar_0_bar_45) + (objectAtLocation Candle_bar__minus_03_dot_89_bar__plus_00_dot_55_bar__plus_00_dot_93 loc_bar__minus_9_bar_8_bar_3_bar_30) + (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_84_bar__plus_00_dot_69_bar__plus_02_dot_92 loc_bar__minus_10_bar_11_bar_3_bar_60) + (objectAtLocation SoapBottle_bar__minus_03_dot_60_bar__plus_00_dot_55_bar__plus_00_dot_56 loc_bar__minus_9_bar_8_bar_3_bar_30) + (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 loc_bar__minus_10_bar_18_bar_0_bar_30) + (objectAtLocation SoapBar_bar__minus_03_dot_70_bar__plus_00_dot_19_bar__plus_02_dot_66 loc_bar__minus_10_bar_11_bar_3_bar_60) + (objectAtLocation ToiletPaper_bar__minus_00_dot_29_bar__plus_00_dot_04_bar__plus_04_dot_83 loc_bar__minus_3_bar_15_bar_0_bar_60) + (objectAtLocation TissueBox_bar__minus_01_dot_23_bar__plus_00_dot_04_bar__plus_04_dot_95 loc_bar__minus_7_bar_15_bar_0_bar_60) + (objectAtLocation Cloth_bar__minus_03_dot_66_bar__plus_00_dot_54_bar__plus_00_dot_93 loc_bar__minus_9_bar_8_bar_3_bar_30) + (objectAtLocation ToiletPaper_bar__minus_00_dot_71_bar__plus_00_dot_03_bar__plus_04_dot_77 loc_bar__minus_5_bar_15_bar_0_bar_60) + (objectAtLocation SprayBottle_bar__minus_00_dot_39_bar__plus_00_dot_04_bar__plus_04_dot_95 loc_bar__minus_3_bar_15_bar_0_bar_60) + (objectAtLocation ScrubBrush_bar__minus_00_dot_23_bar_00_dot_00_bar__plus_03_dot_86 loc_bar__minus_2_bar_15_bar_1_bar_60) + (objectAtLocation Plunger_bar__minus_00_dot_21_bar_00_dot_00_bar__plus_03_dot_54 loc_bar__minus_2_bar_15_bar_1_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o PlungerType) + (receptacleType ?r CabinetType) + ) + ) + ) + ) + ) + ) + \ No 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+ } + }, + { + "objectName": "SoapBottle_da083838", + "position": { + "x": -3.828092, + "y": 0.5467022, + "z": 1.10925019 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "HandTowel_7e5c3972", + "position": { + "x": -2.09399986, + "y": 1.442, + "z": 5.1077 + }, + "rotation": { + "x": 0.0, + "y": -0.000201490577, + "z": 0.0 + } + }, + { + "objectName": "Towel_776cfda6", + "position": { + "x": -1.71999967, + "y": 1.228, + "z": 1.8469 + }, + "rotation": { + "x": 0.0, + "y": 0.000169047154, + "z": 0.0 + } + }, + { + "objectName": "SoapBar_88d79301", + "position": { + "x": -2.176287, + "y": 0.0346123278, + "z": 4.9736433 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ToiletPaper_1e7dc481", + "position": { + "x": -0.294730216, + "y": 0.0364457369, + "z": 4.828349 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "TissueBox_a8e7eab7", + "position": { + "x": -1.22980022, + "y": 0.0401453078, + "z": 4.946959 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cloth_576a2369", + "position": { + "x": -3.65545416, + "y": 0.5418798, + "z": 0.925313354 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "ToiletPaper_832c52fc", + "position": { + "x": -3.83342934, + "y": 0.673212945, + "z": 1.86628044 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "SprayBottle_5e1f325d", + "position": { + "x": -0.163366169, + "y": 1.04577291, + "z": 3.354586 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "ScrubBrush_48a339cf", + "position": { + "x": -0.231531024, + "y": -0.000328551978, + "z": 3.857473 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plunger_e4826671", + "position": { + "x": -0.212999284, + "y": -0.000791542232, + "z": 3.536999 + }, + "rotation": { + "x": -0.00118052587, + "y": 0.0004404002, + "z": 0.000781602052 + } + } + ], + "object_toggles": [], + "random_seed": 3904046972, + "scene_num": 402 + }, + "task_id": "trial_T20190907_125900_688389", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3T9K2RY06UO14_3AAJC4I4FJ9TNUZOE7TL7VF7V25ZJ6", + "high_descs": [ + "Turn around and go to the toilet", + "Pick up the toilet plunger next to the toilet.", + "Turn left and go to the cabinet.", + "Put the toilet plunger in the cabinet on the right" + ], + "task_desc": "Put away the toilet plunger in the cabinet. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A272X64FOZFYLB_3QRYMNZ7F1YTK8HANDWVEEV7JQ6NT0", + "high_descs": [ + "Turn around and walk to the plunger on the floor by the toilet.", + "Pick up the plunger from the floor.", + "Turn left to face the drawers.", + "Open the bottom right drawer and put the plunger in it." + ], + "task_desc": "Move a plunger from the floor to a drawer.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1NWXL4QO30M8U_3RUIQRXJBE5FDV6K2REPFVH1KI0LL9", + "high_descs": [ + "Turn around and walk across the room. ", + "Look down and pick up the toilet plunger underneath the towel rack. ", + "Turn to the right and face the cupboards. ", + "Open the cupboard on the right and place the plunger inside behind the toilet paper. " + ], + "task_desc": "To move the plunger to a cabinet. ", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Plunger-None-Cabinet-402/trial_T20190907_125914_586736/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Plunger-None-Cabinet-402/trial_T20190907_125914_586736/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..34ec353e428448d189ab943056031933d0095540 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Plunger-None-Cabinet-402/trial_T20190907_125914_586736/initial_state.pddl @@ -0,0 +1,520 @@ + +(define (problem plan_trial_T20190907_125914_586736) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Bathtub_bar__minus_02_dot_90_bar__plus_00_dot_67_bar__plus_02_dot_86 - object + Candle_bar__minus_00_dot_22_bar__plus_01_dot_05_bar__plus_03_dot_35 - object + Candle_bar__minus_03_dot_66_bar__plus_00_dot_55_bar__plus_00_dot_93 - object + Cloth_bar__minus_03_dot_66_bar__plus_00_dot_54_bar__plus_00_dot_56 - object + Cloth_bar__minus_03_dot_77_bar__plus_00_dot_54_bar__plus_01_dot_11 - object + Cloth_bar__minus_03_dot_83_bar__plus_00_dot_54_bar__plus_01_dot_48 - 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 + 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_01_dot_28_bar__plus_00_dot_04_bar__plus_04_dot_89 - object + SoapBar_bar__minus_03_dot_12_bar__plus_00_dot_68_bar__plus_01_dot_87 - object + SoapBottle_bar__minus_03_dot_77_bar__plus_00_dot_55_bar__plus_00_dot_93 - object + SprayBottle_bar__minus_01_dot_10_bar__plus_00_dot_96_bar__plus_04_dot_80 - object + SprayBottle_bar__minus_03_dot_77_bar__plus_00_dot_54_bar__plus_00_dot_74 - object + TissueBox_bar__minus_00_dot_29_bar__plus_00_dot_04_bar__plus_04_dot_77 - object + TissueBox_bar__minus_03_dot_54_bar__plus_00_dot_54_bar__plus_00_dot_37 - object + TissueBox_bar__minus_03_dot_71_bar__plus_00_dot_54_bar__plus_00_dot_37 - object + ToiletPaper_bar__minus_00_dot_15_bar__plus_01_dot_13_bar__plus_03_dot_71 - object + ToiletPaper_bar__minus_00_dot_34_bar__plus_00_dot_04_bar__plus_05_dot_07 - object + ToiletPaper_bar__minus_03_dot_83_bar__plus_00_dot_54_bar__plus_01_dot_29 - 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_5_bar_8_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__minus_01_dot_96_bar__plus_00_dot_36_bar__plus_04_dot_63 CabinetType) + (receptacleType HandTowelHolder_bar__minus_02_dot_09_bar__plus_01_dot_54_bar__plus_05_dot_15 HandTowelHolderType) + (receptacleType TowelHolder_bar__minus_00_dot_07_bar__plus_01_dot_41_bar__plus_02_dot_43 TowelHolderType) + (receptacleType Cabinet_bar__minus_00_dot_12_bar__plus_00_dot_36_bar__plus_04_dot_63 CabinetType) + (receptacleType ToiletPaperHanger_bar__minus_00_dot_07_bar__plus_01_dot_13_bar__plus_03_dot_69 ToiletPaperHangerType) + (receptacleType Cabinet_bar__minus_01_dot_03_bar__plus_00_dot_36_bar__plus_04_dot_63 CabinetType) + (receptacleType Sink_bar__minus_01_dot_53_bar__plus_00_dot_93_bar__plus_04_dot_87_bar_SinkBasin SinkBasinType) + (receptacleType Bathtub_bar__minus_02_dot_90_bar__plus_00_dot_67_bar__plus_02_dot_86_bar_BathtubBasin BathtubBasinType) + (receptacleType CounterTop_bar__minus_01_dot_02_bar__plus_00_dot_95_bar__plus_04_dot_88 CounterTopType) + (receptacleType Cabinet_bar__minus_01_dot_06_bar__plus_00_dot_36_bar__plus_04_dot_63 CabinetType) + (receptacleType TowelHolder_bar__minus_01_dot_72_bar__plus_01_dot_21_bar__plus_01_dot_74 TowelHolderType) + (receptacleType HandTowelHolder_bar__minus_00_dot_07_bar__plus_01_dot_57_bar__plus_04_dot_81 HandTowelHolderType) + (receptacleType Toilet_bar__minus_00_dot_52_bar_00_dot_00_bar__plus_03_dot_22 ToiletType) + (receptacleType Shelf_bar__minus_03_dot_71_bar__plus_00_dot_53_bar__plus_00_dot_95 ShelfType) + (receptacleType Sink_bar__minus_00_dot_58_bar__plus_00_dot_93_bar__plus_04_dot_87_bar_SinkBasin SinkBasinType) + (receptacleType GarbageCan_bar__minus_02_dot_20_bar_00_dot_00_bar__plus_04_dot_95 GarbageCanType) + (objectType Plunger_bar__minus_00_dot_21_bar_00_dot_00_bar__plus_03_dot_54 PlungerType) + (objectType Candle_bar__minus_00_dot_22_bar__plus_01_dot_05_bar__plus_03_dot_35 CandleType) + (objectType Bathtub_bar__minus_02_dot_90_bar__plus_00_dot_67_bar__plus_02_dot_86 BathtubType) + (objectType Cloth_bar__minus_03_dot_77_bar__plus_00_dot_54_bar__plus_01_dot_11 ClothType) + (objectType LightSwitch_bar__minus_02_dot_50_bar__plus_01_dot_37_bar__plus_05_dot_15 LightSwitchType) + (objectType ShowerGlass_bar__plus_00_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_00 ShowerGlassType) + (objectType SoapBar_bar__minus_03_dot_12_bar__plus_00_dot_68_bar__plus_01_dot_87 SoapBarType) + (objectType SprayBottle_bar__minus_01_dot_10_bar__plus_00_dot_96_bar__plus_04_dot_80 SprayBottleType) + (objectType Sink_bar__minus_01_dot_53_bar__plus_00_dot_93_bar__plus_04_dot_87 SinkType) + (objectType Sink_bar__minus_00_dot_58_bar__plus_00_dot_93_bar__plus_04_dot_87 SinkType) + (objectType ToiletPaper_bar__minus_00_dot_34_bar__plus_00_dot_04_bar__plus_05_dot_07 ToiletPaperType) + (objectType TissueBox_bar__minus_00_dot_29_bar__plus_00_dot_04_bar__plus_04_dot_77 TissueBoxType) + (objectType Towel_bar__minus_01_dot_72_bar__plus_01_dot_23_bar__plus_01_dot_85 TowelType) + (objectType HandTowel_bar__minus_00_dot_11_bar__plus_01_dot_47_bar__plus_04_dot_81 HandTowelType) + (objectType Cloth_bar__minus_03_dot_66_bar__plus_00_dot_54_bar__plus_00_dot_56 ClothType) + (objectType Cloth_bar__minus_03_dot_83_bar__plus_00_dot_54_bar__plus_01_dot_48 ClothType) + (objectType Window_bar__minus_01_dot_99_bar__plus_01_dot_89_bar__plus_00_dot_14 WindowType) + (objectType TissueBox_bar__minus_03_dot_54_bar__plus_00_dot_54_bar__plus_00_dot_37 TissueBoxType) + (objectType ScrubBrush_bar__minus_00_dot_23_bar_00_dot_00_bar__plus_03_dot_86 ScrubBrushType) + (objectType ToiletPaper_bar__minus_03_dot_83_bar__plus_00_dot_54_bar__plus_01_dot_29 ToiletPaperType) + (objectType ShowerDoor_bar__minus_00_dot_28_bar__plus_01_dot_23_bar__plus_01_dot_73 ShowerDoorType) + (objectType TissueBox_bar__minus_03_dot_71_bar__plus_00_dot_54_bar__plus_00_dot_37 TissueBoxType) + (objectType SoapBottle_bar__minus_03_dot_77_bar__plus_00_dot_55_bar__plus_00_dot_93 SoapBottleType) + (objectType ToiletPaper_bar__minus_00_dot_15_bar__plus_01_dot_13_bar__plus_03_dot_71 ToiletPaperType) + (objectType SprayBottle_bar__minus_03_dot_77_bar__plus_00_dot_54_bar__plus_00_dot_74 SprayBottleType) + (objectType SoapBar_bar__minus_01_dot_28_bar__plus_00_dot_04_bar__plus_04_dot_89 SoapBarType) + (objectType Mirror_bar__minus_00_dot_98_bar__plus_01_dot_58_bar__plus_05_dot_15 MirrorType) + (objectType Candle_bar__minus_03_dot_66_bar__plus_00_dot_55_bar__plus_00_dot_93 CandleType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType TissueBoxType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain HandTowelHolderType HandTowelType) + (canContain TowelHolderType TowelType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType TissueBoxType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType TissueBoxType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain BathtubBasinType ClothType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain CounterTopType CandleType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType TissueBoxType) + (canContain CounterTopType HandTowelType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType TissueBoxType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain TowelHolderType TowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType ClothType) + (canContain ToiletType CandleType) + (canContain ToiletType SoapBarType) + (canContain ToiletType SprayBottleType) + (canContain ToiletType TissueBoxType) + (canContain ShelfType CandleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType ClothType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType TissueBoxType) + (canContain GarbageCanType HandTowelType) + (pickupable Plunger_bar__minus_00_dot_21_bar_00_dot_00_bar__plus_03_dot_54) + (pickupable Candle_bar__minus_00_dot_22_bar__plus_01_dot_05_bar__plus_03_dot_35) + (pickupable Cloth_bar__minus_03_dot_77_bar__plus_00_dot_54_bar__plus_01_dot_11) + (pickupable SoapBar_bar__minus_03_dot_12_bar__plus_00_dot_68_bar__plus_01_dot_87) + (pickupable SprayBottle_bar__minus_01_dot_10_bar__plus_00_dot_96_bar__plus_04_dot_80) + (pickupable ToiletPaper_bar__minus_00_dot_34_bar__plus_00_dot_04_bar__plus_05_dot_07) + (pickupable TissueBox_bar__minus_00_dot_29_bar__plus_00_dot_04_bar__plus_04_dot_77) + (pickupable Towel_bar__minus_01_dot_72_bar__plus_01_dot_23_bar__plus_01_dot_85) + (pickupable HandTowel_bar__minus_00_dot_11_bar__plus_01_dot_47_bar__plus_04_dot_81) + (pickupable Cloth_bar__minus_03_dot_66_bar__plus_00_dot_54_bar__plus_00_dot_56) + (pickupable Cloth_bar__minus_03_dot_83_bar__plus_00_dot_54_bar__plus_01_dot_48) + (pickupable TissueBox_bar__minus_03_dot_54_bar__plus_00_dot_54_bar__plus_00_dot_37) + (pickupable ScrubBrush_bar__minus_00_dot_23_bar_00_dot_00_bar__plus_03_dot_86) + (pickupable ToiletPaper_bar__minus_03_dot_83_bar__plus_00_dot_54_bar__plus_01_dot_29) + (pickupable TissueBox_bar__minus_03_dot_71_bar__plus_00_dot_54_bar__plus_00_dot_37) + (pickupable SoapBottle_bar__minus_03_dot_77_bar__plus_00_dot_55_bar__plus_00_dot_93) + (pickupable ToiletPaper_bar__minus_00_dot_15_bar__plus_01_dot_13_bar__plus_03_dot_71) + (pickupable SprayBottle_bar__minus_03_dot_77_bar__plus_00_dot_54_bar__plus_00_dot_74) + (pickupable SoapBar_bar__minus_01_dot_28_bar__plus_00_dot_04_bar__plus_04_dot_89) + (pickupable Candle_bar__minus_03_dot_66_bar__plus_00_dot_55_bar__plus_00_dot_93) + + (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) + (openable Cabinet_bar__minus_01_dot_06_bar__plus_00_dot_36_bar__plus_04_dot_63) + + (atLocation agent1 loc_bar__minus_5_bar_8_bar_3_bar_30) + + (cleanable Cloth_bar__minus_03_dot_77_bar__plus_00_dot_54_bar__plus_01_dot_11) + (cleanable SoapBar_bar__minus_03_dot_12_bar__plus_00_dot_68_bar__plus_01_dot_87) + (cleanable Cloth_bar__minus_03_dot_66_bar__plus_00_dot_54_bar__plus_00_dot_56) + (cleanable Cloth_bar__minus_03_dot_83_bar__plus_00_dot_54_bar__plus_01_dot_48) + (cleanable SoapBar_bar__minus_01_dot_28_bar__plus_00_dot_04_bar__plus_04_dot_89) + + + + + + + + + + + (inReceptacle TissueBox_bar__minus_00_dot_29_bar__plus_00_dot_04_bar__plus_04_dot_77 Cabinet_bar__minus_00_dot_12_bar__plus_00_dot_36_bar__plus_04_dot_63) + (inReceptacle ToiletPaper_bar__minus_00_dot_34_bar__plus_00_dot_04_bar__plus_05_dot_07 Cabinet_bar__minus_00_dot_12_bar__plus_00_dot_36_bar__plus_04_dot_63) + (inReceptacle SprayBottle_bar__minus_01_dot_10_bar__plus_00_dot_96_bar__plus_04_dot_80 CounterTop_bar__minus_01_dot_02_bar__plus_00_dot_95_bar__plus_04_dot_88) + (inReceptacle SoapBar_bar__minus_01_dot_28_bar__plus_00_dot_04_bar__plus_04_dot_89 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 Cloth_bar__minus_03_dot_83_bar__plus_00_dot_54_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_77_bar__plus_00_dot_54_bar__plus_00_dot_74 Shelf_bar__minus_03_dot_71_bar__plus_00_dot_53_bar__plus_00_dot_95) + (inReceptacle TissueBox_bar__minus_03_dot_54_bar__plus_00_dot_54_bar__plus_00_dot_37 Shelf_bar__minus_03_dot_71_bar__plus_00_dot_53_bar__plus_00_dot_95) + (inReceptacle ToiletPaper_bar__minus_03_dot_83_bar__plus_00_dot_54_bar__plus_01_dot_29 Shelf_bar__minus_03_dot_71_bar__plus_00_dot_53_bar__plus_00_dot_95) + (inReceptacle Cloth_bar__minus_03_dot_77_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_66_bar__plus_00_dot_55_bar__plus_00_dot_93 Shelf_bar__minus_03_dot_71_bar__plus_00_dot_53_bar__plus_00_dot_95) + (inReceptacle TissueBox_bar__minus_03_dot_71_bar__plus_00_dot_54_bar__plus_00_dot_37 Shelf_bar__minus_03_dot_71_bar__plus_00_dot_53_bar__plus_00_dot_95) + (inReceptacle SoapBottle_bar__minus_03_dot_77_bar__plus_00_dot_55_bar__plus_00_dot_93 Shelf_bar__minus_03_dot_71_bar__plus_00_dot_53_bar__plus_00_dot_95) + (inReceptacle Cloth_bar__minus_03_dot_66_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 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 ToiletPaper_bar__minus_00_dot_15_bar__plus_01_dot_13_bar__plus_03_dot_71 ToiletPaperHanger_bar__minus_00_dot_07_bar__plus_01_dot_13_bar__plus_03_dot_69) + (inReceptacle Candle_bar__minus_00_dot_22_bar__plus_01_dot_05_bar__plus_03_dot_35 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_03_dot_77_bar__plus_00_dot_54_bar__plus_00_dot_74 loc_bar__minus_9_bar_8_bar_3_bar_30) + (objectAtLocation ToiletPaper_bar__minus_00_dot_34_bar__plus_00_dot_04_bar__plus_05_dot_07 loc_bar__minus_3_bar_15_bar_0_bar_60) + (objectAtLocation Cloth_bar__minus_03_dot_66_bar__plus_00_dot_54_bar__plus_00_dot_56 loc_bar__minus_9_bar_8_bar_3_bar_30) + (objectAtLocation TissueBox_bar__minus_03_dot_71_bar__plus_00_dot_54_bar__plus_00_dot_37 loc_bar__minus_9_bar_8_bar_3_bar_30) + (objectAtLocation SoapBar_bar__minus_01_dot_28_bar__plus_00_dot_04_bar__plus_04_dot_89 loc_bar__minus_7_bar_15_bar_0_bar_60) + (objectAtLocation Candle_bar__minus_03_dot_66_bar__plus_00_dot_55_bar__plus_00_dot_93 loc_bar__minus_9_bar_8_bar_3_bar_30) + (objectAtLocation Cloth_bar__minus_03_dot_77_bar__plus_00_dot_54_bar__plus_01_dot_11 loc_bar__minus_9_bar_8_bar_3_bar_30) + (objectAtLocation TissueBox_bar__minus_00_dot_29_bar__plus_00_dot_04_bar__plus_04_dot_77 loc_bar__minus_3_bar_15_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_00_dot_22_bar__plus_01_dot_05_bar__plus_03_dot_35 loc_bar__minus_2_bar_10_bar_0_bar_60) + (objectAtLocation SoapBottle_bar__minus_03_dot_77_bar__plus_00_dot_55_bar__plus_00_dot_93 loc_bar__minus_9_bar_8_bar_3_bar_30) + (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 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 loc_bar__minus_10_bar_18_bar_0_bar_30) + (objectAtLocation SoapBar_bar__minus_03_dot_12_bar__plus_00_dot_68_bar__plus_01_dot_87 loc_bar__minus_10_bar_11_bar_3_bar_60) + (objectAtLocation ToiletPaper_bar__minus_00_dot_15_bar__plus_01_dot_13_bar__plus_03_dot_71 loc_bar__minus_2_bar_15_bar_1_bar_45) + (objectAtLocation TissueBox_bar__minus_03_dot_54_bar__plus_00_dot_54_bar__plus_00_dot_37 loc_bar__minus_9_bar_8_bar_3_bar_30) + (objectAtLocation Cloth_bar__minus_03_dot_83_bar__plus_00_dot_54_bar__plus_01_dot_48 loc_bar__minus_9_bar_8_bar_3_bar_30) + (objectAtLocation ToiletPaper_bar__minus_03_dot_83_bar__plus_00_dot_54_bar__plus_01_dot_29 loc_bar__minus_9_bar_8_bar_3_bar_30) + (objectAtLocation SprayBottle_bar__minus_01_dot_10_bar__plus_00_dot_96_bar__plus_04_dot_80 loc_bar__minus_4_bar_17_bar_0_bar_45) + (objectAtLocation ScrubBrush_bar__minus_00_dot_23_bar_00_dot_00_bar__plus_03_dot_86 loc_bar__minus_2_bar_15_bar_1_bar_60) + (objectAtLocation Plunger_bar__minus_00_dot_21_bar_00_dot_00_bar__plus_03_dot_54 loc_bar__minus_2_bar_15_bar_1_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o PlungerType) + (receptacleType ?r CabinetType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Plunger-None-Cabinet-402/trial_T20190907_125914_586736/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Plunger-None-Cabinet-402/trial_T20190907_125914_586736/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..82c5119a7e4ffa403e45e00729ef881df570c067 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Plunger-None-Cabinet-402/trial_T20190907_125914_586736/traj_data.json @@ -0,0 +1,4174 @@ +{ + "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": 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"rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "TissueBox_a8e7eab7", + "position": { + "x": -0.2552672, + "y": 1.04506838, + "z": 3.09229875 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Cloth_576a2369", + "position": { + "x": -3.77054548, + "y": 0.5418798, + "z": 0.741375744 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "ToiletPaper_832c52fc", + "position": { + "x": -0.761146069, + "y": 0.03444594, + "z": 5.0663805 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SprayBottle_5e1f325d", + "position": { + "x": -3.71299887, + "y": 0.5425718, + "z": 0.5574385 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "ScrubBrush_48a339cf", + "position": { + "x": -0.231531024, + "y": -0.000328551978, + "z": 3.857473 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plunger_e4826671", + "position": { + "x": -0.212999284, + "y": -0.000791542232, + "z": 3.536999 + }, + "rotation": { + "x": -0.00118052587, + "y": 0.0004404002, + "z": 0.000781602052 + } + } + ], + "object_toggles": [], + "random_seed": 320849133, + "scene_num": 402 + }, + "task_id": "trial_T20190907_125938_013248", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1NWXL4QO30M8U_39OWYR0EPN8DD23NZV0HEQEDW3EYF9", + "high_descs": [ + "Turn to the right and walk to the wall. ", + "Pick up the toilet plunger that is on the floor next to the toilet. ", + "Turn to the left and face the cabinets. ", + "Open the cabinet on the right and put the plunger inside of the cabinet. " + ], + "task_desc": "To put the plunger inside the cabinet. ", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A13OOAT2ORKH6V_3GGAI1SQEYF6G9UZPQM5CP63QG3CMH", + "high_descs": [ + "Turn around to face the toilet and turn left to face the towel rack.", + "Look to the floor and grab the plunger from the floor.", + "Turn around and turn right to face the bathroom sink.", + "Open the cabinet door to place the plunger inside and close the cabinet door." + ], + "task_desc": "Place the plunger into the cabinet.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A38Z99XF4NDNH0_3NKQQ8O391MZY95MYO82N55FO12UD9", + "high_descs": [ + "Move to the left side of the toilet next to the plunger", + "Pick up the plunger on the floor that is to the left of the toilet ", + "Carry the plunger to the sink on the right hand side", + "Place the plunger inside of the white cupboard under the right sink" + ], + "task_desc": "Move a plunger from the toilet to the bathroom cupboard", + "votes": [ + 0, + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Potato-None-Microwave-30/trial_T20190907_015902_274312/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Potato-None-Microwave-30/trial_T20190907_015902_274312/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..5ad4c5b00a7963097050d1d3d9ad866e86abe2b7 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Potato-None-Microwave-30/trial_T20190907_015902_274312/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 potato in microwave.\"\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_015902_274312)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__plus_00_dot_97_bar__plus_00_dot_98_bar__plus_00_dot_75 - object\n Apple_bar__plus_03_dot_12_bar__plus_00_dot_97_bar__minus_00_dot_80 - object\n Apple_bar__minus_01_dot_09_bar__plus_01_dot_07_bar__plus_01_dot_47 - object\n Bowl_bar__plus_00_dot_49_bar__plus_00_dot_91_bar__plus_00_dot_30 - object\n Bowl_bar__plus_00_dot_86_bar__plus_01_dot_67_bar__minus_01_dot_48 - object\n Bread_bar__plus_00_dot_80_bar__plus_00_dot_99_bar__plus_00_dot_63 - object\n Bread_bar__minus_00_dot_86_bar__plus_00_dot_98_bar__minus_00_dot_05 - object\n ButterKnife_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__plus_00_dot_32 - object\n ButterKnife_bar__minus_00_dot_87_bar__plus_00_dot_33_bar__plus_01_dot_61 - object\n ButterKnife_bar__minus_01_dot_08_bar__plus_00_dot_90_bar__plus_00_dot_40 - object\n CellPhone_bar__plus_00_dot_77_bar__plus_00_dot_91_bar__plus_00_dot_09 - object\n CellPhone_bar__plus_03_dot_03_bar__plus_00_dot_71_bar__minus_00_dot_82 - object\n CellPhone_bar__minus_00_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_39 - object\n Cup_bar__plus_00_dot_71_bar__plus_00_dot_91_bar__plus_00_dot_83 - object\n Cup_bar__plus_03_dot_04_bar__plus_01_dot_46_bar__minus_01_dot_75 - object\n Cup_bar__minus_01_dot_05_bar__plus_01_dot_00_bar__plus_01_dot_31 - object\n 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LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType GlassbottleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain CounterTopType SaltShakerType)\n (canContain CounterTopType BreadType)\n (canContain CounterTopType DishSpongeType)\n (canContain CounterTopType BowlType)\n (canContain CounterTopType KettleType)\n (canContain CounterTopType PotType)\n (canContain CounterTopType MugType)\n (canContain CounterTopType EggType)\n (canContain CounterTopType LadleType)\n (canContain CounterTopType ForkType)\n (canContain CounterTopType GlassbottleType)\n (canContain CounterTopType CellPhoneType)\n (canContain CounterTopType SpoonType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType LettuceType)\n (canContain CounterTopType PotatoType)\n (canContain CounterTopType ButterKnifeType)\n (canContain CounterTopType CupType)\n (canContain CounterTopType PlateType)\n (canContain CounterTopType PepperShakerType)\n (canContain CounterTopType TomatoType)\n (canContain CounterTopType KnifeType)\n (canContain CounterTopType AppleType)\n (canContain CounterTopType PanType)\n (canContain CounterTopType SpatulaType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain CounterTopType SaltShakerType)\n (canContain CounterTopType BreadType)\n (canContain CounterTopType DishSpongeType)\n (canContain CounterTopType BowlType)\n (canContain CounterTopType KettleType)\n (canContain CounterTopType PotType)\n (canContain CounterTopType MugType)\n (canContain CounterTopType EggType)\n (canContain CounterTopType LadleType)\n (canContain CounterTopType ForkType)\n (canContain CounterTopType GlassbottleType)\n (canContain CounterTopType CellPhoneType)\n (canContain CounterTopType SpoonType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType LettuceType)\n (canContain CounterTopType PotatoType)\n (canContain CounterTopType ButterKnifeType)\n (canContain CounterTopType CupType)\n (canContain CounterTopType PlateType)\n (canContain CounterTopType PepperShakerType)\n (canContain CounterTopType TomatoType)\n (canContain CounterTopType KnifeType)\n (canContain CounterTopType AppleType)\n (canContain CounterTopType PanType)\n (canContain CounterTopType SpatulaType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType GlassbottleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain FridgeType BreadType)\n (canContain FridgeType BowlType)\n (canContain FridgeType PotType)\n (canContain FridgeType MugType)\n (canContain FridgeType EggType)\n (canContain FridgeType GlassbottleType)\n (canContain FridgeType LettuceType)\n (canContain FridgeType PotatoType)\n (canContain FridgeType CupType)\n (canContain FridgeType PlateType)\n (canContain FridgeType TomatoType)\n (canContain FridgeType AppleType)\n (canContain FridgeType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType GlassbottleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType GlassbottleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain StoveBurnerType KettleType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType GlassbottleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (pickupable Mug_bar__plus_03_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_59)\n (pickupable Ladle_bar__plus_03_dot_10_bar__plus_01_dot_50_bar__minus_01_dot_28)\n (pickupable Knife_bar__minus_00_dot_99_bar__plus_00_dot_35_bar__minus_00_dot_01)\n (pickupable Potato_bar__minus_00_dot_60_bar__plus_00_dot_94_bar__minus_00_dot_73)\n (pickupable SaltShaker_bar__plus_00_dot_67_bar__plus_00_dot_90_bar__plus_00_dot_42)\n (pickupable PepperShaker_bar__minus_00_dot_29_bar__plus_00_dot_90_bar__minus_01_dot_45)\n (pickupable Apple_bar__minus_01_dot_09_bar__plus_01_dot_07_bar__plus_01_dot_47)\n (pickupable Fork_bar__plus_00_dot_10_bar__plus_00_dot_90_bar__minus_01_dot_59)\n (pickupable Lettuce_bar__minus_00_dot_14_bar__plus_00_dot_97_bar__minus_01_dot_39)\n (pickupable SoapBottle_bar__plus_03_dot_03_bar__plus_00_dot_18_bar__minus_00_dot_83)\n (pickupable SaltShaker_bar__minus_00_dot_05_bar__plus_00_dot_32_bar__minus_01_dot_28)\n (pickupable Potato_bar__plus_01_dot_23_bar__plus_00_dot_95_bar__plus_00_dot_89)\n (pickupable Potato_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__plus_00_dot_10)\n (pickupable Cup_bar__minus_01_dot_05_bar__plus_01_dot_00_bar__plus_01_dot_31)\n (pickupable Spatula_bar__plus_01_dot_36_bar__plus_00_dot_92_bar__plus_00_dot_18)\n (pickupable ButterKnife_bar__minus_00_dot_87_bar__plus_00_dot_33_bar__plus_01_dot_61)\n (pickupable Pan_bar__plus_00_dot_34_bar__plus_00_dot_87_bar__minus_01_dot_65)\n (pickupable Glassbottle_bar__plus_01_dot_30_bar__plus_01_dot_68_bar__minus_01_dot_41)\n (pickupable Cup_bar__plus_00_dot_71_bar__plus_00_dot_91_bar__plus_00_dot_83)\n (pickupable Kettle_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27)\n (pickupable Apple_bar__plus_03_dot_12_bar__plus_00_dot_97_bar__minus_00_dot_80)\n (pickupable CellPhone_bar__minus_00_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_39)\n (pickupable Cup_bar__plus_03_dot_04_bar__plus_01_dot_46_bar__minus_01_dot_75)\n (pickupable Knife_bar__minus_00_dot_99_bar__plus_00_dot_73_bar__plus_00_dot_75)\n (pickupable Tomato_bar__minus_00_dot_94_bar__plus_00_dot_94_bar__plus_00_dot_62)\n (pickupable Bowl_bar__plus_00_dot_49_bar__plus_00_dot_91_bar__plus_00_dot_30)\n (pickupable Fork_bar__minus_00_dot_83_bar__plus_00_dot_52_bar__plus_00_dot_08)\n (pickupable Kettle_bar__plus_03_dot_08_bar__plus_00_dot_18_bar__plus_00_dot_56)\n (pickupable SaltShaker_bar__plus_02_dot_97_bar__plus_00_dot_17_bar__minus_00_dot_50)\n (pickupable Egg_bar__minus_00_dot_99_bar__plus_00_dot_95_bar__minus_00_dot_85)\n (pickupable SoapBottle_bar__plus_02_dot_91_bar__plus_00_dot_18_bar__minus_00_dot_26)\n (pickupable CellPhone_bar__plus_00_dot_77_bar__plus_00_dot_91_bar__plus_00_dot_09)\n (pickupable Fork_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_00_dot_65)\n (pickupable DishSponge_bar__minus_00_dot_83_bar__plus_00_dot_13_bar__plus_01_dot_69)\n (pickupable SoapBottle_bar__minus_00_dot_94_bar__plus_01_dot_27_bar__minus_00_dot_74)\n (pickupable Spoon_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__plus_00_dot_04)\n (pickupable Bread_bar__minus_00_dot_86_bar__plus_00_dot_98_bar__minus_00_dot_05)\n (pickupable Lettuce_bar__minus_00_dot_86_bar__plus_00_dot_97_bar__plus_00_dot_40)\n (pickupable Apple_bar__plus_00_dot_97_bar__plus_00_dot_98_bar__plus_00_dot_75)\n (pickupable Bread_bar__plus_00_dot_80_bar__plus_00_dot_99_bar__plus_00_dot_63)\n (pickupable Plate_bar__minus_00_dot_95_bar__plus_00_dot_89_bar__plus_00_dot_70)\n (pickupable ButterKnife_bar__minus_01_dot_08_bar__plus_00_dot_90_bar__plus_00_dot_40)\n (pickupable Bowl_bar__plus_00_dot_86_bar__plus_01_dot_67_bar__minus_01_dot_48)\n (pickupable Pot_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_09)\n (pickupable ButterKnife_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__plus_00_dot_32)\n (pickupable CellPhone_bar__plus_03_dot_03_bar__plus_00_dot_71_bar__minus_00_dot_82)\n (pickupable Tomato_bar__minus_00_dot_94_bar__plus_00_dot_94_bar__minus_00_dot_70)\n (pickupable PepperShaker_bar__plus_02_dot_96_bar__plus_01_dot_46_bar__minus_01_dot_14)\n (isReceptacleObject Mug_bar__plus_03_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_59)\n (isReceptacleObject Cup_bar__minus_01_dot_05_bar__plus_01_dot_00_bar__plus_01_dot_31)\n (isReceptacleObject Pan_bar__plus_00_dot_34_bar__plus_00_dot_87_bar__minus_01_dot_65)\n (isReceptacleObject Cup_bar__plus_00_dot_71_bar__plus_00_dot_91_bar__plus_00_dot_83)\n (isReceptacleObject Cup_bar__plus_03_dot_04_bar__plus_01_dot_46_bar__minus_01_dot_75)\n (isReceptacleObject Bowl_bar__plus_00_dot_49_bar__plus_00_dot_91_bar__plus_00_dot_30)\n (isReceptacleObject Plate_bar__minus_00_dot_95_bar__plus_00_dot_89_bar__plus_00_dot_70)\n (isReceptacleObject Bowl_bar__plus_00_dot_86_bar__plus_01_dot_67_bar__minus_01_dot_48)\n (isReceptacleObject Pot_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_09)\n (openable Drawer_bar__minus_00_dot_68_bar__plus_00_dot_19_bar__minus_00_dot_70)\n (openable Drawer_bar__minus_00_dot_05_bar__plus_00_dot_38_bar__minus_01_dot_32)\n (openable Cabinet_bar__minus_00_dot_92_bar__plus_01_dot_67_bar__minus_00_dot_62)\n (openable Drawer_bar__plus_00_dot_38_bar__plus_00_dot_19_bar__minus_01_dot_51)\n (openable Drawer_bar__plus_00_dot_38_bar__plus_00_dot_57_bar__minus_01_dot_51)\n (openable Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_00_dot_66)\n (openable Cabinet_bar__plus_03_dot_07_bar__plus_01_dot_67_bar__minus_00_dot_71)\n (openable Cabinet_bar__minus_00_dot_20_bar__plus_01_dot_96_bar__minus_01_dot_33)\n (openable Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_67_bar__minus_01_dot_34)\n (openable Drawer_bar__minus_00_dot_05_bar__plus_00_dot_57_bar__minus_01_dot_32)\n (openable Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_00_dot_66)\n (openable Cabinet_bar__minus_00_dot_71_bar__plus_01_dot_96_bar__minus_00_dot_82)\n (openable Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_00_dot_66)\n (openable Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_61)\n (openable Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_05)\n (openable Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_01_dot_43)\n (openable Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43)\n (openable Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__plus_00_dot_41)\n (openable Drawer_bar__plus_00_dot_38_bar__plus_00_dot_38_bar__minus_01_dot_51)\n (openable Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_00_dot_66)\n (openable Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__minus_00_dot_10)\n (openable Drawer_bar__minus_00_dot_68_bar__plus_00_dot_58_bar__minus_00_dot_70)\n (openable Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__minus_00_dot_10)\n (openable Drawer_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__minus_01_dot_32)\n (openable Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_01_dot_43)\n (openable Drawer_bar__plus_00_dot_38_bar__plus_00_dot_77_bar__minus_01_dot_51)\n (openable Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__minus_00_dot_10)\n (openable Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_78)\n (openable Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_85)\n (openable Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_01_dot_43)\n (openable Drawer_bar__minus_00_dot_68_bar__plus_00_dot_77_bar__minus_00_dot_70)\n (openable Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_41)\n (openable Cabinet_bar__plus_00_dot_62_bar__plus_01_dot_87_bar__minus_01_dot_26)\n (openable Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__minus_00_dot_10)\n (openable Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47)\n (openable Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_96)\n (openable Cabinet_bar__plus_00_dot_14_bar__plus_01_dot_67_bar__minus_01_dot_56)\n (openable 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Cup_bar__plus_03_dot_04_bar__plus_01_dot_46_bar__minus_01_dot_75)\n (heatable Tomato_bar__minus_00_dot_94_bar__plus_00_dot_94_bar__plus_00_dot_62)\n (heatable Egg_bar__minus_00_dot_99_bar__plus_00_dot_95_bar__minus_00_dot_85)\n (heatable Bread_bar__minus_00_dot_86_bar__plus_00_dot_98_bar__minus_00_dot_05)\n (heatable Apple_bar__plus_00_dot_97_bar__plus_00_dot_98_bar__plus_00_dot_75)\n (heatable Bread_bar__plus_00_dot_80_bar__plus_00_dot_99_bar__plus_00_dot_63)\n (heatable Plate_bar__minus_00_dot_95_bar__plus_00_dot_89_bar__plus_00_dot_70)\n (heatable Tomato_bar__minus_00_dot_94_bar__plus_00_dot_94_bar__minus_00_dot_70)\n (coolable Mug_bar__plus_03_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_59)\n (coolable Potato_bar__minus_00_dot_60_bar__plus_00_dot_94_bar__minus_00_dot_73)\n (coolable Apple_bar__minus_01_dot_09_bar__plus_01_dot_07_bar__plus_01_dot_47)\n (coolable Lettuce_bar__minus_00_dot_14_bar__plus_00_dot_97_bar__minus_01_dot_39)\n (coolable 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Tomato_bar__minus_00_dot_94_bar__plus_00_dot_94_bar__plus_00_dot_62)\n (sliceable Egg_bar__minus_00_dot_99_bar__plus_00_dot_95_bar__minus_00_dot_85)\n (sliceable Bread_bar__minus_00_dot_86_bar__plus_00_dot_98_bar__minus_00_dot_05)\n (sliceable Lettuce_bar__minus_00_dot_86_bar__plus_00_dot_97_bar__plus_00_dot_40)\n (sliceable Apple_bar__plus_00_dot_97_bar__plus_00_dot_98_bar__plus_00_dot_75)\n (sliceable Bread_bar__plus_00_dot_80_bar__plus_00_dot_99_bar__plus_00_dot_63)\n (sliceable Tomato_bar__minus_00_dot_94_bar__plus_00_dot_94_bar__minus_00_dot_70)\n \n (inReceptacle CellPhone_bar__plus_03_dot_03_bar__plus_00_dot_71_bar__minus_00_dot_82 Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_78)\n (inReceptacle Pot_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_09 StoveBurner_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_09)\n (inReceptacle Glassbottle_bar__plus_01_dot_30_bar__plus_01_dot_68_bar__minus_01_dot_41 Cabinet_bar__plus_01_dot_40_bar__plus_01_dot_87_bar__minus_01_dot_26)\n (inReceptacle Cup_bar__plus_03_dot_04_bar__plus_01_dot_46_bar__minus_01_dot_75 Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_85)\n (inReceptacle HousePlant_bar__plus_03_dot_20_bar__plus_00_dot_89_bar__minus_00_dot_37 CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02)\n (inReceptacle Mug_bar__plus_03_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_59 CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02)\n (inReceptacle Apple_bar__plus_03_dot_12_bar__plus_00_dot_97_bar__minus_00_dot_80 CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02)\n (inReceptacle Plate_bar__minus_00_dot_95_bar__plus_00_dot_89_bar__plus_00_dot_70 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04)\n (inReceptacle ButterKnife_bar__minus_01_dot_08_bar__plus_00_dot_90_bar__plus_00_dot_40 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04)\n (inReceptacle Potato_bar__minus_00_dot_60_bar__plus_00_dot_94_bar__minus_00_dot_73 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04)\n (inReceptacle Bread_bar__minus_00_dot_86_bar__plus_00_dot_98_bar__minus_00_dot_05 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04)\n (inReceptacle Tomato_bar__minus_00_dot_94_bar__plus_00_dot_94_bar__plus_00_dot_62 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04)\n (inReceptacle Lettuce_bar__minus_00_dot_86_bar__plus_00_dot_97_bar__plus_00_dot_40 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04)\n (inReceptacle Tomato_bar__minus_00_dot_94_bar__plus_00_dot_94_bar__minus_00_dot_70 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04)\n (inReceptacle Egg_bar__minus_00_dot_99_bar__plus_00_dot_95_bar__minus_00_dot_85 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04)\n (inReceptacle Kettle_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27)\n (inReceptacle Knife_bar__minus_00_dot_99_bar__plus_00_dot_73_bar__plus_00_dot_75 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_00_dot_66)\n (inReceptacle Knife_bar__minus_00_dot_99_bar__plus_00_dot_35_bar__minus_00_dot_01 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__minus_00_dot_10)\n (inReceptacle Kettle_bar__plus_03_dot_08_bar__plus_00_dot_18_bar__plus_00_dot_56 Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__plus_00_dot_41)\n (inReceptacle SoapBottle_bar__plus_02_dot_91_bar__plus_00_dot_18_bar__minus_00_dot_26 Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_61)\n (inReceptacle SaltShaker_bar__plus_02_dot_97_bar__plus_00_dot_17_bar__minus_00_dot_50 Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_61)\n (inReceptacle SoapBottle_bar__plus_03_dot_03_bar__plus_00_dot_18_bar__minus_00_dot_83 Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_96)\n (inReceptacle Ladle_bar__plus_03_dot_10_bar__plus_01_dot_50_bar__minus_01_dot_28 Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_05)\n (inReceptacle PepperShaker_bar__plus_02_dot_96_bar__plus_01_dot_46_bar__minus_01_dot_14 Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_05)\n (inReceptacle Bowl_bar__plus_00_dot_86_bar__plus_01_dot_67_bar__minus_01_dot_48 Cabinet_bar__plus_00_dot_62_bar__plus_01_dot_87_bar__minus_01_dot_26)\n (inReceptacle SoapBottle_bar__minus_00_dot_94_bar__plus_01_dot_27_bar__minus_00_dot_74 Cabinet_bar__minus_00_dot_92_bar__plus_01_dot_67_bar__minus_00_dot_62)\n (inReceptacle CellPhone_bar__minus_00_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_39 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52)\n (inReceptacle PepperShaker_bar__minus_00_dot_29_bar__plus_00_dot_90_bar__minus_01_dot_45 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52)\n (inReceptacle Lettuce_bar__minus_00_dot_14_bar__plus_00_dot_97_bar__minus_01_dot_39 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52)\n (inReceptacle Fork_bar__plus_00_dot_10_bar__plus_00_dot_90_bar__minus_01_dot_59 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52)\n (inReceptacle Pan_bar__plus_00_dot_34_bar__plus_00_dot_87_bar__minus_01_dot_65 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52)\n (inReceptacle DishSponge_bar__minus_00_dot_83_bar__plus_00_dot_13_bar__plus_01_dot_69 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_01_dot_43)\n (inReceptacle Fork_bar__minus_00_dot_83_bar__plus_00_dot_52_bar__plus_00_dot_08 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__minus_00_dot_10)\n (inReceptacle Spatula_bar__plus_01_dot_36_bar__plus_00_dot_92_bar__plus_00_dot_18 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle CellPhone_bar__plus_00_dot_77_bar__plus_00_dot_91_bar__plus_00_dot_09 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle ButterKnife_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__plus_00_dot_32 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Cup_bar__plus_00_dot_71_bar__plus_00_dot_91_bar__plus_00_dot_83 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Spoon_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__plus_00_dot_04 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Bread_bar__plus_00_dot_80_bar__plus_00_dot_99_bar__plus_00_dot_63 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle SaltShaker_bar__plus_00_dot_67_bar__plus_00_dot_90_bar__plus_00_dot_42 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Bowl_bar__plus_00_dot_49_bar__plus_00_dot_91_bar__plus_00_dot_30 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Apple_bar__plus_00_dot_97_bar__plus_00_dot_98_bar__plus_00_dot_75 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Potato_bar__plus_01_dot_23_bar__plus_00_dot_95_bar__plus_00_dot_89 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle SaltShaker_bar__minus_00_dot_05_bar__plus_00_dot_32_bar__minus_01_dot_28 Drawer_bar__minus_00_dot_05_bar__plus_00_dot_38_bar__minus_01_dot_32)\n (inReceptacle ButterKnife_bar__minus_00_dot_87_bar__plus_00_dot_33_bar__plus_01_dot_61 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_01_dot_43)\n (inReceptacleObject Tomato_bar__minus_00_dot_94_bar__plus_00_dot_94_bar__plus_00_dot_62 Plate_bar__minus_00_dot_95_bar__plus_00_dot_89_bar__plus_00_dot_70)\n (inReceptacle Mug_bar__plus_03_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_59 CoffeeMachine_bar__plus_03_dot_22_bar__plus_00_dot_89_bar__plus_00_dot_70)\n (inReceptacle Potato_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__plus_00_dot_10 Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09_bar_SinkBasin)\n (inReceptacle Cup_bar__minus_01_dot_05_bar__plus_01_dot_00_bar__plus_01_dot_31 Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43)\n (inReceptacle Apple_bar__minus_01_dot_09_bar__plus_01_dot_07_bar__plus_01_dot_47 Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_14_bar__plus_01_dot_67_bar__minus_01_dot_56 loc_bar_2_bar__minus_3_bar_2_bar_0)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_62_bar__plus_01_dot_87_bar__minus_01_dot_26 loc_bar_4_bar__minus_2_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_40_bar__plus_01_dot_87_bar__minus_01_dot_26 loc_bar_4_bar__minus_2_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_05 loc_bar_9_bar__minus_5_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_85 loc_bar_8_bar__minus_5_bar_1_bar_0)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__plus_00_dot_41 loc_bar_8_bar_1_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_61 loc_bar_8_bar_0_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_96 loc_bar_8_bar__minus_5_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_03_dot_07_bar__plus_01_dot_67_bar__minus_00_dot_71 loc_bar_9_bar__minus_4_bar_1_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_67_bar__minus_01_dot_34 loc_bar_1_bar__minus_3_bar_2_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_20_bar__plus_01_dot_96_bar__minus_01_dot_33 loc_bar_0_bar__minus_2_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_71_bar__plus_01_dot_96_bar__minus_00_dot_82 loc_bar_0_bar__minus_3_bar_3_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_92_bar__plus_01_dot_67_bar__minus_00_dot_62 loc_bar__minus_1_bar__minus_2_bar_3_bar_0)\n (receptacleAtLocation CoffeeMachine_bar__plus_03_dot_22_bar__plus_00_dot_89_bar__plus_00_dot_70 loc_bar_10_bar_3_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_38_bar__plus_00_dot_19_bar__minus_01_dot_51 loc_bar_0_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_38_bar__plus_00_dot_38_bar__minus_01_dot_51 loc_bar__minus_1_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_38_bar__plus_00_dot_57_bar__minus_01_dot_51 loc_bar_0_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_38_bar__plus_00_dot_77_bar__minus_01_dot_51 loc_bar_0_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__plus_00_dot_70 loc_bar_9_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_41 loc_bar_9_bar_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_78 loc_bar_9_bar_0_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_05_bar__plus_00_dot_19_bar__minus_01_dot_32 loc_bar_4_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_05_bar__plus_00_dot_38_bar__minus_01_dot_32 loc_bar_2_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_05_bar__plus_00_dot_57_bar__minus_01_dot_32 loc_bar_2_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__minus_01_dot_32 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_19_bar__minus_00_dot_70 loc_bar_0_bar_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_39_bar__minus_00_dot_70 loc_bar_0_bar_1_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_58_bar__minus_00_dot_70 loc_bar_0_bar_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_77_bar__minus_00_dot_70 loc_bar__minus_1_bar_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_00_dot_66 loc_bar_0_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_01_dot_43 loc_bar_0_bar_1_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__minus_00_dot_10 loc_bar_0_bar_4_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_00_dot_66 loc_bar_0_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_01_dot_43 loc_bar_0_bar_2_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__minus_00_dot_10 loc_bar_0_bar_4_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_00_dot_66 loc_bar_0_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_01_dot_43 loc_bar_0_bar_1_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__minus_00_dot_10 loc_bar_0_bar_4_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_00_dot_66 loc_bar__minus_1_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_01_dot_43 loc_bar__minus_1_bar_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__minus_00_dot_10 loc_bar__minus_1_bar_3_bar_2_bar_45)\n (receptacleAtLocation Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_03_dot_18_bar__plus_00_dot_03_bar__plus_01_dot_60 loc_bar_11_bar_5_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43 loc_bar__minus_1_bar_5_bar_3_bar_45)\n (receptacleAtLocation Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09_bar_SinkBasin loc_bar_10_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_90_bar__minus_01_dot_09 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_09 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation Toaster_bar__minus_01_dot_04_bar__plus_00_dot_87_bar__minus_00_dot_40 loc_bar__minus_1_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Bowl_bar__plus_00_dot_86_bar__plus_01_dot_67_bar__minus_01_dot_48 loc_bar_4_bar__minus_2_bar_2_bar__minus_15)\n (objectAtLocation Tomato_bar__minus_00_dot_94_bar__plus_00_dot_94_bar__minus_00_dot_70 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation CellPhone_bar__plus_03_dot_03_bar__plus_00_dot_71_bar__minus_00_dot_82 loc_bar_9_bar_0_bar_2_bar_45)\n (objectAtLocation Bread_bar__plus_00_dot_80_bar__plus_00_dot_99_bar__plus_00_dot_63 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Apple_bar__minus_01_dot_09_bar__plus_01_dot_07_bar__plus_01_dot_47 loc_bar__minus_1_bar_5_bar_3_bar_45)\n (objectAtLocation ButterKnife_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__plus_00_dot_32 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation PepperShaker_bar__plus_02_dot_96_bar__plus_01_dot_46_bar__minus_01_dot_14 loc_bar_9_bar__minus_5_bar_1_bar__minus_15)\n (objectAtLocation SaltShaker_bar__minus_00_dot_05_bar__plus_00_dot_32_bar__minus_01_dot_28 loc_bar_2_bar__minus_1_bar_2_bar_45)\n (objectAtLocation Cup_bar__plus_00_dot_71_bar__plus_00_dot_91_bar__plus_00_dot_83 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Lettuce_bar__minus_00_dot_86_bar__plus_00_dot_97_bar__plus_00_dot_40 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_99_bar__plus_00_dot_73_bar__plus_00_dot_75 loc_bar__minus_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Kettle_bar__plus_03_dot_08_bar__plus_00_dot_18_bar__plus_00_dot_56 loc_bar_8_bar_1_bar_1_bar_60)\n (objectAtLocation Fork_bar__minus_00_dot_83_bar__plus_00_dot_52_bar__plus_00_dot_08 loc_bar_0_bar_4_bar_2_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_60_bar__plus_00_dot_94_bar__minus_00_dot_73 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation 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(objectAtLocation Potato_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__plus_00_dot_10 loc_bar_10_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09 loc_bar_10_bar_0_bar_1_bar_60)\n (objectAtLocation Mirror_bar__minus_01_dot_30_bar__plus_01_dot_63_bar__plus_00_dot_05 loc_bar__minus_1_bar_1_bar_3_bar_0)\n (objectAtLocation Plate_bar__minus_00_dot_95_bar__plus_00_dot_89_bar__plus_00_dot_70 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation Glassbottle_bar__plus_01_dot_30_bar__plus_01_dot_68_bar__minus_01_dot_41 loc_bar_4_bar__minus_2_bar_2_bar__minus_15)\n (objectAtLocation SoapBottle_bar__minus_00_dot_94_bar__plus_01_dot_27_bar__minus_00_dot_74 loc_bar__minus_1_bar__minus_2_bar_3_bar_0)\n (objectAtLocation Potato_bar__plus_01_dot_23_bar__plus_00_dot_95_bar__plus_00_dot_89 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation HousePlant_bar__plus_03_dot_20_bar__plus_00_dot_89_bar__minus_00_dot_37 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_09_bar__plus_00_dot_79_bar__minus_01_dot_01 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_28_bar__plus_00_dot_79_bar__minus_00_dot_82 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_18_bar__plus_00_dot_79_bar__minus_00_dot_92 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_00_dot_72 loc_bar__minus_1_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Fork_bar__plus_00_dot_10_bar__plus_00_dot_90_bar__minus_01_dot_59 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Ladle_bar__plus_03_dot_10_bar__plus_01_dot_50_bar__minus_01_dot_28 loc_bar_9_bar__minus_5_bar_1_bar__minus_15)\n (objectAtLocation Pot_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_09 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Kettle_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Window_bar__plus_03_dot_70_bar__plus_01_dot_68_bar__plus_00_dot_05 loc_bar_10_bar_0_bar_1_bar_0)\n (objectAtLocation Spatula_bar__plus_01_dot_36_bar__plus_00_dot_92_bar__plus_00_dot_18 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_99_bar__plus_00_dot_35_bar__minus_00_dot_01 loc_bar_0_bar_4_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__minus_00_dot_14_bar__plus_00_dot_97_bar__minus_01_dot_39 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation LightSwitch_bar__plus_02_dot_59_bar__plus_01_dot_31_bar__minus_01_dot_88 loc_bar_9_bar__minus_5_bar_2_bar_30)\n (objectAtLocation Cup_bar__plus_03_dot_04_bar__plus_01_dot_46_bar__minus_01_dot_75 loc_bar_8_bar__minus_5_bar_1_bar_0)\n (objectAtLocation SaltShaker_bar__plus_02_dot_97_bar__plus_00_dot_17_bar__minus_00_dot_50 loc_bar_8_bar_0_bar_1_bar_60)\n (objectAtLocation Egg_bar__minus_00_dot_99_bar__plus_00_dot_95_bar__minus_00_dot_85 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation PepperShaker_bar__minus_00_dot_29_bar__plus_00_dot_90_bar__minus_01_dot_45 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_87_bar__plus_00_dot_33_bar__plus_01_dot_61 loc_bar_0_bar_2_bar_0_bar_60)\n (objectAtLocation Apple_bar__plus_00_dot_97_bar__plus_00_dot_98_bar__plus_00_dot_75 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Pan_bar__plus_00_dot_34_bar__plus_00_dot_87_bar__minus_01_dot_65 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Bread_bar__minus_00_dot_86_bar__plus_00_dot_98_bar__minus_00_dot_05 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation CellPhone_bar__plus_00_dot_77_bar__plus_00_dot_91_bar__plus_00_dot_09 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation DishSponge_bar__minus_00_dot_83_bar__plus_00_dot_13_bar__plus_01_dot_69 loc_bar_0_bar_1_bar_0_bar_45)\n (objectAtLocation Tomato_bar__minus_00_dot_94_bar__plus_00_dot_94_bar__plus_00_dot_62 loc_bar__minus_1_bar_3_bar_3_bar_45)\n (objectAtLocation Spoon_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__plus_00_dot_04 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Bowl_bar__plus_00_dot_49_bar__plus_00_dot_91_bar__plus_00_dot_30 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Mug_bar__plus_03_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_59 loc_bar_10_bar_3_bar_1_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o PotatoType)\n (receptacleType ?r MicrowaveType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sinkbasin 1", "take potato 1 from sinkbasin 1", "go to microwave 1", "open microwave 1", "move potato 1 to microwave 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Potato-None-Microwave-30/trial_T20190907_015902_274312/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Potato-None-Microwave-30/trial_T20190907_015902_274312/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..62e5eedd16f84fe368febac2dc96bfac50433c74 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Potato-None-Microwave-30/trial_T20190907_015902_274312/initial_state.pddl @@ -0,0 +1,1483 @@ + +(define (problem plan_trial_T20190907_015902_274312) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + 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(canContain DrawerType ForkType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType SpoonType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ButterKnifeType) + (canContain DrawerType PepperShakerType) + (canContain DrawerType KnifeType) + (canContain DrawerType SpatulaType) + (canContain CabinetType SaltShakerType) + (canContain CabinetType DishSpongeType) + (canContain CabinetType BowlType) + (canContain CabinetType KettleType) + (canContain CabinetType PotType) + (canContain CabinetType MugType) + (canContain CabinetType LadleType) + (canContain CabinetType GlassbottleType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType CupType) + (canContain CabinetType PlateType) + (canContain CabinetType PepperShakerType) + (canContain CabinetType PanType) + (canContain CounterTopType SaltShakerType) + (canContain CounterTopType BreadType) + (canContain CounterTopType DishSpongeType) + (canContain CounterTopType BowlType) + (canContain 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Cup_bar__plus_03_dot_04_bar__plus_01_dot_46_bar__minus_01_dot_75) + (heatable Tomato_bar__minus_00_dot_94_bar__plus_00_dot_94_bar__plus_00_dot_62) + (heatable Egg_bar__minus_00_dot_99_bar__plus_00_dot_95_bar__minus_00_dot_85) + (heatable Bread_bar__minus_00_dot_86_bar__plus_00_dot_98_bar__minus_00_dot_05) + (heatable Apple_bar__plus_00_dot_97_bar__plus_00_dot_98_bar__plus_00_dot_75) + (heatable Bread_bar__plus_00_dot_80_bar__plus_00_dot_99_bar__plus_00_dot_63) + (heatable Plate_bar__minus_00_dot_95_bar__plus_00_dot_89_bar__plus_00_dot_70) + (heatable Tomato_bar__minus_00_dot_94_bar__plus_00_dot_94_bar__minus_00_dot_70) + (coolable Mug_bar__plus_03_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_59) + (coolable Potato_bar__minus_00_dot_60_bar__plus_00_dot_94_bar__minus_00_dot_73) + (coolable Apple_bar__minus_01_dot_09_bar__plus_01_dot_07_bar__plus_01_dot_47) + (coolable Lettuce_bar__minus_00_dot_14_bar__plus_00_dot_97_bar__minus_01_dot_39) + (coolable 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CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46) + (inReceptacle SaltShaker_bar__plus_00_dot_67_bar__plus_00_dot_90_bar__plus_00_dot_42 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46) + (inReceptacle Bowl_bar__plus_00_dot_49_bar__plus_00_dot_91_bar__plus_00_dot_30 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46) + (inReceptacle Apple_bar__plus_00_dot_97_bar__plus_00_dot_98_bar__plus_00_dot_75 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46) + (inReceptacle Potato_bar__plus_01_dot_23_bar__plus_00_dot_95_bar__plus_00_dot_89 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46) + (inReceptacle SaltShaker_bar__minus_00_dot_05_bar__plus_00_dot_32_bar__minus_01_dot_28 Drawer_bar__minus_00_dot_05_bar__plus_00_dot_38_bar__minus_01_dot_32) + (inReceptacle ButterKnife_bar__minus_00_dot_87_bar__plus_00_dot_33_bar__plus_01_dot_61 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loc_bar_9_bar__minus_1_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_41 loc_bar_9_bar_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_78 loc_bar_9_bar_0_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_05_bar__plus_00_dot_19_bar__minus_01_dot_32 loc_bar_4_bar__minus_2_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_05_bar__plus_00_dot_38_bar__minus_01_dot_32 loc_bar_2_bar__minus_1_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_05_bar__plus_00_dot_57_bar__minus_01_dot_32 loc_bar_2_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__minus_01_dot_32 loc_bar_2_bar__minus_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_19_bar__minus_00_dot_70 loc_bar_0_bar_2_bar_2_bar_45) + (receptacleAtLocation 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(receptacleAtLocation GarbageCan_bar__plus_03_dot_18_bar__plus_00_dot_03_bar__plus_01_dot_60 loc_bar_11_bar_5_bar_1_bar_60) + (receptacleAtLocation Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43 loc_bar__minus_1_bar_5_bar_3_bar_45) + (receptacleAtLocation Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09_bar_SinkBasin loc_bar_10_bar__minus_1_bar_1_bar_60) + (receptacleAtLocation StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_90_bar__minus_01_dot_09 loc_bar_0_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 loc_bar_0_bar__minus_3_bar_3_bar_60) + (receptacleAtLocation StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 loc_bar_0_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation StoveBurner_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_09 loc_bar_0_bar__minus_3_bar_3_bar_60) + (receptacleAtLocation 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loc_bar_9_bar__minus_5_bar_1_bar__minus_15) + (objectAtLocation SaltShaker_bar__minus_00_dot_05_bar__plus_00_dot_32_bar__minus_01_dot_28 loc_bar_2_bar__minus_1_bar_2_bar_45) + (objectAtLocation Cup_bar__plus_00_dot_71_bar__plus_00_dot_91_bar__plus_00_dot_83 loc_bar_4_bar__minus_2_bar_0_bar_45) + (objectAtLocation Lettuce_bar__minus_00_dot_86_bar__plus_00_dot_97_bar__plus_00_dot_40 loc_bar__minus_1_bar_2_bar_3_bar_45) + (objectAtLocation Knife_bar__minus_00_dot_99_bar__plus_00_dot_73_bar__plus_00_dot_75 loc_bar__minus_1_bar__minus_1_bar_0_bar_45) + (objectAtLocation Kettle_bar__plus_03_dot_08_bar__plus_00_dot_18_bar__plus_00_dot_56 loc_bar_8_bar_1_bar_1_bar_60) + (objectAtLocation Fork_bar__minus_00_dot_83_bar__plus_00_dot_52_bar__plus_00_dot_08 loc_bar_0_bar_4_bar_2_bar_45) + (objectAtLocation Potato_bar__minus_00_dot_60_bar__plus_00_dot_94_bar__minus_00_dot_73 loc_bar__minus_1_bar_2_bar_3_bar_45) + (objectAtLocation 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(objectAtLocation Potato_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__plus_00_dot_10 loc_bar_10_bar__minus_1_bar_1_bar_60) + (objectAtLocation Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09 loc_bar_10_bar_0_bar_1_bar_60) + (objectAtLocation Mirror_bar__minus_01_dot_30_bar__plus_01_dot_63_bar__plus_00_dot_05 loc_bar__minus_1_bar_1_bar_3_bar_0) + (objectAtLocation Plate_bar__minus_00_dot_95_bar__plus_00_dot_89_bar__plus_00_dot_70 loc_bar__minus_1_bar_2_bar_3_bar_45) + (objectAtLocation Glassbottle_bar__plus_01_dot_30_bar__plus_01_dot_68_bar__minus_01_dot_41 loc_bar_4_bar__minus_2_bar_2_bar__minus_15) + (objectAtLocation SoapBottle_bar__minus_00_dot_94_bar__plus_01_dot_27_bar__minus_00_dot_74 loc_bar__minus_1_bar__minus_2_bar_3_bar_0) + (objectAtLocation Potato_bar__plus_01_dot_23_bar__plus_00_dot_95_bar__plus_00_dot_89 loc_bar_4_bar__minus_2_bar_0_bar_45) + (objectAtLocation HousePlant_bar__plus_03_dot_20_bar__plus_00_dot_89_bar__minus_00_dot_37 loc_bar_10_bar__minus_2_bar_1_bar_45) + (objectAtLocation StoveKnob_bar__minus_00_dot_09_bar__plus_00_dot_79_bar__minus_01_dot_01 loc_bar_0_bar__minus_3_bar_2_bar_60) + (objectAtLocation StoveKnob_bar__minus_00_dot_28_bar__plus_00_dot_79_bar__minus_00_dot_82 loc_bar_0_bar__minus_3_bar_3_bar_60) + (objectAtLocation StoveKnob_bar__minus_00_dot_18_bar__plus_00_dot_79_bar__minus_00_dot_92 loc_bar_0_bar__minus_3_bar_3_bar_60) + (objectAtLocation StoveKnob_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_00_dot_72 loc_bar__minus_1_bar__minus_2_bar_2_bar_60) + (objectAtLocation Fork_bar__plus_00_dot_10_bar__plus_00_dot_90_bar__minus_01_dot_59 loc_bar_1_bar__minus_3_bar_2_bar_45) + (objectAtLocation Ladle_bar__plus_03_dot_10_bar__plus_01_dot_50_bar__minus_01_dot_28 loc_bar_9_bar__minus_5_bar_1_bar__minus_15) + (objectAtLocation Pot_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_09 loc_bar_0_bar__minus_3_bar_3_bar_60) + (objectAtLocation Kettle_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 loc_bar_0_bar__minus_3_bar_2_bar_60) + (objectAtLocation Window_bar__plus_03_dot_70_bar__plus_01_dot_68_bar__plus_00_dot_05 loc_bar_10_bar_0_bar_1_bar_0) + (objectAtLocation Spatula_bar__plus_01_dot_36_bar__plus_00_dot_92_bar__plus_00_dot_18 loc_bar_4_bar__minus_2_bar_0_bar_45) + (objectAtLocation Knife_bar__minus_00_dot_99_bar__plus_00_dot_35_bar__minus_00_dot_01 loc_bar_0_bar_4_bar_2_bar_45) + (objectAtLocation Lettuce_bar__minus_00_dot_14_bar__plus_00_dot_97_bar__minus_01_dot_39 loc_bar_1_bar__minus_3_bar_2_bar_45) + (objectAtLocation LightSwitch_bar__plus_02_dot_59_bar__plus_01_dot_31_bar__minus_01_dot_88 loc_bar_9_bar__minus_5_bar_2_bar_30) + (objectAtLocation Cup_bar__plus_03_dot_04_bar__plus_01_dot_46_bar__minus_01_dot_75 loc_bar_8_bar__minus_5_bar_1_bar_0) + (objectAtLocation SaltShaker_bar__plus_02_dot_97_bar__plus_00_dot_17_bar__minus_00_dot_50 loc_bar_8_bar_0_bar_1_bar_60) + (objectAtLocation Egg_bar__minus_00_dot_99_bar__plus_00_dot_95_bar__minus_00_dot_85 loc_bar__minus_1_bar_2_bar_3_bar_45) + (objectAtLocation PepperShaker_bar__minus_00_dot_29_bar__plus_00_dot_90_bar__minus_01_dot_45 loc_bar_1_bar__minus_3_bar_2_bar_45) + (objectAtLocation ButterKnife_bar__minus_00_dot_87_bar__plus_00_dot_33_bar__plus_01_dot_61 loc_bar_0_bar_2_bar_0_bar_60) + (objectAtLocation Apple_bar__plus_00_dot_97_bar__plus_00_dot_98_bar__plus_00_dot_75 loc_bar_4_bar__minus_2_bar_0_bar_45) + (objectAtLocation Pan_bar__plus_00_dot_34_bar__plus_00_dot_87_bar__minus_01_dot_65 loc_bar_1_bar__minus_3_bar_2_bar_45) + (objectAtLocation Bread_bar__minus_00_dot_86_bar__plus_00_dot_98_bar__minus_00_dot_05 loc_bar__minus_1_bar_2_bar_3_bar_45) + (objectAtLocation CellPhone_bar__plus_00_dot_77_bar__plus_00_dot_91_bar__plus_00_dot_09 loc_bar_4_bar__minus_2_bar_0_bar_45) + (objectAtLocation DishSponge_bar__minus_00_dot_83_bar__plus_00_dot_13_bar__plus_01_dot_69 loc_bar_0_bar_1_bar_0_bar_45) + (objectAtLocation Tomato_bar__minus_00_dot_94_bar__plus_00_dot_94_bar__plus_00_dot_62 loc_bar__minus_1_bar_3_bar_3_bar_45) + (objectAtLocation Spoon_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__plus_00_dot_04 loc_bar_4_bar__minus_2_bar_0_bar_45) + (objectAtLocation Bowl_bar__plus_00_dot_49_bar__plus_00_dot_91_bar__plus_00_dot_30 loc_bar_4_bar__minus_2_bar_0_bar_45) + (objectAtLocation Mug_bar__plus_03_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_59 loc_bar_10_bar_3_bar_1_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o PotatoType) + (receptacleType ?r MicrowaveType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Potato-None-Microwave-30/trial_T20190907_015902_274312/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Potato-None-Microwave-30/trial_T20190907_015902_274312/traj_data.json new file mode 100644 index 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+ "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 1735681908, + "scene_num": 30 + }, + "task_id": "trial_T20190907_015902_274312", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1MKCTVKE7J0ZP_3C8HJ7UOPABJO259H46DNN7OYFEMZC", + "high_descs": [ + "Turn left to face the counter with the toaster. ", + "Pick up the potato from the counter, next to the fork.", + "Turn right, then go ahead, then turn left to the microwave.", + "Put the potato in the microwave." + ], + "task_desc": "Put a potato in the microwave.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AD0NVUGLDYDYN_3CFJTT4SXW7E899CDUG24A787B87IC", + "high_descs": [ + "Turn left to the counter", + "Grab the fruit by the fork", + "Turn right, walk to the microwave", + "Open the microwave, put the fruit in, close the microwave" + ], + "task_desc": "Move the fruit by the fork to the microwave", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AM2KK02JXXW48_3VELCLL3GN0GNWSKN6T80333OX2F1I", + "high_descs": [ + "Move to the counter right of the stove.", + "Pick up the potato from the counter.", + "Bring the potato to the microwave.", + "Put the potato in the microwave. " + ], + "task_desc": "Put a potato in the microwave. ", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Potato-None-Microwave-30/trial_T20190907_015922_868391/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Potato-None-Microwave-30/trial_T20190907_015922_868391/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..86184045b8c392e98ebcc615872399c16525ed31 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Potato-None-Microwave-30/trial_T20190907_015922_868391/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 potato on microwave.\"\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_015922_868391)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - 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DrawerType SpatulaType)\n (canContain GarbageCanType BreadType)\n (canContain GarbageCanType DishSpongeType)\n (canContain GarbageCanType EggType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType LettuceType)\n (canContain GarbageCanType PotatoType)\n (canContain GarbageCanType TomatoType)\n (canContain GarbageCanType AppleType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain StoveBurnerType KettleType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain 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CabinetType LadleType)\n (canContain CabinetType GlassbottleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain FridgeType BreadType)\n (canContain FridgeType BowlType)\n (canContain FridgeType PotType)\n (canContain FridgeType MugType)\n (canContain FridgeType EggType)\n (canContain FridgeType GlassbottleType)\n (canContain FridgeType LettuceType)\n (canContain FridgeType PotatoType)\n (canContain 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CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04)\n (inReceptacle DishSponge_bar__minus_00_dot_72_bar__plus_00_dot_90_bar__minus_00_dot_27 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04)\n (inReceptacle Pot_bar__minus_01_dot_01_bar__plus_00_dot_90_bar__plus_00_dot_85 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04)\n (inReceptacle Bowl_bar__minus_00_dot_68_bar__plus_00_dot_90_bar__minus_00_dot_75 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04)\n (inReceptacle SaltShaker_bar__minus_01_dot_02_bar__plus_00_dot_90_bar__minus_00_dot_72 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04)\n (inReceptacle Bowl_bar__plus_02_dot_97_bar__plus_00_dot_17_bar__plus_00_dot_70 Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__plus_00_dot_41)\n (inReceptacle CellPhone_bar__minus_00_dot_06_bar__plus_00_dot_70_bar__minus_01_dot_38 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loc_bar_9_bar_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_78 loc_bar_9_bar_0_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_05_bar__plus_00_dot_19_bar__minus_01_dot_32 loc_bar_4_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_05_bar__plus_00_dot_38_bar__minus_01_dot_32 loc_bar_2_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_05_bar__plus_00_dot_57_bar__minus_01_dot_32 loc_bar_2_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__minus_01_dot_32 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_19_bar__minus_00_dot_70 loc_bar_0_bar_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_39_bar__minus_00_dot_70 loc_bar_0_bar_1_bar_2_bar_60)\n (receptacleAtLocation 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loc_bar_11_bar_5_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43 loc_bar__minus_1_bar_5_bar_3_bar_45)\n (receptacleAtLocation Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09_bar_SinkBasin loc_bar_10_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_90_bar__minus_01_dot_09 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_09 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation Toaster_bar__minus_01_dot_04_bar__plus_00_dot_87_bar__minus_00_dot_40 loc_bar__minus_1_bar__minus_2_bar_3_bar_45)\n 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(objectAtLocation Egg_bar__plus_03_dot_13_bar__plus_00_dot_15_bar__plus_01_dot_55 loc_bar_11_bar_5_bar_1_bar_60)\n (objectAtLocation SaltShaker_bar__minus_01_dot_02_bar__plus_00_dot_90_bar__minus_00_dot_72 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation Cup_bar__minus_01_dot_09_bar__plus_01_dot_00_bar__plus_01_dot_47 loc_bar__minus_1_bar_5_bar_3_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_29_bar__plus_00_dot_93_bar__minus_01_dot_45 loc_bar_0_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Pot_bar__plus_00_dot_42_bar__plus_00_dot_90_bar__plus_00_dot_87 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_24_bar__plus_00_dot_94_bar__minus_01_dot_50 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Glassbottle_bar__plus_01_dot_30_bar__plus_01_dot_68_bar__minus_01_dot_55 loc_bar_4_bar__minus_2_bar_2_bar__minus_15)\n (objectAtLocation Plate_bar__plus_03_dot_03_bar__plus_00_dot_19_bar__minus_00_dot_79 loc_bar_8_bar__minus_5_bar_1_bar_60)\n 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(objectAtLocation Kettle_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_09 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Window_bar__plus_03_dot_70_bar__plus_01_dot_68_bar__plus_00_dot_05 loc_bar_10_bar_0_bar_1_bar_0)\n (objectAtLocation Spatula_bar__minus_00_dot_79_bar__plus_00_dot_72_bar__plus_01_dot_43 loc_bar__minus_1_bar_2_bar_0_bar_45)\n (objectAtLocation Knife_bar__minus_01_dot_01_bar__plus_00_dot_93_bar__minus_00_dot_05 loc_bar__minus_1_bar__minus_1_bar_3_bar_45)\n (objectAtLocation Lettuce_bar__plus_00_dot_66_bar__plus_00_dot_98_bar__plus_00_dot_18 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation LightSwitch_bar__plus_02_dot_59_bar__plus_01_dot_31_bar__minus_01_dot_88 loc_bar_9_bar__minus_5_bar_2_bar_30)\n (objectAtLocation Cup_bar__plus_01_dot_09_bar__plus_00_dot_71_bar__minus_01_dot_41 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation SaltShaker_bar__minus_00_dot_69_bar__plus_00_dot_51_bar__minus_00_dot_80 loc_bar_0_bar_1_bar_2_bar_45)\n (objectAtLocation Egg_bar__plus_03_dot_11_bar__plus_00_dot_80_bar__minus_00_dot_10 loc_bar_10_bar__minus_1_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__minus_00_dot_21_bar__plus_01_dot_26_bar__minus_01_dot_53 loc_bar_1_bar__minus_3_bar_2_bar_0)\n (objectAtLocation ButterKnife_bar__plus_00_dot_34_bar__plus_00_dot_90_bar__minus_01_dot_73 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Apple_bar__plus_01_dot_23_bar__plus_00_dot_98_bar__plus_00_dot_46 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Pan_bar__plus_03_dot_20_bar__plus_00_dot_90_bar__minus_00_dot_80 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (objectAtLocation Bread_bar__plus_00_dot_45_bar__plus_00_dot_99_bar__plus_00_dot_43 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation CellPhone_bar__minus_00_dot_06_bar__plus_00_dot_70_bar__minus_01_dot_38 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation DishSponge_bar__minus_00_dot_72_bar__plus_00_dot_90_bar__minus_00_dot_27 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation Tomato_bar__plus_01_dot_24_bar__plus_01_dot_11_bar__minus_01_dot_45 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Spoon_bar__minus_00_dot_03_bar__plus_00_dot_90_bar__minus_01_dot_29 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_68_bar__plus_00_dot_90_bar__minus_00_dot_75 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation Mug_bar__plus_03_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_59 loc_bar_10_bar_3_bar_1_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o PotatoType)\n (receptacleType ?r MicrowaveType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sinkbasin 1", "take potato 2 from sinkbasin 1", "go to microwave 1", "open microwave 1", "move potato 2 to microwave 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Potato-None-Microwave-30/trial_T20190907_015922_868391/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Potato-None-Microwave-30/trial_T20190907_015922_868391/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..6bd670e8fc0c2542cb4275673350f39930e10b7b --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Potato-None-Microwave-30/trial_T20190907_015922_868391/initial_state.pddl @@ -0,0 +1,1522 @@ + +(define (problem plan_trial_T20190907_015922_868391) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__plus_01_dot_09_bar__plus_01_dot_32_bar__minus_01_dot_48 - object + Apple_bar__plus_01_dot_23_bar__plus_00_dot_98_bar__plus_00_dot_46 - object + Apple_bar__minus_00_dot_91_bar__plus_00_dot_97_bar__minus_00_dot_82 - object + Bowl_bar__plus_02_dot_97_bar__plus_00_dot_17_bar__plus_00_dot_70 - object + Bowl_bar__plus_03_dot_25_bar__plus_01_dot_46_bar__minus_01_dot_65 - object + Bowl_bar__minus_00_dot_68_bar__plus_00_dot_90_bar__minus_00_dot_75 - object + Bread_bar__plus_00_dot_01_bar__plus_00_dot_98_bar__minus_01_dot_44 - object + Bread_bar__plus_00_dot_45_bar__plus_00_dot_99_bar__plus_00_dot_43 - object + ButterKnife_bar__plus_00_dot_34_bar__plus_00_dot_90_bar__minus_01_dot_73 - object + CellPhone_bar__plus_00_dot_67_bar__plus_00_dot_91_bar__plus_00_dot_66 - object + CellPhone_bar__minus_00_dot_06_bar__plus_00_dot_70_bar__minus_01_dot_38 - object + CellPhone_bar__minus_00_dot_83_bar__plus_00_dot_13_bar__plus_00_dot_93 - object + Cup_bar__plus_01_dot_09_bar__plus_00_dot_71_bar__minus_01_dot_41 - object + Cup_bar__minus_01_dot_09_bar__plus_01_dot_00_bar__plus_01_dot_47 - object + DishSponge_bar__minus_00_dot_72_bar__plus_00_dot_90_bar__minus_00_dot_27 - object + Egg_bar__plus_00_dot_85_bar__plus_00_dot_94_bar__minus_01_dot_50 - object + Egg_bar__plus_03_dot_11_bar__plus_00_dot_80_bar__minus_00_dot_10 - object + Egg_bar__plus_03_dot_13_bar__plus_00_dot_15_bar__plus_01_dot_55 - object + Faucet_bar__plus_03_dot_31_bar__plus_00_dot_89_bar__plus_00_dot_09 - object + Fork_bar__minus_00_dot_87_bar__plus_00_dot_52_bar__plus_00_dot_08 - object + Glassbottle_bar__plus_01_dot_30_bar__plus_01_dot_68_bar__minus_01_dot_55 - object + Glassbottle_bar__minus_00_dot_10_bar__plus_00_dot_90_bar__minus_01_dot_73 - object + HousePlant_bar__plus_03_dot_20_bar__plus_00_dot_89_bar__minus_00_dot_37 - object + Kettle_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_09 - object + Knife_bar__plus_00_dot_97_bar__plus_00_dot_93_bar__plus_00_dot_75 - object + Knife_bar__minus_00_dot_29_bar__plus_00_dot_93_bar__minus_01_dot_45 - object + Knife_bar__minus_01_dot_01_bar__plus_00_dot_93_bar__minus_00_dot_05 - object + Ladle_bar__minus_00_dot_99_bar__plus_00_dot_17_bar__plus_01_dot_43 - object + Lettuce_bar__plus_00_dot_66_bar__plus_00_dot_98_bar__plus_00_dot_18 - object + LightSwitch_bar__plus_02_dot_59_bar__plus_01_dot_31_bar__minus_01_dot_88 - object + Mirror_bar__minus_01_dot_30_bar__plus_01_dot_63_bar__plus_00_dot_05 - object + Mug_bar__plus_01_dot_24_bar__plus_00_dot_71_bar__minus_01_dot_43 - object + Mug_bar__plus_03_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_59 - object + Mug_bar__minus_01_dot_09_bar__plus_00_dot_99_bar__plus_01_dot_26 - object + Pan_bar__plus_03_dot_20_bar__plus_00_dot_90_bar__minus_00_dot_80 - object + PepperShaker_bar__minus_00_dot_21_bar__plus_01_dot_26_bar__minus_01_dot_53 - object + PepperShaker_bar__minus_00_dot_87_bar__plus_00_dot_13_bar__plus_00_dot_49 - object + Plate_bar__plus_00_dot_84_bar__plus_00_dot_92_bar__plus_00_dot_53 - object + Plate_bar__plus_03_dot_03_bar__plus_00_dot_19_bar__minus_00_dot_79 - object + Plate_bar__minus_01_dot_01_bar__plus_00_dot_91_bar__plus_00_dot_40 - object + Potato_bar__plus_00_dot_97_bar__plus_00_dot_95_bar__plus_00_dot_18 - object + Potato_bar__plus_02_dot_99_bar__plus_00_dot_79_bar__plus_00_dot_17 - object + Potato_bar__plus_03_dot_21_bar__plus_00_dot_14_bar__plus_01_dot_68 - object + Potato_bar__minus_00_dot_24_bar__plus_00_dot_94_bar__minus_01_dot_50 - object + Pot_bar__plus_00_dot_42_bar__plus_00_dot_90_bar__plus_00_dot_87 - object + Pot_bar__plus_01_dot_49_bar__plus_00_dot_91_bar__plus_00_dot_75 - object + Pot_bar__minus_01_dot_01_bar__plus_00_dot_90_bar__plus_00_dot_85 - object + SaltShaker_bar__minus_00_dot_69_bar__plus_00_dot_51_bar__minus_00_dot_80 - object + SaltShaker_bar__minus_01_dot_02_bar__plus_00_dot_90_bar__minus_00_dot_72 - object + Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09 - object + SoapBottle_bar__plus_00_dot_34_bar__plus_00_dot_91_bar__minus_01_dot_52 - object + Spatula_bar__minus_00_dot_79_bar__plus_00_dot_72_bar__plus_01_dot_43 - object + Spoon_bar__plus_01_dot_49_bar__plus_00_dot_91_bar__plus_00_dot_32 - object + Spoon_bar__minus_00_dot_03_bar__plus_00_dot_90_bar__minus_01_dot_29 - object + StoveKnob_bar__minus_00_dot_09_bar__plus_00_dot_79_bar__minus_01_dot_01 - object + StoveKnob_bar__minus_00_dot_18_bar__plus_00_dot_79_bar__minus_00_dot_92 - object + StoveKnob_bar__minus_00_dot_28_bar__plus_00_dot_79_bar__minus_00_dot_82 - object + StoveKnob_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_00_dot_72 - object + Tomato_bar__plus_01_dot_24_bar__plus_01_dot_11_bar__minus_01_dot_45 - object + Tomato_bar__plus_03_dot_36_bar__plus_00_dot_94_bar__minus_00_dot_30 - object + Window_bar__plus_03_dot_70_bar__plus_01_dot_68_bar__plus_00_dot_05 - object + Cabinet_bar__plus_00_dot_14_bar__plus_01_dot_67_bar__minus_01_dot_56 - receptacle + Cabinet_bar__plus_00_dot_62_bar__plus_01_dot_87_bar__minus_01_dot_26 - receptacle + Cabinet_bar__plus_01_dot_40_bar__plus_01_dot_87_bar__minus_01_dot_26 - receptacle + Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_05 - receptacle + Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_85 - receptacle + Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__plus_00_dot_41 - receptacle + Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_61 - receptacle + Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_96 - receptacle + Cabinet_bar__plus_03_dot_07_bar__plus_01_dot_67_bar__minus_00_dot_71 - receptacle + Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_67_bar__minus_01_dot_34 - receptacle + Cabinet_bar__minus_00_dot_20_bar__plus_01_dot_96_bar__minus_01_dot_33 - receptacle + Cabinet_bar__minus_00_dot_71_bar__plus_01_dot_96_bar__minus_00_dot_82 - receptacle + Cabinet_bar__minus_00_dot_92_bar__plus_01_dot_67_bar__minus_00_dot_62 - receptacle + CoffeeMachine_bar__plus_03_dot_22_bar__plus_00_dot_89_bar__plus_00_dot_70 - receptacle + CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52 - receptacle + CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46 - receptacle + CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02 - receptacle + CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04 - receptacle + Drawer_bar__plus_00_dot_38_bar__plus_00_dot_19_bar__minus_01_dot_51 - receptacle + Drawer_bar__plus_00_dot_38_bar__plus_00_dot_38_bar__minus_01_dot_51 - receptacle + Drawer_bar__plus_00_dot_38_bar__plus_00_dot_57_bar__minus_01_dot_51 - receptacle + Drawer_bar__plus_00_dot_38_bar__plus_00_dot_77_bar__minus_01_dot_51 - receptacle + Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__plus_00_dot_70 - receptacle + Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_41 - receptacle + Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_78 - receptacle + Drawer_bar__minus_00_dot_05_bar__plus_00_dot_19_bar__minus_01_dot_32 - receptacle + Drawer_bar__minus_00_dot_05_bar__plus_00_dot_38_bar__minus_01_dot_32 - receptacle + Drawer_bar__minus_00_dot_05_bar__plus_00_dot_57_bar__minus_01_dot_32 - receptacle + Drawer_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__minus_01_dot_32 - receptacle + Drawer_bar__minus_00_dot_68_bar__plus_00_dot_19_bar__minus_00_dot_70 - receptacle + Drawer_bar__minus_00_dot_68_bar__plus_00_dot_39_bar__minus_00_dot_70 - receptacle + Drawer_bar__minus_00_dot_68_bar__plus_00_dot_58_bar__minus_00_dot_70 - receptacle + Drawer_bar__minus_00_dot_68_bar__plus_00_dot_77_bar__minus_00_dot_70 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_00_dot_66 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_01_dot_43 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__minus_00_dot_10 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_00_dot_66 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_01_dot_43 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__minus_00_dot_10 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_00_dot_66 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_01_dot_43 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__minus_00_dot_10 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_00_dot_66 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_01_dot_43 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__minus_00_dot_10 - receptacle + Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47 - receptacle + GarbageCan_bar__plus_03_dot_18_bar__plus_00_dot_03_bar__plus_01_dot_60 - receptacle + Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43 - receptacle + Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09_bar_SinkBasin - receptacle + StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_90_bar__minus_01_dot_09 - receptacle + StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 - receptacle + StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 - receptacle + StoveBurner_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_09 - receptacle + Toaster_bar__minus_01_dot_04_bar__plus_00_dot_87_bar__minus_00_dot_40 - receptacle + loc_bar__minus_1_bar_2_bar_3_bar_45 - location + loc_bar_2_bar__minus_1_bar_2_bar_45 - location + loc_bar_10_bar_0_bar_1_bar_0 - location + loc_bar_10_bar_3_bar_1_bar_45 - location + loc_bar__minus_1_bar_5_bar_3_bar_45 - location + loc_bar_0_bar_2_bar_0_bar_60 - location + loc_bar_0_bar_2_bar_2_bar_45 - location + loc_bar_8_bar_1_bar_1_bar_60 - location + loc_bar_10_bar__minus_2_bar_1_bar_45 - location + loc_bar_4_bar__minus_2_bar_0_bar_45 - location + loc_bar_2_bar__minus_2_bar_2_bar_60 - location + loc_bar_0_bar__minus_3_bar_2_bar_45 - location + loc_bar_1_bar__minus_3_bar_2_bar_0 - location + loc_bar_11_bar_5_bar_1_bar_60 - location + loc_bar_0_bar_1_bar_2_bar_60 - location + loc_bar_9_bar_2_bar_2_bar_45 - location + loc_bar__minus_1_bar_3_bar_2_bar_45 - location + loc_bar_8_bar_0_bar_1_bar_60 - location + loc_bar_9_bar__minus_5_bar_1_bar__minus_15 - location + loc_bar_0_bar_4_bar_2_bar_45 - location + loc_bar__minus_1_bar__minus_1_bar_2_bar_45 - location + loc_bar_1_bar__minus_3_bar_2_bar_45 - location + loc_bar__minus_1_bar__minus_2_bar_3_bar_45 - location + loc_bar__minus_1_bar__minus_1_bar_3_bar_45 - location + loc_bar_0_bar__minus_2_bar_0_bar_45 - location + loc_bar_0_bar_1_bar_2_bar_45 - location + loc_bar_4_bar__minus_2_bar_2_bar__minus_15 - location + loc_bar_0_bar__minus_2_bar_2_bar__minus_15 - location + loc_bar_9_bar__minus_5_bar_2_bar_30 - location + loc_bar__minus_1_bar__minus_1_bar_0_bar_45 - location + loc_bar_2_bar__minus_3_bar_2_bar_0 - location + loc_bar_4_bar__minus_2_bar_2_bar_60 - location + loc_bar_0_bar__minus_3_bar_3_bar_60 - location + loc_bar_8_bar__minus_5_bar_1_bar_0 - location + loc_bar__minus_1_bar_1_bar_3_bar_0 - location + loc_bar__minus_1_bar__minus_2_bar_3_bar_0 - location + loc_bar_10_bar__minus_1_bar_1_bar_60 - location + loc_bar_9_bar_0_bar_2_bar_45 - location + loc_bar_10_bar_0_bar_1_bar_60 - location + loc_bar_0_bar_4_bar_2_bar_60 - location + loc_bar__minus_1_bar__minus_2_bar_2_bar_60 - location + loc_bar_9_bar__minus_1_bar_0_bar_45 - location + loc_bar_0_bar__minus_2_bar_2_bar_45 - location + loc_bar_0_bar__minus_1_bar_2_bar_45 - location + loc_bar_8_bar__minus_5_bar_1_bar_60 - location + loc_bar_0_bar_1_bar_0_bar_45 - location + loc_bar_0_bar__minus_3_bar_3_bar__minus_15 - location + loc_bar_9_bar__minus_4_bar_1_bar_0 - location + loc_bar__minus_1_bar_2_bar_0_bar_45 - location + loc_bar_2_bar__minus_2_bar_2_bar_45 - location + loc_bar_4_bar__minus_2_bar_3_bar_60 - location + loc_bar__minus_1_bar_1_bar_2_bar_45 - location + 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CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46) + (inReceptacle Apple_bar__plus_01_dot_23_bar__plus_00_dot_98_bar__plus_00_dot_46 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46) + (inReceptacle Plate_bar__plus_00_dot_84_bar__plus_00_dot_92_bar__plus_00_dot_53 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46) + (inReceptacle Potato_bar__plus_00_dot_97_bar__plus_00_dot_95_bar__plus_00_dot_18 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46) + (inReceptacle Bread_bar__plus_00_dot_45_bar__plus_00_dot_99_bar__plus_00_dot_43 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46) + (inReceptacle Potato_bar__plus_03_dot_21_bar__plus_00_dot_14_bar__plus_01_dot_68 GarbageCan_bar__plus_03_dot_18_bar__plus_00_dot_03_bar__plus_01_dot_60) + (inReceptacle Egg_bar__plus_03_dot_13_bar__plus_00_dot_15_bar__plus_01_dot_55 GarbageCan_bar__plus_03_dot_18_bar__plus_00_dot_03_bar__plus_01_dot_60) + 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", + "Put the egg in the microwave." + ], + "task_desc": "Put an egg in the microwave. ", + "votes": [ + 0, + 0, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2A4UAFZ5LW71K_337RC3OW08JI90IEGVGV24F3BSFVL3", + "high_descs": [ + "turn left, walk across the room, turn right to face blue bin", + "pick up the potato that is in the blue bin", + "turn right, walk forward, turn right, walk forward, turn right, walk forward, turn to face microwave on the left", + "open microwave, put potato in the microwave" + ], + "task_desc": "put a potato in the microwave", + "votes": [ + 1, + 1, + 0 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Potato-None-Microwave-30/trial_T20190907_020007_658755/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Potato-None-Microwave-30/trial_T20190907_020007_658755/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..2871ea6f3e311edeeed4e2922b903a3643ca0a6a --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Potato-None-Microwave-30/trial_T20190907_020007_658755/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 potato in microwave.\"\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_020007_658755)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__minus_01_dot_09_bar__plus_01_dot_07_bar__plus_01_dot_42 - object\n Bowl_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__plus_00_dot_61 - object\n Bowl_bar__plus_03_dot_10_bar__plus_01_dot_46_bar__minus_01_dot_24 - object\n Bread_bar__plus_01_dot_53_bar__plus_00_dot_97_bar__plus_00_dot_49 - object\n ButterKnife_bar__plus_00_dot_61_bar__plus_00_dot_91_bar__plus_00_dot_22 - object\n ButterKnife_bar__minus_01_dot_01_bar__plus_00_dot_90_bar__plus_00_dot_85 - object\n CellPhone_bar__plus_00_dot_38_bar__plus_00_dot_13_bar__minus_01_dot_43 - object\n CellPhone_bar__plus_02_dot_95_bar__plus_00_dot_71_bar__minus_00_dot_45 - object\n Cup_bar__plus_00_dot_35_bar__plus_01_dot_26_bar__minus_01_dot_71 - object\n DishSponge_bar__plus_03_dot_08_bar__plus_00_dot_18_bar__minus_00_dot_79 - object\n DishSponge_bar__minus_00_dot_64_bar__plus_00_dot_33_bar__minus_00_dot_70 - object\n Egg_bar__plus_00_dot_61_bar__plus_00_dot_96_bar__plus_00_dot_46 - object\n Egg_bar__plus_01_dot_09_bar__plus_00_dot_94_bar__minus_01_dot_45 - object\n Egg_bar__plus_03_dot_10_bar__plus_00_dot_15_bar__plus_01_dot_68 - object\n Faucet_bar__plus_03_dot_31_bar__plus_00_dot_89_bar__plus_00_dot_09 - object\n Fork_bar__plus_00_dot_10_bar__plus_00_dot_90_bar__minus_01_dot_53 - object\n Fork_bar__plus_00_dot_53_bar__plus_00_dot_91_bar__plus_00_dot_63 - object\n Fork_bar__minus_00_dot_87_bar__plus_00_dot_33_bar__minus_00_dot_10 - object\n Glassbottle_bar__plus_01_dot_26_bar__plus_01_dot_68_bar__minus_01_dot_55 - object\n Glassbottle_bar__plus_02_dot_89_bar__plus_01_dot_47_bar__minus_01_dot_28 - object\n Glassbottle_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__minus_01_dot_68 - object\n HousePlant_bar__plus_03_dot_20_bar__plus_00_dot_89_bar__minus_00_dot_37 - object\n Kettle_bar__plus_00_dot_86_bar__plus_01_dot_68_bar__minus_01_dot_69 - object\n Kettle_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 - object\n Knife_bar__plus_03_dot_15_bar__plus_00_dot_74_bar__plus_00_dot_76 - object\n Ladle_bar__minus_00_dot_87_bar__plus_00_dot_36_bar__plus_01_dot_43 - object\n Ladle_bar__minus_00_dot_87_bar__plus_00_dot_74_bar__plus_01_dot_34 - object\n Lettuce_bar__minus_00_dot_09_bar__plus_00_dot_97_bar__minus_01_dot_44 - object\n Lettuce_bar__minus_00_dot_83_bar__plus_00_dot_97_bar__minus_00_dot_80 - object\n LightSwitch_bar__plus_02_dot_59_bar__plus_01_dot_31_bar__minus_01_dot_88 - object\n Mirror_bar__minus_01_dot_30_bar__plus_01_dot_63_bar__plus_00_dot_05 - object\n Mug_bar__plus_01_dot_24_bar__plus_00_dot_71_bar__minus_01_dot_43 - object\n Mug_bar__plus_03_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_59 - object\n Mug_bar__minus_01_dot_01_bar__plus_00_dot_90_bar__plus_00_dot_62 - object\n Pan_bar__plus_00_dot_34_bar__plus_00_dot_87_bar__minus_01_dot_65 - object\n PepperShaker_bar__minus_00_dot_03_bar__plus_00_dot_70_bar__minus_01_dot_40 - object\n Plate_bar__plus_03_dot_08_bar__plus_00_dot_19_bar__minus_00_dot_40 - object\n Plate_bar__plus_03_dot_28_bar__plus_00_dot_91_bar__minus_00_dot_70 - object\n Potato_bar__plus_01_dot_01_bar__plus_01_dot_29_bar__minus_01_dot_53 - object\n Potato_bar__plus_01_dot_16_bar__plus_01_dot_29_bar__minus_01_dot_53 - object\n Potato_bar__plus_03_dot_04_bar__plus_00_dot_94_bar__minus_00_dot_90 - object\n Pot_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 - object\n SaltShaker_bar__plus_00_dot_42_bar__plus_00_dot_32_bar__minus_01_dot_43 - object\n SaltShaker_bar__plus_02_dot_95_bar__plus_00_dot_71_bar__minus_00_dot_86 - object\n Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09 - object\n SoapBottle_bar__plus_03_dot_29_bar__plus_00_dot_11_bar__plus_01_dot_60 - object\n SoapBottle_bar__minus_01_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_83 - object\n Spatula_bar__minus_00_dot_79_bar__plus_00_dot_72_bar__minus_00_dot_10 - object\n Spatula_bar__minus_00_dot_99_bar__plus_00_dot_53_bar__plus_01_dot_69 - object\n Spoon_bar__plus_03_dot_07_bar__plus_00_dot_75_bar__plus_00_dot_17 - object\n Spoon_bar__minus_00_dot_94_bar__plus_00_dot_90_bar__minus_00_dot_70 - object\n Spoon_bar__minus_01_dot_01_bar__plus_00_dot_90_bar__minus_00_dot_05 - object\n StoveKnob_bar__minus_00_dot_09_bar__plus_00_dot_79_bar__minus_01_dot_01 - object\n StoveKnob_bar__minus_00_dot_18_bar__plus_00_dot_79_bar__minus_00_dot_92 - object\n StoveKnob_bar__minus_00_dot_28_bar__plus_00_dot_79_bar__minus_00_dot_82 - object\n StoveKnob_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_00_dot_72 - object\n Tomato_bar__plus_00_dot_10_bar__plus_00_dot_94_bar__minus_01_dot_37 - object\n Tomato_bar__plus_00_dot_83_bar__plus_00_dot_95_bar__plus_00_dot_17 - object\n Tomato_bar__plus_01_dot_09_bar__plus_00_dot_75_bar__minus_01_dot_46 - object\n Window_bar__plus_03_dot_70_bar__plus_01_dot_68_bar__plus_00_dot_05 - object\n Cabinet_bar__plus_00_dot_14_bar__plus_01_dot_67_bar__minus_01_dot_56 - receptacle\n Cabinet_bar__plus_00_dot_62_bar__plus_01_dot_87_bar__minus_01_dot_26 - receptacle\n Cabinet_bar__plus_01_dot_40_bar__plus_01_dot_87_bar__minus_01_dot_26 - receptacle\n Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_05 - receptacle\n Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_85 - receptacle\n Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__plus_00_dot_41 - receptacle\n Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_61 - receptacle\n Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_96 - receptacle\n Cabinet_bar__plus_03_dot_07_bar__plus_01_dot_67_bar__minus_00_dot_71 - receptacle\n Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_67_bar__minus_01_dot_34 - receptacle\n Cabinet_bar__minus_00_dot_20_bar__plus_01_dot_96_bar__minus_01_dot_33 - receptacle\n Cabinet_bar__minus_00_dot_71_bar__plus_01_dot_96_bar__minus_00_dot_82 - receptacle\n Cabinet_bar__minus_00_dot_92_bar__plus_01_dot_67_bar__minus_00_dot_62 - receptacle\n CoffeeMachine_bar__plus_03_dot_22_bar__plus_00_dot_89_bar__plus_00_dot_70 - receptacle\n CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52 - receptacle\n CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46 - receptacle\n CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02 - receptacle\n CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04 - receptacle\n Drawer_bar__plus_00_dot_38_bar__plus_00_dot_19_bar__minus_01_dot_51 - receptacle\n Drawer_bar__plus_00_dot_38_bar__plus_00_dot_38_bar__minus_01_dot_51 - receptacle\n Drawer_bar__plus_00_dot_38_bar__plus_00_dot_57_bar__minus_01_dot_51 - receptacle\n Drawer_bar__plus_00_dot_38_bar__plus_00_dot_77_bar__minus_01_dot_51 - receptacle\n Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__plus_00_dot_70 - receptacle\n Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_41 - receptacle\n Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_78 - receptacle\n Drawer_bar__minus_00_dot_05_bar__plus_00_dot_19_bar__minus_01_dot_32 - receptacle\n Drawer_bar__minus_00_dot_05_bar__plus_00_dot_38_bar__minus_01_dot_32 - receptacle\n Drawer_bar__minus_00_dot_05_bar__plus_00_dot_57_bar__minus_01_dot_32 - receptacle\n Drawer_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__minus_01_dot_32 - receptacle\n Drawer_bar__minus_00_dot_68_bar__plus_00_dot_19_bar__minus_00_dot_70 - receptacle\n Drawer_bar__minus_00_dot_68_bar__plus_00_dot_39_bar__minus_00_dot_70 - receptacle\n Drawer_bar__minus_00_dot_68_bar__plus_00_dot_58_bar__minus_00_dot_70 - receptacle\n Drawer_bar__minus_00_dot_68_bar__plus_00_dot_77_bar__minus_00_dot_70 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_00_dot_66 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_01_dot_43 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__minus_00_dot_10 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_00_dot_66 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_01_dot_43 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__minus_00_dot_10 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_00_dot_66 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_01_dot_43 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__minus_00_dot_10 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_00_dot_66 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_01_dot_43 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__minus_00_dot_10 - receptacle\n Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47 - receptacle\n GarbageCan_bar__plus_03_dot_18_bar__plus_00_dot_03_bar__plus_01_dot_60 - receptacle\n Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43 - receptacle\n Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_90_bar__minus_01_dot_09 - receptacle\n StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 - receptacle\n StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 - receptacle\n StoveBurner_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_09 - receptacle\n Toaster_bar__minus_01_dot_04_bar__plus_00_dot_87_bar__minus_00_dot_40 - receptacle\n loc_bar__minus_1_bar_2_bar_3_bar_45 - location\n loc_bar_2_bar__minus_1_bar_2_bar_45 - location\n loc_bar_10_bar_0_bar_1_bar_0 - location\n loc_bar_10_bar_3_bar_1_bar_45 - location\n loc_bar__minus_1_bar_5_bar_3_bar_45 - location\n loc_bar_0_bar_2_bar_0_bar_60 - location\n loc_bar_0_bar_2_bar_2_bar_45 - location\n loc_bar_8_bar_1_bar_1_bar_60 - location\n loc_bar_10_bar__minus_2_bar_1_bar_45 - location\n loc_bar_4_bar__minus_2_bar_0_bar_45 - location\n loc_bar_2_bar__minus_2_bar_2_bar_60 - location\n loc_bar_0_bar__minus_3_bar_2_bar_45 - location\n loc_bar_1_bar__minus_3_bar_2_bar_0 - location\n loc_bar_11_bar_5_bar_1_bar_60 - location\n loc_bar_0_bar_1_bar_2_bar_60 - location\n loc_bar_9_bar_2_bar_2_bar_45 - location\n loc_bar__minus_1_bar_3_bar_2_bar_45 - location\n loc_bar_8_bar_0_bar_1_bar_60 - location\n loc_bar_9_bar__minus_5_bar_1_bar__minus_15 - location\n loc_bar_0_bar_4_bar_2_bar_45 - location\n loc_bar__minus_1_bar__minus_1_bar_2_bar_45 - location\n loc_bar_1_bar__minus_3_bar_2_bar_45 - location\n loc_bar__minus_1_bar__minus_2_bar_3_bar_45 - location\n loc_bar_0_bar__minus_2_bar_0_bar_45 - location\n loc_bar_0_bar_1_bar_2_bar_45 - location\n loc_bar_4_bar__minus_2_bar_2_bar__minus_15 - location\n loc_bar_0_bar__minus_2_bar_2_bar__minus_15 - location\n loc_bar_9_bar__minus_5_bar_2_bar_30 - location\n loc_bar__minus_1_bar__minus_1_bar_0_bar_45 - location\n loc_bar_2_bar__minus_3_bar_2_bar_0 - location\n loc_bar_4_bar__minus_2_bar_2_bar_60 - location\n loc_bar_0_bar__minus_3_bar_3_bar_60 - location\n loc_bar_8_bar__minus_5_bar_1_bar_0 - location\n loc_bar__minus_1_bar_1_bar_3_bar_0 - location\n loc_bar__minus_1_bar__minus_2_bar_3_bar_0 - location\n loc_bar_10_bar__minus_1_bar_1_bar_60 - location\n loc_bar_9_bar_0_bar_2_bar_45 - location\n loc_bar_10_bar_0_bar_1_bar_60 - location\n loc_bar_0_bar_4_bar_2_bar_60 - location\n loc_bar__minus_1_bar__minus_2_bar_2_bar_60 - location\n loc_bar_9_bar__minus_1_bar_0_bar_45 - location\n loc_bar_0_bar__minus_2_bar_2_bar_45 - location\n loc_bar_0_bar__minus_1_bar_2_bar_45 - location\n loc_bar_8_bar__minus_5_bar_1_bar_60 - location\n loc_bar_0_bar_1_bar_0_bar_45 - location\n loc_bar_0_bar__minus_3_bar_3_bar__minus_15 - location\n loc_bar_9_bar__minus_4_bar_1_bar_0 - location\n loc_bar__minus_1_bar_2_bar_0_bar_45 - location\n loc_bar_2_bar__minus_2_bar_2_bar_45 - location\n loc_bar_4_bar__minus_2_bar_3_bar_60 - location\n loc_bar__minus_1_bar_1_bar_2_bar_45 - location\n loc_bar_0_bar__minus_3_bar_2_bar_60 - location\n loc_bar_9_bar__minus_5_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__minus_00_dot_68_bar__plus_00_dot_19_bar__minus_00_dot_70 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_05_bar__plus_00_dot_38_bar__minus_01_dot_32 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_92_bar__plus_01_dot_67_bar__minus_00_dot_62 CabinetType)\n (receptacleType CoffeeMachine_bar__plus_03_dot_22_bar__plus_00_dot_89_bar__plus_00_dot_70 CoffeeMachineType)\n (receptacleType Drawer_bar__plus_00_dot_38_bar__plus_00_dot_19_bar__minus_01_dot_51 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_38_bar__plus_00_dot_57_bar__minus_01_dot_51 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_00_dot_66 DrawerType)\n (receptacleType Cabinet_bar__plus_03_dot_07_bar__plus_01_dot_67_bar__minus_00_dot_71 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_20_bar__plus_01_dot_96_bar__minus_01_dot_33 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_67_bar__minus_01_dot_34 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_05_bar__plus_00_dot_57_bar__minus_01_dot_32 DrawerType)\n (receptacleType CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52 CounterTopType)\n (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_00_dot_66 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_71_bar__plus_01_dot_96_bar__minus_00_dot_82 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_00_dot_66 DrawerType)\n (receptacleType Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_61 CabinetType)\n (receptacleType Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_05 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_01_dot_43 DrawerType)\n (receptacleType Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09_bar_SinkBasin SinkBasinType)\n (receptacleType Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43 MicrowaveType)\n (receptacleType Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__plus_00_dot_41 CabinetType)\n (receptacleType Drawer_bar__plus_00_dot_38_bar__plus_00_dot_38_bar__minus_01_dot_51 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_00_dot_66 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__minus_00_dot_10 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_68_bar__plus_00_dot_58_bar__minus_00_dot_70 DrawerType)\n (receptacleType Toaster_bar__minus_01_dot_04_bar__plus_00_dot_87_bar__minus_00_dot_40 ToasterType)\n (receptacleType StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_90_bar__minus_01_dot_09 StoveBurnerType)\n (receptacleType CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46 CounterTopType)\n (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__minus_00_dot_10 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__minus_01_dot_32 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_01_dot_43 DrawerType)\n (receptacleType GarbageCan_bar__plus_03_dot_18_bar__plus_00_dot_03_bar__plus_01_dot_60 GarbageCanType)\n (receptacleType Drawer_bar__plus_00_dot_38_bar__plus_00_dot_77_bar__minus_01_dot_51 DrawerType)\n (receptacleType StoveBurner_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_09 StoveBurnerType)\n (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__minus_00_dot_10 DrawerType)\n (receptacleType StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 StoveBurnerType)\n (receptacleType Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_78 DrawerType)\n (receptacleType Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_85 CabinetType)\n (receptacleType CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04 CounterTopType)\n (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_01_dot_43 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_68_bar__plus_00_dot_77_bar__minus_00_dot_70 DrawerType)\n (receptacleType Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_41 DrawerType)\n (receptacleType CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02 CounterTopType)\n (receptacleType Cabinet_bar__plus_00_dot_62_bar__plus_01_dot_87_bar__minus_01_dot_26 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__minus_00_dot_10 DrawerType)\n (receptacleType Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47 FridgeType)\n (receptacleType Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_96 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_14_bar__plus_01_dot_67_bar__minus_01_dot_56 CabinetType)\n (receptacleType StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 StoveBurnerType)\n (receptacleType Drawer_bar__minus_00_dot_05_bar__plus_00_dot_19_bar__minus_01_dot_32 DrawerType)\n (receptacleType Cabinet_bar__plus_01_dot_40_bar__plus_01_dot_87_bar__minus_01_dot_26 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_68_bar__plus_00_dot_39_bar__minus_00_dot_70 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_01_dot_43 DrawerType)\n (receptacleType Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__plus_00_dot_70 DrawerType)\n (objectType Mug_bar__plus_01_dot_24_bar__plus_00_dot_71_bar__minus_01_dot_43 MugType)\n (objectType Mug_bar__plus_03_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_59 MugType)\n (objectType PepperShaker_bar__minus_00_dot_03_bar__plus_00_dot_70_bar__minus_01_dot_40 PepperShakerType)\n (objectType Cup_bar__plus_00_dot_35_bar__plus_01_dot_26_bar__minus_01_dot_71 CupType)\n (objectType LightSwitch_bar__plus_02_dot_59_bar__plus_01_dot_31_bar__minus_01_dot_88 LightSwitchType)\n (objectType Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09 SinkType)\n (objectType CellPhone_bar__plus_02_dot_95_bar__plus_00_dot_71_bar__minus_00_dot_45 CellPhoneType)\n (objectType DishSponge_bar__minus_00_dot_64_bar__plus_00_dot_33_bar__minus_00_dot_70 DishSpongeType)\n (objectType CellPhone_bar__plus_00_dot_38_bar__plus_00_dot_13_bar__minus_01_dot_43 CellPhoneType)\n (objectType StoveKnob_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_00_dot_72 StoveKnobType)\n (objectType Kettle_bar__plus_00_dot_86_bar__plus_01_dot_68_bar__minus_01_dot_69 KettleType)\n (objectType Egg_bar__plus_00_dot_61_bar__plus_00_dot_96_bar__plus_00_dot_46 EggType)\n (objectType Pan_bar__plus_00_dot_34_bar__plus_00_dot_87_bar__minus_01_dot_65 PanType)\n (objectType Spoon_bar__minus_00_dot_94_bar__plus_00_dot_90_bar__minus_00_dot_70 SpoonType)\n (objectType Tomato_bar__plus_00_dot_83_bar__plus_00_dot_95_bar__plus_00_dot_17 TomatoType)\n (objectType DishSponge_bar__plus_03_dot_08_bar__plus_00_dot_18_bar__minus_00_dot_79 DishSpongeType)\n (objectType Lettuce_bar__minus_00_dot_83_bar__plus_00_dot_97_bar__minus_00_dot_80 LettuceType)\n (objectType Knife_bar__plus_03_dot_15_bar__plus_00_dot_74_bar__plus_00_dot_76 KnifeType)\n (objectType Kettle_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 KettleType)\n (objectType Ladle_bar__minus_00_dot_87_bar__plus_00_dot_36_bar__plus_01_dot_43 LadleType)\n (objectType Spatula_bar__minus_00_dot_79_bar__plus_00_dot_72_bar__minus_00_dot_10 SpatulaType)\n (objectType StoveKnob_bar__minus_00_dot_18_bar__plus_00_dot_79_bar__minus_00_dot_92 StoveKnobType)\n (objectType Bowl_bar__plus_03_dot_10_bar__plus_01_dot_46_bar__minus_01_dot_24 BowlType)\n (objectType Window_bar__plus_03_dot_70_bar__plus_01_dot_68_bar__plus_00_dot_05 WindowType)\n (objectType Pot_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 PotType)\n (objectType Potato_bar__plus_01_dot_16_bar__plus_01_dot_29_bar__minus_01_dot_53 PotatoType)\n (objectType Mug_bar__minus_01_dot_01_bar__plus_00_dot_90_bar__plus_00_dot_62 MugType)\n (objectType ButterKnife_bar__minus_01_dot_01_bar__plus_00_dot_90_bar__plus_00_dot_85 ButterKnifeType)\n (objectType Potato_bar__plus_03_dot_04_bar__plus_00_dot_94_bar__minus_00_dot_90 PotatoType)\n (objectType Glassbottle_bar__plus_02_dot_89_bar__plus_01_dot_47_bar__minus_01_dot_28 GlassbottleType)\n (objectType Plate_bar__plus_03_dot_08_bar__plus_00_dot_19_bar__minus_00_dot_40 PlateType)\n (objectType SaltShaker_bar__plus_00_dot_42_bar__plus_00_dot_32_bar__minus_01_dot_43 SaltShakerType)\n (objectType Fork_bar__minus_00_dot_87_bar__plus_00_dot_33_bar__minus_00_dot_10 ForkType)\n (objectType Apple_bar__minus_01_dot_09_bar__plus_01_dot_07_bar__plus_01_dot_42 AppleType)\n (objectType Bread_bar__plus_01_dot_53_bar__plus_00_dot_97_bar__plus_00_dot_49 BreadType)\n (objectType SoapBottle_bar__plus_03_dot_29_bar__plus_00_dot_11_bar__plus_01_dot_60 SoapBottleType)\n (objectType StoveKnob_bar__minus_00_dot_28_bar__plus_00_dot_79_bar__minus_00_dot_82 StoveKnobType)\n (objectType Potato_bar__plus_01_dot_01_bar__plus_01_dot_29_bar__minus_01_dot_53 PotatoType)\n (objectType Glassbottle_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__minus_01_dot_68 GlassbottleType)\n (objectType HousePlant_bar__plus_03_dot_20_bar__plus_00_dot_89_bar__minus_00_dot_37 HousePlantType)\n (objectType Egg_bar__plus_03_dot_10_bar__plus_00_dot_15_bar__plus_01_dot_68 EggType)\n (objectType Spoon_bar__minus_01_dot_01_bar__plus_00_dot_90_bar__minus_00_dot_05 SpoonType)\n (objectType Spatula_bar__minus_00_dot_99_bar__plus_00_dot_53_bar__plus_01_dot_69 SpatulaType)\n (objectType SoapBottle_bar__minus_01_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_83 SoapBottleType)\n (objectType Ladle_bar__minus_00_dot_87_bar__plus_00_dot_74_bar__plus_01_dot_34 LadleType)\n (objectType SaltShaker_bar__plus_02_dot_95_bar__plus_00_dot_71_bar__minus_00_dot_86 SaltShakerType)\n (objectType StoveKnob_bar__minus_00_dot_09_bar__plus_00_dot_79_bar__minus_01_dot_01 StoveKnobType)\n (objectType Tomato_bar__plus_01_dot_09_bar__plus_00_dot_75_bar__minus_01_dot_46 TomatoType)\n (objectType Bowl_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__plus_00_dot_61 BowlType)\n (objectType Mirror_bar__minus_01_dot_30_bar__plus_01_dot_63_bar__plus_00_dot_05 MirrorType)\n (objectType Plate_bar__plus_03_dot_28_bar__plus_00_dot_91_bar__minus_00_dot_70 PlateType)\n (objectType Fork_bar__plus_00_dot_53_bar__plus_00_dot_91_bar__plus_00_dot_63 ForkType)\n (objectType Tomato_bar__plus_00_dot_10_bar__plus_00_dot_94_bar__minus_01_dot_37 TomatoType)\n (objectType ButterKnife_bar__plus_00_dot_61_bar__plus_00_dot_91_bar__plus_00_dot_22 ButterKnifeType)\n (objectType 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CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Egg_bar__plus_00_dot_61_bar__plus_00_dot_96_bar__plus_00_dot_46 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle DishSponge_bar__minus_00_dot_64_bar__plus_00_dot_33_bar__minus_00_dot_70 Drawer_bar__minus_00_dot_68_bar__plus_00_dot_39_bar__minus_00_dot_70)\n (inReceptacle Ladle_bar__minus_00_dot_87_bar__plus_00_dot_36_bar__plus_01_dot_43 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_01_dot_43)\n (inReceptacle SoapBottle_bar__plus_03_dot_29_bar__plus_00_dot_11_bar__plus_01_dot_60 GarbageCan_bar__plus_03_dot_18_bar__plus_00_dot_03_bar__plus_01_dot_60)\n (inReceptacle Egg_bar__plus_03_dot_10_bar__plus_00_dot_15_bar__plus_01_dot_68 GarbageCan_bar__plus_03_dot_18_bar__plus_00_dot_03_bar__plus_01_dot_60)\n (inReceptacle Mug_bar__plus_03_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_59 CoffeeMachine_bar__plus_03_dot_22_bar__plus_00_dot_89_bar__plus_00_dot_70)\n (inReceptacle Spoon_bar__plus_03_dot_07_bar__plus_00_dot_75_bar__plus_00_dot_17 Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09_bar_SinkBasin)\n (inReceptacle Mug_bar__plus_01_dot_24_bar__plus_00_dot_71_bar__minus_01_dot_43 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47)\n (inReceptacle Tomato_bar__plus_01_dot_09_bar__plus_00_dot_75_bar__minus_01_dot_46 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47)\n (inReceptacle Potato_bar__plus_01_dot_01_bar__plus_01_dot_29_bar__minus_01_dot_53 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47)\n (inReceptacle Potato_bar__plus_01_dot_16_bar__plus_01_dot_29_bar__minus_01_dot_53 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47)\n (inReceptacle Egg_bar__plus_01_dot_09_bar__plus_00_dot_94_bar__minus_01_dot_45 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47)\n (inReceptacle Apple_bar__minus_01_dot_09_bar__plus_01_dot_07_bar__plus_01_dot_42 Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_14_bar__plus_01_dot_67_bar__minus_01_dot_56 loc_bar_2_bar__minus_3_bar_2_bar_0)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_62_bar__plus_01_dot_87_bar__minus_01_dot_26 loc_bar_4_bar__minus_2_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_40_bar__plus_01_dot_87_bar__minus_01_dot_26 loc_bar_4_bar__minus_2_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_05 loc_bar_9_bar__minus_5_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_85 loc_bar_8_bar__minus_5_bar_1_bar_0)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__plus_00_dot_41 loc_bar_8_bar_1_bar_1_bar_60)\n (receptacleAtLocation 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loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Fork_bar__plus_00_dot_10_bar__plus_00_dot_90_bar__minus_01_dot_53 loc_bar_0_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Spoon_bar__plus_03_dot_07_bar__plus_00_dot_75_bar__plus_00_dot_17 loc_bar_10_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Glassbottle_bar__plus_02_dot_89_bar__plus_01_dot_47_bar__minus_01_dot_28 loc_bar_9_bar__minus_5_bar_1_bar__minus_15)\n (objectAtLocation Potato_bar__plus_01_dot_01_bar__plus_01_dot_29_bar__minus_01_dot_53 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09 loc_bar_10_bar_0_bar_1_bar_60)\n (objectAtLocation Mirror_bar__minus_01_dot_30_bar__plus_01_dot_63_bar__plus_00_dot_05 loc_bar__minus_1_bar_1_bar_3_bar_0)\n (objectAtLocation Plate_bar__plus_03_dot_28_bar__plus_00_dot_91_bar__minus_00_dot_70 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (objectAtLocation Glassbottle_bar__plus_01_dot_26_bar__plus_01_dot_68_bar__minus_01_dot_55 loc_bar_4_bar__minus_2_bar_2_bar__minus_15)\n (objectAtLocation SoapBottle_bar__minus_01_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_83 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation Potato_bar__plus_01_dot_16_bar__plus_01_dot_29_bar__minus_01_dot_53 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation HousePlant_bar__plus_03_dot_20_bar__plus_00_dot_89_bar__minus_00_dot_37 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_09_bar__plus_00_dot_79_bar__minus_01_dot_01 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_28_bar__plus_00_dot_79_bar__minus_00_dot_82 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_18_bar__plus_00_dot_79_bar__minus_00_dot_92 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_00_dot_72 loc_bar__minus_1_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Fork_bar__plus_00_dot_53_bar__plus_00_dot_91_bar__plus_00_dot_63 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Ladle_bar__minus_00_dot_87_bar__plus_00_dot_74_bar__plus_01_dot_34 loc_bar__minus_1_bar_2_bar_0_bar_45)\n (objectAtLocation Pot_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Kettle_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Window_bar__plus_03_dot_70_bar__plus_01_dot_68_bar__plus_00_dot_05 loc_bar_10_bar_0_bar_1_bar_0)\n (objectAtLocation Spatula_bar__minus_00_dot_99_bar__plus_00_dot_53_bar__plus_01_dot_69 loc_bar_0_bar_1_bar_0_bar_45)\n (objectAtLocation Knife_bar__plus_03_dot_15_bar__plus_00_dot_74_bar__plus_00_dot_76 loc_bar_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Lettuce_bar__minus_00_dot_83_bar__plus_00_dot_97_bar__minus_00_dot_80 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation LightSwitch_bar__plus_02_dot_59_bar__plus_01_dot_31_bar__minus_01_dot_88 loc_bar_9_bar__minus_5_bar_2_bar_30)\n (objectAtLocation Cup_bar__plus_00_dot_35_bar__plus_01_dot_26_bar__minus_01_dot_71 loc_bar_2_bar__minus_3_bar_2_bar_0)\n (objectAtLocation SaltShaker_bar__plus_00_dot_42_bar__plus_00_dot_32_bar__minus_01_dot_43 loc_bar__minus_1_bar__minus_1_bar_2_bar_45)\n (objectAtLocation Egg_bar__plus_00_dot_61_bar__plus_00_dot_96_bar__plus_00_dot_46 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation PepperShaker_bar__minus_00_dot_03_bar__plus_00_dot_70_bar__minus_01_dot_40 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation ButterKnife_bar__minus_01_dot_01_bar__plus_00_dot_90_bar__plus_00_dot_85 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation Apple_bar__minus_01_dot_09_bar__plus_01_dot_07_bar__plus_01_dot_42 loc_bar__minus_1_bar_5_bar_3_bar_45)\n (objectAtLocation Pan_bar__plus_00_dot_34_bar__plus_00_dot_87_bar__minus_01_dot_65 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Bread_bar__plus_01_dot_53_bar__plus_00_dot_97_bar__plus_00_dot_49 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation CellPhone_bar__plus_00_dot_38_bar__plus_00_dot_13_bar__minus_01_dot_43 loc_bar_0_bar__minus_1_bar_2_bar_45)\n (objectAtLocation DishSponge_bar__plus_03_dot_08_bar__plus_00_dot_18_bar__minus_00_dot_79 loc_bar_8_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Tomato_bar__plus_01_dot_09_bar__plus_00_dot_75_bar__minus_01_dot_46 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Spoon_bar__minus_01_dot_01_bar__plus_00_dot_90_bar__minus_00_dot_05 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation Bowl_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__plus_00_dot_61 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Mug_bar__minus_01_dot_01_bar__plus_00_dot_90_bar__plus_00_dot_62 loc_bar__minus_1_bar_2_bar_3_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o PotatoType)\n (receptacleType ?r MicrowaveType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take potato 1 from countertop 1", "go to microwave 1", "open microwave 1", "move potato 1 to microwave 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Potato-None-Microwave-30/trial_T20190907_020007_658755/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Potato-None-Microwave-30/trial_T20190907_020007_658755/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..d989e5b5fdbd5964ead1ca20c0dfc0b3c4fcf569 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Potato-None-Microwave-30/trial_T20190907_020007_658755/initial_state.pddl @@ -0,0 +1,1499 @@ + +(define (problem plan_trial_T20190907_020007_658755) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__minus_01_dot_09_bar__plus_01_dot_07_bar__plus_01_dot_42 - object + Bowl_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__plus_00_dot_61 - object + Bowl_bar__plus_03_dot_10_bar__plus_01_dot_46_bar__minus_01_dot_24 - object + Bread_bar__plus_01_dot_53_bar__plus_00_dot_97_bar__plus_00_dot_49 - object + ButterKnife_bar__plus_00_dot_61_bar__plus_00_dot_91_bar__plus_00_dot_22 - object + ButterKnife_bar__minus_01_dot_01_bar__plus_00_dot_90_bar__plus_00_dot_85 - object + CellPhone_bar__plus_00_dot_38_bar__plus_00_dot_13_bar__minus_01_dot_43 - object + CellPhone_bar__plus_02_dot_95_bar__plus_00_dot_71_bar__minus_00_dot_45 - object + Cup_bar__plus_00_dot_35_bar__plus_01_dot_26_bar__minus_01_dot_71 - object + DishSponge_bar__plus_03_dot_08_bar__plus_00_dot_18_bar__minus_00_dot_79 - object + DishSponge_bar__minus_00_dot_64_bar__plus_00_dot_33_bar__minus_00_dot_70 - object + Egg_bar__plus_00_dot_61_bar__plus_00_dot_96_bar__plus_00_dot_46 - object + Egg_bar__plus_01_dot_09_bar__plus_00_dot_94_bar__minus_01_dot_45 - object + Egg_bar__plus_03_dot_10_bar__plus_00_dot_15_bar__plus_01_dot_68 - object + Faucet_bar__plus_03_dot_31_bar__plus_00_dot_89_bar__plus_00_dot_09 - object + Fork_bar__plus_00_dot_10_bar__plus_00_dot_90_bar__minus_01_dot_53 - object + Fork_bar__plus_00_dot_53_bar__plus_00_dot_91_bar__plus_00_dot_63 - object + Fork_bar__minus_00_dot_87_bar__plus_00_dot_33_bar__minus_00_dot_10 - object + Glassbottle_bar__plus_01_dot_26_bar__plus_01_dot_68_bar__minus_01_dot_55 - object + Glassbottle_bar__plus_02_dot_89_bar__plus_01_dot_47_bar__minus_01_dot_28 - object + Glassbottle_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__minus_01_dot_68 - object + HousePlant_bar__plus_03_dot_20_bar__plus_00_dot_89_bar__minus_00_dot_37 - object + Kettle_bar__plus_00_dot_86_bar__plus_01_dot_68_bar__minus_01_dot_69 - object + Kettle_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 - object + Knife_bar__plus_03_dot_15_bar__plus_00_dot_74_bar__plus_00_dot_76 - object + Ladle_bar__minus_00_dot_87_bar__plus_00_dot_36_bar__plus_01_dot_43 - object + Ladle_bar__minus_00_dot_87_bar__plus_00_dot_74_bar__plus_01_dot_34 - object + Lettuce_bar__minus_00_dot_09_bar__plus_00_dot_97_bar__minus_01_dot_44 - object + Lettuce_bar__minus_00_dot_83_bar__plus_00_dot_97_bar__minus_00_dot_80 - object + LightSwitch_bar__plus_02_dot_59_bar__plus_01_dot_31_bar__minus_01_dot_88 - object + Mirror_bar__minus_01_dot_30_bar__plus_01_dot_63_bar__plus_00_dot_05 - object + Mug_bar__plus_01_dot_24_bar__plus_00_dot_71_bar__minus_01_dot_43 - object + Mug_bar__plus_03_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_59 - object + Mug_bar__minus_01_dot_01_bar__plus_00_dot_90_bar__plus_00_dot_62 - object + Pan_bar__plus_00_dot_34_bar__plus_00_dot_87_bar__minus_01_dot_65 - object + PepperShaker_bar__minus_00_dot_03_bar__plus_00_dot_70_bar__minus_01_dot_40 - object + Plate_bar__plus_03_dot_08_bar__plus_00_dot_19_bar__minus_00_dot_40 - object + Plate_bar__plus_03_dot_28_bar__plus_00_dot_91_bar__minus_00_dot_70 - object + Potato_bar__plus_01_dot_01_bar__plus_01_dot_29_bar__minus_01_dot_53 - object + Potato_bar__plus_01_dot_16_bar__plus_01_dot_29_bar__minus_01_dot_53 - object + Potato_bar__plus_03_dot_04_bar__plus_00_dot_94_bar__minus_00_dot_90 - object + Pot_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 - object + SaltShaker_bar__plus_00_dot_42_bar__plus_00_dot_32_bar__minus_01_dot_43 - object + SaltShaker_bar__plus_02_dot_95_bar__plus_00_dot_71_bar__minus_00_dot_86 - object + Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09 - object + SoapBottle_bar__plus_03_dot_29_bar__plus_00_dot_11_bar__plus_01_dot_60 - object + SoapBottle_bar__minus_01_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_83 - object + Spatula_bar__minus_00_dot_79_bar__plus_00_dot_72_bar__minus_00_dot_10 - object + Spatula_bar__minus_00_dot_99_bar__plus_00_dot_53_bar__plus_01_dot_69 - object + Spoon_bar__plus_03_dot_07_bar__plus_00_dot_75_bar__plus_00_dot_17 - object + Spoon_bar__minus_00_dot_94_bar__plus_00_dot_90_bar__minus_00_dot_70 - object + Spoon_bar__minus_01_dot_01_bar__plus_00_dot_90_bar__minus_00_dot_05 - object + StoveKnob_bar__minus_00_dot_09_bar__plus_00_dot_79_bar__minus_01_dot_01 - object + StoveKnob_bar__minus_00_dot_18_bar__plus_00_dot_79_bar__minus_00_dot_92 - object + StoveKnob_bar__minus_00_dot_28_bar__plus_00_dot_79_bar__minus_00_dot_82 - object + StoveKnob_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_00_dot_72 - object + Tomato_bar__plus_00_dot_10_bar__plus_00_dot_94_bar__minus_01_dot_37 - object + Tomato_bar__plus_00_dot_83_bar__plus_00_dot_95_bar__plus_00_dot_17 - object + Tomato_bar__plus_01_dot_09_bar__plus_00_dot_75_bar__minus_01_dot_46 - object + Window_bar__plus_03_dot_70_bar__plus_01_dot_68_bar__plus_00_dot_05 - object + Cabinet_bar__plus_00_dot_14_bar__plus_01_dot_67_bar__minus_01_dot_56 - receptacle + Cabinet_bar__plus_00_dot_62_bar__plus_01_dot_87_bar__minus_01_dot_26 - receptacle + Cabinet_bar__plus_01_dot_40_bar__plus_01_dot_87_bar__minus_01_dot_26 - receptacle + Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_05 - receptacle + Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_85 - receptacle + Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__plus_00_dot_41 - receptacle + Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_61 - receptacle + Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_96 - receptacle + Cabinet_bar__plus_03_dot_07_bar__plus_01_dot_67_bar__minus_00_dot_71 - receptacle + Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_67_bar__minus_01_dot_34 - receptacle + Cabinet_bar__minus_00_dot_20_bar__plus_01_dot_96_bar__minus_01_dot_33 - receptacle + Cabinet_bar__minus_00_dot_71_bar__plus_01_dot_96_bar__minus_00_dot_82 - receptacle + Cabinet_bar__minus_00_dot_92_bar__plus_01_dot_67_bar__minus_00_dot_62 - receptacle + CoffeeMachine_bar__plus_03_dot_22_bar__plus_00_dot_89_bar__plus_00_dot_70 - receptacle + CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52 - receptacle + CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46 - receptacle + CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02 - receptacle + CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04 - receptacle + Drawer_bar__plus_00_dot_38_bar__plus_00_dot_19_bar__minus_01_dot_51 - receptacle + Drawer_bar__plus_00_dot_38_bar__plus_00_dot_38_bar__minus_01_dot_51 - receptacle + Drawer_bar__plus_00_dot_38_bar__plus_00_dot_57_bar__minus_01_dot_51 - receptacle + Drawer_bar__plus_00_dot_38_bar__plus_00_dot_77_bar__minus_01_dot_51 - receptacle + Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__plus_00_dot_70 - receptacle + Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_41 - receptacle + Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_78 - receptacle + Drawer_bar__minus_00_dot_05_bar__plus_00_dot_19_bar__minus_01_dot_32 - receptacle + Drawer_bar__minus_00_dot_05_bar__plus_00_dot_38_bar__minus_01_dot_32 - receptacle + Drawer_bar__minus_00_dot_05_bar__plus_00_dot_57_bar__minus_01_dot_32 - receptacle + Drawer_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__minus_01_dot_32 - receptacle + Drawer_bar__minus_00_dot_68_bar__plus_00_dot_19_bar__minus_00_dot_70 - receptacle + Drawer_bar__minus_00_dot_68_bar__plus_00_dot_39_bar__minus_00_dot_70 - receptacle + Drawer_bar__minus_00_dot_68_bar__plus_00_dot_58_bar__minus_00_dot_70 - receptacle + Drawer_bar__minus_00_dot_68_bar__plus_00_dot_77_bar__minus_00_dot_70 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_00_dot_66 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_01_dot_43 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__minus_00_dot_10 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_00_dot_66 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_01_dot_43 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__minus_00_dot_10 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_00_dot_66 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_01_dot_43 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__minus_00_dot_10 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_00_dot_66 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_01_dot_43 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__minus_00_dot_10 - receptacle + Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47 - receptacle + GarbageCan_bar__plus_03_dot_18_bar__plus_00_dot_03_bar__plus_01_dot_60 - receptacle + Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43 - receptacle + Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09_bar_SinkBasin - receptacle + StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_90_bar__minus_01_dot_09 - receptacle + StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 - receptacle + StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 - receptacle + StoveBurner_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_09 - receptacle + Toaster_bar__minus_01_dot_04_bar__plus_00_dot_87_bar__minus_00_dot_40 - receptacle + loc_bar__minus_1_bar_2_bar_3_bar_45 - location + loc_bar_2_bar__minus_1_bar_2_bar_45 - location + loc_bar_10_bar_0_bar_1_bar_0 - location + loc_bar_10_bar_3_bar_1_bar_45 - location + loc_bar__minus_1_bar_5_bar_3_bar_45 - location + loc_bar_0_bar_2_bar_0_bar_60 - location + loc_bar_0_bar_2_bar_2_bar_45 - location + loc_bar_8_bar_1_bar_1_bar_60 - location + loc_bar_10_bar__minus_2_bar_1_bar_45 - location + loc_bar_4_bar__minus_2_bar_0_bar_45 - location + loc_bar_2_bar__minus_2_bar_2_bar_60 - location + loc_bar_0_bar__minus_3_bar_2_bar_45 - location + loc_bar_1_bar__minus_3_bar_2_bar_0 - location + loc_bar_11_bar_5_bar_1_bar_60 - location + loc_bar_0_bar_1_bar_2_bar_60 - location + loc_bar_9_bar_2_bar_2_bar_45 - location + loc_bar__minus_1_bar_3_bar_2_bar_45 - location + loc_bar_8_bar_0_bar_1_bar_60 - location + loc_bar_9_bar__minus_5_bar_1_bar__minus_15 - location + loc_bar_0_bar_4_bar_2_bar_45 - location + loc_bar__minus_1_bar__minus_1_bar_2_bar_45 - location + loc_bar_1_bar__minus_3_bar_2_bar_45 - location + loc_bar__minus_1_bar__minus_2_bar_3_bar_45 - location + loc_bar_0_bar__minus_2_bar_0_bar_45 - location + loc_bar_0_bar_1_bar_2_bar_45 - location + loc_bar_4_bar__minus_2_bar_2_bar__minus_15 - location + loc_bar_0_bar__minus_2_bar_2_bar__minus_15 - location + loc_bar_9_bar__minus_5_bar_2_bar_30 - location + loc_bar__minus_1_bar__minus_1_bar_0_bar_45 - location + loc_bar_2_bar__minus_3_bar_2_bar_0 - location + loc_bar_4_bar__minus_2_bar_2_bar_60 - location + loc_bar_0_bar__minus_3_bar_3_bar_60 - location + loc_bar_8_bar__minus_5_bar_1_bar_0 - location + loc_bar__minus_1_bar_1_bar_3_bar_0 - location + loc_bar__minus_1_bar__minus_2_bar_3_bar_0 - location + loc_bar_10_bar__minus_1_bar_1_bar_60 - location + loc_bar_9_bar_0_bar_2_bar_45 - location + loc_bar_10_bar_0_bar_1_bar_60 - location + loc_bar_0_bar_4_bar_2_bar_60 - location + loc_bar__minus_1_bar__minus_2_bar_2_bar_60 - location + loc_bar_9_bar__minus_1_bar_0_bar_45 - location + loc_bar_0_bar__minus_2_bar_2_bar_45 - location + loc_bar_0_bar__minus_1_bar_2_bar_45 - location + loc_bar_8_bar__minus_5_bar_1_bar_60 - location + loc_bar_0_bar_1_bar_0_bar_45 - location + loc_bar_0_bar__minus_3_bar_3_bar__minus_15 - location + loc_bar_9_bar__minus_4_bar_1_bar_0 - location + loc_bar__minus_1_bar_2_bar_0_bar_45 - location + loc_bar_2_bar__minus_2_bar_2_bar_45 - location + loc_bar_4_bar__minus_2_bar_3_bar_60 - location + loc_bar__minus_1_bar_1_bar_2_bar_45 - location + loc_bar_0_bar__minus_3_bar_2_bar_60 - location + loc_bar_9_bar__minus_5_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__minus_00_dot_68_bar__plus_00_dot_19_bar__minus_00_dot_70 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_05_bar__plus_00_dot_38_bar__minus_01_dot_32 DrawerType) + (receptacleType Cabinet_bar__minus_00_dot_92_bar__plus_01_dot_67_bar__minus_00_dot_62 CabinetType) + (receptacleType CoffeeMachine_bar__plus_03_dot_22_bar__plus_00_dot_89_bar__plus_00_dot_70 CoffeeMachineType) + (receptacleType Drawer_bar__plus_00_dot_38_bar__plus_00_dot_19_bar__minus_01_dot_51 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_38_bar__plus_00_dot_57_bar__minus_01_dot_51 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_00_dot_66 DrawerType) + (receptacleType Cabinet_bar__plus_03_dot_07_bar__plus_01_dot_67_bar__minus_00_dot_71 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_20_bar__plus_01_dot_96_bar__minus_01_dot_33 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_67_bar__minus_01_dot_34 CabinetType) + (receptacleType Drawer_bar__minus_00_dot_05_bar__plus_00_dot_57_bar__minus_01_dot_32 DrawerType) + (receptacleType CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52 CounterTopType) + (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_00_dot_66 DrawerType) + (receptacleType Cabinet_bar__minus_00_dot_71_bar__plus_01_dot_96_bar__minus_00_dot_82 CabinetType) + (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_00_dot_66 DrawerType) + (receptacleType Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_61 CabinetType) + (receptacleType Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_05 CabinetType) + (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_01_dot_43 DrawerType) + (receptacleType Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09_bar_SinkBasin SinkBasinType) + (receptacleType Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43 MicrowaveType) + (receptacleType Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__plus_00_dot_41 CabinetType) + (receptacleType Drawer_bar__plus_00_dot_38_bar__plus_00_dot_38_bar__minus_01_dot_51 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_00_dot_66 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__minus_00_dot_10 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_68_bar__plus_00_dot_58_bar__minus_00_dot_70 DrawerType) + (receptacleType Toaster_bar__minus_01_dot_04_bar__plus_00_dot_87_bar__minus_00_dot_40 ToasterType) + (receptacleType StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_90_bar__minus_01_dot_09 StoveBurnerType) + (receptacleType CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46 CounterTopType) + (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__minus_00_dot_10 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__minus_01_dot_32 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_01_dot_43 DrawerType) + (receptacleType GarbageCan_bar__plus_03_dot_18_bar__plus_00_dot_03_bar__plus_01_dot_60 GarbageCanType) + (receptacleType Drawer_bar__plus_00_dot_38_bar__plus_00_dot_77_bar__minus_01_dot_51 DrawerType) + (receptacleType StoveBurner_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_09 StoveBurnerType) + (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__minus_00_dot_10 DrawerType) + (receptacleType StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 StoveBurnerType) + (receptacleType Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_78 DrawerType) + (receptacleType Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_85 CabinetType) + (receptacleType CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04 CounterTopType) + (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_01_dot_43 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_68_bar__plus_00_dot_77_bar__minus_00_dot_70 DrawerType) + (receptacleType Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_41 DrawerType) + (receptacleType CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02 CounterTopType) + (receptacleType Cabinet_bar__plus_00_dot_62_bar__plus_01_dot_87_bar__minus_01_dot_26 CabinetType) + (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__minus_00_dot_10 DrawerType) + (receptacleType Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47 FridgeType) + (receptacleType Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_96 CabinetType) + (receptacleType Cabinet_bar__plus_00_dot_14_bar__plus_01_dot_67_bar__minus_01_dot_56 CabinetType) + (receptacleType StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 StoveBurnerType) + (receptacleType Drawer_bar__minus_00_dot_05_bar__plus_00_dot_19_bar__minus_01_dot_32 DrawerType) + (receptacleType Cabinet_bar__plus_01_dot_40_bar__plus_01_dot_87_bar__minus_01_dot_26 CabinetType) + (receptacleType Drawer_bar__minus_00_dot_68_bar__plus_00_dot_39_bar__minus_00_dot_70 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_01_dot_43 DrawerType) + (receptacleType Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__plus_00_dot_70 DrawerType) + (objectType Mug_bar__plus_01_dot_24_bar__plus_00_dot_71_bar__minus_01_dot_43 MugType) + (objectType Mug_bar__plus_03_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_59 MugType) + (objectType PepperShaker_bar__minus_00_dot_03_bar__plus_00_dot_70_bar__minus_01_dot_40 PepperShakerType) + (objectType Cup_bar__plus_00_dot_35_bar__plus_01_dot_26_bar__minus_01_dot_71 CupType) + (objectType LightSwitch_bar__plus_02_dot_59_bar__plus_01_dot_31_bar__minus_01_dot_88 LightSwitchType) + (objectType Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09 SinkType) + (objectType CellPhone_bar__plus_02_dot_95_bar__plus_00_dot_71_bar__minus_00_dot_45 CellPhoneType) + (objectType DishSponge_bar__minus_00_dot_64_bar__plus_00_dot_33_bar__minus_00_dot_70 DishSpongeType) + (objectType CellPhone_bar__plus_00_dot_38_bar__plus_00_dot_13_bar__minus_01_dot_43 CellPhoneType) + (objectType StoveKnob_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_00_dot_72 StoveKnobType) + (objectType Kettle_bar__plus_00_dot_86_bar__plus_01_dot_68_bar__minus_01_dot_69 KettleType) + (objectType Egg_bar__plus_00_dot_61_bar__plus_00_dot_96_bar__plus_00_dot_46 EggType) + (objectType Pan_bar__plus_00_dot_34_bar__plus_00_dot_87_bar__minus_01_dot_65 PanType) + (objectType Spoon_bar__minus_00_dot_94_bar__plus_00_dot_90_bar__minus_00_dot_70 SpoonType) + (objectType Tomato_bar__plus_00_dot_83_bar__plus_00_dot_95_bar__plus_00_dot_17 TomatoType) + (objectType DishSponge_bar__plus_03_dot_08_bar__plus_00_dot_18_bar__minus_00_dot_79 DishSpongeType) + (objectType Lettuce_bar__minus_00_dot_83_bar__plus_00_dot_97_bar__minus_00_dot_80 LettuceType) + (objectType Knife_bar__plus_03_dot_15_bar__plus_00_dot_74_bar__plus_00_dot_76 KnifeType) + (objectType Kettle_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 KettleType) + (objectType Ladle_bar__minus_00_dot_87_bar__plus_00_dot_36_bar__plus_01_dot_43 LadleType) + (objectType Spatula_bar__minus_00_dot_79_bar__plus_00_dot_72_bar__minus_00_dot_10 SpatulaType) + (objectType StoveKnob_bar__minus_00_dot_18_bar__plus_00_dot_79_bar__minus_00_dot_92 StoveKnobType) + (objectType Bowl_bar__plus_03_dot_10_bar__plus_01_dot_46_bar__minus_01_dot_24 BowlType) + (objectType Window_bar__plus_03_dot_70_bar__plus_01_dot_68_bar__plus_00_dot_05 WindowType) + (objectType Pot_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 PotType) + (objectType Potato_bar__plus_01_dot_16_bar__plus_01_dot_29_bar__minus_01_dot_53 PotatoType) + (objectType Mug_bar__minus_01_dot_01_bar__plus_00_dot_90_bar__plus_00_dot_62 MugType) + (objectType ButterKnife_bar__minus_01_dot_01_bar__plus_00_dot_90_bar__plus_00_dot_85 ButterKnifeType) + (objectType Potato_bar__plus_03_dot_04_bar__plus_00_dot_94_bar__minus_00_dot_90 PotatoType) + (objectType Glassbottle_bar__plus_02_dot_89_bar__plus_01_dot_47_bar__minus_01_dot_28 GlassbottleType) + (objectType Plate_bar__plus_03_dot_08_bar__plus_00_dot_19_bar__minus_00_dot_40 PlateType) + (objectType 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(canContain CabinetType PlateType) + (canContain CabinetType PepperShakerType) + (canContain CabinetType PanType) + (canContain CoffeeMachineType MugType) + (canContain DrawerType SaltShakerType) + (canContain DrawerType DishSpongeType) + (canContain DrawerType LadleType) + (canContain DrawerType ForkType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType SpoonType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ButterKnifeType) + (canContain DrawerType PepperShakerType) + (canContain DrawerType KnifeType) + (canContain DrawerType SpatulaType) + (canContain DrawerType SaltShakerType) + (canContain DrawerType DishSpongeType) + (canContain DrawerType LadleType) + (canContain DrawerType ForkType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType SpoonType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ButterKnifeType) + (canContain DrawerType PepperShakerType) + (canContain DrawerType KnifeType) + (canContain DrawerType 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SoapBottle_bar__minus_01_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_83 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04) + (inReceptacle Spoon_bar__minus_01_dot_01_bar__plus_00_dot_90_bar__minus_00_dot_05 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04) + (inReceptacle Spoon_bar__minus_00_dot_94_bar__plus_00_dot_90_bar__minus_00_dot_70 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04) + (inReceptacle Lettuce_bar__minus_00_dot_83_bar__plus_00_dot_97_bar__minus_00_dot_80 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04) + (inReceptacle ButterKnife_bar__minus_01_dot_01_bar__plus_00_dot_90_bar__plus_00_dot_85 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04) + (inReceptacle Kettle_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27) + (inReceptacle Fork_bar__minus_00_dot_87_bar__plus_00_dot_33_bar__minus_00_dot_10 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__minus_00_dot_10) + (inReceptacle SaltShaker_bar__plus_00_dot_42_bar__plus_00_dot_32_bar__minus_01_dot_43 Drawer_bar__plus_00_dot_38_bar__plus_00_dot_38_bar__minus_01_dot_51) + (inReceptacle Spatula_bar__minus_00_dot_79_bar__plus_00_dot_72_bar__minus_00_dot_10 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__minus_00_dot_10) + (inReceptacle PepperShaker_bar__minus_00_dot_03_bar__plus_00_dot_70_bar__minus_01_dot_40 Drawer_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__minus_01_dot_32) + (inReceptacle Plate_bar__plus_03_dot_08_bar__plus_00_dot_19_bar__minus_00_dot_40 Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_61) + (inReceptacle DishSponge_bar__plus_03_dot_08_bar__plus_00_dot_18_bar__minus_00_dot_79 Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_96) + (inReceptacle Bowl_bar__plus_03_dot_10_bar__plus_01_dot_46_bar__minus_01_dot_24 Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_05) + (inReceptacle Glassbottle_bar__plus_02_dot_89_bar__plus_01_dot_47_bar__minus_01_dot_28 Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_05) + (inReceptacle Kettle_bar__plus_00_dot_86_bar__plus_01_dot_68_bar__minus_01_dot_69 Cabinet_bar__plus_00_dot_62_bar__plus_01_dot_87_bar__minus_01_dot_26) + (inReceptacle Cup_bar__plus_00_dot_35_bar__plus_01_dot_26_bar__minus_01_dot_71 Cabinet_bar__plus_00_dot_14_bar__plus_01_dot_67_bar__minus_01_dot_56) + (inReceptacle Lettuce_bar__minus_00_dot_09_bar__plus_00_dot_97_bar__minus_01_dot_44 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52) + (inReceptacle Tomato_bar__plus_00_dot_10_bar__plus_00_dot_94_bar__minus_01_dot_37 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52) + (inReceptacle Glassbottle_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__minus_01_dot_68 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52) + (inReceptacle Pan_bar__plus_00_dot_34_bar__plus_00_dot_87_bar__minus_01_dot_65 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52) + (inReceptacle Knife_bar__plus_03_dot_15_bar__plus_00_dot_74_bar__plus_00_dot_76 Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__plus_00_dot_70) + (inReceptacle Tomato_bar__plus_00_dot_83_bar__plus_00_dot_95_bar__plus_00_dot_17 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46) + (inReceptacle Bowl_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__plus_00_dot_61 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46) + (inReceptacle Bread_bar__plus_01_dot_53_bar__plus_00_dot_97_bar__plus_00_dot_49 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46) + (inReceptacle Fork_bar__plus_00_dot_53_bar__plus_00_dot_91_bar__plus_00_dot_63 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46) + (inReceptacle ButterKnife_bar__plus_00_dot_61_bar__plus_00_dot_91_bar__plus_00_dot_22 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46) + (inReceptacle Egg_bar__plus_00_dot_61_bar__plus_00_dot_96_bar__plus_00_dot_46 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46) + (inReceptacle DishSponge_bar__minus_00_dot_64_bar__plus_00_dot_33_bar__minus_00_dot_70 Drawer_bar__minus_00_dot_68_bar__plus_00_dot_39_bar__minus_00_dot_70) + (inReceptacle Ladle_bar__minus_00_dot_87_bar__plus_00_dot_36_bar__plus_01_dot_43 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_01_dot_43) + (inReceptacle SoapBottle_bar__plus_03_dot_29_bar__plus_00_dot_11_bar__plus_01_dot_60 GarbageCan_bar__plus_03_dot_18_bar__plus_00_dot_03_bar__plus_01_dot_60) + (inReceptacle Egg_bar__plus_03_dot_10_bar__plus_00_dot_15_bar__plus_01_dot_68 GarbageCan_bar__plus_03_dot_18_bar__plus_00_dot_03_bar__plus_01_dot_60) + (inReceptacle Mug_bar__plus_03_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_59 CoffeeMachine_bar__plus_03_dot_22_bar__plus_00_dot_89_bar__plus_00_dot_70) + (inReceptacle Spoon_bar__plus_03_dot_07_bar__plus_00_dot_75_bar__plus_00_dot_17 Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09_bar_SinkBasin) + (inReceptacle Mug_bar__plus_01_dot_24_bar__plus_00_dot_71_bar__minus_01_dot_43 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47) + (inReceptacle Tomato_bar__plus_01_dot_09_bar__plus_00_dot_75_bar__minus_01_dot_46 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47) + (inReceptacle Potato_bar__plus_01_dot_01_bar__plus_01_dot_29_bar__minus_01_dot_53 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47) + (inReceptacle Potato_bar__plus_01_dot_16_bar__plus_01_dot_29_bar__minus_01_dot_53 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47) + (inReceptacle Egg_bar__plus_01_dot_09_bar__plus_00_dot_94_bar__minus_01_dot_45 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47) + (inReceptacle Apple_bar__minus_01_dot_09_bar__plus_01_dot_07_bar__plus_01_dot_42 Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_14_bar__plus_01_dot_67_bar__minus_01_dot_56 loc_bar_2_bar__minus_3_bar_2_bar_0) + (receptacleAtLocation Cabinet_bar__plus_00_dot_62_bar__plus_01_dot_87_bar__minus_01_dot_26 loc_bar_4_bar__minus_2_bar_2_bar__minus_15) + (receptacleAtLocation Cabinet_bar__plus_01_dot_40_bar__plus_01_dot_87_bar__minus_01_dot_26 loc_bar_4_bar__minus_2_bar_2_bar__minus_15) + (receptacleAtLocation Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_05 loc_bar_9_bar__minus_5_bar_1_bar__minus_15) + (receptacleAtLocation Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_85 loc_bar_8_bar__minus_5_bar_1_bar_0) + (receptacleAtLocation Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__plus_00_dot_41 loc_bar_8_bar_1_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_61 loc_bar_8_bar_0_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_96 loc_bar_8_bar__minus_5_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_03_dot_07_bar__plus_01_dot_67_bar__minus_00_dot_71 loc_bar_9_bar__minus_4_bar_1_bar_0) + (receptacleAtLocation Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_67_bar__minus_01_dot_34 loc_bar_1_bar__minus_3_bar_2_bar_0) + (receptacleAtLocation Cabinet_bar__minus_00_dot_20_bar__plus_01_dot_96_bar__minus_01_dot_33 loc_bar_0_bar__minus_2_bar_2_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_00_dot_71_bar__plus_01_dot_96_bar__minus_00_dot_82 loc_bar_0_bar__minus_3_bar_3_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_00_dot_92_bar__plus_01_dot_67_bar__minus_00_dot_62 loc_bar__minus_1_bar__minus_2_bar_3_bar_0) + (receptacleAtLocation CoffeeMachine_bar__plus_03_dot_22_bar__plus_00_dot_89_bar__plus_00_dot_70 loc_bar_10_bar_3_bar_1_bar_45) + (receptacleAtLocation CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52 loc_bar_1_bar__minus_3_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46 loc_bar_4_bar__minus_2_bar_0_bar_45) + (receptacleAtLocation CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02 loc_bar_10_bar__minus_2_bar_1_bar_45) + (receptacleAtLocation CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04 loc_bar__minus_1_bar_2_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_38_bar__plus_00_dot_19_bar__minus_01_dot_51 loc_bar_0_bar__minus_1_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_38_bar__plus_00_dot_38_bar__minus_01_dot_51 loc_bar__minus_1_bar__minus_1_bar_2_bar_45) + (receptacleAtLocation 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(receptacleAtLocation Drawer_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__minus_01_dot_32 loc_bar_2_bar__minus_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_19_bar__minus_00_dot_70 loc_bar_0_bar_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_39_bar__minus_00_dot_70 loc_bar_0_bar_1_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_58_bar__minus_00_dot_70 loc_bar_0_bar_1_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_77_bar__minus_00_dot_70 loc_bar__minus_1_bar_1_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_00_dot_66 loc_bar_0_bar__minus_2_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_01_dot_43 loc_bar_0_bar_1_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__minus_00_dot_10 loc_bar_0_bar_4_bar_2_bar_60) 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loc_bar__minus_1_bar_2_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__minus_00_dot_10 loc_bar__minus_1_bar_3_bar_2_bar_45) + (receptacleAtLocation Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47 loc_bar_4_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_03_dot_18_bar__plus_00_dot_03_bar__plus_01_dot_60 loc_bar_11_bar_5_bar_1_bar_60) + (receptacleAtLocation Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43 loc_bar__minus_1_bar_5_bar_3_bar_45) + (receptacleAtLocation Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09_bar_SinkBasin loc_bar_10_bar__minus_1_bar_1_bar_60) + (receptacleAtLocation StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_90_bar__minus_01_dot_09 loc_bar_0_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 loc_bar_0_bar__minus_3_bar_3_bar_60) + (receptacleAtLocation 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0.457591474 + }, + "rotation": { + "x": 0.0, + "y": 36.8105049, + "z": 0.0 + } + }, + { + "objectName": "Egg_7c285ee2", + "position": { + "x": 3.10161734, + "y": 0.153538227, + "z": 1.68038273 + }, + "rotation": { + "x": 0.0, + "y": 225.000046, + "z": 0.0 + } + }, + { + "objectName": "Plate_bf5eb4b5", + "position": { + "x": 3.27791429, + "y": 0.913720965, + "z": -0.6986661 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_bf5eb4b5", + "position": { + "x": 3.08485031, + "y": 0.188639641, + "z": -0.404700667 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Glassbottle_20771abe", + "position": { + "x": -0.0535043254, + "y": 0.901016653, + "z": -1.68219721 + }, + "rotation": { + "x": 0.0, + "y": 44.9999962, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_5121dd32", + "position": { + "x": 3.2891767, + "y": 0.11010617, + "z": 1.5999999 + }, + "rotation": { + "x": 0.0, + "y": 225.000046, + "z": 0.0 + } + }, + { + "objectName": "Potato_ed324e47", + "position": { + "x": 3.044359, + "y": 0.93926, + "z": -0.8978308 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Fork_12a59a81", + "position": { + "x": -0.8683, + "y": 0.326937616, + "z": -0.09889999 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Ladle_ff5a3b19", + "position": { + "x": -0.8683, + "y": 0.363329053, + "z": 1.4309001 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pot_7a7d333f", + "position": { + "x": -0.4203, + "y": 0.902399957, + "z": -0.9203 + }, + "rotation": { + "x": 0.0, + "y": 134.999832, + "z": 0.0 + } + }, + { + "objectName": "Kettle_449c396f", + "position": { + "x": 0.8567908, + "y": 1.67592061, + "z": -1.689625 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spatula_64c860f2", + "position": { + "x": -0.7864864, + "y": 0.7217773, + "z": -0.09889999 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_3e58a77d", + "position": { + "x": 3.15202045, + "y": 0.738398254, + "z": 0.7618294 + }, + "rotation": { + "x": 0.0, + "y": 270.000061, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_99ab2e9c", + "position": { + "x": -0.09009417, + "y": 0.965890944, + "z": -1.44025278 + }, + "rotation": { + "x": 0.0, + "y": 44.9999962, + "z": 0.0 + } + }, + { + "objectName": "Cup_be22aed5", + "position": { + "x": 0.3543, + "y": 1.2575829, + "z": -1.7073 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_c39806f6", + "position": { + "x": 2.94748616, + "y": 0.7088906, + "z": -0.8633309 + }, + "rotation": { + "x": 0.0, + "y": 180.000046, + "z": 0.0 + } + }, + { + "objectName": "Egg_7c285ee2", + "position": { + "x": 1.0861237, + "y": 0.9386315, + "z": -1.44805622 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_6d2fd9f8", + "position": { + "x": -0.03195417, + "y": 0.702587843, + "z": -1.40034187 + }, + "rotation": { + "x": 0.0, + "y": 44.9999962, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_db774b98", + "position": { + "x": 0.6057253, + "y": 0.9110021, + "z": 0.218195975 + }, + "rotation": { + "x": 0.0, + "y": 36.8105049, + "z": 0.0 + } + }, + { + "objectName": "Apple_1e1bef89", + "position": { + "x": -1.08558619, + "y": 1.07148921, + "z": 1.41790473 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Pan_000ae861", + "position": { + "x": 0.341, + "y": 0.8731569, + "z": -1.649 + }, + "rotation": { + "x": 0.0, + "y": 167.065247, + "z": 0.0 + } + }, + { + "objectName": "Bread_1e8ab5c8", + "position": { + "x": 1.53420079, + "y": 0.9728919, + "z": 0.48683244 + }, + "rotation": { + "x": 3.28453757e-06, + "y": 289.287476, + "z": 5.484031e-06 + } + }, + { + "objectName": "CellPhone_bf099a5c", + "position": { + "x": 2.94748616, + "y": 0.7099818, + "z": -0.4547878 + }, + "rotation": { + "x": 0.0, + "y": 180.000046, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_3cec4766", + "position": { + "x": -0.635955036, + "y": 0.328024536, + "z": -0.7048489 + }, + "rotation": { + "x": 0.0, + "y": 44.9999962, + "z": 0.0 + } + }, + { + "objectName": "Tomato_bfd17fb4", + "position": { + "x": 0.8309021, + "y": 0.94794935, + "z": 0.171530485 + }, + "rotation": { + "x": 0.0, + "y": 36.8105049, + "z": 0.0 + } + }, + { + "objectName": "Spoon_0fe289e3", + "position": { + "x": -0.936634362, + "y": 0.901429355, + "z": -0.695282161 + }, + "rotation": { + "x": 0.0, + "y": 44.9999962, + "z": 0.0 + } + }, + { + "objectName": "Bowl_46f611f6", + "position": { + "x": 3.1027, + "y": 1.46167791, + "z": -1.2358 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_ba5c7501", + "position": { + "x": 3.04919958, + "y": 0.966699958, + "z": 0.591800451 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2985590987, + "scene_num": 30 + }, + "task_id": "trial_T20190907_020007_658755", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A320QA9HJFUOZO_3QEMNNSB20GX0YTQLGFRDDRVF60D7G", + "high_descs": [ + "Turn around and approach the counter right of the sink", + "Pick up the potato from the counter", + "Turn around and walk across the kitchen to the microwave in the corner", + "Put the potato in the microwave" + ], + "task_desc": "Put the potato in the microwave", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AD0NVUGLDYDYN_3BF51CHDTYR0U3Y8MDD8PJW6ZKQ0HF", + "high_descs": [ + "Turn around facing the counter", + "Grab the fruit on the counter", + "Turn around, walk across the room to the microwave", + " Open the microwave, put the fruit in, close the microwave" + ], + "task_desc": "Move the fruit from the counter to the microwave", + "votes": [ + 1, + 1, + 0 + ] + }, + { + "assignment_id": "A1HKHM4NVAO98H_3OVR4I9USS0U6KFCO4N4A0EK7G24QP", + "high_descs": [ + "turn around and face the kitchen counter", + "grab the egg off of the kitchen counter", + "turn around and walk over to the microwave in the corner of the room", + "place the egg inside the microwave" + ], + "task_desc": "place an egg inside of the microwave", + "votes": [ + 0, + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-GarbageCan-427/trial_T20190907_173922_758000/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-GarbageCan-427/trial_T20190907_173922_758000/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..36ab91d92955df7136d7ecfa01dbcc040d416914 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-GarbageCan-427/trial_T20190907_173922_758000/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 tissuebox on garbagecan.\"\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_173922_758000)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Bathtub_bar__minus_03_dot_71_bar__plus_00_dot_34_bar__plus_00_dot_64 - object\n Candle_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__minus_00_dot_67 - object\n Candle_bar__minus_02_dot_58_bar__plus_00_dot_70_bar__minus_00_dot_53 - object\n Cloth_bar__minus_03_dot_95_bar__plus_00_dot_04_bar__plus_00_dot_04 - object\n Cloth_bar__minus_03_dot_95_bar__plus_00_dot_04_bar__plus_00_dot_97 - object\n DishSponge_bar__minus_01_dot_67_bar__plus_00_dot_70_bar__minus_00_dot_70 - object\n DishSponge_bar__minus_02_dot_35_bar__plus_00_dot_70_bar__minus_00_dot_64 - object\n DishSponge_bar__minus_04_dot_03_bar__plus_00_dot_04_bar__plus_00_dot_22 - object\n Faucet_bar__minus_01_dot_92_bar__plus_01_dot_06_bar__plus_02_dot_18 - object\n Faucet_bar__minus_03_dot_74_bar__plus_01_dot_86_bar__plus_01_dot_83 - object\n HandTowel_bar__minus_01_dot_28_bar__plus_01_dot_68_bar__plus_02_dot_24 - object\n LightSwitch_bar__minus_00_dot_56_bar__plus_01_dot_28_bar__plus_02_dot_28 - object\n Mirror_bar__minus_01_dot_91_bar__plus_01_dot_75_bar__plus_02_dot_28 - object\n PaperTowelRoll_bar__minus_02_dot_58_bar__plus_00_dot_81_bar__minus_00_dot_81 - object\n Plunger_bar__minus_01_dot_09_bar__plus_00_dot_00_bar__minus_00_dot_53 - object\n ScrubBrush_bar__minus_01_dot_04_bar__plus_00_dot_00_bar__minus_00_dot_71 - object\n ShowerCurtain_bar__minus_03_dot_04_bar__plus_02_dot_23_bar__plus_01_dot_72 - object\n Sink_bar__minus_01_dot_92_bar__plus_00_dot_44_bar__plus_02_dot_03 - object\n SoapBar_bar__minus_01_dot_76_bar__plus_01_dot_02_bar__plus_02_dot_04 - object\n SoapBar_bar__minus_02_dot_16_bar__plus_01_dot_09_bar__plus_02_dot_16 - object\n SoapBottle_bar__minus_00_dot_61_bar__plus_00_dot_96_bar__minus_00_dot_72 - object\n SoapBottle_bar__minus_03_dot_15_bar__plus_00_dot_62_bar__plus_01_dot_57 - object\n SprayBottle_bar__minus_02_dot_12_bar__plus_00_dot_70_bar__minus_00_dot_76 - object\n SprayBottle_bar__minus_02_dot_58_bar__plus_00_dot_70_bar__minus_00_dot_47 - object\n SprayBottle_bar__minus_02_dot_80_bar__plus_00_dot_70_bar__minus_00_dot_64 - object\n TissueBox_bar__minus_01_dot_89_bar__plus_00_dot_18_bar__minus_00_dot_59 - object\n TissueBox_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_00_dot_59 - object\n TissueBox_bar__minus_02_dot_30_bar__plus_00_dot_44_bar__minus_00_dot_64 - object\n TissueBox_bar__minus_02_dot_39_bar__plus_00_dot_18_bar__minus_00_dot_68 - object\n ToiletPaper_bar__minus_01_dot_38_bar__plus_00_dot_70_bar__minus_00_dot_75 - object\n ToiletPaper_bar__minus_01_dot_67_bar__plus_00_dot_70_bar__minus_00_dot_81 - object\n Towel_bar__minus_03_dot_66_bar__plus_01_dot_57_bar__minus_00_dot_46 - object\n Bathtub_bar__minus_03_dot_71_bar__plus_00_dot_34_bar__plus_00_dot_64_bar_BathtubBasin - receptacle\n CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59 - receptacle\n Drawer_bar__minus_01_dot_44_bar__plus_00_dot_27_bar__minus_00_dot_62 - receptacle\n Drawer_bar__minus_01_dot_44_bar__plus_00_dot_53_bar__minus_00_dot_62 - receptacle\n Drawer_bar__minus_01_dot_89_bar__plus_00_dot_27_bar__minus_00_dot_62 - receptacle\n Drawer_bar__minus_01_dot_89_bar__plus_00_dot_53_bar__minus_00_dot_62 - receptacle\n Drawer_bar__minus_02_dot_34_bar__plus_00_dot_27_bar__minus_00_dot_62 - receptacle\n Drawer_bar__minus_02_dot_34_bar__plus_00_dot_53_bar__minus_00_dot_62 - receptacle\n Drawer_bar__minus_02_dot_79_bar__plus_00_dot_27_bar__minus_00_dot_62 - receptacle\n Drawer_bar__minus_02_dot_79_bar__plus_00_dot_53_bar__minus_00_dot_62 - receptacle\n GarbageCan_bar__minus_01_dot_59_bar__plus_00_dot_00_bar__plus_02_dot_06 - receptacle\n HandTowelHolder_bar__minus_01_dot_28_bar__plus_01_dot_79_bar__plus_02_dot_28 - receptacle\n HandTowelHolder_bar__minus_02_dot_58_bar__plus_01_dot_79_bar__plus_02_dot_28 - receptacle\n Sink_bar__minus_01_dot_92_bar__plus_00_dot_44_bar__plus_02_dot_03_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_00_dot_43_bar__plus_00_dot_94_bar__plus_00_dot_19 - receptacle\n Toilet_bar__minus_00_dot_72_bar__plus_00_dot_00_bar__minus_00_dot_31 - receptacle\n TowelHolder_bar__minus_03_dot_66_bar__plus_01_dot_55_bar__minus_00_dot_56 - receptacle\n loc_bar__minus_5_bar_0_bar_2_bar_60 - location\n loc_bar__minus_9_bar_1_bar_2_bar_60 - location\n loc_bar__minus_4_bar_1_bar_1_bar_45 - location\n loc_bar__minus_8_bar_2_bar_2_bar_45 - location\n loc_bar__minus_9_bar_2_bar_2_bar_45 - location\n loc_bar__minus_11_bar_0_bar_3_bar_0 - location\n loc_bar__minus_5_bar_6_bar_0_bar__minus_15 - location\n loc_bar__minus_5_bar_0_bar_1_bar_60 - location\n loc_bar__minus_7_bar_6_bar_0_bar_60 - location\n loc_bar__minus_11_bar_3_bar_3_bar_60 - location\n loc_bar__minus_7_bar_2_bar_2_bar_45 - location\n loc_bar__minus_4_bar_7_bar_0_bar_30 - location\n loc_bar__minus_8_bar_6_bar_0_bar_0 - location\n loc_bar__minus_10_bar_2_bar_2_bar_45 - location\n loc_bar__minus_11_bar_2_bar_3_bar_60 - location\n loc_bar__minus_9_bar_6_bar_0_bar__minus_15 - location\n loc_bar__minus_8_bar_6_bar_0_bar_60 - location\n loc_bar__minus_6_bar_6_bar_0_bar_60 - location\n loc_bar__minus_11_bar_4_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__minus_02_dot_79_bar__plus_00_dot_53_bar__minus_00_dot_62 DrawerType)\n (receptacleType Sink_bar__minus_01_dot_92_bar__plus_00_dot_44_bar__plus_02_dot_03_bar_SinkBasin SinkBasinType)\n (receptacleType ToiletPaperHanger_bar__minus_00_dot_43_bar__plus_00_dot_94_bar__plus_00_dot_19 ToiletPaperHangerType)\n (receptacleType Drawer_bar__minus_02_dot_34_bar__plus_00_dot_53_bar__minus_00_dot_62 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_44_bar__plus_00_dot_53_bar__minus_00_dot_62 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_89_bar__plus_00_dot_53_bar__minus_00_dot_62 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_44_bar__plus_00_dot_27_bar__minus_00_dot_62 DrawerType)\n (receptacleType Toilet_bar__minus_00_dot_72_bar__plus_00_dot_00_bar__minus_00_dot_31 ToiletType)\n (receptacleType Bathtub_bar__minus_03_dot_71_bar__plus_00_dot_34_bar__plus_00_dot_64_bar_BathtubBasin BathtubBasinType)\n (receptacleType Drawer_bar__minus_01_dot_89_bar__plus_00_dot_27_bar__minus_00_dot_62 DrawerType)\n (receptacleType Drawer_bar__minus_02_dot_79_bar__plus_00_dot_27_bar__minus_00_dot_62 DrawerType)\n (receptacleType HandTowelHolder_bar__minus_02_dot_58_bar__plus_01_dot_79_bar__plus_02_dot_28 HandTowelHolderType)\n (receptacleType TowelHolder_bar__minus_03_dot_66_bar__plus_01_dot_55_bar__minus_00_dot_56 TowelHolderType)\n (receptacleType HandTowelHolder_bar__minus_01_dot_28_bar__plus_01_dot_79_bar__plus_02_dot_28 HandTowelHolderType)\n (receptacleType Drawer_bar__minus_02_dot_34_bar__plus_00_dot_27_bar__minus_00_dot_62 DrawerType)\n (receptacleType GarbageCan_bar__minus_01_dot_59_bar__plus_00_dot_00_bar__plus_02_dot_06 GarbageCanType)\n (receptacleType CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59 CounterTopType)\n (objectType Bathtub_bar__minus_03_dot_71_bar__plus_00_dot_34_bar__plus_00_dot_64 BathtubType)\n (objectType SoapBottle_bar__minus_03_dot_15_bar__plus_00_dot_62_bar__plus_01_dot_57 SoapBottleType)\n (objectType Cloth_bar__minus_03_dot_95_bar__plus_00_dot_04_bar__plus_00_dot_97 ClothType)\n (objectType Cloth_bar__minus_03_dot_95_bar__plus_00_dot_04_bar__plus_00_dot_04 ClothType)\n (objectType TissueBox_bar__minus_02_dot_39_bar__plus_00_dot_18_bar__minus_00_dot_68 TissueBoxType)\n (objectType SprayBottle_bar__minus_02_dot_58_bar__plus_00_dot_70_bar__minus_00_dot_47 SprayBottleType)\n (objectType Candle_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__minus_00_dot_67 CandleType)\n (objectType DishSponge_bar__minus_01_dot_67_bar__plus_00_dot_70_bar__minus_00_dot_70 DishSpongeType)\n (objectType HandTowel_bar__minus_01_dot_28_bar__plus_01_dot_68_bar__plus_02_dot_24 HandTowelType)\n (objectType Candle_bar__minus_02_dot_58_bar__plus_00_dot_70_bar__minus_00_dot_53 CandleType)\n (objectType DishSponge_bar__minus_02_dot_35_bar__plus_00_dot_70_bar__minus_00_dot_64 DishSpongeType)\n (objectType TissueBox_bar__minus_02_dot_30_bar__plus_00_dot_44_bar__minus_00_dot_64 TissueBoxType)\n (objectType DishSponge_bar__minus_04_dot_03_bar__plus_00_dot_04_bar__plus_00_dot_22 DishSpongeType)\n (objectType TissueBox_bar__minus_01_dot_89_bar__plus_00_dot_18_bar__minus_00_dot_59 TissueBoxType)\n (objectType SoapBottle_bar__minus_00_dot_61_bar__plus_00_dot_96_bar__minus_00_dot_72 SoapBottleType)\n (objectType LightSwitch_bar__minus_00_dot_56_bar__plus_01_dot_28_bar__plus_02_dot_28 LightSwitchType)\n (objectType SprayBottle_bar__minus_02_dot_12_bar__plus_00_dot_70_bar__minus_00_dot_76 SprayBottleType)\n (objectType ScrubBrush_bar__minus_01_dot_04_bar__plus_00_dot_00_bar__minus_00_dot_71 ScrubBrushType)\n (objectType Sink_bar__minus_01_dot_92_bar__plus_00_dot_44_bar__plus_02_dot_03 SinkType)\n (objectType Mirror_bar__minus_01_dot_91_bar__plus_01_dot_75_bar__plus_02_dot_28 MirrorType)\n (objectType TissueBox_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_00_dot_59 TissueBoxType)\n (objectType ToiletPaper_bar__minus_01_dot_67_bar__plus_00_dot_70_bar__minus_00_dot_81 ToiletPaperType)\n (objectType Towel_bar__minus_03_dot_66_bar__plus_01_dot_57_bar__minus_00_dot_46 TowelType)\n (objectType Plunger_bar__minus_01_dot_09_bar__plus_00_dot_00_bar__minus_00_dot_53 PlungerType)\n (objectType PaperTowelRoll_bar__minus_02_dot_58_bar__plus_00_dot_81_bar__minus_00_dot_81 PaperTowelRollType)\n (objectType ToiletPaper_bar__minus_01_dot_38_bar__plus_00_dot_70_bar__minus_00_dot_75 ToiletPaperType)\n (objectType SoapBar_bar__minus_01_dot_76_bar__plus_01_dot_02_bar__plus_02_dot_04 SoapBarType)\n (objectType SoapBar_bar__minus_02_dot_16_bar__plus_01_dot_09_bar__plus_02_dot_16 SoapBarType)\n (objectType SprayBottle_bar__minus_02_dot_80_bar__plus_00_dot_70_bar__minus_00_dot_64 SprayBottleType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType DishSpongeType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType DishSpongeType)\n (canContain ToiletType SprayBottleType)\n (canContain ToiletType TissueBoxType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain BathtubBasinType DishSpongeType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain TowelHolderType TowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType DishSpongeType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType TissueBoxType)\n (canContain GarbageCanType HandTowelType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType DishSpongeType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType TissueBoxType)\n (canContain CounterTopType HandTowelType)\n (pickupable SoapBottle_bar__minus_03_dot_15_bar__plus_00_dot_62_bar__plus_01_dot_57)\n (pickupable Cloth_bar__minus_03_dot_95_bar__plus_00_dot_04_bar__plus_00_dot_97)\n (pickupable Cloth_bar__minus_03_dot_95_bar__plus_00_dot_04_bar__plus_00_dot_04)\n (pickupable TissueBox_bar__minus_02_dot_39_bar__plus_00_dot_18_bar__minus_00_dot_68)\n (pickupable SprayBottle_bar__minus_02_dot_58_bar__plus_00_dot_70_bar__minus_00_dot_47)\n (pickupable Candle_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__minus_00_dot_67)\n (pickupable DishSponge_bar__minus_01_dot_67_bar__plus_00_dot_70_bar__minus_00_dot_70)\n (pickupable HandTowel_bar__minus_01_dot_28_bar__plus_01_dot_68_bar__plus_02_dot_24)\n (pickupable Candle_bar__minus_02_dot_58_bar__plus_00_dot_70_bar__minus_00_dot_53)\n (pickupable DishSponge_bar__minus_02_dot_35_bar__plus_00_dot_70_bar__minus_00_dot_64)\n (pickupable TissueBox_bar__minus_02_dot_30_bar__plus_00_dot_44_bar__minus_00_dot_64)\n (pickupable DishSponge_bar__minus_04_dot_03_bar__plus_00_dot_04_bar__plus_00_dot_22)\n (pickupable TissueBox_bar__minus_01_dot_89_bar__plus_00_dot_18_bar__minus_00_dot_59)\n (pickupable SoapBottle_bar__minus_00_dot_61_bar__plus_00_dot_96_bar__minus_00_dot_72)\n (pickupable SprayBottle_bar__minus_02_dot_12_bar__plus_00_dot_70_bar__minus_00_dot_76)\n (pickupable ScrubBrush_bar__minus_01_dot_04_bar__plus_00_dot_00_bar__minus_00_dot_71)\n (pickupable TissueBox_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_00_dot_59)\n (pickupable ToiletPaper_bar__minus_01_dot_67_bar__plus_00_dot_70_bar__minus_00_dot_81)\n (pickupable Towel_bar__minus_03_dot_66_bar__plus_01_dot_57_bar__minus_00_dot_46)\n (pickupable Plunger_bar__minus_01_dot_09_bar__plus_00_dot_00_bar__minus_00_dot_53)\n (pickupable PaperTowelRoll_bar__minus_02_dot_58_bar__plus_00_dot_81_bar__minus_00_dot_81)\n (pickupable ToiletPaper_bar__minus_01_dot_38_bar__plus_00_dot_70_bar__minus_00_dot_75)\n (pickupable SoapBar_bar__minus_01_dot_76_bar__plus_01_dot_02_bar__plus_02_dot_04)\n (pickupable SoapBar_bar__minus_02_dot_16_bar__plus_01_dot_09_bar__plus_02_dot_16)\n (pickupable SprayBottle_bar__minus_02_dot_80_bar__plus_00_dot_70_bar__minus_00_dot_64)\n \n (openable Drawer_bar__minus_02_dot_79_bar__plus_00_dot_53_bar__minus_00_dot_62)\n (openable Drawer_bar__minus_02_dot_34_bar__plus_00_dot_53_bar__minus_00_dot_62)\n (openable Drawer_bar__minus_01_dot_44_bar__plus_00_dot_53_bar__minus_00_dot_62)\n (openable Drawer_bar__minus_01_dot_89_bar__plus_00_dot_53_bar__minus_00_dot_62)\n (openable Drawer_bar__minus_01_dot_44_bar__plus_00_dot_27_bar__minus_00_dot_62)\n (openable Drawer_bar__minus_01_dot_89_bar__plus_00_dot_27_bar__minus_00_dot_62)\n (openable Drawer_bar__minus_02_dot_79_bar__plus_00_dot_27_bar__minus_00_dot_62)\n (openable Drawer_bar__minus_02_dot_34_bar__plus_00_dot_27_bar__minus_00_dot_62)\n \n (atLocation agent1 loc_bar__minus_11_bar_4_bar_1_bar_30)\n \n (cleanable Cloth_bar__minus_03_dot_95_bar__plus_00_dot_04_bar__plus_00_dot_97)\n (cleanable Cloth_bar__minus_03_dot_95_bar__plus_00_dot_04_bar__plus_00_dot_04)\n (cleanable DishSponge_bar__minus_01_dot_67_bar__plus_00_dot_70_bar__minus_00_dot_70)\n (cleanable DishSponge_bar__minus_02_dot_35_bar__plus_00_dot_70_bar__minus_00_dot_64)\n (cleanable DishSponge_bar__minus_04_dot_03_bar__plus_00_dot_04_bar__plus_00_dot_22)\n (cleanable SoapBar_bar__minus_01_dot_76_bar__plus_01_dot_02_bar__plus_02_dot_04)\n (cleanable SoapBar_bar__minus_02_dot_16_bar__plus_01_dot_09_bar__plus_02_dot_16)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle TissueBox_bar__minus_02_dot_30_bar__plus_00_dot_44_bar__minus_00_dot_64 Drawer_bar__minus_02_dot_34_bar__plus_00_dot_53_bar__minus_00_dot_62)\n (inReceptacle TissueBox_bar__minus_02_dot_39_bar__plus_00_dot_18_bar__minus_00_dot_68 Drawer_bar__minus_02_dot_34_bar__plus_00_dot_27_bar__minus_00_dot_62)\n (inReceptacle TissueBox_bar__minus_01_dot_89_bar__plus_00_dot_18_bar__minus_00_dot_59 Drawer_bar__minus_01_dot_89_bar__plus_00_dot_27_bar__minus_00_dot_62)\n (inReceptacle TissueBox_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_00_dot_59 CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59)\n (inReceptacle Candle_bar__minus_02_dot_58_bar__plus_00_dot_70_bar__minus_00_dot_53 CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59)\n (inReceptacle DishSponge_bar__minus_02_dot_35_bar__plus_00_dot_70_bar__minus_00_dot_64 CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59)\n (inReceptacle ToiletPaper_bar__minus_01_dot_67_bar__plus_00_dot_70_bar__minus_00_dot_81 CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59)\n (inReceptacle SprayBottle_bar__minus_02_dot_58_bar__plus_00_dot_70_bar__minus_00_dot_47 CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59)\n (inReceptacle DishSponge_bar__minus_01_dot_67_bar__plus_00_dot_70_bar__minus_00_dot_70 CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59)\n (inReceptacle PaperTowelRoll_bar__minus_02_dot_58_bar__plus_00_dot_81_bar__minus_00_dot_81 CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59)\n (inReceptacle SprayBottle_bar__minus_02_dot_12_bar__plus_00_dot_70_bar__minus_00_dot_76 CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59)\n (inReceptacle ToiletPaper_bar__minus_01_dot_38_bar__plus_00_dot_70_bar__minus_00_dot_75 CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59)\n (inReceptacle SprayBottle_bar__minus_02_dot_80_bar__plus_00_dot_70_bar__minus_00_dot_64 CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59)\n (inReceptacle Towel_bar__minus_03_dot_66_bar__plus_01_dot_57_bar__minus_00_dot_46 TowelHolder_bar__minus_03_dot_66_bar__plus_01_dot_55_bar__minus_00_dot_56)\n (inReceptacle HandTowel_bar__minus_01_dot_28_bar__plus_01_dot_68_bar__plus_02_dot_24 HandTowelHolder_bar__minus_01_dot_28_bar__plus_01_dot_79_bar__plus_02_dot_28)\n (inReceptacle SoapBottle_bar__minus_00_dot_61_bar__plus_00_dot_96_bar__minus_00_dot_72 Toilet_bar__minus_00_dot_72_bar__plus_00_dot_00_bar__minus_00_dot_31)\n (inReceptacle Candle_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__minus_00_dot_67 Toilet_bar__minus_00_dot_72_bar__plus_00_dot_00_bar__minus_00_dot_31)\n (inReceptacle DishSponge_bar__minus_04_dot_03_bar__plus_00_dot_04_bar__plus_00_dot_22 Bathtub_bar__minus_03_dot_71_bar__plus_00_dot_34_bar__plus_00_dot_64_bar_BathtubBasin)\n (inReceptacle Cloth_bar__minus_03_dot_95_bar__plus_00_dot_04_bar__plus_00_dot_97 Bathtub_bar__minus_03_dot_71_bar__plus_00_dot_34_bar__plus_00_dot_64_bar_BathtubBasin)\n (inReceptacle Cloth_bar__minus_03_dot_95_bar__plus_00_dot_04_bar__plus_00_dot_04 Bathtub_bar__minus_03_dot_71_bar__plus_00_dot_34_bar__plus_00_dot_64_bar_BathtubBasin)\n (inReceptacle SoapBar_bar__minus_01_dot_76_bar__plus_01_dot_02_bar__plus_02_dot_04 Sink_bar__minus_01_dot_92_bar__plus_00_dot_44_bar__plus_02_dot_03_bar_SinkBasin)\n \n \n (receptacleAtLocation Bathtub_bar__minus_03_dot_71_bar__plus_00_dot_34_bar__plus_00_dot_64_bar_BathtubBasin loc_bar__minus_11_bar_2_bar_3_bar_60)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59 loc_bar__minus_9_bar_1_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_44_bar__plus_00_dot_27_bar__minus_00_dot_62 loc_bar__minus_8_bar_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_44_bar__plus_00_dot_53_bar__minus_00_dot_62 loc_bar__minus_8_bar_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_89_bar__plus_00_dot_27_bar__minus_00_dot_62 loc_bar__minus_10_bar_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_89_bar__plus_00_dot_53_bar__minus_00_dot_62 loc_bar__minus_10_bar_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_34_bar__plus_00_dot_27_bar__minus_00_dot_62 loc_bar__minus_7_bar_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_34_bar__plus_00_dot_53_bar__minus_00_dot_62 loc_bar__minus_7_bar_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_79_bar__plus_00_dot_27_bar__minus_00_dot_62 loc_bar__minus_9_bar_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_79_bar__plus_00_dot_53_bar__minus_00_dot_62 loc_bar__minus_9_bar_2_bar_2_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_59_bar__plus_00_dot_00_bar__plus_02_dot_06 loc_bar__minus_6_bar_6_bar_0_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_01_dot_28_bar__plus_01_dot_79_bar__plus_02_dot_28 loc_bar__minus_5_bar_6_bar_0_bar__minus_15)\n (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_58_bar__plus_01_dot_79_bar__plus_02_dot_28 loc_bar__minus_9_bar_6_bar_0_bar__minus_15)\n (receptacleAtLocation Sink_bar__minus_01_dot_92_bar__plus_00_dot_44_bar__plus_02_dot_03_bar_SinkBasin loc_bar__minus_7_bar_6_bar_0_bar_60)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_00_dot_43_bar__plus_00_dot_94_bar__plus_00_dot_19 loc_bar__minus_4_bar_1_bar_1_bar_45)\n (receptacleAtLocation Toilet_bar__minus_00_dot_72_bar__plus_00_dot_00_bar__minus_00_dot_31 loc_bar__minus_5_bar_0_bar_1_bar_60)\n (receptacleAtLocation TowelHolder_bar__minus_03_dot_66_bar__plus_01_dot_55_bar__minus_00_dot_56 loc_bar__minus_11_bar_0_bar_3_bar_0)\n (objectAtLocation DishSponge_bar__minus_01_dot_67_bar__plus_00_dot_70_bar__minus_00_dot_70 loc_bar__minus_9_bar_1_bar_2_bar_60)\n (objectAtLocation Cloth_bar__minus_03_dot_95_bar__plus_00_dot_04_bar__plus_00_dot_04 loc_bar__minus_11_bar_2_bar_3_bar_60)\n (objectAtLocation TissueBox_bar__minus_01_dot_89_bar__plus_00_dot_18_bar__minus_00_dot_59 loc_bar__minus_10_bar_2_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__minus_03_dot_15_bar__plus_00_dot_62_bar__plus_01_dot_57 loc_bar__minus_11_bar_2_bar_3_bar_60)\n (objectAtLocation SprayBottle_bar__minus_02_dot_80_bar__plus_00_dot_70_bar__minus_00_dot_64 loc_bar__minus_9_bar_1_bar_2_bar_60)\n (objectAtLocation SoapBar_bar__minus_01_dot_76_bar__plus_01_dot_02_bar__plus_02_dot_04 loc_bar__minus_7_bar_6_bar_0_bar_60)\n (objectAtLocation Candle_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__minus_00_dot_67 loc_bar__minus_5_bar_0_bar_1_bar_60)\n (objectAtLocation DishSponge_bar__minus_02_dot_35_bar__plus_00_dot_70_bar__minus_00_dot_64 loc_bar__minus_9_bar_1_bar_2_bar_60)\n (objectAtLocation SprayBottle_bar__minus_02_dot_58_bar__plus_00_dot_70_bar__minus_00_dot_47 loc_bar__minus_9_bar_1_bar_2_bar_60)\n (objectAtLocation TissueBox_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_00_dot_59 loc_bar__minus_9_bar_1_bar_2_bar_60)\n (objectAtLocation TissueBox_bar__minus_02_dot_30_bar__plus_00_dot_44_bar__minus_00_dot_64 loc_bar__minus_7_bar_2_bar_2_bar_45)\n (objectAtLocation Sink_bar__minus_01_dot_92_bar__plus_00_dot_44_bar__plus_02_dot_03 loc_bar__minus_8_bar_6_bar_0_bar_60)\n (objectAtLocation Mirror_bar__minus_01_dot_91_bar__plus_01_dot_75_bar__plus_02_dot_28 loc_bar__minus_8_bar_6_bar_0_bar_0)\n (objectAtLocation Bathtub_bar__minus_03_dot_71_bar__plus_00_dot_34_bar__plus_00_dot_64 loc_bar__minus_11_bar_3_bar_3_bar_60)\n (objectAtLocation Towel_bar__minus_03_dot_66_bar__plus_01_dot_57_bar__minus_00_dot_46 loc_bar__minus_11_bar_0_bar_3_bar_0)\n (objectAtLocation Candle_bar__minus_02_dot_58_bar__plus_00_dot_70_bar__minus_00_dot_53 loc_bar__minus_9_bar_1_bar_2_bar_60)\n (objectAtLocation HandTowel_bar__minus_01_dot_28_bar__plus_01_dot_68_bar__plus_02_dot_24 loc_bar__minus_5_bar_6_bar_0_bar__minus_15)\n (objectAtLocation SoapBar_bar__minus_02_dot_16_bar__plus_01_dot_09_bar__plus_02_dot_16 loc_bar__minus_7_bar_6_bar_0_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_38_bar__plus_00_dot_70_bar__minus_00_dot_75 loc_bar__minus_9_bar_1_bar_2_bar_60)\n (objectAtLocation Plunger_bar__minus_01_dot_09_bar__plus_00_dot_00_bar__minus_00_dot_53 loc_bar__minus_5_bar_0_bar_2_bar_60)\n (objectAtLocation SprayBottle_bar__minus_02_dot_12_bar__plus_00_dot_70_bar__minus_00_dot_76 loc_bar__minus_9_bar_1_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__minus_00_dot_61_bar__plus_00_dot_96_bar__minus_00_dot_72 loc_bar__minus_5_bar_0_bar_1_bar_60)\n (objectAtLocation TissueBox_bar__minus_02_dot_39_bar__plus_00_dot_18_bar__minus_00_dot_68 loc_bar__minus_7_bar_2_bar_2_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_67_bar__plus_00_dot_70_bar__minus_00_dot_81 loc_bar__minus_9_bar_1_bar_2_bar_60)\n (objectAtLocation LightSwitch_bar__minus_00_dot_56_bar__plus_01_dot_28_bar__plus_02_dot_28 loc_bar__minus_4_bar_7_bar_0_bar_30)\n (objectAtLocation PaperTowelRoll_bar__minus_02_dot_58_bar__plus_00_dot_81_bar__minus_00_dot_81 loc_bar__minus_9_bar_1_bar_2_bar_60)\n (objectAtLocation ScrubBrush_bar__minus_01_dot_04_bar__plus_00_dot_00_bar__minus_00_dot_71 loc_bar__minus_5_bar_0_bar_2_bar_60)\n (objectAtLocation Cloth_bar__minus_03_dot_95_bar__plus_00_dot_04_bar__plus_00_dot_97 loc_bar__minus_11_bar_2_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__minus_04_dot_03_bar__plus_00_dot_04_bar__plus_00_dot_22 loc_bar__minus_11_bar_2_bar_3_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 TissueBoxType)\n (receptacleType ?r GarbageCanType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take tissuebox 3 from countertop 1", "go to garbagecan 1", "move tissuebox 3 to garbagecan 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-GarbageCan-427/trial_T20190907_173922_758000/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-GarbageCan-427/trial_T20190907_173922_758000/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..fde7e43e3f1547c87d928d7eb47a5e68b637ebcc --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-GarbageCan-427/trial_T20190907_173922_758000/initial_state.pddl @@ -0,0 +1,566 @@ + +(define (problem plan_trial_T20190907_173922_758000) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Bathtub_bar__minus_03_dot_71_bar__plus_00_dot_34_bar__plus_00_dot_64 - object + Candle_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__minus_00_dot_67 - object + Candle_bar__minus_02_dot_58_bar__plus_00_dot_70_bar__minus_00_dot_53 - object + Cloth_bar__minus_03_dot_95_bar__plus_00_dot_04_bar__plus_00_dot_04 - object + Cloth_bar__minus_03_dot_95_bar__plus_00_dot_04_bar__plus_00_dot_97 - object + DishSponge_bar__minus_01_dot_67_bar__plus_00_dot_70_bar__minus_00_dot_70 - object + DishSponge_bar__minus_02_dot_35_bar__plus_00_dot_70_bar__minus_00_dot_64 - object + DishSponge_bar__minus_04_dot_03_bar__plus_00_dot_04_bar__plus_00_dot_22 - object + Faucet_bar__minus_01_dot_92_bar__plus_01_dot_06_bar__plus_02_dot_18 - object + Faucet_bar__minus_03_dot_74_bar__plus_01_dot_86_bar__plus_01_dot_83 - object + HandTowel_bar__minus_01_dot_28_bar__plus_01_dot_68_bar__plus_02_dot_24 - object + LightSwitch_bar__minus_00_dot_56_bar__plus_01_dot_28_bar__plus_02_dot_28 - object + Mirror_bar__minus_01_dot_91_bar__plus_01_dot_75_bar__plus_02_dot_28 - object + PaperTowelRoll_bar__minus_02_dot_58_bar__plus_00_dot_81_bar__minus_00_dot_81 - object + Plunger_bar__minus_01_dot_09_bar__plus_00_dot_00_bar__minus_00_dot_53 - object + ScrubBrush_bar__minus_01_dot_04_bar__plus_00_dot_00_bar__minus_00_dot_71 - object + ShowerCurtain_bar__minus_03_dot_04_bar__plus_02_dot_23_bar__plus_01_dot_72 - object + Sink_bar__minus_01_dot_92_bar__plus_00_dot_44_bar__plus_02_dot_03 - object + SoapBar_bar__minus_01_dot_76_bar__plus_01_dot_02_bar__plus_02_dot_04 - object + SoapBar_bar__minus_02_dot_16_bar__plus_01_dot_09_bar__plus_02_dot_16 - object + SoapBottle_bar__minus_00_dot_61_bar__plus_00_dot_96_bar__minus_00_dot_72 - object + SoapBottle_bar__minus_03_dot_15_bar__plus_00_dot_62_bar__plus_01_dot_57 - object + SprayBottle_bar__minus_02_dot_12_bar__plus_00_dot_70_bar__minus_00_dot_76 - object + SprayBottle_bar__minus_02_dot_58_bar__plus_00_dot_70_bar__minus_00_dot_47 - object + SprayBottle_bar__minus_02_dot_80_bar__plus_00_dot_70_bar__minus_00_dot_64 - object + TissueBox_bar__minus_01_dot_89_bar__plus_00_dot_18_bar__minus_00_dot_59 - object + TissueBox_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_00_dot_59 - object + TissueBox_bar__minus_02_dot_30_bar__plus_00_dot_44_bar__minus_00_dot_64 - object + TissueBox_bar__minus_02_dot_39_bar__plus_00_dot_18_bar__minus_00_dot_68 - object + ToiletPaper_bar__minus_01_dot_38_bar__plus_00_dot_70_bar__minus_00_dot_75 - object + ToiletPaper_bar__minus_01_dot_67_bar__plus_00_dot_70_bar__minus_00_dot_81 - object + Towel_bar__minus_03_dot_66_bar__plus_01_dot_57_bar__minus_00_dot_46 - object + Bathtub_bar__minus_03_dot_71_bar__plus_00_dot_34_bar__plus_00_dot_64_bar_BathtubBasin - receptacle + CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59 - receptacle + Drawer_bar__minus_01_dot_44_bar__plus_00_dot_27_bar__minus_00_dot_62 - receptacle + Drawer_bar__minus_01_dot_44_bar__plus_00_dot_53_bar__minus_00_dot_62 - receptacle + Drawer_bar__minus_01_dot_89_bar__plus_00_dot_27_bar__minus_00_dot_62 - receptacle + Drawer_bar__minus_01_dot_89_bar__plus_00_dot_53_bar__minus_00_dot_62 - receptacle + Drawer_bar__minus_02_dot_34_bar__plus_00_dot_27_bar__minus_00_dot_62 - receptacle + Drawer_bar__minus_02_dot_34_bar__plus_00_dot_53_bar__minus_00_dot_62 - receptacle + Drawer_bar__minus_02_dot_79_bar__plus_00_dot_27_bar__minus_00_dot_62 - receptacle + Drawer_bar__minus_02_dot_79_bar__plus_00_dot_53_bar__minus_00_dot_62 - receptacle + GarbageCan_bar__minus_01_dot_59_bar__plus_00_dot_00_bar__plus_02_dot_06 - receptacle + HandTowelHolder_bar__minus_01_dot_28_bar__plus_01_dot_79_bar__plus_02_dot_28 - receptacle + HandTowelHolder_bar__minus_02_dot_58_bar__plus_01_dot_79_bar__plus_02_dot_28 - receptacle + Sink_bar__minus_01_dot_92_bar__plus_00_dot_44_bar__plus_02_dot_03_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__minus_00_dot_43_bar__plus_00_dot_94_bar__plus_00_dot_19 - receptacle + Toilet_bar__minus_00_dot_72_bar__plus_00_dot_00_bar__minus_00_dot_31 - receptacle + TowelHolder_bar__minus_03_dot_66_bar__plus_01_dot_55_bar__minus_00_dot_56 - receptacle + loc_bar__minus_5_bar_0_bar_2_bar_60 - location + loc_bar__minus_9_bar_1_bar_2_bar_60 - location + loc_bar__minus_4_bar_1_bar_1_bar_45 - location + loc_bar__minus_8_bar_2_bar_2_bar_45 - location + loc_bar__minus_9_bar_2_bar_2_bar_45 - location + loc_bar__minus_11_bar_0_bar_3_bar_0 - location + loc_bar__minus_5_bar_6_bar_0_bar__minus_15 - location + loc_bar__minus_5_bar_0_bar_1_bar_60 - location + loc_bar__minus_7_bar_6_bar_0_bar_60 - location + loc_bar__minus_11_bar_3_bar_3_bar_60 - location + loc_bar__minus_7_bar_2_bar_2_bar_45 - location + loc_bar__minus_4_bar_7_bar_0_bar_30 - location + loc_bar__minus_8_bar_6_bar_0_bar_0 - location + loc_bar__minus_10_bar_2_bar_2_bar_45 - location + loc_bar__minus_11_bar_2_bar_3_bar_60 - location + loc_bar__minus_9_bar_6_bar_0_bar__minus_15 - location + loc_bar__minus_8_bar_6_bar_0_bar_60 - location + loc_bar__minus_6_bar_6_bar_0_bar_60 - location + loc_bar__minus_11_bar_4_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__minus_02_dot_79_bar__plus_00_dot_53_bar__minus_00_dot_62 DrawerType) + (receptacleType Sink_bar__minus_01_dot_92_bar__plus_00_dot_44_bar__plus_02_dot_03_bar_SinkBasin SinkBasinType) + (receptacleType ToiletPaperHanger_bar__minus_00_dot_43_bar__plus_00_dot_94_bar__plus_00_dot_19 ToiletPaperHangerType) + (receptacleType Drawer_bar__minus_02_dot_34_bar__plus_00_dot_53_bar__minus_00_dot_62 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_44_bar__plus_00_dot_53_bar__minus_00_dot_62 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_89_bar__plus_00_dot_53_bar__minus_00_dot_62 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_44_bar__plus_00_dot_27_bar__minus_00_dot_62 DrawerType) + (receptacleType Toilet_bar__minus_00_dot_72_bar__plus_00_dot_00_bar__minus_00_dot_31 ToiletType) + (receptacleType Bathtub_bar__minus_03_dot_71_bar__plus_00_dot_34_bar__plus_00_dot_64_bar_BathtubBasin BathtubBasinType) + (receptacleType Drawer_bar__minus_01_dot_89_bar__plus_00_dot_27_bar__minus_00_dot_62 DrawerType) + (receptacleType Drawer_bar__minus_02_dot_79_bar__plus_00_dot_27_bar__minus_00_dot_62 DrawerType) + (receptacleType HandTowelHolder_bar__minus_02_dot_58_bar__plus_01_dot_79_bar__plus_02_dot_28 HandTowelHolderType) + (receptacleType TowelHolder_bar__minus_03_dot_66_bar__plus_01_dot_55_bar__minus_00_dot_56 TowelHolderType) + (receptacleType HandTowelHolder_bar__minus_01_dot_28_bar__plus_01_dot_79_bar__plus_02_dot_28 HandTowelHolderType) + (receptacleType Drawer_bar__minus_02_dot_34_bar__plus_00_dot_27_bar__minus_00_dot_62 DrawerType) + (receptacleType GarbageCan_bar__minus_01_dot_59_bar__plus_00_dot_00_bar__plus_02_dot_06 GarbageCanType) + (receptacleType CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59 CounterTopType) + (objectType Bathtub_bar__minus_03_dot_71_bar__plus_00_dot_34_bar__plus_00_dot_64 BathtubType) + (objectType SoapBottle_bar__minus_03_dot_15_bar__plus_00_dot_62_bar__plus_01_dot_57 SoapBottleType) + (objectType Cloth_bar__minus_03_dot_95_bar__plus_00_dot_04_bar__plus_00_dot_97 ClothType) + (objectType Cloth_bar__minus_03_dot_95_bar__plus_00_dot_04_bar__plus_00_dot_04 ClothType) + (objectType TissueBox_bar__minus_02_dot_39_bar__plus_00_dot_18_bar__minus_00_dot_68 TissueBoxType) + (objectType SprayBottle_bar__minus_02_dot_58_bar__plus_00_dot_70_bar__minus_00_dot_47 SprayBottleType) + (objectType Candle_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__minus_00_dot_67 CandleType) + (objectType DishSponge_bar__minus_01_dot_67_bar__plus_00_dot_70_bar__minus_00_dot_70 DishSpongeType) + (objectType HandTowel_bar__minus_01_dot_28_bar__plus_01_dot_68_bar__plus_02_dot_24 HandTowelType) + (objectType Candle_bar__minus_02_dot_58_bar__plus_00_dot_70_bar__minus_00_dot_53 CandleType) + (objectType DishSponge_bar__minus_02_dot_35_bar__plus_00_dot_70_bar__minus_00_dot_64 DishSpongeType) + (objectType TissueBox_bar__minus_02_dot_30_bar__plus_00_dot_44_bar__minus_00_dot_64 TissueBoxType) + (objectType DishSponge_bar__minus_04_dot_03_bar__plus_00_dot_04_bar__plus_00_dot_22 DishSpongeType) + (objectType TissueBox_bar__minus_01_dot_89_bar__plus_00_dot_18_bar__minus_00_dot_59 TissueBoxType) + (objectType SoapBottle_bar__minus_00_dot_61_bar__plus_00_dot_96_bar__minus_00_dot_72 SoapBottleType) + (objectType LightSwitch_bar__minus_00_dot_56_bar__plus_01_dot_28_bar__plus_02_dot_28 LightSwitchType) + (objectType SprayBottle_bar__minus_02_dot_12_bar__plus_00_dot_70_bar__minus_00_dot_76 SprayBottleType) + (objectType ScrubBrush_bar__minus_01_dot_04_bar__plus_00_dot_00_bar__minus_00_dot_71 ScrubBrushType) + (objectType Sink_bar__minus_01_dot_92_bar__plus_00_dot_44_bar__plus_02_dot_03 SinkType) + (objectType Mirror_bar__minus_01_dot_91_bar__plus_01_dot_75_bar__plus_02_dot_28 MirrorType) + (objectType TissueBox_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_00_dot_59 TissueBoxType) + (objectType ToiletPaper_bar__minus_01_dot_67_bar__plus_00_dot_70_bar__minus_00_dot_81 ToiletPaperType) + (objectType Towel_bar__minus_03_dot_66_bar__plus_01_dot_57_bar__minus_00_dot_46 TowelType) + (objectType Plunger_bar__minus_01_dot_09_bar__plus_00_dot_00_bar__minus_00_dot_53 PlungerType) + (objectType PaperTowelRoll_bar__minus_02_dot_58_bar__plus_00_dot_81_bar__minus_00_dot_81 PaperTowelRollType) + (objectType ToiletPaper_bar__minus_01_dot_38_bar__plus_00_dot_70_bar__minus_00_dot_75 ToiletPaperType) + (objectType SoapBar_bar__minus_01_dot_76_bar__plus_01_dot_02_bar__plus_02_dot_04 SoapBarType) + (objectType SoapBar_bar__minus_02_dot_16_bar__plus_01_dot_09_bar__plus_02_dot_16 SoapBarType) + (objectType SprayBottle_bar__minus_02_dot_80_bar__plus_00_dot_70_bar__minus_00_dot_64 SprayBottleType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType DishSpongeType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType DishSpongeType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType DishSpongeType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType DishSpongeType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType DishSpongeType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType DishSpongeType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType HandTowelType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType ClothType) + (canContain ToiletType CandleType) + (canContain ToiletType SoapBarType) + (canContain ToiletType DishSpongeType) + (canContain ToiletType SprayBottleType) + (canContain ToiletType TissueBoxType) + (canContain BathtubBasinType ClothType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain BathtubBasinType DishSpongeType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType DishSpongeType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType DishSpongeType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain TowelHolderType TowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType DishSpongeType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType HandTowelType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType DishSpongeType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType TissueBoxType) + (canContain GarbageCanType HandTowelType) + (canContain CounterTopType CandleType) + (canContain CounterTopType 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HandTowel_bar__minus_01_dot_28_bar__plus_01_dot_68_bar__plus_02_dot_24) + (pickupable Candle_bar__minus_02_dot_58_bar__plus_00_dot_70_bar__minus_00_dot_53) + (pickupable DishSponge_bar__minus_02_dot_35_bar__plus_00_dot_70_bar__minus_00_dot_64) + (pickupable TissueBox_bar__minus_02_dot_30_bar__plus_00_dot_44_bar__minus_00_dot_64) + (pickupable DishSponge_bar__minus_04_dot_03_bar__plus_00_dot_04_bar__plus_00_dot_22) + (pickupable TissueBox_bar__minus_01_dot_89_bar__plus_00_dot_18_bar__minus_00_dot_59) + (pickupable SoapBottle_bar__minus_00_dot_61_bar__plus_00_dot_96_bar__minus_00_dot_72) + (pickupable SprayBottle_bar__minus_02_dot_12_bar__plus_00_dot_70_bar__minus_00_dot_76) + (pickupable ScrubBrush_bar__minus_01_dot_04_bar__plus_00_dot_00_bar__minus_00_dot_71) + (pickupable TissueBox_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_00_dot_59) + (pickupable ToiletPaper_bar__minus_01_dot_67_bar__plus_00_dot_70_bar__minus_00_dot_81) + (pickupable Towel_bar__minus_03_dot_66_bar__plus_01_dot_57_bar__minus_00_dot_46) + (pickupable Plunger_bar__minus_01_dot_09_bar__plus_00_dot_00_bar__minus_00_dot_53) + (pickupable PaperTowelRoll_bar__minus_02_dot_58_bar__plus_00_dot_81_bar__minus_00_dot_81) + (pickupable ToiletPaper_bar__minus_01_dot_38_bar__plus_00_dot_70_bar__minus_00_dot_75) + (pickupable SoapBar_bar__minus_01_dot_76_bar__plus_01_dot_02_bar__plus_02_dot_04) + (pickupable SoapBar_bar__minus_02_dot_16_bar__plus_01_dot_09_bar__plus_02_dot_16) + (pickupable SprayBottle_bar__minus_02_dot_80_bar__plus_00_dot_70_bar__minus_00_dot_64) + + (openable Drawer_bar__minus_02_dot_79_bar__plus_00_dot_53_bar__minus_00_dot_62) + (openable Drawer_bar__minus_02_dot_34_bar__plus_00_dot_53_bar__minus_00_dot_62) + (openable Drawer_bar__minus_01_dot_44_bar__plus_00_dot_53_bar__minus_00_dot_62) + (openable Drawer_bar__minus_01_dot_89_bar__plus_00_dot_53_bar__minus_00_dot_62) + (openable Drawer_bar__minus_01_dot_44_bar__plus_00_dot_27_bar__minus_00_dot_62) + (openable Drawer_bar__minus_01_dot_89_bar__plus_00_dot_27_bar__minus_00_dot_62) + (openable Drawer_bar__minus_02_dot_79_bar__plus_00_dot_27_bar__minus_00_dot_62) + (openable Drawer_bar__minus_02_dot_34_bar__plus_00_dot_27_bar__minus_00_dot_62) + + (atLocation agent1 loc_bar__minus_11_bar_4_bar_1_bar_30) + + (cleanable Cloth_bar__minus_03_dot_95_bar__plus_00_dot_04_bar__plus_00_dot_97) + (cleanable Cloth_bar__minus_03_dot_95_bar__plus_00_dot_04_bar__plus_00_dot_04) + (cleanable DishSponge_bar__minus_01_dot_67_bar__plus_00_dot_70_bar__minus_00_dot_70) + (cleanable DishSponge_bar__minus_02_dot_35_bar__plus_00_dot_70_bar__minus_00_dot_64) + (cleanable DishSponge_bar__minus_04_dot_03_bar__plus_00_dot_04_bar__plus_00_dot_22) + (cleanable SoapBar_bar__minus_01_dot_76_bar__plus_01_dot_02_bar__plus_02_dot_04) + (cleanable SoapBar_bar__minus_02_dot_16_bar__plus_01_dot_09_bar__plus_02_dot_16) + + + + + + + + + + + (inReceptacle TissueBox_bar__minus_02_dot_30_bar__plus_00_dot_44_bar__minus_00_dot_64 Drawer_bar__minus_02_dot_34_bar__plus_00_dot_53_bar__minus_00_dot_62) + (inReceptacle TissueBox_bar__minus_02_dot_39_bar__plus_00_dot_18_bar__minus_00_dot_68 Drawer_bar__minus_02_dot_34_bar__plus_00_dot_27_bar__minus_00_dot_62) + (inReceptacle TissueBox_bar__minus_01_dot_89_bar__plus_00_dot_18_bar__minus_00_dot_59 Drawer_bar__minus_01_dot_89_bar__plus_00_dot_27_bar__minus_00_dot_62) + (inReceptacle TissueBox_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_00_dot_59 CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59) + (inReceptacle Candle_bar__minus_02_dot_58_bar__plus_00_dot_70_bar__minus_00_dot_53 CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59) + (inReceptacle DishSponge_bar__minus_02_dot_35_bar__plus_00_dot_70_bar__minus_00_dot_64 CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59) + (inReceptacle ToiletPaper_bar__minus_01_dot_67_bar__plus_00_dot_70_bar__minus_00_dot_81 CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59) + (inReceptacle SprayBottle_bar__minus_02_dot_58_bar__plus_00_dot_70_bar__minus_00_dot_47 CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59) + (inReceptacle DishSponge_bar__minus_01_dot_67_bar__plus_00_dot_70_bar__minus_00_dot_70 CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59) + (inReceptacle PaperTowelRoll_bar__minus_02_dot_58_bar__plus_00_dot_81_bar__minus_00_dot_81 CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59) + (inReceptacle SprayBottle_bar__minus_02_dot_12_bar__plus_00_dot_70_bar__minus_00_dot_76 CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59) + (inReceptacle ToiletPaper_bar__minus_01_dot_38_bar__plus_00_dot_70_bar__minus_00_dot_75 CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59) + (inReceptacle SprayBottle_bar__minus_02_dot_80_bar__plus_00_dot_70_bar__minus_00_dot_64 CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59) + (inReceptacle Towel_bar__minus_03_dot_66_bar__plus_01_dot_57_bar__minus_00_dot_46 TowelHolder_bar__minus_03_dot_66_bar__plus_01_dot_55_bar__minus_00_dot_56) + (inReceptacle HandTowel_bar__minus_01_dot_28_bar__plus_01_dot_68_bar__plus_02_dot_24 HandTowelHolder_bar__minus_01_dot_28_bar__plus_01_dot_79_bar__plus_02_dot_28) + (inReceptacle SoapBottle_bar__minus_00_dot_61_bar__plus_00_dot_96_bar__minus_00_dot_72 Toilet_bar__minus_00_dot_72_bar__plus_00_dot_00_bar__minus_00_dot_31) + (inReceptacle Candle_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__minus_00_dot_67 Toilet_bar__minus_00_dot_72_bar__plus_00_dot_00_bar__minus_00_dot_31) + (inReceptacle DishSponge_bar__minus_04_dot_03_bar__plus_00_dot_04_bar__plus_00_dot_22 Bathtub_bar__minus_03_dot_71_bar__plus_00_dot_34_bar__plus_00_dot_64_bar_BathtubBasin) + (inReceptacle Cloth_bar__minus_03_dot_95_bar__plus_00_dot_04_bar__plus_00_dot_97 Bathtub_bar__minus_03_dot_71_bar__plus_00_dot_34_bar__plus_00_dot_64_bar_BathtubBasin) + (inReceptacle Cloth_bar__minus_03_dot_95_bar__plus_00_dot_04_bar__plus_00_dot_04 Bathtub_bar__minus_03_dot_71_bar__plus_00_dot_34_bar__plus_00_dot_64_bar_BathtubBasin) + (inReceptacle SoapBar_bar__minus_01_dot_76_bar__plus_01_dot_02_bar__plus_02_dot_04 Sink_bar__minus_01_dot_92_bar__plus_00_dot_44_bar__plus_02_dot_03_bar_SinkBasin) + + + (receptacleAtLocation Bathtub_bar__minus_03_dot_71_bar__plus_00_dot_34_bar__plus_00_dot_64_bar_BathtubBasin loc_bar__minus_11_bar_2_bar_3_bar_60) + (receptacleAtLocation CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59 loc_bar__minus_9_bar_1_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_44_bar__plus_00_dot_27_bar__minus_00_dot_62 loc_bar__minus_8_bar_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_44_bar__plus_00_dot_53_bar__minus_00_dot_62 loc_bar__minus_8_bar_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_89_bar__plus_00_dot_27_bar__minus_00_dot_62 loc_bar__minus_10_bar_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_89_bar__plus_00_dot_53_bar__minus_00_dot_62 loc_bar__minus_10_bar_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_34_bar__plus_00_dot_27_bar__minus_00_dot_62 loc_bar__minus_7_bar_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_34_bar__plus_00_dot_53_bar__minus_00_dot_62 loc_bar__minus_7_bar_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_79_bar__plus_00_dot_27_bar__minus_00_dot_62 loc_bar__minus_9_bar_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_79_bar__plus_00_dot_53_bar__minus_00_dot_62 loc_bar__minus_9_bar_2_bar_2_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_01_dot_59_bar__plus_00_dot_00_bar__plus_02_dot_06 loc_bar__minus_6_bar_6_bar_0_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_01_dot_28_bar__plus_01_dot_79_bar__plus_02_dot_28 loc_bar__minus_5_bar_6_bar_0_bar__minus_15) + (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_58_bar__plus_01_dot_79_bar__plus_02_dot_28 loc_bar__minus_9_bar_6_bar_0_bar__minus_15) + (receptacleAtLocation Sink_bar__minus_01_dot_92_bar__plus_00_dot_44_bar__plus_02_dot_03_bar_SinkBasin loc_bar__minus_7_bar_6_bar_0_bar_60) + (receptacleAtLocation ToiletPaperHanger_bar__minus_00_dot_43_bar__plus_00_dot_94_bar__plus_00_dot_19 loc_bar__minus_4_bar_1_bar_1_bar_45) + (receptacleAtLocation Toilet_bar__minus_00_dot_72_bar__plus_00_dot_00_bar__minus_00_dot_31 loc_bar__minus_5_bar_0_bar_1_bar_60) + (receptacleAtLocation TowelHolder_bar__minus_03_dot_66_bar__plus_01_dot_55_bar__minus_00_dot_56 loc_bar__minus_11_bar_0_bar_3_bar_0) + (objectAtLocation DishSponge_bar__minus_01_dot_67_bar__plus_00_dot_70_bar__minus_00_dot_70 loc_bar__minus_9_bar_1_bar_2_bar_60) + (objectAtLocation Cloth_bar__minus_03_dot_95_bar__plus_00_dot_04_bar__plus_00_dot_04 loc_bar__minus_11_bar_2_bar_3_bar_60) + (objectAtLocation TissueBox_bar__minus_01_dot_89_bar__plus_00_dot_18_bar__minus_00_dot_59 loc_bar__minus_10_bar_2_bar_2_bar_45) + (objectAtLocation SoapBottle_bar__minus_03_dot_15_bar__plus_00_dot_62_bar__plus_01_dot_57 loc_bar__minus_11_bar_2_bar_3_bar_60) + (objectAtLocation SprayBottle_bar__minus_02_dot_80_bar__plus_00_dot_70_bar__minus_00_dot_64 loc_bar__minus_9_bar_1_bar_2_bar_60) + (objectAtLocation SoapBar_bar__minus_01_dot_76_bar__plus_01_dot_02_bar__plus_02_dot_04 loc_bar__minus_7_bar_6_bar_0_bar_60) + (objectAtLocation Candle_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__minus_00_dot_67 loc_bar__minus_5_bar_0_bar_1_bar_60) + (objectAtLocation DishSponge_bar__minus_02_dot_35_bar__plus_00_dot_70_bar__minus_00_dot_64 loc_bar__minus_9_bar_1_bar_2_bar_60) + (objectAtLocation SprayBottle_bar__minus_02_dot_58_bar__plus_00_dot_70_bar__minus_00_dot_47 loc_bar__minus_9_bar_1_bar_2_bar_60) + (objectAtLocation TissueBox_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_00_dot_59 loc_bar__minus_9_bar_1_bar_2_bar_60) + (objectAtLocation TissueBox_bar__minus_02_dot_30_bar__plus_00_dot_44_bar__minus_00_dot_64 loc_bar__minus_7_bar_2_bar_2_bar_45) + (objectAtLocation Sink_bar__minus_01_dot_92_bar__plus_00_dot_44_bar__plus_02_dot_03 loc_bar__minus_8_bar_6_bar_0_bar_60) + (objectAtLocation Mirror_bar__minus_01_dot_91_bar__plus_01_dot_75_bar__plus_02_dot_28 loc_bar__minus_8_bar_6_bar_0_bar_0) + (objectAtLocation Bathtub_bar__minus_03_dot_71_bar__plus_00_dot_34_bar__plus_00_dot_64 loc_bar__minus_11_bar_3_bar_3_bar_60) + (objectAtLocation Towel_bar__minus_03_dot_66_bar__plus_01_dot_57_bar__minus_00_dot_46 loc_bar__minus_11_bar_0_bar_3_bar_0) + (objectAtLocation Candle_bar__minus_02_dot_58_bar__plus_00_dot_70_bar__minus_00_dot_53 loc_bar__minus_9_bar_1_bar_2_bar_60) + (objectAtLocation HandTowel_bar__minus_01_dot_28_bar__plus_01_dot_68_bar__plus_02_dot_24 loc_bar__minus_5_bar_6_bar_0_bar__minus_15) + (objectAtLocation SoapBar_bar__minus_02_dot_16_bar__plus_01_dot_09_bar__plus_02_dot_16 loc_bar__minus_7_bar_6_bar_0_bar_60) + (objectAtLocation ToiletPaper_bar__minus_01_dot_38_bar__plus_00_dot_70_bar__minus_00_dot_75 loc_bar__minus_9_bar_1_bar_2_bar_60) + (objectAtLocation Plunger_bar__minus_01_dot_09_bar__plus_00_dot_00_bar__minus_00_dot_53 loc_bar__minus_5_bar_0_bar_2_bar_60) + (objectAtLocation SprayBottle_bar__minus_02_dot_12_bar__plus_00_dot_70_bar__minus_00_dot_76 loc_bar__minus_9_bar_1_bar_2_bar_60) + (objectAtLocation SoapBottle_bar__minus_00_dot_61_bar__plus_00_dot_96_bar__minus_00_dot_72 loc_bar__minus_5_bar_0_bar_1_bar_60) + (objectAtLocation TissueBox_bar__minus_02_dot_39_bar__plus_00_dot_18_bar__minus_00_dot_68 loc_bar__minus_7_bar_2_bar_2_bar_45) + (objectAtLocation ToiletPaper_bar__minus_01_dot_67_bar__plus_00_dot_70_bar__minus_00_dot_81 loc_bar__minus_9_bar_1_bar_2_bar_60) + (objectAtLocation LightSwitch_bar__minus_00_dot_56_bar__plus_01_dot_28_bar__plus_02_dot_28 loc_bar__minus_4_bar_7_bar_0_bar_30) + (objectAtLocation PaperTowelRoll_bar__minus_02_dot_58_bar__plus_00_dot_81_bar__minus_00_dot_81 loc_bar__minus_9_bar_1_bar_2_bar_60) + (objectAtLocation ScrubBrush_bar__minus_01_dot_04_bar__plus_00_dot_00_bar__minus_00_dot_71 loc_bar__minus_5_bar_0_bar_2_bar_60) + (objectAtLocation Cloth_bar__minus_03_dot_95_bar__plus_00_dot_04_bar__plus_00_dot_97 loc_bar__minus_11_bar_2_bar_3_bar_60) + (objectAtLocation DishSponge_bar__minus_04_dot_03_bar__plus_00_dot_04_bar__plus_00_dot_22 loc_bar__minus_11_bar_2_bar_3_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o TissueBoxType) + (receptacleType ?r GarbageCanType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-GarbageCan-427/trial_T20190907_173922_758000/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-GarbageCan-427/trial_T20190907_173922_758000/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..2eed96dfdd5529864c1db3fe4d624e46c3a9e369 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-GarbageCan-427/trial_T20190907_173922_758000/traj_data.json @@ -0,0 +1,1992 @@ +{ + "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": "000000004.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000005.png", + "low_idx": 0 + }, + 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"A3R19ZA45J8915_3V5Q80FXI08SW5UNMFSK4DOBECX32Z", + "high_descs": [ + "Turn to your right and walk up to the bathroom counter. ", + "Pick up the box of tissue that is sitting on the counter.", + "Turn around and walk over to the waste bin that is to the right of the bathroom sink.", + "Place the box of tissue in the waste bin. " + ], + "task_desc": "Move a box of tissue to the waste bin. ", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-ToiletPaper-None-ToiletPaperHanger-407/trial_T20190909_081752_122600/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-ToiletPaper-None-ToiletPaperHanger-407/trial_T20190909_081752_122600/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..86577dcdf11f822cb930c15f72c6c13a4c026127 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-ToiletPaper-None-ToiletPaperHanger-407/trial_T20190909_081752_122600/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 toiletpaper on toiletpaperhanger.\"\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_081752_122600)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15 - object\n Candle_bar__minus_00_dot_14_bar__plus_00_dot_02_bar__minus_01_dot_69 - object\n Candle_bar__minus_01_dot_84_bar__plus_01_dot_04_bar__plus_00_dot_40 - object\n Candle_bar__minus_01_dot_99_bar__plus_01_dot_04_bar__plus_00_dot_08 - object\n Cloth_bar__minus_01_dot_49_bar__plus_00_dot_93_bar__minus_01_dot_53 - object\n Faucet_bar__plus_00_dot_89_bar__plus_01_dot_69_bar__plus_00_dot_72 - object\n Faucet_bar__plus_00_dot_93_bar__plus_00_dot_51_bar__minus_01_dot_98 - object\n Faucet_bar__minus_00_dot_51_bar__plus_00_dot_90_bar__minus_01_dot_78 - object\n Faucet_bar__minus_01_dot_54_bar__plus_00_dot_90_bar__minus_01_dot_78 - object\n HandTowel_bar__minus_02_dot_03_bar__plus_01_dot_49_bar__minus_01_dot_48 - object\n LightSwitch_bar__plus_00_dot_23_bar__plus_01_dot_33_bar__plus_00_dot_76 - object\n Mirror_bar__minus_01_dot_02_bar__plus_01_dot_50_bar__minus_01_dot_84 - object\n Plunger_bar__minus_01_dot_89_bar_00_dot_00_bar__plus_00_dot_61 - object\n ScrubBrush_bar__minus_01_dot_65_bar_00_dot_00_bar__plus_00_dot_65 - object\n ShowerCurtain_bar__plus_00_dot_46_bar__plus_01_dot_78_bar__minus_01_dot_52 - object\n ShowerDoor_bar__plus_00_dot_45_bar__plus_00_dot_93_bar__plus_00_dot_70 - object\n ShowerGlass_bar__plus_00_dot_92_bar__plus_01_dot_42_bar__minus_00_dot_21 - object\n Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60 - object\n Sink_bar__minus_01_dot_56_bar__plus_00_dot_81_bar__minus_01_dot_60 - object\n SoapBar_bar__minus_01_dot_90_bar__plus_00_dot_02_bar__minus_01_dot_64 - object\n SoapBar_bar__minus_01_dot_93_bar__plus_01_dot_04_bar__plus_00_dot_40 - object\n SoapBar_bar__minus_01_dot_99_bar__plus_00_dot_91_bar__minus_01_dot_69 - object\n SoapBottle_bar__minus_00_dot_74_bar__plus_00_dot_02_bar__minus_01_dot_59 - object\n SoapBottle_bar__minus_01_dot_90_bar__plus_01_dot_05_bar__plus_00_dot_14 - object\n SoapBottle_bar__minus_01_dot_90_bar__plus_01_dot_05_bar__plus_00_dot_27 - object\n SprayBottle_bar__minus_00_dot_25_bar__plus_00_dot_02_bar__minus_01_dot_44 - object\n SprayBottle_bar__minus_00_dot_92_bar__plus_00_dot_02_bar__minus_01_dot_49 - object\n ToiletPaper_bar__minus_01_dot_09_bar__plus_00_dot_91_bar__minus_01_dot_55 - object\n ToiletPaper_bar__minus_01_dot_96_bar__plus_00_dot_01_bar__minus_01_dot_49 - object\n Towel_bar__plus_00_dot_89_bar__plus_01_dot_37_bar__minus_01_dot_76 - object\n Window_bar__plus_01_dot_53_bar__plus_01_dot_67_bar__minus_01_dot_04 - object\n Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15_bar_BathtubBasin - receptacle\n Cabinet_bar__minus_00_dot_07_bar__plus_00_dot_34_bar__minus_01_dot_33 - receptacle\n Cabinet_bar__minus_01_dot_04_bar__plus_00_dot_34_bar__minus_01_dot_33 - receptacle\n Cabinet_bar__minus_01_dot_05_bar__plus_00_dot_34_bar__minus_01_dot_33 - receptacle\n Cabinet_bar__minus_02_dot_02_bar__plus_00_dot_34_bar__minus_01_dot_33 - receptacle\n CounterTop_bar__minus_01_dot_04_bar__plus_00_dot_88_bar__minus_01_dot_53 - receptacle\n GarbageCan_bar__plus_00_dot_10_bar_00_dot_00_bar__minus_01_dot_57 - receptacle\n HandTowelHolder_bar__minus_02_dot_07_bar__plus_01_dot_59_bar__minus_01_dot_48 - receptacle\n Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin - receptacle\n Sink_bar__minus_01_dot_56_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_01_dot_18_bar__plus_00_dot_92_bar__plus_00_dot_77 - receptacle\n Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21 - receptacle\n TowelHolder_bar__plus_00_dot_89_bar__plus_01_dot_35_bar__minus_01_dot_86 - receptacle\n loc_bar__minus_3_bar_1_bar_0_bar_60 - location\n loc_bar__minus_3_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_1_bar__minus_4_bar_1_bar_0 - location\n loc_bar__minus_1_bar__minus_4_bar_1_bar_15 - location\n loc_bar__minus_5_bar__minus_1_bar_2_bar_45 - location\n loc_bar__minus_6_bar__minus_3_bar_0_bar_60 - location\n loc_bar__minus_6_bar__minus_1_bar_0_bar_60 - location\n loc_bar__minus_2_bar__minus_4_bar_2_bar_60 - location\n loc_bar__minus_3_bar__minus_1_bar_2_bar_45 - location\n loc_bar__minus_1_bar_1_bar_0_bar_30 - location\n loc_bar__minus_1_bar_1_bar_1_bar_45 - location\n loc_bar__minus_6_bar__minus_4_bar_3_bar_0 - location\n loc_bar__minus_1_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_6_bar__minus_3_bar_2_bar_45 - location\n loc_bar_0_bar__minus_3_bar_1_bar_60 - location\n loc_bar_0_bar__minus_1_bar_1_bar_15 - location\n loc_bar__minus_1_bar__minus_4_bar_1_bar_45 - location\n loc_bar__minus_5_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_6_bar__minus_4_bar_2_bar_60 - location\n loc_bar__minus_3_bar__minus_4_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType ToiletPaperHanger_bar__minus_01_dot_18_bar__plus_00_dot_92_bar__plus_00_dot_77 ToiletPaperHangerType)\n (receptacleType HandTowelHolder_bar__minus_02_dot_07_bar__plus_01_dot_59_bar__minus_01_dot_48 HandTowelHolderType)\n (receptacleType Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15_bar_BathtubBasin BathtubBasinType)\n (receptacleType Sink_bar__minus_01_dot_56_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__minus_01_dot_04_bar__plus_00_dot_34_bar__minus_01_dot_33 CabinetType)\n (receptacleType GarbageCan_bar__plus_00_dot_10_bar_00_dot_00_bar__minus_01_dot_57 GarbageCanType)\n (receptacleType Cabinet_bar__minus_02_dot_02_bar__plus_00_dot_34_bar__minus_01_dot_33 CabinetType)\n (receptacleType Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21 ToiletType)\n (receptacleType TowelHolder_bar__plus_00_dot_89_bar__plus_01_dot_35_bar__minus_01_dot_86 TowelHolderType)\n (receptacleType Cabinet_bar__minus_01_dot_05_bar__plus_00_dot_34_bar__minus_01_dot_33 CabinetType)\n (receptacleType Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__minus_00_dot_07_bar__plus_00_dot_34_bar__minus_01_dot_33 CabinetType)\n (receptacleType CounterTop_bar__minus_01_dot_04_bar__plus_00_dot_88_bar__minus_01_dot_53 CounterTopType)\n (objectType Mirror_bar__minus_01_dot_02_bar__plus_01_dot_50_bar__minus_01_dot_84 MirrorType)\n (objectType SoapBar_bar__minus_01_dot_90_bar__plus_00_dot_02_bar__minus_01_dot_64 SoapBarType)\n (objectType Candle_bar__minus_01_dot_99_bar__plus_01_dot_04_bar__plus_00_dot_08 CandleType)\n (objectType ShowerDoor_bar__plus_00_dot_45_bar__plus_00_dot_93_bar__plus_00_dot_70 ShowerDoorType)\n (objectType ScrubBrush_bar__minus_01_dot_65_bar_00_dot_00_bar__plus_00_dot_65 ScrubBrushType)\n (objectType Sink_bar__minus_01_dot_56_bar__plus_00_dot_81_bar__minus_01_dot_60 SinkType)\n (objectType Candle_bar__minus_00_dot_14_bar__plus_00_dot_02_bar__minus_01_dot_69 CandleType)\n (objectType SoapBottle_bar__minus_01_dot_90_bar__plus_01_dot_05_bar__plus_00_dot_14 SoapBottleType)\n (objectType SoapBottle_bar__minus_01_dot_90_bar__plus_01_dot_05_bar__plus_00_dot_27 SoapBottleType)\n (objectType ToiletPaper_bar__minus_01_dot_96_bar__plus_00_dot_01_bar__minus_01_dot_49 ToiletPaperType)\n (objectType Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15 BathtubType)\n (objectType SoapBar_bar__minus_01_dot_99_bar__plus_00_dot_91_bar__minus_01_dot_69 SoapBarType)\n (objectType ShowerGlass_bar__plus_00_dot_92_bar__plus_01_dot_42_bar__minus_00_dot_21 ShowerGlassType)\n (objectType Window_bar__plus_01_dot_53_bar__plus_01_dot_67_bar__minus_01_dot_04 WindowType)\n (objectType SprayBottle_bar__minus_00_dot_92_bar__plus_00_dot_02_bar__minus_01_dot_49 SprayBottleType)\n (objectType ToiletPaper_bar__minus_01_dot_09_bar__plus_00_dot_91_bar__minus_01_dot_55 ToiletPaperType)\n (objectType SoapBar_bar__minus_01_dot_93_bar__plus_01_dot_04_bar__plus_00_dot_40 SoapBarType)\n (objectType Candle_bar__minus_01_dot_84_bar__plus_01_dot_04_bar__plus_00_dot_40 CandleType)\n (objectType HandTowel_bar__minus_02_dot_03_bar__plus_01_dot_49_bar__minus_01_dot_48 HandTowelType)\n (objectType Cloth_bar__minus_01_dot_49_bar__plus_00_dot_93_bar__minus_01_dot_53 ClothType)\n (objectType SprayBottle_bar__minus_00_dot_25_bar__plus_00_dot_02_bar__minus_01_dot_44 SprayBottleType)\n (objectType LightSwitch_bar__plus_00_dot_23_bar__plus_01_dot_33_bar__plus_00_dot_76 LightSwitchType)\n (objectType Plunger_bar__minus_01_dot_89_bar_00_dot_00_bar__plus_00_dot_61 PlungerType)\n (objectType Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60 SinkType)\n (objectType Towel_bar__plus_00_dot_89_bar__plus_01_dot_37_bar__minus_01_dot_76 TowelType)\n (objectType SoapBottle_bar__minus_00_dot_74_bar__plus_00_dot_02_bar__minus_01_dot_59 SoapBottleType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType SprayBottleType)\n (canContain TowelHolderType TowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (pickupable SoapBar_bar__minus_01_dot_90_bar__plus_00_dot_02_bar__minus_01_dot_64)\n (pickupable Candle_bar__minus_01_dot_99_bar__plus_01_dot_04_bar__plus_00_dot_08)\n (pickupable ScrubBrush_bar__minus_01_dot_65_bar_00_dot_00_bar__plus_00_dot_65)\n (pickupable Candle_bar__minus_00_dot_14_bar__plus_00_dot_02_bar__minus_01_dot_69)\n (pickupable SoapBottle_bar__minus_01_dot_90_bar__plus_01_dot_05_bar__plus_00_dot_14)\n (pickupable SoapBottle_bar__minus_01_dot_90_bar__plus_01_dot_05_bar__plus_00_dot_27)\n (pickupable ToiletPaper_bar__minus_01_dot_96_bar__plus_00_dot_01_bar__minus_01_dot_49)\n (pickupable SoapBar_bar__minus_01_dot_99_bar__plus_00_dot_91_bar__minus_01_dot_69)\n (pickupable SprayBottle_bar__minus_00_dot_92_bar__plus_00_dot_02_bar__minus_01_dot_49)\n (pickupable ToiletPaper_bar__minus_01_dot_09_bar__plus_00_dot_91_bar__minus_01_dot_55)\n (pickupable SoapBar_bar__minus_01_dot_93_bar__plus_01_dot_04_bar__plus_00_dot_40)\n (pickupable Candle_bar__minus_01_dot_84_bar__plus_01_dot_04_bar__plus_00_dot_40)\n (pickupable HandTowel_bar__minus_02_dot_03_bar__plus_01_dot_49_bar__minus_01_dot_48)\n (pickupable Cloth_bar__minus_01_dot_49_bar__plus_00_dot_93_bar__minus_01_dot_53)\n (pickupable SprayBottle_bar__minus_00_dot_25_bar__plus_00_dot_02_bar__minus_01_dot_44)\n (pickupable Plunger_bar__minus_01_dot_89_bar_00_dot_00_bar__plus_00_dot_61)\n (pickupable Towel_bar__plus_00_dot_89_bar__plus_01_dot_37_bar__minus_01_dot_76)\n (pickupable SoapBottle_bar__minus_00_dot_74_bar__plus_00_dot_02_bar__minus_01_dot_59)\n \n (openable Cabinet_bar__minus_01_dot_04_bar__plus_00_dot_34_bar__minus_01_dot_33)\n (openable Cabinet_bar__minus_02_dot_02_bar__plus_00_dot_34_bar__minus_01_dot_33)\n (openable Cabinet_bar__minus_01_dot_05_bar__plus_00_dot_34_bar__minus_01_dot_33)\n (openable Cabinet_bar__minus_00_dot_07_bar__plus_00_dot_34_bar__minus_01_dot_33)\n \n (atLocation agent1 loc_bar__minus_3_bar__minus_4_bar_1_bar_30)\n \n (cleanable SoapBar_bar__minus_01_dot_90_bar__plus_00_dot_02_bar__minus_01_dot_64)\n (cleanable SoapBar_bar__minus_01_dot_99_bar__plus_00_dot_91_bar__minus_01_dot_69)\n (cleanable SoapBar_bar__minus_01_dot_93_bar__plus_01_dot_04_bar__plus_00_dot_40)\n (cleanable Cloth_bar__minus_01_dot_49_bar__plus_00_dot_93_bar__minus_01_dot_53)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle SoapBottle_bar__minus_00_dot_74_bar__plus_00_dot_02_bar__minus_01_dot_59 Cabinet_bar__minus_01_dot_04_bar__plus_00_dot_34_bar__minus_01_dot_33)\n (inReceptacle SprayBottle_bar__minus_00_dot_92_bar__plus_00_dot_02_bar__minus_01_dot_49 Cabinet_bar__minus_01_dot_04_bar__plus_00_dot_34_bar__minus_01_dot_33)\n (inReceptacle SoapBar_bar__minus_01_dot_99_bar__plus_00_dot_91_bar__minus_01_dot_69 CounterTop_bar__minus_01_dot_04_bar__plus_00_dot_88_bar__minus_01_dot_53)\n (inReceptacle ToiletPaper_bar__minus_01_dot_09_bar__plus_00_dot_91_bar__minus_01_dot_55 CounterTop_bar__minus_01_dot_04_bar__plus_00_dot_88_bar__minus_01_dot_53)\n (inReceptacle Mirror_bar__minus_01_dot_02_bar__plus_01_dot_50_bar__minus_01_dot_84 CounterTop_bar__minus_01_dot_04_bar__plus_00_dot_88_bar__minus_01_dot_53)\n (inReceptacle Candle_bar__minus_00_dot_14_bar__plus_00_dot_02_bar__minus_01_dot_69 Cabinet_bar__minus_00_dot_07_bar__plus_00_dot_34_bar__minus_01_dot_33)\n (inReceptacle SprayBottle_bar__minus_00_dot_25_bar__plus_00_dot_02_bar__minus_01_dot_44 Cabinet_bar__minus_00_dot_07_bar__plus_00_dot_34_bar__minus_01_dot_33)\n (inReceptacle SoapBar_bar__minus_01_dot_90_bar__plus_00_dot_02_bar__minus_01_dot_64 Cabinet_bar__minus_02_dot_02_bar__plus_00_dot_34_bar__minus_01_dot_33)\n (inReceptacle ToiletPaper_bar__minus_01_dot_96_bar__plus_00_dot_01_bar__minus_01_dot_49 Cabinet_bar__minus_02_dot_02_bar__plus_00_dot_34_bar__minus_01_dot_33)\n (inReceptacle Towel_bar__plus_00_dot_89_bar__plus_01_dot_37_bar__minus_01_dot_76 TowelHolder_bar__plus_00_dot_89_bar__plus_01_dot_35_bar__minus_01_dot_86)\n (inReceptacle Cloth_bar__minus_01_dot_49_bar__plus_00_dot_93_bar__minus_01_dot_53 Sink_bar__minus_01_dot_56_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin)\n (inReceptacle HandTowel_bar__minus_02_dot_03_bar__plus_01_dot_49_bar__minus_01_dot_48 HandTowelHolder_bar__minus_02_dot_07_bar__plus_01_dot_59_bar__minus_01_dot_48)\n (inReceptacle Candle_bar__minus_01_dot_99_bar__plus_01_dot_04_bar__plus_00_dot_08 Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21)\n (inReceptacle SoapBar_bar__minus_01_dot_93_bar__plus_01_dot_04_bar__plus_00_dot_40 Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21)\n (inReceptacle Candle_bar__minus_01_dot_84_bar__plus_01_dot_04_bar__plus_00_dot_40 Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21)\n (inReceptacle SoapBottle_bar__minus_01_dot_90_bar__plus_01_dot_05_bar__plus_00_dot_14 Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21)\n (inReceptacle SoapBottle_bar__minus_01_dot_90_bar__plus_01_dot_05_bar__plus_00_dot_27 Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21)\n \n \n (receptacleAtLocation Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15_bar_BathtubBasin loc_bar_0_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_07_bar__plus_00_dot_34_bar__minus_01_dot_33 loc_bar__minus_3_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_04_bar__plus_00_dot_34_bar__minus_01_dot_33 loc_bar__minus_5_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_05_bar__plus_00_dot_34_bar__minus_01_dot_33 loc_bar__minus_3_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_02_bar__plus_00_dot_34_bar__minus_01_dot_33 loc_bar__minus_5_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_04_bar__plus_00_dot_88_bar__minus_01_dot_53 loc_bar__minus_6_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation GarbageCan_bar__plus_00_dot_10_bar_00_dot_00_bar__minus_01_dot_57 loc_bar__minus_1_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_07_bar__plus_01_dot_59_bar__minus_01_dot_48 loc_bar__minus_6_bar__minus_4_bar_3_bar_0)\n (receptacleAtLocation Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin loc_bar__minus_2_bar__minus_4_bar_2_bar_60)\n (receptacleAtLocation Sink_bar__minus_01_dot_56_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin loc_bar__minus_6_bar__minus_4_bar_2_bar_60)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_18_bar__plus_00_dot_92_bar__plus_00_dot_77 loc_bar__minus_3_bar_1_bar_0_bar_60)\n (receptacleAtLocation Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21 loc_bar__minus_6_bar__minus_3_bar_0_bar_60)\n (receptacleAtLocation TowelHolder_bar__plus_00_dot_89_bar__plus_01_dot_35_bar__minus_01_dot_86 loc_bar__minus_1_bar__minus_4_bar_1_bar_15)\n (objectAtLocation SoapBottle_bar__minus_01_dot_90_bar__plus_01_dot_05_bar__plus_00_dot_14 loc_bar__minus_6_bar__minus_3_bar_0_bar_60)\n (objectAtLocation Candle_bar__minus_01_dot_84_bar__plus_01_dot_04_bar__plus_00_dot_40 loc_bar__minus_6_bar__minus_3_bar_0_bar_60)\n (objectAtLocation SprayBottle_bar__minus_00_dot_92_bar__plus_00_dot_02_bar__minus_01_dot_49 loc_bar__minus_5_bar__minus_2_bar_2_bar_60)\n (objectAtLocation SoapBar_bar__minus_01_dot_93_bar__plus_01_dot_04_bar__plus_00_dot_40 loc_bar__minus_6_bar__minus_3_bar_0_bar_60)\n (objectAtLocation SoapBottle_bar__minus_00_dot_74_bar__plus_00_dot_02_bar__minus_01_dot_59 loc_bar__minus_5_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Candle_bar__minus_01_dot_99_bar__plus_01_dot_04_bar__plus_00_dot_08 loc_bar__minus_6_bar__minus_3_bar_0_bar_60)\n (objectAtLocation SoapBar_bar__minus_01_dot_90_bar__plus_00_dot_02_bar__minus_01_dot_64 loc_bar__minus_5_bar__minus_1_bar_2_bar_45)\n (objectAtLocation ShowerGlass_bar__plus_00_dot_92_bar__plus_01_dot_42_bar__minus_00_dot_21 loc_bar_0_bar__minus_1_bar_1_bar_15)\n (objectAtLocation Sink_bar__minus_01_dot_56_bar__plus_00_dot_81_bar__minus_01_dot_60 loc_bar__minus_6_bar__minus_4_bar_2_bar_60)\n (objectAtLocation ShowerDoor_bar__plus_00_dot_45_bar__plus_00_dot_93_bar__plus_00_dot_70 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation Mirror_bar__minus_01_dot_02_bar__plus_01_dot_50_bar__minus_01_dot_84 loc_bar__minus_6_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15 loc_bar__minus_1_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60 loc_bar__minus_2_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Window_bar__plus_01_dot_53_bar__plus_01_dot_67_bar__minus_01_dot_04 loc_bar__minus_1_bar__minus_4_bar_1_bar_0)\n (objectAtLocation Towel_bar__plus_00_dot_89_bar__plus_01_dot_37_bar__minus_01_dot_76 loc_bar__minus_1_bar__minus_4_bar_1_bar_15)\n (objectAtLocation HandTowel_bar__minus_02_dot_03_bar__plus_01_dot_49_bar__minus_01_dot_48 loc_bar__minus_6_bar__minus_4_bar_3_bar_0)\n (objectAtLocation SoapBar_bar__minus_01_dot_99_bar__plus_00_dot_91_bar__minus_01_dot_69 loc_bar__minus_6_bar__minus_3_bar_2_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_09_bar__plus_00_dot_91_bar__minus_01_dot_55 loc_bar__minus_6_bar__minus_3_bar_2_bar_45)\n (objectAtLocation LightSwitch_bar__plus_00_dot_23_bar__plus_01_dot_33_bar__plus_00_dot_76 loc_bar__minus_1_bar_1_bar_0_bar_30)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_96_bar__plus_00_dot_01_bar__minus_01_dot_49 loc_bar__minus_5_bar__minus_1_bar_2_bar_45)\n (objectAtLocation Cloth_bar__minus_01_dot_49_bar__plus_00_dot_93_bar__minus_01_dot_53 loc_bar__minus_6_bar__minus_4_bar_2_bar_60)\n (objectAtLocation SprayBottle_bar__minus_00_dot_25_bar__plus_00_dot_02_bar__minus_01_dot_44 loc_bar__minus_3_bar__minus_2_bar_2_bar_60)\n (objectAtLocation ScrubBrush_bar__minus_01_dot_65_bar_00_dot_00_bar__plus_00_dot_65 loc_bar__minus_6_bar__minus_1_bar_0_bar_60)\n (objectAtLocation Plunger_bar__minus_01_dot_89_bar_00_dot_00_bar__plus_00_dot_61 loc_bar__minus_6_bar__minus_1_bar_0_bar_60)\n (objectAtLocation Candle_bar__minus_00_dot_14_bar__plus_00_dot_02_bar__minus_01_dot_69 loc_bar__minus_3_bar__minus_2_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__minus_01_dot_90_bar__plus_01_dot_05_bar__plus_00_dot_27 loc_bar__minus_6_bar__minus_3_bar_0_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 ToiletPaperType)\n (receptacleType ?r ToiletPaperHangerType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take toiletpaper 2 from countertop 1", "go to toiletpaperhanger 1", "move toiletpaper 2 to toiletpaperhanger 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-ToiletPaper-None-ToiletPaperHanger-407/trial_T20190909_081752_122600/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-ToiletPaper-None-ToiletPaperHanger-407/trial_T20190909_081752_122600/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..dff31923d634959ec64c348f5553015740ef9393 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-ToiletPaper-None-ToiletPaperHanger-407/trial_T20190909_081752_122600/initial_state.pddl @@ -0,0 +1,484 @@ + +(define (problem plan_trial_T20190909_081752_122600) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15 - object + Candle_bar__minus_00_dot_14_bar__plus_00_dot_02_bar__minus_01_dot_69 - object + Candle_bar__minus_01_dot_84_bar__plus_01_dot_04_bar__plus_00_dot_40 - object + Candle_bar__minus_01_dot_99_bar__plus_01_dot_04_bar__plus_00_dot_08 - object + Cloth_bar__minus_01_dot_49_bar__plus_00_dot_93_bar__minus_01_dot_53 - object + Faucet_bar__plus_00_dot_89_bar__plus_01_dot_69_bar__plus_00_dot_72 - object + Faucet_bar__plus_00_dot_93_bar__plus_00_dot_51_bar__minus_01_dot_98 - object + Faucet_bar__minus_00_dot_51_bar__plus_00_dot_90_bar__minus_01_dot_78 - object + Faucet_bar__minus_01_dot_54_bar__plus_00_dot_90_bar__minus_01_dot_78 - object + HandTowel_bar__minus_02_dot_03_bar__plus_01_dot_49_bar__minus_01_dot_48 - object + LightSwitch_bar__plus_00_dot_23_bar__plus_01_dot_33_bar__plus_00_dot_76 - object + Mirror_bar__minus_01_dot_02_bar__plus_01_dot_50_bar__minus_01_dot_84 - object + Plunger_bar__minus_01_dot_89_bar_00_dot_00_bar__plus_00_dot_61 - object + ScrubBrush_bar__minus_01_dot_65_bar_00_dot_00_bar__plus_00_dot_65 - object + ShowerCurtain_bar__plus_00_dot_46_bar__plus_01_dot_78_bar__minus_01_dot_52 - object + ShowerDoor_bar__plus_00_dot_45_bar__plus_00_dot_93_bar__plus_00_dot_70 - object + ShowerGlass_bar__plus_00_dot_92_bar__plus_01_dot_42_bar__minus_00_dot_21 - object + Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60 - object + Sink_bar__minus_01_dot_56_bar__plus_00_dot_81_bar__minus_01_dot_60 - object + SoapBar_bar__minus_01_dot_90_bar__plus_00_dot_02_bar__minus_01_dot_64 - object + SoapBar_bar__minus_01_dot_93_bar__plus_01_dot_04_bar__plus_00_dot_40 - object + SoapBar_bar__minus_01_dot_99_bar__plus_00_dot_91_bar__minus_01_dot_69 - object + SoapBottle_bar__minus_00_dot_74_bar__plus_00_dot_02_bar__minus_01_dot_59 - object + SoapBottle_bar__minus_01_dot_90_bar__plus_01_dot_05_bar__plus_00_dot_14 - object + SoapBottle_bar__minus_01_dot_90_bar__plus_01_dot_05_bar__plus_00_dot_27 - object + SprayBottle_bar__minus_00_dot_25_bar__plus_00_dot_02_bar__minus_01_dot_44 - object + SprayBottle_bar__minus_00_dot_92_bar__plus_00_dot_02_bar__minus_01_dot_49 - object + ToiletPaper_bar__minus_01_dot_09_bar__plus_00_dot_91_bar__minus_01_dot_55 - object + ToiletPaper_bar__minus_01_dot_96_bar__plus_00_dot_01_bar__minus_01_dot_49 - object + Towel_bar__plus_00_dot_89_bar__plus_01_dot_37_bar__minus_01_dot_76 - object + Window_bar__plus_01_dot_53_bar__plus_01_dot_67_bar__minus_01_dot_04 - object + Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15_bar_BathtubBasin - receptacle + Cabinet_bar__minus_00_dot_07_bar__plus_00_dot_34_bar__minus_01_dot_33 - receptacle + Cabinet_bar__minus_01_dot_04_bar__plus_00_dot_34_bar__minus_01_dot_33 - receptacle + Cabinet_bar__minus_01_dot_05_bar__plus_00_dot_34_bar__minus_01_dot_33 - receptacle + Cabinet_bar__minus_02_dot_02_bar__plus_00_dot_34_bar__minus_01_dot_33 - receptacle + CounterTop_bar__minus_01_dot_04_bar__plus_00_dot_88_bar__minus_01_dot_53 - receptacle + GarbageCan_bar__plus_00_dot_10_bar_00_dot_00_bar__minus_01_dot_57 - receptacle + HandTowelHolder_bar__minus_02_dot_07_bar__plus_01_dot_59_bar__minus_01_dot_48 - receptacle + Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin - receptacle + Sink_bar__minus_01_dot_56_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__minus_01_dot_18_bar__plus_00_dot_92_bar__plus_00_dot_77 - receptacle + Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21 - receptacle + TowelHolder_bar__plus_00_dot_89_bar__plus_01_dot_35_bar__minus_01_dot_86 - receptacle + loc_bar__minus_3_bar_1_bar_0_bar_60 - location + loc_bar__minus_3_bar__minus_2_bar_2_bar_60 - location + loc_bar__minus_1_bar__minus_4_bar_1_bar_0 - location + loc_bar__minus_1_bar__minus_4_bar_1_bar_15 - location + loc_bar__minus_5_bar__minus_1_bar_2_bar_45 - location + loc_bar__minus_6_bar__minus_3_bar_0_bar_60 - location + loc_bar__minus_6_bar__minus_1_bar_0_bar_60 - location + loc_bar__minus_2_bar__minus_4_bar_2_bar_60 - location + loc_bar__minus_3_bar__minus_1_bar_2_bar_45 - location + loc_bar__minus_1_bar_1_bar_0_bar_30 - location + loc_bar__minus_1_bar_1_bar_1_bar_45 - location + loc_bar__minus_6_bar__minus_4_bar_3_bar_0 - location + loc_bar__minus_1_bar__minus_2_bar_2_bar_60 - location + loc_bar__minus_6_bar__minus_3_bar_2_bar_45 - location + loc_bar_0_bar__minus_3_bar_1_bar_60 - location + loc_bar_0_bar__minus_1_bar_1_bar_15 - location + loc_bar__minus_1_bar__minus_4_bar_1_bar_45 - location + loc_bar__minus_5_bar__minus_2_bar_2_bar_60 - location + loc_bar__minus_6_bar__minus_4_bar_2_bar_60 - location + loc_bar__minus_3_bar__minus_4_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType ToiletPaperHanger_bar__minus_01_dot_18_bar__plus_00_dot_92_bar__plus_00_dot_77 ToiletPaperHangerType) + (receptacleType HandTowelHolder_bar__minus_02_dot_07_bar__plus_01_dot_59_bar__minus_01_dot_48 HandTowelHolderType) + (receptacleType Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15_bar_BathtubBasin BathtubBasinType) + (receptacleType Sink_bar__minus_01_dot_56_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__minus_01_dot_04_bar__plus_00_dot_34_bar__minus_01_dot_33 CabinetType) + (receptacleType GarbageCan_bar__plus_00_dot_10_bar_00_dot_00_bar__minus_01_dot_57 GarbageCanType) + (receptacleType Cabinet_bar__minus_02_dot_02_bar__plus_00_dot_34_bar__minus_01_dot_33 CabinetType) + (receptacleType Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21 ToiletType) + (receptacleType TowelHolder_bar__plus_00_dot_89_bar__plus_01_dot_35_bar__minus_01_dot_86 TowelHolderType) + (receptacleType Cabinet_bar__minus_01_dot_05_bar__plus_00_dot_34_bar__minus_01_dot_33 CabinetType) + (receptacleType Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__minus_00_dot_07_bar__plus_00_dot_34_bar__minus_01_dot_33 CabinetType) + (receptacleType CounterTop_bar__minus_01_dot_04_bar__plus_00_dot_88_bar__minus_01_dot_53 CounterTopType) + (objectType Mirror_bar__minus_01_dot_02_bar__plus_01_dot_50_bar__minus_01_dot_84 MirrorType) + (objectType SoapBar_bar__minus_01_dot_90_bar__plus_00_dot_02_bar__minus_01_dot_64 SoapBarType) + (objectType Candle_bar__minus_01_dot_99_bar__plus_01_dot_04_bar__plus_00_dot_08 CandleType) + (objectType ShowerDoor_bar__plus_00_dot_45_bar__plus_00_dot_93_bar__plus_00_dot_70 ShowerDoorType) + (objectType ScrubBrush_bar__minus_01_dot_65_bar_00_dot_00_bar__plus_00_dot_65 ScrubBrushType) + (objectType Sink_bar__minus_01_dot_56_bar__plus_00_dot_81_bar__minus_01_dot_60 SinkType) + (objectType Candle_bar__minus_00_dot_14_bar__plus_00_dot_02_bar__minus_01_dot_69 CandleType) + (objectType SoapBottle_bar__minus_01_dot_90_bar__plus_01_dot_05_bar__plus_00_dot_14 SoapBottleType) + (objectType SoapBottle_bar__minus_01_dot_90_bar__plus_01_dot_05_bar__plus_00_dot_27 SoapBottleType) + (objectType ToiletPaper_bar__minus_01_dot_96_bar__plus_00_dot_01_bar__minus_01_dot_49 ToiletPaperType) + (objectType Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15 BathtubType) + (objectType SoapBar_bar__minus_01_dot_99_bar__plus_00_dot_91_bar__minus_01_dot_69 SoapBarType) + (objectType ShowerGlass_bar__plus_00_dot_92_bar__plus_01_dot_42_bar__minus_00_dot_21 ShowerGlassType) + (objectType Window_bar__plus_01_dot_53_bar__plus_01_dot_67_bar__minus_01_dot_04 WindowType) + (objectType SprayBottle_bar__minus_00_dot_92_bar__plus_00_dot_02_bar__minus_01_dot_49 SprayBottleType) + (objectType ToiletPaper_bar__minus_01_dot_09_bar__plus_00_dot_91_bar__minus_01_dot_55 ToiletPaperType) + (objectType SoapBar_bar__minus_01_dot_93_bar__plus_01_dot_04_bar__plus_00_dot_40 SoapBarType) + (objectType Candle_bar__minus_01_dot_84_bar__plus_01_dot_04_bar__plus_00_dot_40 CandleType) + (objectType HandTowel_bar__minus_02_dot_03_bar__plus_01_dot_49_bar__minus_01_dot_48 HandTowelType) + (objectType Cloth_bar__minus_01_dot_49_bar__plus_00_dot_93_bar__minus_01_dot_53 ClothType) + (objectType SprayBottle_bar__minus_00_dot_25_bar__plus_00_dot_02_bar__minus_01_dot_44 SprayBottleType) + (objectType LightSwitch_bar__plus_00_dot_23_bar__plus_01_dot_33_bar__plus_00_dot_76 LightSwitchType) + (objectType Plunger_bar__minus_01_dot_89_bar_00_dot_00_bar__plus_00_dot_61 PlungerType) + (objectType Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60 SinkType) + (objectType Towel_bar__plus_00_dot_89_bar__plus_01_dot_37_bar__minus_01_dot_76 TowelType) + (objectType SoapBottle_bar__minus_00_dot_74_bar__plus_00_dot_02_bar__minus_01_dot_59 SoapBottleType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain HandTowelHolderType HandTowelType) + (canContain BathtubBasinType ClothType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType HandTowelType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType ClothType) + (canContain ToiletType CandleType) + (canContain ToiletType SoapBarType) + (canContain ToiletType SprayBottleType) + (canContain TowelHolderType TowelType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain CounterTopType CandleType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType HandTowelType) + (pickupable SoapBar_bar__minus_01_dot_90_bar__plus_00_dot_02_bar__minus_01_dot_64) + (pickupable Candle_bar__minus_01_dot_99_bar__plus_01_dot_04_bar__plus_00_dot_08) + (pickupable ScrubBrush_bar__minus_01_dot_65_bar_00_dot_00_bar__plus_00_dot_65) + (pickupable Candle_bar__minus_00_dot_14_bar__plus_00_dot_02_bar__minus_01_dot_69) + (pickupable SoapBottle_bar__minus_01_dot_90_bar__plus_01_dot_05_bar__plus_00_dot_14) + (pickupable SoapBottle_bar__minus_01_dot_90_bar__plus_01_dot_05_bar__plus_00_dot_27) + (pickupable ToiletPaper_bar__minus_01_dot_96_bar__plus_00_dot_01_bar__minus_01_dot_49) + (pickupable SoapBar_bar__minus_01_dot_99_bar__plus_00_dot_91_bar__minus_01_dot_69) + (pickupable SprayBottle_bar__minus_00_dot_92_bar__plus_00_dot_02_bar__minus_01_dot_49) + (pickupable ToiletPaper_bar__minus_01_dot_09_bar__plus_00_dot_91_bar__minus_01_dot_55) + (pickupable SoapBar_bar__minus_01_dot_93_bar__plus_01_dot_04_bar__plus_00_dot_40) + (pickupable Candle_bar__minus_01_dot_84_bar__plus_01_dot_04_bar__plus_00_dot_40) + (pickupable HandTowel_bar__minus_02_dot_03_bar__plus_01_dot_49_bar__minus_01_dot_48) + (pickupable Cloth_bar__minus_01_dot_49_bar__plus_00_dot_93_bar__minus_01_dot_53) + (pickupable SprayBottle_bar__minus_00_dot_25_bar__plus_00_dot_02_bar__minus_01_dot_44) + (pickupable Plunger_bar__minus_01_dot_89_bar_00_dot_00_bar__plus_00_dot_61) + (pickupable Towel_bar__plus_00_dot_89_bar__plus_01_dot_37_bar__minus_01_dot_76) + (pickupable SoapBottle_bar__minus_00_dot_74_bar__plus_00_dot_02_bar__minus_01_dot_59) + + (openable Cabinet_bar__minus_01_dot_04_bar__plus_00_dot_34_bar__minus_01_dot_33) + (openable Cabinet_bar__minus_02_dot_02_bar__plus_00_dot_34_bar__minus_01_dot_33) + (openable Cabinet_bar__minus_01_dot_05_bar__plus_00_dot_34_bar__minus_01_dot_33) + (openable Cabinet_bar__minus_00_dot_07_bar__plus_00_dot_34_bar__minus_01_dot_33) + + (atLocation agent1 loc_bar__minus_3_bar__minus_4_bar_1_bar_30) + + (cleanable SoapBar_bar__minus_01_dot_90_bar__plus_00_dot_02_bar__minus_01_dot_64) + (cleanable SoapBar_bar__minus_01_dot_99_bar__plus_00_dot_91_bar__minus_01_dot_69) + (cleanable SoapBar_bar__minus_01_dot_93_bar__plus_01_dot_04_bar__plus_00_dot_40) + (cleanable Cloth_bar__minus_01_dot_49_bar__plus_00_dot_93_bar__minus_01_dot_53) + + + + + + + + + + + (inReceptacle SoapBottle_bar__minus_00_dot_74_bar__plus_00_dot_02_bar__minus_01_dot_59 Cabinet_bar__minus_01_dot_04_bar__plus_00_dot_34_bar__minus_01_dot_33) + (inReceptacle SprayBottle_bar__minus_00_dot_92_bar__plus_00_dot_02_bar__minus_01_dot_49 Cabinet_bar__minus_01_dot_04_bar__plus_00_dot_34_bar__minus_01_dot_33) + (inReceptacle SoapBar_bar__minus_01_dot_99_bar__plus_00_dot_91_bar__minus_01_dot_69 CounterTop_bar__minus_01_dot_04_bar__plus_00_dot_88_bar__minus_01_dot_53) + (inReceptacle ToiletPaper_bar__minus_01_dot_09_bar__plus_00_dot_91_bar__minus_01_dot_55 CounterTop_bar__minus_01_dot_04_bar__plus_00_dot_88_bar__minus_01_dot_53) + (inReceptacle Mirror_bar__minus_01_dot_02_bar__plus_01_dot_50_bar__minus_01_dot_84 CounterTop_bar__minus_01_dot_04_bar__plus_00_dot_88_bar__minus_01_dot_53) + (inReceptacle Candle_bar__minus_00_dot_14_bar__plus_00_dot_02_bar__minus_01_dot_69 Cabinet_bar__minus_00_dot_07_bar__plus_00_dot_34_bar__minus_01_dot_33) + (inReceptacle SprayBottle_bar__minus_00_dot_25_bar__plus_00_dot_02_bar__minus_01_dot_44 Cabinet_bar__minus_00_dot_07_bar__plus_00_dot_34_bar__minus_01_dot_33) + (inReceptacle SoapBar_bar__minus_01_dot_90_bar__plus_00_dot_02_bar__minus_01_dot_64 Cabinet_bar__minus_02_dot_02_bar__plus_00_dot_34_bar__minus_01_dot_33) + (inReceptacle ToiletPaper_bar__minus_01_dot_96_bar__plus_00_dot_01_bar__minus_01_dot_49 Cabinet_bar__minus_02_dot_02_bar__plus_00_dot_34_bar__minus_01_dot_33) + (inReceptacle Towel_bar__plus_00_dot_89_bar__plus_01_dot_37_bar__minus_01_dot_76 TowelHolder_bar__plus_00_dot_89_bar__plus_01_dot_35_bar__minus_01_dot_86) + (inReceptacle Cloth_bar__minus_01_dot_49_bar__plus_00_dot_93_bar__minus_01_dot_53 Sink_bar__minus_01_dot_56_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin) + (inReceptacle HandTowel_bar__minus_02_dot_03_bar__plus_01_dot_49_bar__minus_01_dot_48 HandTowelHolder_bar__minus_02_dot_07_bar__plus_01_dot_59_bar__minus_01_dot_48) + (inReceptacle Candle_bar__minus_01_dot_99_bar__plus_01_dot_04_bar__plus_00_dot_08 Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21) + (inReceptacle SoapBar_bar__minus_01_dot_93_bar__plus_01_dot_04_bar__plus_00_dot_40 Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21) + (inReceptacle Candle_bar__minus_01_dot_84_bar__plus_01_dot_04_bar__plus_00_dot_40 Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21) + (inReceptacle SoapBottle_bar__minus_01_dot_90_bar__plus_01_dot_05_bar__plus_00_dot_14 Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21) + (inReceptacle SoapBottle_bar__minus_01_dot_90_bar__plus_01_dot_05_bar__plus_00_dot_27 Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21) + + + (receptacleAtLocation Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15_bar_BathtubBasin loc_bar_0_bar__minus_3_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_07_bar__plus_00_dot_34_bar__minus_01_dot_33 loc_bar__minus_3_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_04_bar__plus_00_dot_34_bar__minus_01_dot_33 loc_bar__minus_5_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_05_bar__plus_00_dot_34_bar__minus_01_dot_33 loc_bar__minus_3_bar__minus_1_bar_2_bar_45) + (receptacleAtLocation Cabinet_bar__minus_02_dot_02_bar__plus_00_dot_34_bar__minus_01_dot_33 loc_bar__minus_5_bar__minus_1_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__minus_01_dot_04_bar__plus_00_dot_88_bar__minus_01_dot_53 loc_bar__minus_6_bar__minus_3_bar_2_bar_45) + (receptacleAtLocation GarbageCan_bar__plus_00_dot_10_bar_00_dot_00_bar__minus_01_dot_57 loc_bar__minus_1_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_07_bar__plus_01_dot_59_bar__minus_01_dot_48 loc_bar__minus_6_bar__minus_4_bar_3_bar_0) + (receptacleAtLocation Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin loc_bar__minus_2_bar__minus_4_bar_2_bar_60) + (receptacleAtLocation Sink_bar__minus_01_dot_56_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin loc_bar__minus_6_bar__minus_4_bar_2_bar_60) + (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_18_bar__plus_00_dot_92_bar__plus_00_dot_77 loc_bar__minus_3_bar_1_bar_0_bar_60) + (receptacleAtLocation Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21 loc_bar__minus_6_bar__minus_3_bar_0_bar_60) + (receptacleAtLocation TowelHolder_bar__plus_00_dot_89_bar__plus_01_dot_35_bar__minus_01_dot_86 loc_bar__minus_1_bar__minus_4_bar_1_bar_15) + (objectAtLocation SoapBottle_bar__minus_01_dot_90_bar__plus_01_dot_05_bar__plus_00_dot_14 loc_bar__minus_6_bar__minus_3_bar_0_bar_60) + (objectAtLocation Candle_bar__minus_01_dot_84_bar__plus_01_dot_04_bar__plus_00_dot_40 loc_bar__minus_6_bar__minus_3_bar_0_bar_60) + (objectAtLocation SprayBottle_bar__minus_00_dot_92_bar__plus_00_dot_02_bar__minus_01_dot_49 loc_bar__minus_5_bar__minus_2_bar_2_bar_60) + (objectAtLocation SoapBar_bar__minus_01_dot_93_bar__plus_01_dot_04_bar__plus_00_dot_40 loc_bar__minus_6_bar__minus_3_bar_0_bar_60) + (objectAtLocation SoapBottle_bar__minus_00_dot_74_bar__plus_00_dot_02_bar__minus_01_dot_59 loc_bar__minus_5_bar__minus_2_bar_2_bar_60) + (objectAtLocation Candle_bar__minus_01_dot_99_bar__plus_01_dot_04_bar__plus_00_dot_08 loc_bar__minus_6_bar__minus_3_bar_0_bar_60) + (objectAtLocation SoapBar_bar__minus_01_dot_90_bar__plus_00_dot_02_bar__minus_01_dot_64 loc_bar__minus_5_bar__minus_1_bar_2_bar_45) + (objectAtLocation ShowerGlass_bar__plus_00_dot_92_bar__plus_01_dot_42_bar__minus_00_dot_21 loc_bar_0_bar__minus_1_bar_1_bar_15) + (objectAtLocation Sink_bar__minus_01_dot_56_bar__plus_00_dot_81_bar__minus_01_dot_60 loc_bar__minus_6_bar__minus_4_bar_2_bar_60) + (objectAtLocation ShowerDoor_bar__plus_00_dot_45_bar__plus_00_dot_93_bar__plus_00_dot_70 loc_bar__minus_1_bar_1_bar_1_bar_45) + (objectAtLocation Mirror_bar__minus_01_dot_02_bar__plus_01_dot_50_bar__minus_01_dot_84 loc_bar__minus_6_bar__minus_3_bar_2_bar_45) + (objectAtLocation Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15 loc_bar__minus_1_bar__minus_4_bar_1_bar_45) + (objectAtLocation Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60 loc_bar__minus_2_bar__minus_4_bar_2_bar_60) + (objectAtLocation Window_bar__plus_01_dot_53_bar__plus_01_dot_67_bar__minus_01_dot_04 loc_bar__minus_1_bar__minus_4_bar_1_bar_0) + (objectAtLocation Towel_bar__plus_00_dot_89_bar__plus_01_dot_37_bar__minus_01_dot_76 loc_bar__minus_1_bar__minus_4_bar_1_bar_15) + (objectAtLocation HandTowel_bar__minus_02_dot_03_bar__plus_01_dot_49_bar__minus_01_dot_48 loc_bar__minus_6_bar__minus_4_bar_3_bar_0) + (objectAtLocation SoapBar_bar__minus_01_dot_99_bar__plus_00_dot_91_bar__minus_01_dot_69 loc_bar__minus_6_bar__minus_3_bar_2_bar_45) + (objectAtLocation ToiletPaper_bar__minus_01_dot_09_bar__plus_00_dot_91_bar__minus_01_dot_55 loc_bar__minus_6_bar__minus_3_bar_2_bar_45) + (objectAtLocation LightSwitch_bar__plus_00_dot_23_bar__plus_01_dot_33_bar__plus_00_dot_76 loc_bar__minus_1_bar_1_bar_0_bar_30) + (objectAtLocation ToiletPaper_bar__minus_01_dot_96_bar__plus_00_dot_01_bar__minus_01_dot_49 loc_bar__minus_5_bar__minus_1_bar_2_bar_45) + (objectAtLocation Cloth_bar__minus_01_dot_49_bar__plus_00_dot_93_bar__minus_01_dot_53 loc_bar__minus_6_bar__minus_4_bar_2_bar_60) + (objectAtLocation SprayBottle_bar__minus_00_dot_25_bar__plus_00_dot_02_bar__minus_01_dot_44 loc_bar__minus_3_bar__minus_2_bar_2_bar_60) + (objectAtLocation ScrubBrush_bar__minus_01_dot_65_bar_00_dot_00_bar__plus_00_dot_65 loc_bar__minus_6_bar__minus_1_bar_0_bar_60) + (objectAtLocation Plunger_bar__minus_01_dot_89_bar_00_dot_00_bar__plus_00_dot_61 loc_bar__minus_6_bar__minus_1_bar_0_bar_60) + (objectAtLocation Candle_bar__minus_00_dot_14_bar__plus_00_dot_02_bar__minus_01_dot_69 loc_bar__minus_3_bar__minus_2_bar_2_bar_60) + (objectAtLocation SoapBottle_bar__minus_01_dot_90_bar__plus_01_dot_05_bar__plus_00_dot_27 loc_bar__minus_6_bar__minus_3_bar_0_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o ToiletPaperType) + (receptacleType ?r ToiletPaperHangerType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-ToiletPaper-None-ToiletPaperHanger-407/trial_T20190909_081752_122600/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-ToiletPaper-None-ToiletPaperHanger-407/trial_T20190909_081752_122600/traj_data.json new file mode 100644 index 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-1.90236723, + "y": 1.046597, + "z": 0.140987232 + }, + "rotation": { + "x": 0.0, + "y": 90.00046, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 639530322, + "scene_num": 407 + }, + "task_id": "trial_T20190909_081752_122600", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A2IU5TX5S0FA1C_39LNWE0K4XNOR976MAYUFO5UAH2UIM", + "high_descs": [ + "Go to the cupboard under the sink next to the wall.", + "Take out the empty toilet paper roll from the cupboard.", + "Go to the toilet where the toilet paper holder is on the wall.", + "Place the empty toilet paper roll on the holder." + ], + "task_desc": "Take empty toilet paper roll from the cupboard and place on toilet paper holder.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2KAGFQU28JY43_3LS2AMNW5IH6V2BS3WRUPK4RJ5PQO2", + "high_descs": [ + "Turn around and go across the room, then turn to the cabinet under the sink, on your left. ", + "Pull out the empty toilet paper roll from the right cabinet under the sink. ", + "Turn to your left and go to the bath tub, then turn to your left and go to the toilet paper holder, ahead of you, to the right of the toilet. ", + "Put the empty toilet paper roll on the toilet paper holder. " + ], + "task_desc": "Put a roll of toilet paper on the toilet paper dispenser. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3SFPSMFRSRTB3_3X31TUMD70DA8DOE5PLNW2SPGO11LA", + "high_descs": [ + "Turn around, go to second sink on left. Turn left to face sink.", + "Open second cabinet on right under sink. Remove empty toilet paper roll. Shut cabinet.", + "Turn left, go to second sink on right. Turn left, go to door. Turn left to face toilet.", + "Place empty toilet paper roll on toilet paper holder on wall to right." + ], + "task_desc": "Move empty toilet paper roll from cabinet and put on holder.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-ToiletPaper-None-ToiletPaperHanger-407/trial_T20190909_081808_753243/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-ToiletPaper-None-ToiletPaperHanger-407/trial_T20190909_081808_753243/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..a150886548bf2d3a3a7443151fd4627377b9c95b --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-ToiletPaper-None-ToiletPaperHanger-407/trial_T20190909_081808_753243/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 toiletpaper in toiletpaperhanger.\"\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_081808_753243)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15 - object\n Candle_bar__plus_00_dot_50_bar__plus_00_dot_59_bar__minus_00_dot_34 - object\n Candle_bar__plus_00_dot_50_bar__plus_00_dot_59_bar__minus_01_dot_77 - object\n Candle_bar__minus_02_dot_02_bar__plus_01_dot_04_bar__plus_00_dot_21 - object\n Cloth_bar__plus_00_dot_82_bar__plus_00_dot_17_bar__minus_00_dot_96 - object\n Cloth_bar__plus_01_dot_06_bar__plus_00_dot_17_bar__minus_01_dot_25 - object\n Cloth_bar__minus_01_dot_49_bar__plus_00_dot_93_bar__minus_01_dot_50 - object\n Faucet_bar__plus_00_dot_89_bar__plus_01_dot_69_bar__plus_00_dot_72 - object\n Faucet_bar__plus_00_dot_93_bar__plus_00_dot_51_bar__minus_01_dot_98 - object\n Faucet_bar__minus_00_dot_51_bar__plus_00_dot_90_bar__minus_01_dot_78 - object\n Faucet_bar__minus_01_dot_54_bar__plus_00_dot_90_bar__minus_01_dot_78 - object\n HandTowel_bar__minus_02_dot_03_bar__plus_01_dot_49_bar__minus_01_dot_48 - object\n LightSwitch_bar__plus_00_dot_23_bar__plus_01_dot_33_bar__plus_00_dot_76 - object\n Mirror_bar__minus_01_dot_02_bar__plus_01_dot_50_bar__minus_01_dot_84 - object\n Plunger_bar__minus_01_dot_89_bar_00_dot_00_bar__plus_00_dot_61 - object\n ScrubBrush_bar__minus_01_dot_65_bar_00_dot_00_bar__plus_00_dot_65 - object\n ShowerCurtain_bar__plus_00_dot_46_bar__plus_01_dot_78_bar__minus_01_dot_52 - object\n ShowerDoor_bar__plus_00_dot_45_bar__plus_00_dot_93_bar__plus_00_dot_70 - object\n ShowerGlass_bar__plus_00_dot_92_bar__plus_01_dot_42_bar__minus_00_dot_21 - object\n Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60 - object\n Sink_bar__minus_01_dot_56_bar__plus_00_dot_81_bar__minus_01_dot_60 - object\n SoapBar_bar__plus_00_dot_88_bar__plus_00_dot_17_bar__minus_01_dot_11 - object\n SoapBar_bar__minus_00_dot_31_bar__plus_00_dot_92_bar__minus_01_dot_57 - object\n SoapBottle_bar__plus_00_dot_10_bar__plus_00_dot_15_bar__minus_01_dot_60 - object\n SoapBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_34 - object\n SoapBottle_bar__minus_01_dot_93_bar__plus_01_dot_05_bar__plus_00_dot_14 - object\n SprayBottle_bar__minus_00_dot_74_bar__plus_00_dot_02_bar__minus_01_dot_49 - object\n SprayBottle_bar__minus_01_dot_00_bar__plus_00_dot_91_bar__minus_01_dot_49 - object\n ToiletPaper_bar__minus_00_dot_12_bar__plus_00_dot_91_bar__minus_01_dot_75 - object\n ToiletPaper_bar__minus_00_dot_14_bar__plus_00_dot_01_bar__minus_01_dot_54 - object\n Towel_bar__plus_00_dot_89_bar__plus_01_dot_37_bar__minus_01_dot_76 - object\n Window_bar__plus_01_dot_53_bar__plus_01_dot_67_bar__minus_01_dot_04 - object\n Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15_bar_BathtubBasin - receptacle\n Cabinet_bar__minus_00_dot_07_bar__plus_00_dot_34_bar__minus_01_dot_33 - receptacle\n Cabinet_bar__minus_01_dot_04_bar__plus_00_dot_34_bar__minus_01_dot_33 - receptacle\n Cabinet_bar__minus_01_dot_05_bar__plus_00_dot_34_bar__minus_01_dot_33 - receptacle\n Cabinet_bar__minus_02_dot_02_bar__plus_00_dot_34_bar__minus_01_dot_33 - receptacle\n CounterTop_bar__minus_01_dot_04_bar__plus_00_dot_88_bar__minus_01_dot_53 - receptacle\n GarbageCan_bar__plus_00_dot_10_bar_00_dot_00_bar__minus_01_dot_57 - receptacle\n HandTowelHolder_bar__minus_02_dot_07_bar__plus_01_dot_59_bar__minus_01_dot_48 - receptacle\n Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin - receptacle\n Sink_bar__minus_01_dot_56_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_01_dot_18_bar__plus_00_dot_92_bar__plus_00_dot_77 - receptacle\n Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21 - receptacle\n TowelHolder_bar__plus_00_dot_89_bar__plus_01_dot_35_bar__minus_01_dot_86 - receptacle\n loc_bar__minus_3_bar_1_bar_0_bar_60 - location\n loc_bar__minus_3_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_1_bar__minus_4_bar_1_bar_0 - location\n loc_bar__minus_1_bar__minus_4_bar_1_bar_15 - location\n loc_bar__minus_5_bar__minus_1_bar_2_bar_45 - location\n loc_bar__minus_6_bar__minus_3_bar_0_bar_60 - location\n loc_bar__minus_6_bar__minus_1_bar_0_bar_60 - location\n loc_bar__minus_2_bar__minus_4_bar_2_bar_60 - location\n loc_bar__minus_3_bar__minus_1_bar_2_bar_45 - location\n loc_bar__minus_1_bar_1_bar_0_bar_30 - location\n loc_bar__minus_1_bar_1_bar_1_bar_45 - location\n loc_bar__minus_6_bar__minus_4_bar_3_bar_0 - location\n loc_bar__minus_1_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_6_bar__minus_3_bar_2_bar_45 - location\n loc_bar_0_bar__minus_3_bar_1_bar_60 - location\n loc_bar_0_bar__minus_1_bar_1_bar_15 - location\n loc_bar__minus_1_bar__minus_4_bar_1_bar_45 - location\n loc_bar__minus_5_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_6_bar__minus_4_bar_2_bar_60 - location\n loc_bar__minus_7_bar__minus_1_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType ToiletPaperHanger_bar__minus_01_dot_18_bar__plus_00_dot_92_bar__plus_00_dot_77 ToiletPaperHangerType)\n (receptacleType HandTowelHolder_bar__minus_02_dot_07_bar__plus_01_dot_59_bar__minus_01_dot_48 HandTowelHolderType)\n (receptacleType Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15_bar_BathtubBasin BathtubBasinType)\n (receptacleType Sink_bar__minus_01_dot_56_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__minus_01_dot_04_bar__plus_00_dot_34_bar__minus_01_dot_33 CabinetType)\n (receptacleType GarbageCan_bar__plus_00_dot_10_bar_00_dot_00_bar__minus_01_dot_57 GarbageCanType)\n (receptacleType Cabinet_bar__minus_02_dot_02_bar__plus_00_dot_34_bar__minus_01_dot_33 CabinetType)\n (receptacleType Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21 ToiletType)\n (receptacleType TowelHolder_bar__plus_00_dot_89_bar__plus_01_dot_35_bar__minus_01_dot_86 TowelHolderType)\n (receptacleType Cabinet_bar__minus_01_dot_05_bar__plus_00_dot_34_bar__minus_01_dot_33 CabinetType)\n (receptacleType Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__minus_00_dot_07_bar__plus_00_dot_34_bar__minus_01_dot_33 CabinetType)\n (receptacleType CounterTop_bar__minus_01_dot_04_bar__plus_00_dot_88_bar__minus_01_dot_53 CounterTopType)\n (objectType SoapBottle_bar__plus_00_dot_10_bar__plus_00_dot_15_bar__minus_01_dot_60 SoapBottleType)\n (objectType Mirror_bar__minus_01_dot_02_bar__plus_01_dot_50_bar__minus_01_dot_84 MirrorType)\n (objectType ToiletPaper_bar__minus_00_dot_12_bar__plus_00_dot_91_bar__minus_01_dot_75 ToiletPaperType)\n (objectType ToiletPaper_bar__minus_00_dot_14_bar__plus_00_dot_01_bar__minus_01_dot_54 ToiletPaperType)\n (objectType Candle_bar__plus_00_dot_50_bar__plus_00_dot_59_bar__minus_01_dot_77 CandleType)\n (objectType Cloth_bar__minus_01_dot_49_bar__plus_00_dot_93_bar__minus_01_dot_50 ClothType)\n (objectType SoapBar_bar__minus_00_dot_31_bar__plus_00_dot_92_bar__minus_01_dot_57 SoapBarType)\n (objectType SoapBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_34 SoapBottleType)\n (objectType ShowerDoor_bar__plus_00_dot_45_bar__plus_00_dot_93_bar__plus_00_dot_70 ShowerDoorType)\n (objectType ScrubBrush_bar__minus_01_dot_65_bar_00_dot_00_bar__plus_00_dot_65 ScrubBrushType)\n (objectType Sink_bar__minus_01_dot_56_bar__plus_00_dot_81_bar__minus_01_dot_60 SinkType)\n (objectType SprayBottle_bar__minus_00_dot_74_bar__plus_00_dot_02_bar__minus_01_dot_49 SprayBottleType)\n (objectType Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15 BathtubType)\n (objectType ShowerGlass_bar__plus_00_dot_92_bar__plus_01_dot_42_bar__minus_00_dot_21 ShowerGlassType)\n (objectType Window_bar__plus_01_dot_53_bar__plus_01_dot_67_bar__minus_01_dot_04 WindowType)\n (objectType SprayBottle_bar__minus_01_dot_00_bar__plus_00_dot_91_bar__minus_01_dot_49 SprayBottleType)\n (objectType Candle_bar__plus_00_dot_50_bar__plus_00_dot_59_bar__minus_00_dot_34 CandleType)\n (objectType HandTowel_bar__minus_02_dot_03_bar__plus_01_dot_49_bar__minus_01_dot_48 HandTowelType)\n (objectType SoapBar_bar__plus_00_dot_88_bar__plus_00_dot_17_bar__minus_01_dot_11 SoapBarType)\n (objectType SoapBottle_bar__minus_01_dot_93_bar__plus_01_dot_05_bar__plus_00_dot_14 SoapBottleType)\n (objectType Cloth_bar__plus_00_dot_82_bar__plus_00_dot_17_bar__minus_00_dot_96 ClothType)\n (objectType Candle_bar__minus_02_dot_02_bar__plus_01_dot_04_bar__plus_00_dot_21 CandleType)\n (objectType Cloth_bar__plus_01_dot_06_bar__plus_00_dot_17_bar__minus_01_dot_25 ClothType)\n (objectType LightSwitch_bar__plus_00_dot_23_bar__plus_01_dot_33_bar__plus_00_dot_76 LightSwitchType)\n (objectType Plunger_bar__minus_01_dot_89_bar_00_dot_00_bar__plus_00_dot_61 PlungerType)\n (objectType Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60 SinkType)\n (objectType Towel_bar__plus_00_dot_89_bar__plus_01_dot_37_bar__minus_01_dot_76 TowelType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType SprayBottleType)\n (canContain TowelHolderType TowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (pickupable SoapBottle_bar__plus_00_dot_10_bar__plus_00_dot_15_bar__minus_01_dot_60)\n (pickupable ToiletPaper_bar__minus_00_dot_12_bar__plus_00_dot_91_bar__minus_01_dot_75)\n (pickupable ToiletPaper_bar__minus_00_dot_14_bar__plus_00_dot_01_bar__minus_01_dot_54)\n (pickupable Candle_bar__plus_00_dot_50_bar__plus_00_dot_59_bar__minus_01_dot_77)\n (pickupable Cloth_bar__minus_01_dot_49_bar__plus_00_dot_93_bar__minus_01_dot_50)\n (pickupable SoapBar_bar__minus_00_dot_31_bar__plus_00_dot_92_bar__minus_01_dot_57)\n (pickupable SoapBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_34)\n (pickupable ScrubBrush_bar__minus_01_dot_65_bar_00_dot_00_bar__plus_00_dot_65)\n (pickupable SprayBottle_bar__minus_00_dot_74_bar__plus_00_dot_02_bar__minus_01_dot_49)\n (pickupable SprayBottle_bar__minus_01_dot_00_bar__plus_00_dot_91_bar__minus_01_dot_49)\n (pickupable Candle_bar__plus_00_dot_50_bar__plus_00_dot_59_bar__minus_00_dot_34)\n (pickupable HandTowel_bar__minus_02_dot_03_bar__plus_01_dot_49_bar__minus_01_dot_48)\n (pickupable SoapBar_bar__plus_00_dot_88_bar__plus_00_dot_17_bar__minus_01_dot_11)\n (pickupable SoapBottle_bar__minus_01_dot_93_bar__plus_01_dot_05_bar__plus_00_dot_14)\n (pickupable Cloth_bar__plus_00_dot_82_bar__plus_00_dot_17_bar__minus_00_dot_96)\n (pickupable Candle_bar__minus_02_dot_02_bar__plus_01_dot_04_bar__plus_00_dot_21)\n (pickupable Cloth_bar__plus_01_dot_06_bar__plus_00_dot_17_bar__minus_01_dot_25)\n (pickupable Plunger_bar__minus_01_dot_89_bar_00_dot_00_bar__plus_00_dot_61)\n (pickupable Towel_bar__plus_00_dot_89_bar__plus_01_dot_37_bar__minus_01_dot_76)\n \n (openable Cabinet_bar__minus_01_dot_04_bar__plus_00_dot_34_bar__minus_01_dot_33)\n (openable Cabinet_bar__minus_02_dot_02_bar__plus_00_dot_34_bar__minus_01_dot_33)\n (openable Cabinet_bar__minus_01_dot_05_bar__plus_00_dot_34_bar__minus_01_dot_33)\n (openable Cabinet_bar__minus_00_dot_07_bar__plus_00_dot_34_bar__minus_01_dot_33)\n \n (atLocation agent1 loc_bar__minus_7_bar__minus_1_bar_1_bar_30)\n \n (cleanable Cloth_bar__minus_01_dot_49_bar__plus_00_dot_93_bar__minus_01_dot_50)\n (cleanable SoapBar_bar__minus_00_dot_31_bar__plus_00_dot_92_bar__minus_01_dot_57)\n (cleanable SoapBar_bar__plus_00_dot_88_bar__plus_00_dot_17_bar__minus_01_dot_11)\n (cleanable Cloth_bar__plus_00_dot_82_bar__plus_00_dot_17_bar__minus_00_dot_96)\n (cleanable Cloth_bar__plus_01_dot_06_bar__plus_00_dot_17_bar__minus_01_dot_25)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle SprayBottle_bar__minus_00_dot_74_bar__plus_00_dot_02_bar__minus_01_dot_49 Cabinet_bar__minus_01_dot_04_bar__plus_00_dot_34_bar__minus_01_dot_33)\n (inReceptacle SprayBottle_bar__minus_01_dot_00_bar__plus_00_dot_91_bar__minus_01_dot_49 CounterTop_bar__minus_01_dot_04_bar__plus_00_dot_88_bar__minus_01_dot_53)\n (inReceptacle Mirror_bar__minus_01_dot_02_bar__plus_01_dot_50_bar__minus_01_dot_84 CounterTop_bar__minus_01_dot_04_bar__plus_00_dot_88_bar__minus_01_dot_53)\n (inReceptacle ToiletPaper_bar__minus_00_dot_12_bar__plus_00_dot_91_bar__minus_01_dot_75 CounterTop_bar__minus_01_dot_04_bar__plus_00_dot_88_bar__minus_01_dot_53)\n (inReceptacle ToiletPaper_bar__minus_00_dot_14_bar__plus_00_dot_01_bar__minus_01_dot_54 Cabinet_bar__minus_00_dot_07_bar__plus_00_dot_34_bar__minus_01_dot_33)\n (inReceptacle Towel_bar__plus_00_dot_89_bar__plus_01_dot_37_bar__minus_01_dot_76 TowelHolder_bar__plus_00_dot_89_bar__plus_01_dot_35_bar__minus_01_dot_86)\n (inReceptacle SoapBar_bar__minus_00_dot_31_bar__plus_00_dot_92_bar__minus_01_dot_57 Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin)\n (inReceptacle Cloth_bar__plus_00_dot_82_bar__plus_00_dot_17_bar__minus_00_dot_96 Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15_bar_BathtubBasin)\n (inReceptacle SoapBar_bar__plus_00_dot_88_bar__plus_00_dot_17_bar__minus_01_dot_11 Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15_bar_BathtubBasin)\n (inReceptacle Cloth_bar__plus_01_dot_06_bar__plus_00_dot_17_bar__minus_01_dot_25 Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15_bar_BathtubBasin)\n (inReceptacle Cloth_bar__minus_01_dot_49_bar__plus_00_dot_93_bar__minus_01_dot_50 Sink_bar__minus_01_dot_56_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin)\n (inReceptacle HandTowel_bar__minus_02_dot_03_bar__plus_01_dot_49_bar__minus_01_dot_48 HandTowelHolder_bar__minus_02_dot_07_bar__plus_01_dot_59_bar__minus_01_dot_48)\n (inReceptacle SoapBottle_bar__plus_00_dot_10_bar__plus_00_dot_15_bar__minus_01_dot_60 GarbageCan_bar__plus_00_dot_10_bar_00_dot_00_bar__minus_01_dot_57)\n (inReceptacle SoapBottle_bar__minus_01_dot_93_bar__plus_01_dot_05_bar__plus_00_dot_14 Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21)\n (inReceptacle Candle_bar__minus_02_dot_02_bar__plus_01_dot_04_bar__plus_00_dot_21 Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21)\n (inReceptacle SoapBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_34 Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21)\n \n \n (receptacleAtLocation Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15_bar_BathtubBasin loc_bar_0_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_07_bar__plus_00_dot_34_bar__minus_01_dot_33 loc_bar__minus_3_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_04_bar__plus_00_dot_34_bar__minus_01_dot_33 loc_bar__minus_5_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_05_bar__plus_00_dot_34_bar__minus_01_dot_33 loc_bar__minus_3_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_02_bar__plus_00_dot_34_bar__minus_01_dot_33 loc_bar__minus_5_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_04_bar__plus_00_dot_88_bar__minus_01_dot_53 loc_bar__minus_6_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation GarbageCan_bar__plus_00_dot_10_bar_00_dot_00_bar__minus_01_dot_57 loc_bar__minus_1_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_07_bar__plus_01_dot_59_bar__minus_01_dot_48 loc_bar__minus_6_bar__minus_4_bar_3_bar_0)\n (receptacleAtLocation Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin loc_bar__minus_2_bar__minus_4_bar_2_bar_60)\n (receptacleAtLocation Sink_bar__minus_01_dot_56_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin loc_bar__minus_6_bar__minus_4_bar_2_bar_60)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_18_bar__plus_00_dot_92_bar__plus_00_dot_77 loc_bar__minus_3_bar_1_bar_0_bar_60)\n (receptacleAtLocation Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21 loc_bar__minus_6_bar__minus_3_bar_0_bar_60)\n (receptacleAtLocation TowelHolder_bar__plus_00_dot_89_bar__plus_01_dot_35_bar__minus_01_dot_86 loc_bar__minus_1_bar__minus_4_bar_1_bar_15)\n (objectAtLocation SoapBottle_bar__minus_01_dot_93_bar__plus_01_dot_05_bar__plus_00_dot_14 loc_bar__minus_6_bar__minus_3_bar_0_bar_60)\n (objectAtLocation Candle_bar__plus_00_dot_50_bar__plus_00_dot_59_bar__minus_00_dot_34 loc_bar_0_bar__minus_3_bar_1_bar_60)\n (objectAtLocation SprayBottle_bar__minus_00_dot_74_bar__plus_00_dot_02_bar__minus_01_dot_49 loc_bar__minus_5_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Cloth_bar__plus_00_dot_82_bar__plus_00_dot_17_bar__minus_00_dot_96 loc_bar_0_bar__minus_3_bar_1_bar_60)\n (objectAtLocation SoapBar_bar__minus_00_dot_31_bar__plus_00_dot_92_bar__minus_01_dot_57 loc_bar__minus_2_bar__minus_4_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__plus_00_dot_10_bar__plus_00_dot_15_bar__minus_01_dot_60 loc_bar__minus_1_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Candle_bar__minus_02_dot_02_bar__plus_01_dot_04_bar__plus_00_dot_21 loc_bar__minus_6_bar__minus_3_bar_0_bar_60)\n (objectAtLocation Cloth_bar__plus_01_dot_06_bar__plus_00_dot_17_bar__minus_01_dot_25 loc_bar_0_bar__minus_3_bar_1_bar_60)\n (objectAtLocation ShowerGlass_bar__plus_00_dot_92_bar__plus_01_dot_42_bar__minus_00_dot_21 loc_bar_0_bar__minus_1_bar_1_bar_15)\n (objectAtLocation Sink_bar__minus_01_dot_56_bar__plus_00_dot_81_bar__minus_01_dot_60 loc_bar__minus_6_bar__minus_4_bar_2_bar_60)\n (objectAtLocation ShowerDoor_bar__plus_00_dot_45_bar__plus_00_dot_93_bar__plus_00_dot_70 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation Mirror_bar__minus_01_dot_02_bar__plus_01_dot_50_bar__minus_01_dot_84 loc_bar__minus_6_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15 loc_bar__minus_1_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60 loc_bar__minus_2_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Window_bar__plus_01_dot_53_bar__plus_01_dot_67_bar__minus_01_dot_04 loc_bar__minus_1_bar__minus_4_bar_1_bar_0)\n (objectAtLocation Towel_bar__plus_00_dot_89_bar__plus_01_dot_37_bar__minus_01_dot_76 loc_bar__minus_1_bar__minus_4_bar_1_bar_15)\n (objectAtLocation HandTowel_bar__minus_02_dot_03_bar__plus_01_dot_49_bar__minus_01_dot_48 loc_bar__minus_6_bar__minus_4_bar_3_bar_0)\n (objectAtLocation SoapBar_bar__plus_00_dot_88_bar__plus_00_dot_17_bar__minus_01_dot_11 loc_bar_0_bar__minus_3_bar_1_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_12_bar__plus_00_dot_91_bar__minus_01_dot_75 loc_bar__minus_6_bar__minus_3_bar_2_bar_45)\n (objectAtLocation LightSwitch_bar__plus_00_dot_23_bar__plus_01_dot_33_bar__plus_00_dot_76 loc_bar__minus_1_bar_1_bar_0_bar_30)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_14_bar__plus_00_dot_01_bar__minus_01_dot_54 loc_bar__minus_3_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Cloth_bar__minus_01_dot_49_bar__plus_00_dot_93_bar__minus_01_dot_50 loc_bar__minus_6_bar__minus_4_bar_2_bar_60)\n (objectAtLocation SprayBottle_bar__minus_01_dot_00_bar__plus_00_dot_91_bar__minus_01_dot_49 loc_bar__minus_6_bar__minus_3_bar_2_bar_45)\n (objectAtLocation ScrubBrush_bar__minus_01_dot_65_bar_00_dot_00_bar__plus_00_dot_65 loc_bar__minus_6_bar__minus_1_bar_0_bar_60)\n (objectAtLocation Plunger_bar__minus_01_dot_89_bar_00_dot_00_bar__plus_00_dot_61 loc_bar__minus_6_bar__minus_1_bar_0_bar_60)\n (objectAtLocation Candle_bar__plus_00_dot_50_bar__plus_00_dot_59_bar__minus_01_dot_77 loc_bar_0_bar__minus_3_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_34 loc_bar__minus_6_bar__minus_3_bar_0_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 ToiletPaperType)\n (receptacleType ?r ToiletPaperHangerType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take toiletpaper 2 from countertop 1", "go to toiletpaperhanger 1", "move toiletpaper 2 to toiletpaperhanger 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-ToiletPaper-None-ToiletPaperHanger-407/trial_T20190909_081808_753243/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-ToiletPaper-None-ToiletPaperHanger-407/trial_T20190909_081808_753243/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..918ece411be9bba36a59cd7424457014873f4d47 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-ToiletPaper-None-ToiletPaperHanger-407/trial_T20190909_081808_753243/initial_state.pddl @@ -0,0 +1,488 @@ + +(define (problem plan_trial_T20190909_081808_753243) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15 - object + Candle_bar__plus_00_dot_50_bar__plus_00_dot_59_bar__minus_00_dot_34 - object + Candle_bar__plus_00_dot_50_bar__plus_00_dot_59_bar__minus_01_dot_77 - object + Candle_bar__minus_02_dot_02_bar__plus_01_dot_04_bar__plus_00_dot_21 - object + Cloth_bar__plus_00_dot_82_bar__plus_00_dot_17_bar__minus_00_dot_96 - object + Cloth_bar__plus_01_dot_06_bar__plus_00_dot_17_bar__minus_01_dot_25 - object + Cloth_bar__minus_01_dot_49_bar__plus_00_dot_93_bar__minus_01_dot_50 - object + Faucet_bar__plus_00_dot_89_bar__plus_01_dot_69_bar__plus_00_dot_72 - object + Faucet_bar__plus_00_dot_93_bar__plus_00_dot_51_bar__minus_01_dot_98 - object + Faucet_bar__minus_00_dot_51_bar__plus_00_dot_90_bar__minus_01_dot_78 - object + Faucet_bar__minus_01_dot_54_bar__plus_00_dot_90_bar__minus_01_dot_78 - object + HandTowel_bar__minus_02_dot_03_bar__plus_01_dot_49_bar__minus_01_dot_48 - object + LightSwitch_bar__plus_00_dot_23_bar__plus_01_dot_33_bar__plus_00_dot_76 - object + Mirror_bar__minus_01_dot_02_bar__plus_01_dot_50_bar__minus_01_dot_84 - object + Plunger_bar__minus_01_dot_89_bar_00_dot_00_bar__plus_00_dot_61 - object + ScrubBrush_bar__minus_01_dot_65_bar_00_dot_00_bar__plus_00_dot_65 - object + ShowerCurtain_bar__plus_00_dot_46_bar__plus_01_dot_78_bar__minus_01_dot_52 - object + ShowerDoor_bar__plus_00_dot_45_bar__plus_00_dot_93_bar__plus_00_dot_70 - object + ShowerGlass_bar__plus_00_dot_92_bar__plus_01_dot_42_bar__minus_00_dot_21 - object + Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60 - object + Sink_bar__minus_01_dot_56_bar__plus_00_dot_81_bar__minus_01_dot_60 - object + SoapBar_bar__plus_00_dot_88_bar__plus_00_dot_17_bar__minus_01_dot_11 - object + SoapBar_bar__minus_00_dot_31_bar__plus_00_dot_92_bar__minus_01_dot_57 - object + SoapBottle_bar__plus_00_dot_10_bar__plus_00_dot_15_bar__minus_01_dot_60 - object + SoapBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_34 - object + SoapBottle_bar__minus_01_dot_93_bar__plus_01_dot_05_bar__plus_00_dot_14 - object + SprayBottle_bar__minus_00_dot_74_bar__plus_00_dot_02_bar__minus_01_dot_49 - object + SprayBottle_bar__minus_01_dot_00_bar__plus_00_dot_91_bar__minus_01_dot_49 - object + ToiletPaper_bar__minus_00_dot_12_bar__plus_00_dot_91_bar__minus_01_dot_75 - object + ToiletPaper_bar__minus_00_dot_14_bar__plus_00_dot_01_bar__minus_01_dot_54 - object + Towel_bar__plus_00_dot_89_bar__plus_01_dot_37_bar__minus_01_dot_76 - object + Window_bar__plus_01_dot_53_bar__plus_01_dot_67_bar__minus_01_dot_04 - object + Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15_bar_BathtubBasin - receptacle + Cabinet_bar__minus_00_dot_07_bar__plus_00_dot_34_bar__minus_01_dot_33 - receptacle + Cabinet_bar__minus_01_dot_04_bar__plus_00_dot_34_bar__minus_01_dot_33 - receptacle + Cabinet_bar__minus_01_dot_05_bar__plus_00_dot_34_bar__minus_01_dot_33 - receptacle + Cabinet_bar__minus_02_dot_02_bar__plus_00_dot_34_bar__minus_01_dot_33 - receptacle + CounterTop_bar__minus_01_dot_04_bar__plus_00_dot_88_bar__minus_01_dot_53 - receptacle + GarbageCan_bar__plus_00_dot_10_bar_00_dot_00_bar__minus_01_dot_57 - receptacle + HandTowelHolder_bar__minus_02_dot_07_bar__plus_01_dot_59_bar__minus_01_dot_48 - receptacle + Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin - receptacle + Sink_bar__minus_01_dot_56_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__minus_01_dot_18_bar__plus_00_dot_92_bar__plus_00_dot_77 - receptacle + Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21 - receptacle + TowelHolder_bar__plus_00_dot_89_bar__plus_01_dot_35_bar__minus_01_dot_86 - receptacle + loc_bar__minus_3_bar_1_bar_0_bar_60 - location + loc_bar__minus_3_bar__minus_2_bar_2_bar_60 - location + loc_bar__minus_1_bar__minus_4_bar_1_bar_0 - location + loc_bar__minus_1_bar__minus_4_bar_1_bar_15 - location + loc_bar__minus_5_bar__minus_1_bar_2_bar_45 - location + loc_bar__minus_6_bar__minus_3_bar_0_bar_60 - location + loc_bar__minus_6_bar__minus_1_bar_0_bar_60 - location + loc_bar__minus_2_bar__minus_4_bar_2_bar_60 - location + loc_bar__minus_3_bar__minus_1_bar_2_bar_45 - location + loc_bar__minus_1_bar_1_bar_0_bar_30 - location + loc_bar__minus_1_bar_1_bar_1_bar_45 - location + loc_bar__minus_6_bar__minus_4_bar_3_bar_0 - location + loc_bar__minus_1_bar__minus_2_bar_2_bar_60 - location + loc_bar__minus_6_bar__minus_3_bar_2_bar_45 - location + loc_bar_0_bar__minus_3_bar_1_bar_60 - location + loc_bar_0_bar__minus_1_bar_1_bar_15 - location + loc_bar__minus_1_bar__minus_4_bar_1_bar_45 - location + loc_bar__minus_5_bar__minus_2_bar_2_bar_60 - location + loc_bar__minus_6_bar__minus_4_bar_2_bar_60 - location + loc_bar__minus_7_bar__minus_1_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType ToiletPaperHanger_bar__minus_01_dot_18_bar__plus_00_dot_92_bar__plus_00_dot_77 ToiletPaperHangerType) + (receptacleType HandTowelHolder_bar__minus_02_dot_07_bar__plus_01_dot_59_bar__minus_01_dot_48 HandTowelHolderType) + (receptacleType Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15_bar_BathtubBasin BathtubBasinType) + (receptacleType Sink_bar__minus_01_dot_56_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__minus_01_dot_04_bar__plus_00_dot_34_bar__minus_01_dot_33 CabinetType) + (receptacleType GarbageCan_bar__plus_00_dot_10_bar_00_dot_00_bar__minus_01_dot_57 GarbageCanType) + (receptacleType Cabinet_bar__minus_02_dot_02_bar__plus_00_dot_34_bar__minus_01_dot_33 CabinetType) + (receptacleType Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21 ToiletType) + (receptacleType TowelHolder_bar__plus_00_dot_89_bar__plus_01_dot_35_bar__minus_01_dot_86 TowelHolderType) + (receptacleType Cabinet_bar__minus_01_dot_05_bar__plus_00_dot_34_bar__minus_01_dot_33 CabinetType) + (receptacleType Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__minus_00_dot_07_bar__plus_00_dot_34_bar__minus_01_dot_33 CabinetType) + (receptacleType CounterTop_bar__minus_01_dot_04_bar__plus_00_dot_88_bar__minus_01_dot_53 CounterTopType) + (objectType SoapBottle_bar__plus_00_dot_10_bar__plus_00_dot_15_bar__minus_01_dot_60 SoapBottleType) + (objectType Mirror_bar__minus_01_dot_02_bar__plus_01_dot_50_bar__minus_01_dot_84 MirrorType) + (objectType ToiletPaper_bar__minus_00_dot_12_bar__plus_00_dot_91_bar__minus_01_dot_75 ToiletPaperType) + (objectType ToiletPaper_bar__minus_00_dot_14_bar__plus_00_dot_01_bar__minus_01_dot_54 ToiletPaperType) + (objectType Candle_bar__plus_00_dot_50_bar__plus_00_dot_59_bar__minus_01_dot_77 CandleType) + (objectType Cloth_bar__minus_01_dot_49_bar__plus_00_dot_93_bar__minus_01_dot_50 ClothType) + (objectType SoapBar_bar__minus_00_dot_31_bar__plus_00_dot_92_bar__minus_01_dot_57 SoapBarType) + (objectType SoapBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_34 SoapBottleType) + (objectType ShowerDoor_bar__plus_00_dot_45_bar__plus_00_dot_93_bar__plus_00_dot_70 ShowerDoorType) + (objectType ScrubBrush_bar__minus_01_dot_65_bar_00_dot_00_bar__plus_00_dot_65 ScrubBrushType) + (objectType Sink_bar__minus_01_dot_56_bar__plus_00_dot_81_bar__minus_01_dot_60 SinkType) + (objectType SprayBottle_bar__minus_00_dot_74_bar__plus_00_dot_02_bar__minus_01_dot_49 SprayBottleType) + (objectType Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15 BathtubType) + (objectType ShowerGlass_bar__plus_00_dot_92_bar__plus_01_dot_42_bar__minus_00_dot_21 ShowerGlassType) + (objectType Window_bar__plus_01_dot_53_bar__plus_01_dot_67_bar__minus_01_dot_04 WindowType) + (objectType SprayBottle_bar__minus_01_dot_00_bar__plus_00_dot_91_bar__minus_01_dot_49 SprayBottleType) + (objectType Candle_bar__plus_00_dot_50_bar__plus_00_dot_59_bar__minus_00_dot_34 CandleType) + (objectType HandTowel_bar__minus_02_dot_03_bar__plus_01_dot_49_bar__minus_01_dot_48 HandTowelType) + (objectType SoapBar_bar__plus_00_dot_88_bar__plus_00_dot_17_bar__minus_01_dot_11 SoapBarType) + (objectType SoapBottle_bar__minus_01_dot_93_bar__plus_01_dot_05_bar__plus_00_dot_14 SoapBottleType) + (objectType Cloth_bar__plus_00_dot_82_bar__plus_00_dot_17_bar__minus_00_dot_96 ClothType) + (objectType Candle_bar__minus_02_dot_02_bar__plus_01_dot_04_bar__plus_00_dot_21 CandleType) + (objectType Cloth_bar__plus_01_dot_06_bar__plus_00_dot_17_bar__minus_01_dot_25 ClothType) + (objectType LightSwitch_bar__plus_00_dot_23_bar__plus_01_dot_33_bar__plus_00_dot_76 LightSwitchType) + (objectType Plunger_bar__minus_01_dot_89_bar_00_dot_00_bar__plus_00_dot_61 PlungerType) + (objectType Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60 SinkType) + (objectType Towel_bar__plus_00_dot_89_bar__plus_01_dot_37_bar__minus_01_dot_76 TowelType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain HandTowelHolderType HandTowelType) + (canContain BathtubBasinType ClothType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType HandTowelType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType ClothType) + (canContain ToiletType CandleType) + (canContain ToiletType SoapBarType) + (canContain ToiletType SprayBottleType) + (canContain TowelHolderType TowelType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain CounterTopType CandleType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType HandTowelType) + (pickupable SoapBottle_bar__plus_00_dot_10_bar__plus_00_dot_15_bar__minus_01_dot_60) + (pickupable ToiletPaper_bar__minus_00_dot_12_bar__plus_00_dot_91_bar__minus_01_dot_75) + (pickupable ToiletPaper_bar__minus_00_dot_14_bar__plus_00_dot_01_bar__minus_01_dot_54) + (pickupable Candle_bar__plus_00_dot_50_bar__plus_00_dot_59_bar__minus_01_dot_77) + (pickupable Cloth_bar__minus_01_dot_49_bar__plus_00_dot_93_bar__minus_01_dot_50) + (pickupable SoapBar_bar__minus_00_dot_31_bar__plus_00_dot_92_bar__minus_01_dot_57) + (pickupable SoapBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_34) + (pickupable ScrubBrush_bar__minus_01_dot_65_bar_00_dot_00_bar__plus_00_dot_65) + (pickupable SprayBottle_bar__minus_00_dot_74_bar__plus_00_dot_02_bar__minus_01_dot_49) + (pickupable SprayBottle_bar__minus_01_dot_00_bar__plus_00_dot_91_bar__minus_01_dot_49) + (pickupable Candle_bar__plus_00_dot_50_bar__plus_00_dot_59_bar__minus_00_dot_34) + (pickupable HandTowel_bar__minus_02_dot_03_bar__plus_01_dot_49_bar__minus_01_dot_48) + (pickupable SoapBar_bar__plus_00_dot_88_bar__plus_00_dot_17_bar__minus_01_dot_11) + (pickupable SoapBottle_bar__minus_01_dot_93_bar__plus_01_dot_05_bar__plus_00_dot_14) + (pickupable Cloth_bar__plus_00_dot_82_bar__plus_00_dot_17_bar__minus_00_dot_96) + (pickupable Candle_bar__minus_02_dot_02_bar__plus_01_dot_04_bar__plus_00_dot_21) + (pickupable Cloth_bar__plus_01_dot_06_bar__plus_00_dot_17_bar__minus_01_dot_25) + (pickupable Plunger_bar__minus_01_dot_89_bar_00_dot_00_bar__plus_00_dot_61) + (pickupable Towel_bar__plus_00_dot_89_bar__plus_01_dot_37_bar__minus_01_dot_76) + + (openable Cabinet_bar__minus_01_dot_04_bar__plus_00_dot_34_bar__minus_01_dot_33) + (openable Cabinet_bar__minus_02_dot_02_bar__plus_00_dot_34_bar__minus_01_dot_33) + (openable Cabinet_bar__minus_01_dot_05_bar__plus_00_dot_34_bar__minus_01_dot_33) + (openable Cabinet_bar__minus_00_dot_07_bar__plus_00_dot_34_bar__minus_01_dot_33) + + (atLocation agent1 loc_bar__minus_7_bar__minus_1_bar_1_bar_30) + + (cleanable Cloth_bar__minus_01_dot_49_bar__plus_00_dot_93_bar__minus_01_dot_50) + (cleanable SoapBar_bar__minus_00_dot_31_bar__plus_00_dot_92_bar__minus_01_dot_57) + (cleanable SoapBar_bar__plus_00_dot_88_bar__plus_00_dot_17_bar__minus_01_dot_11) + (cleanable Cloth_bar__plus_00_dot_82_bar__plus_00_dot_17_bar__minus_00_dot_96) + (cleanable Cloth_bar__plus_01_dot_06_bar__plus_00_dot_17_bar__minus_01_dot_25) + + + + + + + + + + + (inReceptacle 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SoapBar_bar__minus_00_dot_31_bar__plus_00_dot_92_bar__minus_01_dot_57 Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin) + (inReceptacle Cloth_bar__plus_00_dot_82_bar__plus_00_dot_17_bar__minus_00_dot_96 Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15_bar_BathtubBasin) + (inReceptacle SoapBar_bar__plus_00_dot_88_bar__plus_00_dot_17_bar__minus_01_dot_11 Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15_bar_BathtubBasin) + (inReceptacle Cloth_bar__plus_01_dot_06_bar__plus_00_dot_17_bar__minus_01_dot_25 Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15_bar_BathtubBasin) + (inReceptacle Cloth_bar__minus_01_dot_49_bar__plus_00_dot_93_bar__minus_01_dot_50 Sink_bar__minus_01_dot_56_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin) + (inReceptacle HandTowel_bar__minus_02_dot_03_bar__plus_01_dot_49_bar__minus_01_dot_48 HandTowelHolder_bar__minus_02_dot_07_bar__plus_01_dot_59_bar__minus_01_dot_48) + (inReceptacle SoapBottle_bar__plus_00_dot_10_bar__plus_00_dot_15_bar__minus_01_dot_60 GarbageCan_bar__plus_00_dot_10_bar_00_dot_00_bar__minus_01_dot_57) + (inReceptacle SoapBottle_bar__minus_01_dot_93_bar__plus_01_dot_05_bar__plus_00_dot_14 Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21) + (inReceptacle Candle_bar__minus_02_dot_02_bar__plus_01_dot_04_bar__plus_00_dot_21 Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21) + (inReceptacle SoapBottle_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_34 Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21) + + + (receptacleAtLocation Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15_bar_BathtubBasin loc_bar_0_bar__minus_3_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_07_bar__plus_00_dot_34_bar__minus_01_dot_33 loc_bar__minus_3_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_04_bar__plus_00_dot_34_bar__minus_01_dot_33 loc_bar__minus_5_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_05_bar__plus_00_dot_34_bar__minus_01_dot_33 loc_bar__minus_3_bar__minus_1_bar_2_bar_45) + (receptacleAtLocation Cabinet_bar__minus_02_dot_02_bar__plus_00_dot_34_bar__minus_01_dot_33 loc_bar__minus_5_bar__minus_1_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__minus_01_dot_04_bar__plus_00_dot_88_bar__minus_01_dot_53 loc_bar__minus_6_bar__minus_3_bar_2_bar_45) + (receptacleAtLocation GarbageCan_bar__plus_00_dot_10_bar_00_dot_00_bar__minus_01_dot_57 loc_bar__minus_1_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_07_bar__plus_01_dot_59_bar__minus_01_dot_48 loc_bar__minus_6_bar__minus_4_bar_3_bar_0) + (receptacleAtLocation Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin loc_bar__minus_2_bar__minus_4_bar_2_bar_60) + (receptacleAtLocation Sink_bar__minus_01_dot_56_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin loc_bar__minus_6_bar__minus_4_bar_2_bar_60) + (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_18_bar__plus_00_dot_92_bar__plus_00_dot_77 loc_bar__minus_3_bar_1_bar_0_bar_60) + (receptacleAtLocation Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21 loc_bar__minus_6_bar__minus_3_bar_0_bar_60) + (receptacleAtLocation TowelHolder_bar__plus_00_dot_89_bar__plus_01_dot_35_bar__minus_01_dot_86 loc_bar__minus_1_bar__minus_4_bar_1_bar_15) + (objectAtLocation SoapBottle_bar__minus_01_dot_93_bar__plus_01_dot_05_bar__plus_00_dot_14 loc_bar__minus_6_bar__minus_3_bar_0_bar_60) + (objectAtLocation Candle_bar__plus_00_dot_50_bar__plus_00_dot_59_bar__minus_00_dot_34 loc_bar_0_bar__minus_3_bar_1_bar_60) + (objectAtLocation SprayBottle_bar__minus_00_dot_74_bar__plus_00_dot_02_bar__minus_01_dot_49 loc_bar__minus_5_bar__minus_2_bar_2_bar_60) + (objectAtLocation Cloth_bar__plus_00_dot_82_bar__plus_00_dot_17_bar__minus_00_dot_96 loc_bar_0_bar__minus_3_bar_1_bar_60) + (objectAtLocation SoapBar_bar__minus_00_dot_31_bar__plus_00_dot_92_bar__minus_01_dot_57 loc_bar__minus_2_bar__minus_4_bar_2_bar_60) + (objectAtLocation SoapBottle_bar__plus_00_dot_10_bar__plus_00_dot_15_bar__minus_01_dot_60 loc_bar__minus_1_bar__minus_2_bar_2_bar_60) + (objectAtLocation Candle_bar__minus_02_dot_02_bar__plus_01_dot_04_bar__plus_00_dot_21 loc_bar__minus_6_bar__minus_3_bar_0_bar_60) + (objectAtLocation Cloth_bar__plus_01_dot_06_bar__plus_00_dot_17_bar__minus_01_dot_25 loc_bar_0_bar__minus_3_bar_1_bar_60) + (objectAtLocation ShowerGlass_bar__plus_00_dot_92_bar__plus_01_dot_42_bar__minus_00_dot_21 loc_bar_0_bar__minus_1_bar_1_bar_15) + (objectAtLocation Sink_bar__minus_01_dot_56_bar__plus_00_dot_81_bar__minus_01_dot_60 loc_bar__minus_6_bar__minus_4_bar_2_bar_60) + (objectAtLocation ShowerDoor_bar__plus_00_dot_45_bar__plus_00_dot_93_bar__plus_00_dot_70 loc_bar__minus_1_bar_1_bar_1_bar_45) + (objectAtLocation Mirror_bar__minus_01_dot_02_bar__plus_01_dot_50_bar__minus_01_dot_84 loc_bar__minus_6_bar__minus_3_bar_2_bar_45) + (objectAtLocation Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15 loc_bar__minus_1_bar__minus_4_bar_1_bar_45) + (objectAtLocation Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60 loc_bar__minus_2_bar__minus_4_bar_2_bar_60) + (objectAtLocation Window_bar__plus_01_dot_53_bar__plus_01_dot_67_bar__minus_01_dot_04 loc_bar__minus_1_bar__minus_4_bar_1_bar_0) + (objectAtLocation Towel_bar__plus_00_dot_89_bar__plus_01_dot_37_bar__minus_01_dot_76 loc_bar__minus_1_bar__minus_4_bar_1_bar_15) + (objectAtLocation HandTowel_bar__minus_02_dot_03_bar__plus_01_dot_49_bar__minus_01_dot_48 loc_bar__minus_6_bar__minus_4_bar_3_bar_0) + (objectAtLocation SoapBar_bar__plus_00_dot_88_bar__plus_00_dot_17_bar__minus_01_dot_11 loc_bar_0_bar__minus_3_bar_1_bar_60) + (objectAtLocation ToiletPaper_bar__minus_00_dot_12_bar__plus_00_dot_91_bar__minus_01_dot_75 loc_bar__minus_6_bar__minus_3_bar_2_bar_45) + (objectAtLocation 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loc_bar__minus_6_bar__minus_3_bar_0_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o ToiletPaperType) + (receptacleType ?r ToiletPaperHangerType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-ToiletPaper-None-ToiletPaperHanger-407/trial_T20190909_081808_753243/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-ToiletPaper-None-ToiletPaperHanger-407/trial_T20190909_081808_753243/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..1e5e6652b7d09b6ee215a601271e589986b4317b --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-ToiletPaper-None-ToiletPaperHanger-407/trial_T20190909_081808_753243/traj_data.json @@ -0,0 +1,1964 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": 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[ + "Move forward and turn to the right to find the sink.", + "Pick up the toilet paper from the left side of the sink.", + "Carry the toilet paper and turn around. Move forward and then turn left to face the toilet.", + "Place the toilet paper on the holder, to the right." + ], + "task_desc": "Move toilet paper to the holder.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-ToiletPaper-None-ToiletPaperHanger-407/trial_T20190909_081822_309167/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-ToiletPaper-None-ToiletPaperHanger-407/trial_T20190909_081822_309167/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..c8980ef47e1cdd128ea06af54ea6483cff4a5c38 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-ToiletPaper-None-ToiletPaperHanger-407/trial_T20190909_081822_309167/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 toiletpaper on toiletpaperhanger.\"\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_081822_309167)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15 - object\n Candle_bar__minus_01_dot_41_bar__plus_00_dot_02_bar__minus_01_dot_39 - object\n Candle_bar__minus_01_dot_84_bar__plus_01_dot_04_bar__plus_00_dot_27 - object\n Candle_bar__minus_01_dot_87_bar__plus_01_dot_04_bar__plus_00_dot_34 - object\n Cloth_bar__plus_01_dot_00_bar__plus_00_dot_17_bar__minus_01_dot_11 - object\n Cloth_bar__minus_00_dot_38_bar__plus_00_dot_93_bar__minus_01_dot_53 - object\n Cloth_bar__minus_00_dot_86_bar__plus_00_dot_02_bar__minus_01_dot_54 - object\n Faucet_bar__plus_00_dot_89_bar__plus_01_dot_69_bar__plus_00_dot_72 - object\n Faucet_bar__plus_00_dot_93_bar__plus_00_dot_51_bar__minus_01_dot_98 - object\n Faucet_bar__minus_00_dot_51_bar__plus_00_dot_90_bar__minus_01_dot_78 - object\n Faucet_bar__minus_01_dot_54_bar__plus_00_dot_90_bar__minus_01_dot_78 - object\n HandTowel_bar__minus_02_dot_03_bar__plus_01_dot_49_bar__minus_01_dot_48 - object\n LightSwitch_bar__plus_00_dot_23_bar__plus_01_dot_33_bar__plus_00_dot_76 - object\n Mirror_bar__minus_01_dot_02_bar__plus_01_dot_50_bar__minus_01_dot_84 - object\n Plunger_bar__minus_01_dot_89_bar_00_dot_00_bar__plus_00_dot_61 - object\n ScrubBrush_bar__minus_01_dot_65_bar_00_dot_00_bar__plus_00_dot_65 - object\n ShowerCurtain_bar__plus_00_dot_46_bar__plus_01_dot_78_bar__minus_01_dot_52 - object\n ShowerDoor_bar__plus_00_dot_45_bar__plus_00_dot_93_bar__plus_00_dot_70 - object\n ShowerGlass_bar__plus_00_dot_92_bar__plus_01_dot_42_bar__minus_00_dot_21 - object\n Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60 - object\n Sink_bar__minus_01_dot_56_bar__plus_00_dot_81_bar__minus_01_dot_60 - object\n SoapBar_bar__minus_01_dot_96_bar__plus_01_dot_04_bar__plus_00_dot_14 - object\n SoapBar_bar__minus_01_dot_99_bar__plus_01_dot_04_bar__plus_00_dot_34 - object\n SoapBottle_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__minus_01_dot_44 - object\n SoapBottle_bar__minus_01_dot_90_bar__plus_01_dot_05_bar__plus_00_dot_21 - object\n SprayBottle_bar__minus_01_dot_73_bar__plus_00_dot_02_bar__minus_01_dot_49 - object\n SprayBottle_bar__minus_01_dot_73_bar__plus_00_dot_02_bar__minus_01_dot_59 - object\n SprayBottle_bar__minus_01_dot_84_bar__plus_00_dot_02_bar__minus_01_dot_54 - object\n ToiletPaper_bar__plus_00_dot_08_bar__plus_00_dot_15_bar__minus_01_dot_54 - object\n ToiletPaper_bar__minus_01_dot_89_bar__plus_01_dot_04_bar__plus_00_dot_02 - object\n Towel_bar__plus_00_dot_89_bar__plus_01_dot_37_bar__minus_01_dot_76 - object\n Window_bar__plus_01_dot_53_bar__plus_01_dot_67_bar__minus_01_dot_04 - object\n Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15_bar_BathtubBasin - receptacle\n Cabinet_bar__minus_00_dot_07_bar__plus_00_dot_34_bar__minus_01_dot_33 - receptacle\n Cabinet_bar__minus_01_dot_04_bar__plus_00_dot_34_bar__minus_01_dot_33 - receptacle\n Cabinet_bar__minus_01_dot_05_bar__plus_00_dot_34_bar__minus_01_dot_33 - receptacle\n Cabinet_bar__minus_02_dot_02_bar__plus_00_dot_34_bar__minus_01_dot_33 - receptacle\n CounterTop_bar__minus_01_dot_04_bar__plus_00_dot_88_bar__minus_01_dot_53 - receptacle\n GarbageCan_bar__plus_00_dot_10_bar_00_dot_00_bar__minus_01_dot_57 - receptacle\n HandTowelHolder_bar__minus_02_dot_07_bar__plus_01_dot_59_bar__minus_01_dot_48 - receptacle\n Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin - receptacle\n Sink_bar__minus_01_dot_56_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_01_dot_18_bar__plus_00_dot_92_bar__plus_00_dot_77 - receptacle\n Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21 - receptacle\n TowelHolder_bar__plus_00_dot_89_bar__plus_01_dot_35_bar__minus_01_dot_86 - receptacle\n loc_bar__minus_3_bar_1_bar_0_bar_60 - location\n loc_bar__minus_3_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_1_bar__minus_4_bar_1_bar_0 - location\n loc_bar__minus_1_bar__minus_4_bar_1_bar_15 - location\n loc_bar__minus_5_bar__minus_1_bar_2_bar_45 - location\n loc_bar__minus_6_bar__minus_3_bar_0_bar_60 - location\n loc_bar__minus_6_bar__minus_1_bar_0_bar_60 - location\n loc_bar__minus_2_bar__minus_4_bar_2_bar_60 - location\n loc_bar__minus_3_bar__minus_1_bar_2_bar_45 - location\n loc_bar__minus_1_bar_1_bar_0_bar_30 - location\n loc_bar__minus_1_bar_1_bar_1_bar_45 - location\n loc_bar__minus_6_bar__minus_4_bar_3_bar_0 - location\n loc_bar__minus_1_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_6_bar__minus_3_bar_2_bar_45 - location\n loc_bar_0_bar__minus_3_bar_1_bar_60 - location\n loc_bar_0_bar__minus_1_bar_1_bar_15 - location\n loc_bar__minus_1_bar__minus_4_bar_1_bar_45 - location\n loc_bar__minus_5_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_6_bar__minus_4_bar_2_bar_60 - location\n loc_bar__minus_7_bar__minus_2_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType ToiletPaperHanger_bar__minus_01_dot_18_bar__plus_00_dot_92_bar__plus_00_dot_77 ToiletPaperHangerType)\n (receptacleType HandTowelHolder_bar__minus_02_dot_07_bar__plus_01_dot_59_bar__minus_01_dot_48 HandTowelHolderType)\n (receptacleType Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15_bar_BathtubBasin BathtubBasinType)\n (receptacleType Sink_bar__minus_01_dot_56_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__minus_01_dot_04_bar__plus_00_dot_34_bar__minus_01_dot_33 CabinetType)\n (receptacleType GarbageCan_bar__plus_00_dot_10_bar_00_dot_00_bar__minus_01_dot_57 GarbageCanType)\n (receptacleType Cabinet_bar__minus_02_dot_02_bar__plus_00_dot_34_bar__minus_01_dot_33 CabinetType)\n (receptacleType Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21 ToiletType)\n (receptacleType TowelHolder_bar__plus_00_dot_89_bar__plus_01_dot_35_bar__minus_01_dot_86 TowelHolderType)\n (receptacleType Cabinet_bar__minus_01_dot_05_bar__plus_00_dot_34_bar__minus_01_dot_33 CabinetType)\n (receptacleType Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__minus_00_dot_07_bar__plus_00_dot_34_bar__minus_01_dot_33 CabinetType)\n (receptacleType CounterTop_bar__minus_01_dot_04_bar__plus_00_dot_88_bar__minus_01_dot_53 CounterTopType)\n (objectType Cloth_bar__minus_00_dot_86_bar__plus_00_dot_02_bar__minus_01_dot_54 ClothType)\n (objectType Candle_bar__minus_01_dot_87_bar__plus_01_dot_04_bar__plus_00_dot_34 CandleType)\n (objectType Mirror_bar__minus_01_dot_02_bar__plus_01_dot_50_bar__minus_01_dot_84 MirrorType)\n (objectType SoapBottle_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__minus_01_dot_44 SoapBottleType)\n (objectType Candle_bar__minus_01_dot_84_bar__plus_01_dot_04_bar__plus_00_dot_27 CandleType)\n (objectType SoapBar_bar__minus_01_dot_99_bar__plus_01_dot_04_bar__plus_00_dot_34 SoapBarType)\n (objectType ToiletPaper_bar__minus_01_dot_89_bar__plus_01_dot_04_bar__plus_00_dot_02 ToiletPaperType)\n (objectType SprayBottle_bar__minus_01_dot_84_bar__plus_00_dot_02_bar__minus_01_dot_54 SprayBottleType)\n (objectType ShowerDoor_bar__plus_00_dot_45_bar__plus_00_dot_93_bar__plus_00_dot_70 ShowerDoorType)\n (objectType ScrubBrush_bar__minus_01_dot_65_bar_00_dot_00_bar__plus_00_dot_65 ScrubBrushType)\n (objectType Sink_bar__minus_01_dot_56_bar__plus_00_dot_81_bar__minus_01_dot_60 SinkType)\n (objectType Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15 BathtubType)\n (objectType ShowerGlass_bar__plus_00_dot_92_bar__plus_01_dot_42_bar__minus_00_dot_21 ShowerGlassType)\n (objectType Window_bar__plus_01_dot_53_bar__plus_01_dot_67_bar__minus_01_dot_04 WindowType)\n (objectType SoapBar_bar__minus_01_dot_96_bar__plus_01_dot_04_bar__plus_00_dot_14 SoapBarType)\n (objectType ToiletPaper_bar__plus_00_dot_08_bar__plus_00_dot_15_bar__minus_01_dot_54 ToiletPaperType)\n (objectType Cloth_bar__minus_00_dot_38_bar__plus_00_dot_93_bar__minus_01_dot_53 ClothType)\n (objectType HandTowel_bar__minus_02_dot_03_bar__plus_01_dot_49_bar__minus_01_dot_48 HandTowelType)\n (objectType Candle_bar__minus_01_dot_41_bar__plus_00_dot_02_bar__minus_01_dot_39 CandleType)\n (objectType SprayBottle_bar__minus_01_dot_73_bar__plus_00_dot_02_bar__minus_01_dot_59 SprayBottleType)\n (objectType SoapBottle_bar__minus_01_dot_90_bar__plus_01_dot_05_bar__plus_00_dot_21 SoapBottleType)\n (objectType LightSwitch_bar__plus_00_dot_23_bar__plus_01_dot_33_bar__plus_00_dot_76 LightSwitchType)\n (objectType SprayBottle_bar__minus_01_dot_73_bar__plus_00_dot_02_bar__minus_01_dot_49 SprayBottleType)\n (objectType Plunger_bar__minus_01_dot_89_bar_00_dot_00_bar__plus_00_dot_61 PlungerType)\n (objectType Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60 SinkType)\n (objectType Towel_bar__plus_00_dot_89_bar__plus_01_dot_37_bar__minus_01_dot_76 TowelType)\n (objectType Cloth_bar__plus_01_dot_00_bar__plus_00_dot_17_bar__minus_01_dot_11 ClothType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType SprayBottleType)\n (canContain TowelHolderType TowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (pickupable Cloth_bar__minus_00_dot_86_bar__plus_00_dot_02_bar__minus_01_dot_54)\n (pickupable Candle_bar__minus_01_dot_87_bar__plus_01_dot_04_bar__plus_00_dot_34)\n (pickupable SoapBottle_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__minus_01_dot_44)\n (pickupable Candle_bar__minus_01_dot_84_bar__plus_01_dot_04_bar__plus_00_dot_27)\n (pickupable SoapBar_bar__minus_01_dot_99_bar__plus_01_dot_04_bar__plus_00_dot_34)\n (pickupable ToiletPaper_bar__minus_01_dot_89_bar__plus_01_dot_04_bar__plus_00_dot_02)\n (pickupable SprayBottle_bar__minus_01_dot_84_bar__plus_00_dot_02_bar__minus_01_dot_54)\n (pickupable ScrubBrush_bar__minus_01_dot_65_bar_00_dot_00_bar__plus_00_dot_65)\n (pickupable SoapBar_bar__minus_01_dot_96_bar__plus_01_dot_04_bar__plus_00_dot_14)\n (pickupable ToiletPaper_bar__plus_00_dot_08_bar__plus_00_dot_15_bar__minus_01_dot_54)\n (pickupable Cloth_bar__minus_00_dot_38_bar__plus_00_dot_93_bar__minus_01_dot_53)\n (pickupable HandTowel_bar__minus_02_dot_03_bar__plus_01_dot_49_bar__minus_01_dot_48)\n (pickupable Candle_bar__minus_01_dot_41_bar__plus_00_dot_02_bar__minus_01_dot_39)\n (pickupable SprayBottle_bar__minus_01_dot_73_bar__plus_00_dot_02_bar__minus_01_dot_59)\n (pickupable SoapBottle_bar__minus_01_dot_90_bar__plus_01_dot_05_bar__plus_00_dot_21)\n (pickupable SprayBottle_bar__minus_01_dot_73_bar__plus_00_dot_02_bar__minus_01_dot_49)\n (pickupable Plunger_bar__minus_01_dot_89_bar_00_dot_00_bar__plus_00_dot_61)\n (pickupable Towel_bar__plus_00_dot_89_bar__plus_01_dot_37_bar__minus_01_dot_76)\n (pickupable Cloth_bar__plus_01_dot_00_bar__plus_00_dot_17_bar__minus_01_dot_11)\n \n (openable Cabinet_bar__minus_01_dot_04_bar__plus_00_dot_34_bar__minus_01_dot_33)\n (openable Cabinet_bar__minus_02_dot_02_bar__plus_00_dot_34_bar__minus_01_dot_33)\n (openable Cabinet_bar__minus_01_dot_05_bar__plus_00_dot_34_bar__minus_01_dot_33)\n (openable Cabinet_bar__minus_00_dot_07_bar__plus_00_dot_34_bar__minus_01_dot_33)\n \n (atLocation agent1 loc_bar__minus_7_bar__minus_2_bar_3_bar_30)\n \n (cleanable Cloth_bar__minus_00_dot_86_bar__plus_00_dot_02_bar__minus_01_dot_54)\n (cleanable SoapBar_bar__minus_01_dot_99_bar__plus_01_dot_04_bar__plus_00_dot_34)\n (cleanable SoapBar_bar__minus_01_dot_96_bar__plus_01_dot_04_bar__plus_00_dot_14)\n (cleanable Cloth_bar__minus_00_dot_38_bar__plus_00_dot_93_bar__minus_01_dot_53)\n (cleanable Cloth_bar__plus_01_dot_00_bar__plus_00_dot_17_bar__minus_01_dot_11)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle Candle_bar__minus_01_dot_41_bar__plus_00_dot_02_bar__minus_01_dot_39 Cabinet_bar__minus_01_dot_05_bar__plus_00_dot_34_bar__minus_01_dot_33)\n (inReceptacle Cloth_bar__minus_00_dot_86_bar__plus_00_dot_02_bar__minus_01_dot_54 Cabinet_bar__minus_01_dot_04_bar__plus_00_dot_34_bar__minus_01_dot_33)\n (inReceptacle Mirror_bar__minus_01_dot_02_bar__plus_01_dot_50_bar__minus_01_dot_84 CounterTop_bar__minus_01_dot_04_bar__plus_00_dot_88_bar__minus_01_dot_53)\n (inReceptacle SoapBottle_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__minus_01_dot_44 Cabinet_bar__minus_00_dot_07_bar__plus_00_dot_34_bar__minus_01_dot_33)\n (inReceptacle SprayBottle_bar__minus_01_dot_73_bar__plus_00_dot_02_bar__minus_01_dot_59 Cabinet_bar__minus_02_dot_02_bar__plus_00_dot_34_bar__minus_01_dot_33)\n (inReceptacle SprayBottle_bar__minus_01_dot_84_bar__plus_00_dot_02_bar__minus_01_dot_54 Cabinet_bar__minus_02_dot_02_bar__plus_00_dot_34_bar__minus_01_dot_33)\n (inReceptacle SprayBottle_bar__minus_01_dot_73_bar__plus_00_dot_02_bar__minus_01_dot_49 Cabinet_bar__minus_02_dot_02_bar__plus_00_dot_34_bar__minus_01_dot_33)\n (inReceptacle Towel_bar__plus_00_dot_89_bar__plus_01_dot_37_bar__minus_01_dot_76 TowelHolder_bar__plus_00_dot_89_bar__plus_01_dot_35_bar__minus_01_dot_86)\n (inReceptacle Cloth_bar__minus_00_dot_38_bar__plus_00_dot_93_bar__minus_01_dot_53 Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin)\n (inReceptacle Cloth_bar__plus_01_dot_00_bar__plus_00_dot_17_bar__minus_01_dot_11 Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15_bar_BathtubBasin)\n (inReceptacle HandTowel_bar__minus_02_dot_03_bar__plus_01_dot_49_bar__minus_01_dot_48 HandTowelHolder_bar__minus_02_dot_07_bar__plus_01_dot_59_bar__minus_01_dot_48)\n (inReceptacle ToiletPaper_bar__plus_00_dot_08_bar__plus_00_dot_15_bar__minus_01_dot_54 GarbageCan_bar__plus_00_dot_10_bar_00_dot_00_bar__minus_01_dot_57)\n (inReceptacle SoapBar_bar__minus_01_dot_96_bar__plus_01_dot_04_bar__plus_00_dot_14 Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21)\n (inReceptacle Candle_bar__minus_01_dot_87_bar__plus_01_dot_04_bar__plus_00_dot_34 Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21)\n (inReceptacle SoapBottle_bar__minus_01_dot_90_bar__plus_01_dot_05_bar__plus_00_dot_21 Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21)\n (inReceptacle Candle_bar__minus_01_dot_84_bar__plus_01_dot_04_bar__plus_00_dot_27 Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21)\n (inReceptacle SoapBar_bar__minus_01_dot_99_bar__plus_01_dot_04_bar__plus_00_dot_34 Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21)\n (inReceptacle ToiletPaper_bar__minus_01_dot_89_bar__plus_01_dot_04_bar__plus_00_dot_02 Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21)\n \n \n (receptacleAtLocation Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15_bar_BathtubBasin loc_bar_0_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_07_bar__plus_00_dot_34_bar__minus_01_dot_33 loc_bar__minus_3_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_04_bar__plus_00_dot_34_bar__minus_01_dot_33 loc_bar__minus_5_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_05_bar__plus_00_dot_34_bar__minus_01_dot_33 loc_bar__minus_3_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_02_bar__plus_00_dot_34_bar__minus_01_dot_33 loc_bar__minus_5_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_04_bar__plus_00_dot_88_bar__minus_01_dot_53 loc_bar__minus_6_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation GarbageCan_bar__plus_00_dot_10_bar_00_dot_00_bar__minus_01_dot_57 loc_bar__minus_1_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_07_bar__plus_01_dot_59_bar__minus_01_dot_48 loc_bar__minus_6_bar__minus_4_bar_3_bar_0)\n (receptacleAtLocation Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin loc_bar__minus_2_bar__minus_4_bar_2_bar_60)\n (receptacleAtLocation Sink_bar__minus_01_dot_56_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin loc_bar__minus_6_bar__minus_4_bar_2_bar_60)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_18_bar__plus_00_dot_92_bar__plus_00_dot_77 loc_bar__minus_3_bar_1_bar_0_bar_60)\n (receptacleAtLocation Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21 loc_bar__minus_6_bar__minus_3_bar_0_bar_60)\n (receptacleAtLocation TowelHolder_bar__plus_00_dot_89_bar__plus_01_dot_35_bar__minus_01_dot_86 loc_bar__minus_1_bar__minus_4_bar_1_bar_15)\n (objectAtLocation SoapBottle_bar__minus_01_dot_90_bar__plus_01_dot_05_bar__plus_00_dot_21 loc_bar__minus_6_bar__minus_3_bar_0_bar_60)\n (objectAtLocation Candle_bar__minus_01_dot_87_bar__plus_01_dot_04_bar__plus_00_dot_34 loc_bar__minus_6_bar__minus_3_bar_0_bar_60)\n (objectAtLocation SprayBottle_bar__minus_01_dot_73_bar__plus_00_dot_02_bar__minus_01_dot_49 loc_bar__minus_5_bar__minus_1_bar_2_bar_45)\n (objectAtLocation Cloth_bar__plus_01_dot_00_bar__plus_00_dot_17_bar__minus_01_dot_11 loc_bar_0_bar__minus_3_bar_1_bar_60)\n (objectAtLocation SoapBar_bar__minus_01_dot_99_bar__plus_01_dot_04_bar__plus_00_dot_34 loc_bar__minus_6_bar__minus_3_bar_0_bar_60)\n (objectAtLocation SprayBottle_bar__minus_01_dot_84_bar__plus_00_dot_02_bar__minus_01_dot_54 loc_bar__minus_5_bar__minus_1_bar_2_bar_45)\n (objectAtLocation Candle_bar__minus_01_dot_84_bar__plus_01_dot_04_bar__plus_00_dot_27 loc_bar__minus_6_bar__minus_3_bar_0_bar_60)\n (objectAtLocation Cloth_bar__minus_00_dot_86_bar__plus_00_dot_02_bar__minus_01_dot_54 loc_bar__minus_5_bar__minus_2_bar_2_bar_60)\n (objectAtLocation ShowerGlass_bar__plus_00_dot_92_bar__plus_01_dot_42_bar__minus_00_dot_21 loc_bar_0_bar__minus_1_bar_1_bar_15)\n (objectAtLocation Sink_bar__minus_01_dot_56_bar__plus_00_dot_81_bar__minus_01_dot_60 loc_bar__minus_6_bar__minus_4_bar_2_bar_60)\n (objectAtLocation ShowerDoor_bar__plus_00_dot_45_bar__plus_00_dot_93_bar__plus_00_dot_70 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation Mirror_bar__minus_01_dot_02_bar__plus_01_dot_50_bar__minus_01_dot_84 loc_bar__minus_6_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15 loc_bar__minus_1_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60 loc_bar__minus_2_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Window_bar__plus_01_dot_53_bar__plus_01_dot_67_bar__minus_01_dot_04 loc_bar__minus_1_bar__minus_4_bar_1_bar_0)\n (objectAtLocation Towel_bar__plus_00_dot_89_bar__plus_01_dot_37_bar__minus_01_dot_76 loc_bar__minus_1_bar__minus_4_bar_1_bar_15)\n (objectAtLocation HandTowel_bar__minus_02_dot_03_bar__plus_01_dot_49_bar__minus_01_dot_48 loc_bar__minus_6_bar__minus_4_bar_3_bar_0)\n (objectAtLocation SoapBar_bar__minus_01_dot_96_bar__plus_01_dot_04_bar__plus_00_dot_14 loc_bar__minus_6_bar__minus_3_bar_0_bar_60)\n (objectAtLocation ToiletPaper_bar__plus_00_dot_08_bar__plus_00_dot_15_bar__minus_01_dot_54 loc_bar__minus_1_bar__minus_2_bar_2_bar_60)\n (objectAtLocation LightSwitch_bar__plus_00_dot_23_bar__plus_01_dot_33_bar__plus_00_dot_76 loc_bar__minus_1_bar_1_bar_0_bar_30)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_89_bar__plus_01_dot_04_bar__plus_00_dot_02 loc_bar__minus_6_bar__minus_3_bar_0_bar_60)\n (objectAtLocation Cloth_bar__minus_00_dot_38_bar__plus_00_dot_93_bar__minus_01_dot_53 loc_bar__minus_2_bar__minus_4_bar_2_bar_60)\n (objectAtLocation SprayBottle_bar__minus_01_dot_73_bar__plus_00_dot_02_bar__minus_01_dot_59 loc_bar__minus_5_bar__minus_1_bar_2_bar_45)\n (objectAtLocation ScrubBrush_bar__minus_01_dot_65_bar_00_dot_00_bar__plus_00_dot_65 loc_bar__minus_6_bar__minus_1_bar_0_bar_60)\n (objectAtLocation Plunger_bar__minus_01_dot_89_bar_00_dot_00_bar__plus_00_dot_61 loc_bar__minus_6_bar__minus_1_bar_0_bar_60)\n (objectAtLocation Candle_bar__minus_01_dot_41_bar__plus_00_dot_02_bar__minus_01_dot_39 loc_bar__minus_3_bar__minus_1_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__minus_01_dot_44 loc_bar__minus_3_bar__minus_2_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 ToiletPaperType)\n (receptacleType ?r ToiletPaperHangerType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to garbagecan 1", "take toiletpaper 1 from garbagecan 1", "go to toiletpaperhanger 1", "move toiletpaper 1 to toiletpaperhanger 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-ToiletPaper-None-ToiletPaperHanger-407/trial_T20190909_081822_309167/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-ToiletPaper-None-ToiletPaperHanger-407/trial_T20190909_081822_309167/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..c176c9d788c3c34b2810912710cb9ff0d306f24f --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-ToiletPaper-None-ToiletPaperHanger-407/trial_T20190909_081822_309167/initial_state.pddl @@ -0,0 +1,490 @@ + +(define (problem plan_trial_T20190909_081822_309167) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15 - object + Candle_bar__minus_01_dot_41_bar__plus_00_dot_02_bar__minus_01_dot_39 - object + Candle_bar__minus_01_dot_84_bar__plus_01_dot_04_bar__plus_00_dot_27 - object + Candle_bar__minus_01_dot_87_bar__plus_01_dot_04_bar__plus_00_dot_34 - object + Cloth_bar__plus_01_dot_00_bar__plus_00_dot_17_bar__minus_01_dot_11 - object + Cloth_bar__minus_00_dot_38_bar__plus_00_dot_93_bar__minus_01_dot_53 - object + Cloth_bar__minus_00_dot_86_bar__plus_00_dot_02_bar__minus_01_dot_54 - object + Faucet_bar__plus_00_dot_89_bar__plus_01_dot_69_bar__plus_00_dot_72 - object + Faucet_bar__plus_00_dot_93_bar__plus_00_dot_51_bar__minus_01_dot_98 - object + Faucet_bar__minus_00_dot_51_bar__plus_00_dot_90_bar__minus_01_dot_78 - object + Faucet_bar__minus_01_dot_54_bar__plus_00_dot_90_bar__minus_01_dot_78 - object + HandTowel_bar__minus_02_dot_03_bar__plus_01_dot_49_bar__minus_01_dot_48 - object + LightSwitch_bar__plus_00_dot_23_bar__plus_01_dot_33_bar__plus_00_dot_76 - object + Mirror_bar__minus_01_dot_02_bar__plus_01_dot_50_bar__minus_01_dot_84 - object + Plunger_bar__minus_01_dot_89_bar_00_dot_00_bar__plus_00_dot_61 - object + ScrubBrush_bar__minus_01_dot_65_bar_00_dot_00_bar__plus_00_dot_65 - object + ShowerCurtain_bar__plus_00_dot_46_bar__plus_01_dot_78_bar__minus_01_dot_52 - object + ShowerDoor_bar__plus_00_dot_45_bar__plus_00_dot_93_bar__plus_00_dot_70 - object + ShowerGlass_bar__plus_00_dot_92_bar__plus_01_dot_42_bar__minus_00_dot_21 - object + Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60 - object + Sink_bar__minus_01_dot_56_bar__plus_00_dot_81_bar__minus_01_dot_60 - object + SoapBar_bar__minus_01_dot_96_bar__plus_01_dot_04_bar__plus_00_dot_14 - object + SoapBar_bar__minus_01_dot_99_bar__plus_01_dot_04_bar__plus_00_dot_34 - object + SoapBottle_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__minus_01_dot_44 - object + SoapBottle_bar__minus_01_dot_90_bar__plus_01_dot_05_bar__plus_00_dot_21 - object + SprayBottle_bar__minus_01_dot_73_bar__plus_00_dot_02_bar__minus_01_dot_49 - object + SprayBottle_bar__minus_01_dot_73_bar__plus_00_dot_02_bar__minus_01_dot_59 - object + SprayBottle_bar__minus_01_dot_84_bar__plus_00_dot_02_bar__minus_01_dot_54 - object + ToiletPaper_bar__plus_00_dot_08_bar__plus_00_dot_15_bar__minus_01_dot_54 - object + ToiletPaper_bar__minus_01_dot_89_bar__plus_01_dot_04_bar__plus_00_dot_02 - object + Towel_bar__plus_00_dot_89_bar__plus_01_dot_37_bar__minus_01_dot_76 - object + Window_bar__plus_01_dot_53_bar__plus_01_dot_67_bar__minus_01_dot_04 - object + Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15_bar_BathtubBasin - receptacle + Cabinet_bar__minus_00_dot_07_bar__plus_00_dot_34_bar__minus_01_dot_33 - receptacle + Cabinet_bar__minus_01_dot_04_bar__plus_00_dot_34_bar__minus_01_dot_33 - receptacle + Cabinet_bar__minus_01_dot_05_bar__plus_00_dot_34_bar__minus_01_dot_33 - receptacle + Cabinet_bar__minus_02_dot_02_bar__plus_00_dot_34_bar__minus_01_dot_33 - receptacle + CounterTop_bar__minus_01_dot_04_bar__plus_00_dot_88_bar__minus_01_dot_53 - receptacle + GarbageCan_bar__plus_00_dot_10_bar_00_dot_00_bar__minus_01_dot_57 - receptacle + HandTowelHolder_bar__minus_02_dot_07_bar__plus_01_dot_59_bar__minus_01_dot_48 - receptacle + Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin - receptacle + Sink_bar__minus_01_dot_56_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__minus_01_dot_18_bar__plus_00_dot_92_bar__plus_00_dot_77 - receptacle + Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21 - receptacle + TowelHolder_bar__plus_00_dot_89_bar__plus_01_dot_35_bar__minus_01_dot_86 - receptacle + loc_bar__minus_3_bar_1_bar_0_bar_60 - location + loc_bar__minus_3_bar__minus_2_bar_2_bar_60 - location + loc_bar__minus_1_bar__minus_4_bar_1_bar_0 - location + loc_bar__minus_1_bar__minus_4_bar_1_bar_15 - location + loc_bar__minus_5_bar__minus_1_bar_2_bar_45 - location + loc_bar__minus_6_bar__minus_3_bar_0_bar_60 - location + loc_bar__minus_6_bar__minus_1_bar_0_bar_60 - location + loc_bar__minus_2_bar__minus_4_bar_2_bar_60 - location + loc_bar__minus_3_bar__minus_1_bar_2_bar_45 - location + loc_bar__minus_1_bar_1_bar_0_bar_30 - location + loc_bar__minus_1_bar_1_bar_1_bar_45 - location + loc_bar__minus_6_bar__minus_4_bar_3_bar_0 - location + loc_bar__minus_1_bar__minus_2_bar_2_bar_60 - location + loc_bar__minus_6_bar__minus_3_bar_2_bar_45 - location + loc_bar_0_bar__minus_3_bar_1_bar_60 - location + loc_bar_0_bar__minus_1_bar_1_bar_15 - location + loc_bar__minus_1_bar__minus_4_bar_1_bar_45 - location + loc_bar__minus_5_bar__minus_2_bar_2_bar_60 - location + loc_bar__minus_6_bar__minus_4_bar_2_bar_60 - location + loc_bar__minus_7_bar__minus_2_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType ToiletPaperHanger_bar__minus_01_dot_18_bar__plus_00_dot_92_bar__plus_00_dot_77 ToiletPaperHangerType) + (receptacleType HandTowelHolder_bar__minus_02_dot_07_bar__plus_01_dot_59_bar__minus_01_dot_48 HandTowelHolderType) + (receptacleType Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15_bar_BathtubBasin BathtubBasinType) + (receptacleType Sink_bar__minus_01_dot_56_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__minus_01_dot_04_bar__plus_00_dot_34_bar__minus_01_dot_33 CabinetType) + (receptacleType GarbageCan_bar__plus_00_dot_10_bar_00_dot_00_bar__minus_01_dot_57 GarbageCanType) + (receptacleType Cabinet_bar__minus_02_dot_02_bar__plus_00_dot_34_bar__minus_01_dot_33 CabinetType) + (receptacleType Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21 ToiletType) + (receptacleType TowelHolder_bar__plus_00_dot_89_bar__plus_01_dot_35_bar__minus_01_dot_86 TowelHolderType) + (receptacleType Cabinet_bar__minus_01_dot_05_bar__plus_00_dot_34_bar__minus_01_dot_33 CabinetType) + (receptacleType Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__minus_00_dot_07_bar__plus_00_dot_34_bar__minus_01_dot_33 CabinetType) + (receptacleType CounterTop_bar__minus_01_dot_04_bar__plus_00_dot_88_bar__minus_01_dot_53 CounterTopType) + (objectType Cloth_bar__minus_00_dot_86_bar__plus_00_dot_02_bar__minus_01_dot_54 ClothType) + (objectType Candle_bar__minus_01_dot_87_bar__plus_01_dot_04_bar__plus_00_dot_34 CandleType) + (objectType Mirror_bar__minus_01_dot_02_bar__plus_01_dot_50_bar__minus_01_dot_84 MirrorType) + (objectType SoapBottle_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__minus_01_dot_44 SoapBottleType) + (objectType Candle_bar__minus_01_dot_84_bar__plus_01_dot_04_bar__plus_00_dot_27 CandleType) + (objectType SoapBar_bar__minus_01_dot_99_bar__plus_01_dot_04_bar__plus_00_dot_34 SoapBarType) + (objectType ToiletPaper_bar__minus_01_dot_89_bar__plus_01_dot_04_bar__plus_00_dot_02 ToiletPaperType) + (objectType SprayBottle_bar__minus_01_dot_84_bar__plus_00_dot_02_bar__minus_01_dot_54 SprayBottleType) + (objectType ShowerDoor_bar__plus_00_dot_45_bar__plus_00_dot_93_bar__plus_00_dot_70 ShowerDoorType) + (objectType ScrubBrush_bar__minus_01_dot_65_bar_00_dot_00_bar__plus_00_dot_65 ScrubBrushType) + (objectType Sink_bar__minus_01_dot_56_bar__plus_00_dot_81_bar__minus_01_dot_60 SinkType) + (objectType Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15 BathtubType) + (objectType ShowerGlass_bar__plus_00_dot_92_bar__plus_01_dot_42_bar__minus_00_dot_21 ShowerGlassType) + (objectType Window_bar__plus_01_dot_53_bar__plus_01_dot_67_bar__minus_01_dot_04 WindowType) + (objectType SoapBar_bar__minus_01_dot_96_bar__plus_01_dot_04_bar__plus_00_dot_14 SoapBarType) + (objectType ToiletPaper_bar__plus_00_dot_08_bar__plus_00_dot_15_bar__minus_01_dot_54 ToiletPaperType) + (objectType Cloth_bar__minus_00_dot_38_bar__plus_00_dot_93_bar__minus_01_dot_53 ClothType) + (objectType HandTowel_bar__minus_02_dot_03_bar__plus_01_dot_49_bar__minus_01_dot_48 HandTowelType) + (objectType Candle_bar__minus_01_dot_41_bar__plus_00_dot_02_bar__minus_01_dot_39 CandleType) + (objectType SprayBottle_bar__minus_01_dot_73_bar__plus_00_dot_02_bar__minus_01_dot_59 SprayBottleType) + (objectType SoapBottle_bar__minus_01_dot_90_bar__plus_01_dot_05_bar__plus_00_dot_21 SoapBottleType) + (objectType LightSwitch_bar__plus_00_dot_23_bar__plus_01_dot_33_bar__plus_00_dot_76 LightSwitchType) + (objectType SprayBottle_bar__minus_01_dot_73_bar__plus_00_dot_02_bar__minus_01_dot_49 SprayBottleType) + (objectType Plunger_bar__minus_01_dot_89_bar_00_dot_00_bar__plus_00_dot_61 PlungerType) + (objectType Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60 SinkType) + (objectType Towel_bar__plus_00_dot_89_bar__plus_01_dot_37_bar__minus_01_dot_76 TowelType) + (objectType Cloth_bar__plus_01_dot_00_bar__plus_00_dot_17_bar__minus_01_dot_11 ClothType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain HandTowelHolderType HandTowelType) + (canContain BathtubBasinType ClothType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType HandTowelType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType ClothType) + (canContain ToiletType CandleType) + (canContain ToiletType SoapBarType) + (canContain ToiletType SprayBottleType) + (canContain TowelHolderType TowelType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain CounterTopType CandleType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType HandTowelType) + (pickupable Cloth_bar__minus_00_dot_86_bar__plus_00_dot_02_bar__minus_01_dot_54) + (pickupable Candle_bar__minus_01_dot_87_bar__plus_01_dot_04_bar__plus_00_dot_34) + (pickupable SoapBottle_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__minus_01_dot_44) + (pickupable Candle_bar__minus_01_dot_84_bar__plus_01_dot_04_bar__plus_00_dot_27) + (pickupable SoapBar_bar__minus_01_dot_99_bar__plus_01_dot_04_bar__plus_00_dot_34) + (pickupable ToiletPaper_bar__minus_01_dot_89_bar__plus_01_dot_04_bar__plus_00_dot_02) + (pickupable SprayBottle_bar__minus_01_dot_84_bar__plus_00_dot_02_bar__minus_01_dot_54) + (pickupable ScrubBrush_bar__minus_01_dot_65_bar_00_dot_00_bar__plus_00_dot_65) + (pickupable SoapBar_bar__minus_01_dot_96_bar__plus_01_dot_04_bar__plus_00_dot_14) + (pickupable ToiletPaper_bar__plus_00_dot_08_bar__plus_00_dot_15_bar__minus_01_dot_54) + (pickupable Cloth_bar__minus_00_dot_38_bar__plus_00_dot_93_bar__minus_01_dot_53) + (pickupable HandTowel_bar__minus_02_dot_03_bar__plus_01_dot_49_bar__minus_01_dot_48) + (pickupable Candle_bar__minus_01_dot_41_bar__plus_00_dot_02_bar__minus_01_dot_39) + (pickupable SprayBottle_bar__minus_01_dot_73_bar__plus_00_dot_02_bar__minus_01_dot_59) + (pickupable SoapBottle_bar__minus_01_dot_90_bar__plus_01_dot_05_bar__plus_00_dot_21) + (pickupable SprayBottle_bar__minus_01_dot_73_bar__plus_00_dot_02_bar__minus_01_dot_49) + (pickupable Plunger_bar__minus_01_dot_89_bar_00_dot_00_bar__plus_00_dot_61) + (pickupable Towel_bar__plus_00_dot_89_bar__plus_01_dot_37_bar__minus_01_dot_76) + (pickupable Cloth_bar__plus_01_dot_00_bar__plus_00_dot_17_bar__minus_01_dot_11) + + (openable Cabinet_bar__minus_01_dot_04_bar__plus_00_dot_34_bar__minus_01_dot_33) + (openable Cabinet_bar__minus_02_dot_02_bar__plus_00_dot_34_bar__minus_01_dot_33) + (openable Cabinet_bar__minus_01_dot_05_bar__plus_00_dot_34_bar__minus_01_dot_33) + (openable Cabinet_bar__minus_00_dot_07_bar__plus_00_dot_34_bar__minus_01_dot_33) + + (atLocation agent1 loc_bar__minus_7_bar__minus_2_bar_3_bar_30) + + (cleanable Cloth_bar__minus_00_dot_86_bar__plus_00_dot_02_bar__minus_01_dot_54) + (cleanable SoapBar_bar__minus_01_dot_99_bar__plus_01_dot_04_bar__plus_00_dot_34) + (cleanable SoapBar_bar__minus_01_dot_96_bar__plus_01_dot_04_bar__plus_00_dot_14) + (cleanable Cloth_bar__minus_00_dot_38_bar__plus_00_dot_93_bar__minus_01_dot_53) + (cleanable Cloth_bar__plus_01_dot_00_bar__plus_00_dot_17_bar__minus_01_dot_11) + + + + + + + + + + + (inReceptacle Candle_bar__minus_01_dot_41_bar__plus_00_dot_02_bar__minus_01_dot_39 Cabinet_bar__minus_01_dot_05_bar__plus_00_dot_34_bar__minus_01_dot_33) + (inReceptacle Cloth_bar__minus_00_dot_86_bar__plus_00_dot_02_bar__minus_01_dot_54 Cabinet_bar__minus_01_dot_04_bar__plus_00_dot_34_bar__minus_01_dot_33) + (inReceptacle Mirror_bar__minus_01_dot_02_bar__plus_01_dot_50_bar__minus_01_dot_84 CounterTop_bar__minus_01_dot_04_bar__plus_00_dot_88_bar__minus_01_dot_53) + (inReceptacle SoapBottle_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__minus_01_dot_44 Cabinet_bar__minus_00_dot_07_bar__plus_00_dot_34_bar__minus_01_dot_33) + (inReceptacle SprayBottle_bar__minus_01_dot_73_bar__plus_00_dot_02_bar__minus_01_dot_59 Cabinet_bar__minus_02_dot_02_bar__plus_00_dot_34_bar__minus_01_dot_33) + (inReceptacle SprayBottle_bar__minus_01_dot_84_bar__plus_00_dot_02_bar__minus_01_dot_54 Cabinet_bar__minus_02_dot_02_bar__plus_00_dot_34_bar__minus_01_dot_33) + (inReceptacle SprayBottle_bar__minus_01_dot_73_bar__plus_00_dot_02_bar__minus_01_dot_49 Cabinet_bar__minus_02_dot_02_bar__plus_00_dot_34_bar__minus_01_dot_33) + (inReceptacle Towel_bar__plus_00_dot_89_bar__plus_01_dot_37_bar__minus_01_dot_76 TowelHolder_bar__plus_00_dot_89_bar__plus_01_dot_35_bar__minus_01_dot_86) + (inReceptacle Cloth_bar__minus_00_dot_38_bar__plus_00_dot_93_bar__minus_01_dot_53 Sink_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__minus_01_dot_60_bar_SinkBasin) + (inReceptacle Cloth_bar__plus_01_dot_00_bar__plus_00_dot_17_bar__minus_01_dot_11 Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15_bar_BathtubBasin) + (inReceptacle HandTowel_bar__minus_02_dot_03_bar__plus_01_dot_49_bar__minus_01_dot_48 HandTowelHolder_bar__minus_02_dot_07_bar__plus_01_dot_59_bar__minus_01_dot_48) + (inReceptacle ToiletPaper_bar__plus_00_dot_08_bar__plus_00_dot_15_bar__minus_01_dot_54 GarbageCan_bar__plus_00_dot_10_bar_00_dot_00_bar__minus_01_dot_57) + (inReceptacle SoapBar_bar__minus_01_dot_96_bar__plus_01_dot_04_bar__plus_00_dot_14 Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21) + (inReceptacle Candle_bar__minus_01_dot_87_bar__plus_01_dot_04_bar__plus_00_dot_34 Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21) + (inReceptacle SoapBottle_bar__minus_01_dot_90_bar__plus_01_dot_05_bar__plus_00_dot_21 Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21) + (inReceptacle Candle_bar__minus_01_dot_84_bar__plus_01_dot_04_bar__plus_00_dot_27 Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21) + (inReceptacle SoapBar_bar__minus_01_dot_99_bar__plus_01_dot_04_bar__plus_00_dot_34 Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21) + (inReceptacle ToiletPaper_bar__minus_01_dot_89_bar__plus_01_dot_04_bar__plus_00_dot_02 Toilet_bar__minus_01_dot_61_bar_00_dot_00_bar__plus_00_dot_21) + + + (receptacleAtLocation Bathtub_bar__plus_00_dot_88_bar__plus_00_dot_39_bar__minus_01_dot_15_bar_BathtubBasin loc_bar_0_bar__minus_3_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_07_bar__plus_00_dot_34_bar__minus_01_dot_33 loc_bar__minus_3_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_04_bar__plus_00_dot_34_bar__minus_01_dot_33 loc_bar__minus_5_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_05_bar__plus_00_dot_34_bar__minus_01_dot_33 loc_bar__minus_3_bar__minus_1_bar_2_bar_45) + (receptacleAtLocation Cabinet_bar__minus_02_dot_02_bar__plus_00_dot_34_bar__minus_01_dot_33 loc_bar__minus_5_bar__minus_1_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__minus_01_dot_04_bar__plus_00_dot_88_bar__minus_01_dot_53 loc_bar__minus_6_bar__minus_3_bar_2_bar_45) + (receptacleAtLocation GarbageCan_bar__plus_00_dot_10_bar_00_dot_00_bar__minus_01_dot_57 loc_bar__minus_1_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation 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"y": 0.000426067, + "z": 0.000782692 + } + }, + { + "objectName": "Candle_b8f58f82", + "position": { + "x": -1.87173212, + "y": 1.04290891, + "z": 0.337702632 + }, + "rotation": { + "x": 0.0, + "y": 90.00046, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_7d19428e", + "position": { + "x": -1.90236664, + "y": 1.046597, + "z": 0.206559122 + }, + "rotation": { + "x": 0.0, + "y": 90.00046, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 4178761199, + "scene_num": 407 + }, + "task_id": "trial_T20190909_081822_309167", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1RLO9LNUJIW5S_31EUONYN2YUY0A79PVL4V73Z0Y2VO1", + "high_descs": [ + "Turn right and take a step to the toilet.", + "Pick up the tube that's in front of you.", + "Turn right and walk past the toilet then turn left and walk to the wall then turn left.", + "Put the tube on the toilet paper holder." + ], + "task_desc": "Put a tube on the toilet paper holder.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2871R3LEPWMMK_32RIADZISVVE4PGNCG1Q6MDNK37S4I", + "high_descs": [ + "Turn right and walk to the white toilet.", + "Pick up the empty roll of toilet paper from the toilet tank.", + "Head right, take a left to the door and turn left to face the toilet.", + "Put the empty roll of toilet paper on the black metal bar of the holder on the wall." + ], + "task_desc": "Place an empty roll of toilet paper on a metal holder.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3F51C49T9A34D_3PH3VY7DJOONE3LLHE1HX7THRB6ZWG", + "high_descs": [ + "turn to the right and step to the toilet", + "pick up the empty toilet paper roll from the top of the toilet tank", + "turn to the right and take a few steps and turn to the left and go to the wall and turn to the left", + "put the empty toilet paper roll on the toilet paper holder" + ], + "task_desc": "Place an empty toilet paper roll on the toilet paper holder", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Watch-None-CoffeeTable-201/trial_T20190908_124509_296941/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Watch-None-CoffeeTable-201/trial_T20190908_124509_296941/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..c0acf8e6aa3909955c24f4f6adcc529981991dc9 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Watch-None-CoffeeTable-201/trial_T20190908_124509_296941/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 watch in coffeetable.\"\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_124509_296941)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Book_bar__minus_01_dot_87_bar__plus_00_dot_68_bar__plus_01_dot_17 - object\n Bowl_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_67 - object\n Box_bar__minus_02_dot_14_bar__plus_00_dot_68_bar__plus_03_dot_71 - object\n Chair_bar__minus_01_dot_42_bar__minus_00_dot_01_bar__plus_01_dot_43 - object\n Chair_bar__minus_01_dot_86_bar_00_dot_00_bar__plus_01_dot_14 - object\n Chair_bar__minus_01_dot_87_bar__minus_00_dot_01_bar__plus_01_dot_75 - object\n Chair_bar__minus_02_dot_48_bar__plus_00_dot_00_bar__plus_01_dot_75 - object\n Chair_bar__minus_02_dot_49_bar__minus_00_dot_01_bar__plus_01_dot_11 - object\n Chair_bar__minus_03_dot_03_bar__minus_00_dot_01_bar__plus_01_dot_40 - object\n CreditCard_bar__minus_00_dot_29_bar__plus_00_dot_62_bar__plus_03_dot_29 - object\n CreditCard_bar__minus_02_dot_24_bar__plus_00_dot_10_bar__plus_05_dot_04 - object\n CreditCard_bar__minus_02_dot_24_bar__plus_00_dot_60_bar__plus_05_dot_12 - object\n Curtains_bar__minus_00_dot_08_bar__plus_02_dot_42_bar__plus_00_dot_97 - object\n FloorLamp_bar__minus_00_dot_57_bar__plus_00_dot_00_bar__plus_00_dot_03 - object\n HousePlant_bar__minus_03_dot_02_bar__plus_00_dot_59_bar__minus_00_dot_02 - object\n KeyChain_bar__minus_01_dot_61_bar__plus_00_dot_48_bar__plus_03_dot_71 - object\n Lamp_bar__minus_00_dot_28_bar__plus_00_dot_70_bar__plus_03_dot_61 - object\n Laptop_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_42 - object\n LightSwitch_bar__minus_03_dot_31_bar__plus_01_dot_34_bar__minus_00_dot_32 - object\n Newspaper_bar__minus_02_dot_16_bar__plus_00_dot_10_bar__plus_04_dot_73 - object\n Painting_bar__minus_02_dot_05_bar__plus_01_dot_62_bar__minus_00_dot_30 - object\n Pencil_bar__minus_02_dot_09_bar__plus_00_dot_60_bar__plus_04_dot_73 - object\n Pencil_bar__minus_02_dot_24_bar__plus_00_dot_61_bar__plus_04_dot_73 - object\n Pencil_bar__minus_04_dot_90_bar__plus_00_dot_06_bar__plus_00_dot_36 - object\n Pen_bar__minus_02_dot_47_bar__plus_00_dot_35_bar__plus_04_dot_89 - object\n Pen_bar__minus_04_dot_87_bar__plus_00_dot_06_bar__plus_00_dot_22 - object\n Pillow_bar__minus_03_dot_27_bar__plus_00_dot_66_bar__plus_03_dot_44 - object\n Plate_bar__minus_02_dot_47_bar__plus_00_dot_10_bar__plus_04_dot_73 - object\n Plate_bar__minus_02_dot_77_bar__plus_00_dot_72_bar__plus_06_dot_13 - object\n RemoteControl_bar__minus_02_dot_67_bar__plus_00_dot_48_bar__plus_03_dot_62 - object\n Statue_bar__minus_02_dot_13_bar__plus_00_dot_24_bar__plus_06_dot_16 - object\n Statue_bar__minus_02_dot_93_bar__plus_00_dot_70_bar__plus_01_dot_67 - object\n Television_bar__minus_02_dot_36_bar__plus_01_dot_21_bar__plus_06_dot_28 - object\n TissueBox_bar__minus_02_dot_32_bar__plus_00_dot_35_bar__plus_05_dot_04 - object\n TissueBox_bar__minus_02_dot_47_bar__plus_00_dot_10_bar__plus_04_dot_89 - object\n Vase_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_05 - object\n Vase_bar__minus_02_dot_39_bar__plus_00_dot_75_bar__minus_00_dot_16 - object\n Vase_bar__minus_02_dot_51_bar__plus_00_dot_24_bar__plus_06_dot_16 - object\n Watch_bar__minus_00_dot_22_bar__plus_00_dot_70_bar__plus_03_dot_37 - object\n Watch_bar__minus_02_dot_26_bar__plus_00_dot_24_bar__plus_06_dot_05 - object\n Window_bar__minus_00_dot_06_bar__plus_00_dot_93_bar__plus_01_dot_76 - object\n Window_bar__minus_00_dot_06_bar__plus_01_dot_13_bar__plus_04_dot_89 - object\n ArmChair_bar__minus_00_dot_78_bar__plus_00_dot_01_bar__plus_06_dot_08 - receptacle\n ArmChair_bar__minus_04_dot_41_bar__plus_00_dot_01_bar__plus_06_dot_01 - receptacle\n CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89 - receptacle\n DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42 - receptacle\n DiningTable_bar__minus_03_dot_20_bar__plus_00_dot_59_bar__plus_00_dot_21 - receptacle\n Drawer_bar__minus_00_dot_30_bar__plus_00_dot_62_bar__plus_03_dot_37 - receptacle\n Drawer_bar__minus_02_dot_11_bar__plus_00_dot_66_bar__minus_00_dot_07 - receptacle\n GarbageCan_bar__minus_04_dot_87_bar__plus_00_dot_00_bar__plus_00_dot_27 - receptacle\n SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_37 - receptacle\n SideTable_bar__minus_02_dot_11_bar__plus_00_dot_01_bar__minus_00_dot_14 - receptacle\n Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42 - receptacle\n TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30 - receptacle\n loc_bar__minus_17_bar_20_bar_0_bar_60 - location\n loc_bar__minus_2_bar_20_bar_1_bar_45 - location\n loc_bar__minus_10_bar_22_bar_0_bar_60 - location\n loc_bar__minus_8_bar_2_bar_2_bar_60 - location\n loc_bar__minus_12_bar_2_bar_1_bar_45 - location\n loc_bar__minus_10_bar_2_bar_0_bar_60 - location\n loc_bar__minus_6_bar_9_bar_2_bar_60 - location\n loc_bar__minus_16_bar_2_bar_1_bar_60 - location\n loc_bar__minus_9_bar_17_bar_2_bar_60 - location\n loc_bar__minus_18_bar_2_bar_3_bar_60 - location\n loc_bar__minus_8_bar_2_bar_2_bar_0 - location\n loc_bar__minus_15_bar_6_bar_1_bar_60 - location\n loc_bar__minus_14_bar_1_bar_2_bar_30 - location\n loc_bar__minus_3_bar_6_bar_3_bar_60 - location\n loc_bar__minus_14_bar_18_bar_1_bar_60 - location\n loc_bar__minus_6_bar_17_bar_2_bar_60 - location\n loc_bar__minus_4_bar_20_bar_0_bar_60 - location\n loc_bar__minus_3_bar_9_bar_0_bar_60 - location\n loc_bar__minus_4_bar_17_bar_2_bar_45 - location\n loc_bar__minus_2_bar_7_bar_1_bar_60 - location\n loc_bar__minus_10_bar_10_bar_2_bar_60 - location\n loc_bar__minus_7_bar_2_bar_0_bar_60 - location\n loc_bar__minus_5_bar_1_bar_1_bar_60 - location\n loc_bar__minus_17_bar_19_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30 TVStandType)\n (receptacleType ArmChair_bar__minus_00_dot_78_bar__plus_00_dot_01_bar__plus_06_dot_08 ArmChairType)\n (receptacleType DiningTable_bar__minus_03_dot_20_bar__plus_00_dot_59_bar__plus_00_dot_21 DiningTableType)\n (receptacleType ArmChair_bar__minus_04_dot_41_bar__plus_00_dot_01_bar__plus_06_dot_01 ArmChairType)\n (receptacleType Drawer_bar__minus_00_dot_30_bar__plus_00_dot_62_bar__plus_03_dot_37 DrawerType)\n (receptacleType Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42 SofaType)\n (receptacleType CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89 CoffeeTableType)\n (receptacleType SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_37 SideTableType)\n (receptacleType GarbageCan_bar__minus_04_dot_87_bar__plus_00_dot_00_bar__plus_00_dot_27 GarbageCanType)\n (receptacleType DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42 DiningTableType)\n (receptacleType SideTable_bar__minus_02_dot_11_bar__plus_00_dot_01_bar__minus_00_dot_14 SideTableType)\n (receptacleType Drawer_bar__minus_02_dot_11_bar__plus_00_dot_66_bar__minus_00_dot_07 DrawerType)\n (objectType Chair_bar__minus_01_dot_87_bar__minus_00_dot_01_bar__plus_01_dot_75 ChairType)\n (objectType Pencil_bar__minus_02_dot_09_bar__plus_00_dot_60_bar__plus_04_dot_73 PencilType)\n (objectType Plate_bar__minus_02_dot_77_bar__plus_00_dot_72_bar__plus_06_dot_13 PlateType)\n (objectType Box_bar__minus_02_dot_14_bar__plus_00_dot_68_bar__plus_03_dot_71 BoxType)\n (objectType Chair_bar__minus_01_dot_42_bar__minus_00_dot_01_bar__plus_01_dot_43 ChairType)\n (objectType RemoteControl_bar__minus_02_dot_67_bar__plus_00_dot_48_bar__plus_03_dot_62 RemoteControlType)\n (objectType Pencil_bar__minus_02_dot_24_bar__plus_00_dot_61_bar__plus_04_dot_73 PencilType)\n (objectType Vase_bar__minus_02_dot_51_bar__plus_00_dot_24_bar__plus_06_dot_16 VaseType)\n (objectType Chair_bar__minus_01_dot_86_bar_00_dot_00_bar__plus_01_dot_14 ChairType)\n (objectType Pencil_bar__minus_04_dot_90_bar__plus_00_dot_06_bar__plus_00_dot_36 PencilType)\n (objectType Chair_bar__minus_02_dot_48_bar__plus_00_dot_00_bar__plus_01_dot_75 ChairType)\n (objectType Watch_bar__minus_02_dot_26_bar__plus_00_dot_24_bar__plus_06_dot_05 WatchType)\n (objectType CreditCard_bar__minus_00_dot_29_bar__plus_00_dot_62_bar__plus_03_dot_29 CreditCardType)\n (objectType Pen_bar__minus_04_dot_87_bar__plus_00_dot_06_bar__plus_00_dot_22 PenType)\n (objectType Window_bar__minus_00_dot_06_bar__plus_00_dot_93_bar__plus_01_dot_76 WindowType)\n (objectType Vase_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_05 VaseType)\n (objectType Vase_bar__minus_02_dot_39_bar__plus_00_dot_75_bar__minus_00_dot_16 VaseType)\n (objectType Window_bar__minus_00_dot_06_bar__plus_01_dot_13_bar__plus_04_dot_89 WindowType)\n (objectType Chair_bar__minus_02_dot_49_bar__minus_00_dot_01_bar__plus_01_dot_11 ChairType)\n (objectType FloorLamp_bar__minus_00_dot_57_bar__plus_00_dot_00_bar__plus_00_dot_03 FloorLampType)\n (objectType Television_bar__minus_02_dot_36_bar__plus_01_dot_21_bar__plus_06_dot_28 TelevisionType)\n (objectType Statue_bar__minus_02_dot_93_bar__plus_00_dot_70_bar__plus_01_dot_67 StatueType)\n (objectType Plate_bar__minus_02_dot_47_bar__plus_00_dot_10_bar__plus_04_dot_73 PlateType)\n (objectType Statue_bar__minus_02_dot_13_bar__plus_00_dot_24_bar__plus_06_dot_16 StatueType)\n (objectType Newspaper_bar__minus_02_dot_16_bar__plus_00_dot_10_bar__plus_04_dot_73 NewspaperType)\n (objectType Pen_bar__minus_02_dot_47_bar__plus_00_dot_35_bar__plus_04_dot_89 PenType)\n (objectType LightSwitch_bar__minus_03_dot_31_bar__plus_01_dot_34_bar__minus_00_dot_32 LightSwitchType)\n (objectType TissueBox_bar__minus_02_dot_32_bar__plus_00_dot_35_bar__plus_05_dot_04 TissueBoxType)\n (objectType CreditCard_bar__minus_02_dot_24_bar__plus_00_dot_10_bar__plus_05_dot_04 CreditCardType)\n (objectType Book_bar__minus_01_dot_87_bar__plus_00_dot_68_bar__plus_01_dot_17 BookType)\n (objectType Watch_bar__minus_00_dot_22_bar__plus_00_dot_70_bar__plus_03_dot_37 WatchType)\n (objectType Bowl_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_67 BowlType)\n (objectType Pillow_bar__minus_03_dot_27_bar__plus_00_dot_66_bar__plus_03_dot_44 PillowType)\n (objectType Laptop_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_42 LaptopType)\n (objectType KeyChain_bar__minus_01_dot_61_bar__plus_00_dot_48_bar__plus_03_dot_71 KeyChainType)\n (objectType CreditCard_bar__minus_02_dot_24_bar__plus_00_dot_60_bar__plus_05_dot_12 CreditCardType)\n (objectType Curtains_bar__minus_00_dot_08_bar__plus_02_dot_42_bar__plus_00_dot_97 CurtainsType)\n (objectType HousePlant_bar__minus_03_dot_02_bar__plus_00_dot_59_bar__minus_00_dot_02 HousePlantType)\n (objectType TissueBox_bar__minus_02_dot_47_bar__plus_00_dot_10_bar__plus_04_dot_89 TissueBoxType)\n (objectType Chair_bar__minus_03_dot_03_bar__minus_00_dot_01_bar__plus_01_dot_40 ChairType)\n (objectType Painting_bar__minus_02_dot_05_bar__plus_01_dot_62_bar__minus_00_dot_30 PaintingType)\n (canContain TVStandType TissueBoxType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType BookType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType NewspaperType)\n (canContain ArmChairType CreditCardType)\n (canContain DiningTableType PenType)\n (canContain DiningTableType BookType)\n (canContain DiningTableType WatchType)\n (canContain DiningTableType NewspaperType)\n (canContain DiningTableType BowlType)\n (canContain DiningTableType VaseType)\n (canContain DiningTableType BoxType)\n (canContain DiningTableType KeyChainType)\n (canContain DiningTableType CreditCardType)\n (canContain DiningTableType LaptopType)\n (canContain DiningTableType PencilType)\n (canContain DiningTableType PlateType)\n (canContain DiningTableType RemoteControlType)\n (canContain DiningTableType TissueBoxType)\n (canContain DiningTableType StatueType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType BookType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType NewspaperType)\n (canContain ArmChairType CreditCardType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain SofaType BoxType)\n (canContain SofaType LaptopType)\n (canContain SofaType BookType)\n (canContain SofaType PillowType)\n (canContain SofaType RemoteControlType)\n (canContain SofaType KeyChainType)\n (canContain SofaType NewspaperType)\n (canContain SofaType CreditCardType)\n (canContain CoffeeTableType PenType)\n (canContain CoffeeTableType BookType)\n (canContain CoffeeTableType WatchType)\n (canContain CoffeeTableType NewspaperType)\n (canContain CoffeeTableType BowlType)\n (canContain CoffeeTableType VaseType)\n (canContain CoffeeTableType BoxType)\n (canContain CoffeeTableType KeyChainType)\n (canContain CoffeeTableType CreditCardType)\n (canContain CoffeeTableType LaptopType)\n (canContain CoffeeTableType PencilType)\n (canContain CoffeeTableType PlateType)\n (canContain CoffeeTableType RemoteControlType)\n (canContain CoffeeTableType TissueBoxType)\n (canContain CoffeeTableType StatueType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType WatchType)\n (canContain SideTableType NewspaperType)\n (canContain SideTableType BowlType)\n (canContain SideTableType VaseType)\n (canContain SideTableType BoxType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType PlateType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType TissueBoxType)\n (canContain SideTableType StatueType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType NewspaperType)\n (canContain GarbageCanType PencilType)\n (canContain GarbageCanType TissueBoxType)\n (canContain DiningTableType PenType)\n (canContain DiningTableType BookType)\n (canContain DiningTableType WatchType)\n (canContain DiningTableType NewspaperType)\n (canContain DiningTableType BowlType)\n (canContain DiningTableType VaseType)\n (canContain DiningTableType BoxType)\n (canContain DiningTableType KeyChainType)\n (canContain DiningTableType CreditCardType)\n (canContain DiningTableType LaptopType)\n (canContain DiningTableType PencilType)\n (canContain DiningTableType PlateType)\n (canContain DiningTableType RemoteControlType)\n (canContain DiningTableType TissueBoxType)\n (canContain DiningTableType StatueType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType WatchType)\n (canContain SideTableType NewspaperType)\n (canContain SideTableType BowlType)\n (canContain SideTableType VaseType)\n (canContain SideTableType BoxType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType PlateType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType TissueBoxType)\n (canContain SideTableType StatueType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (pickupable Pencil_bar__minus_02_dot_09_bar__plus_00_dot_60_bar__plus_04_dot_73)\n (pickupable Plate_bar__minus_02_dot_77_bar__plus_00_dot_72_bar__plus_06_dot_13)\n (pickupable Box_bar__minus_02_dot_14_bar__plus_00_dot_68_bar__plus_03_dot_71)\n (pickupable RemoteControl_bar__minus_02_dot_67_bar__plus_00_dot_48_bar__plus_03_dot_62)\n (pickupable Pencil_bar__minus_02_dot_24_bar__plus_00_dot_61_bar__plus_04_dot_73)\n (pickupable Vase_bar__minus_02_dot_51_bar__plus_00_dot_24_bar__plus_06_dot_16)\n (pickupable Pencil_bar__minus_04_dot_90_bar__plus_00_dot_06_bar__plus_00_dot_36)\n (pickupable Watch_bar__minus_02_dot_26_bar__plus_00_dot_24_bar__plus_06_dot_05)\n (pickupable CreditCard_bar__minus_00_dot_29_bar__plus_00_dot_62_bar__plus_03_dot_29)\n (pickupable Pen_bar__minus_04_dot_87_bar__plus_00_dot_06_bar__plus_00_dot_22)\n (pickupable Vase_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_05)\n (pickupable Vase_bar__minus_02_dot_39_bar__plus_00_dot_75_bar__minus_00_dot_16)\n (pickupable Statue_bar__minus_02_dot_93_bar__plus_00_dot_70_bar__plus_01_dot_67)\n (pickupable Plate_bar__minus_02_dot_47_bar__plus_00_dot_10_bar__plus_04_dot_73)\n (pickupable Statue_bar__minus_02_dot_13_bar__plus_00_dot_24_bar__plus_06_dot_16)\n (pickupable Newspaper_bar__minus_02_dot_16_bar__plus_00_dot_10_bar__plus_04_dot_73)\n (pickupable Pen_bar__minus_02_dot_47_bar__plus_00_dot_35_bar__plus_04_dot_89)\n (pickupable TissueBox_bar__minus_02_dot_32_bar__plus_00_dot_35_bar__plus_05_dot_04)\n (pickupable CreditCard_bar__minus_02_dot_24_bar__plus_00_dot_10_bar__plus_05_dot_04)\n (pickupable Book_bar__minus_01_dot_87_bar__plus_00_dot_68_bar__plus_01_dot_17)\n (pickupable Watch_bar__minus_00_dot_22_bar__plus_00_dot_70_bar__plus_03_dot_37)\n (pickupable Bowl_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_67)\n (pickupable Pillow_bar__minus_03_dot_27_bar__plus_00_dot_66_bar__plus_03_dot_44)\n (pickupable Laptop_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_42)\n (pickupable KeyChain_bar__minus_01_dot_61_bar__plus_00_dot_48_bar__plus_03_dot_71)\n (pickupable CreditCard_bar__minus_02_dot_24_bar__plus_00_dot_60_bar__plus_05_dot_12)\n (pickupable TissueBox_bar__minus_02_dot_47_bar__plus_00_dot_10_bar__plus_04_dot_89)\n (isReceptacleObject Plate_bar__minus_02_dot_77_bar__plus_00_dot_72_bar__plus_06_dot_13)\n (isReceptacleObject Box_bar__minus_02_dot_14_bar__plus_00_dot_68_bar__plus_03_dot_71)\n (isReceptacleObject Plate_bar__minus_02_dot_47_bar__plus_00_dot_10_bar__plus_04_dot_73)\n (isReceptacleObject Bowl_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_67)\n (openable Drawer_bar__minus_00_dot_30_bar__plus_00_dot_62_bar__plus_03_dot_37)\n (openable Drawer_bar__minus_02_dot_11_bar__plus_00_dot_66_bar__minus_00_dot_07)\n \n (atLocation agent1 loc_bar__minus_17_bar_19_bar_1_bar_30)\n \n (cleanable Plate_bar__minus_02_dot_77_bar__plus_00_dot_72_bar__plus_06_dot_13)\n (cleanable Plate_bar__minus_02_dot_47_bar__plus_00_dot_10_bar__plus_04_dot_73)\n (cleanable Bowl_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_67)\n \n (heatable Plate_bar__minus_02_dot_77_bar__plus_00_dot_72_bar__plus_06_dot_13)\n (heatable Plate_bar__minus_02_dot_47_bar__plus_00_dot_10_bar__plus_04_dot_73)\n (coolable Plate_bar__minus_02_dot_77_bar__plus_00_dot_72_bar__plus_06_dot_13)\n (coolable Plate_bar__minus_02_dot_47_bar__plus_00_dot_10_bar__plus_04_dot_73)\n (coolable Bowl_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_67)\n \n \n (toggleable FloorLamp_bar__minus_00_dot_57_bar__plus_00_dot_00_bar__plus_00_dot_03)\n \n \n \n \n (inReceptacle HousePlant_bar__minus_03_dot_02_bar__plus_00_dot_59_bar__minus_00_dot_02 DiningTable_bar__minus_03_dot_20_bar__plus_00_dot_59_bar__plus_00_dot_21)\n (inReceptacle Statue_bar__minus_02_dot_13_bar__plus_00_dot_24_bar__plus_06_dot_16 TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30)\n (inReceptacle Plate_bar__minus_02_dot_77_bar__plus_00_dot_72_bar__plus_06_dot_13 TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30)\n (inReceptacle Watch_bar__minus_02_dot_26_bar__plus_00_dot_24_bar__plus_06_dot_05 TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30)\n (inReceptacle Vase_bar__minus_02_dot_51_bar__plus_00_dot_24_bar__plus_06_dot_16 TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30)\n (inReceptacle Television_bar__minus_02_dot_36_bar__plus_01_dot_21_bar__plus_06_dot_28 TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30)\n (inReceptacle Newspaper_bar__minus_02_dot_16_bar__plus_00_dot_10_bar__plus_04_dot_73 CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89)\n (inReceptacle Plate_bar__minus_02_dot_47_bar__plus_00_dot_10_bar__plus_04_dot_73 CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89)\n (inReceptacle Pen_bar__minus_02_dot_47_bar__plus_00_dot_35_bar__plus_04_dot_89 CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89)\n (inReceptacle TissueBox_bar__minus_02_dot_32_bar__plus_00_dot_35_bar__plus_05_dot_04 CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89)\n (inReceptacle CreditCard_bar__minus_02_dot_24_bar__plus_00_dot_10_bar__plus_05_dot_04 CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89)\n (inReceptacle Pencil_bar__minus_02_dot_09_bar__plus_00_dot_60_bar__plus_04_dot_73 CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89)\n (inReceptacle TissueBox_bar__minus_02_dot_47_bar__plus_00_dot_10_bar__plus_04_dot_89 CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89)\n (inReceptacle Pencil_bar__minus_02_dot_24_bar__plus_00_dot_61_bar__plus_04_dot_73 CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89)\n (inReceptacle CreditCard_bar__minus_02_dot_24_bar__plus_00_dot_60_bar__plus_05_dot_12 CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89)\n (inReceptacle Vase_bar__minus_02_dot_39_bar__plus_00_dot_75_bar__minus_00_dot_16 SideTable_bar__minus_02_dot_11_bar__plus_00_dot_01_bar__minus_00_dot_14)\n (inReceptacle Curtains_bar__minus_00_dot_08_bar__plus_02_dot_42_bar__plus_00_dot_97 SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_37)\n (inReceptacle Watch_bar__minus_00_dot_22_bar__plus_00_dot_70_bar__plus_03_dot_37 SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_37)\n (inReceptacle Pillow_bar__minus_03_dot_27_bar__plus_00_dot_66_bar__plus_03_dot_44 Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42)\n (inReceptacle Box_bar__minus_02_dot_14_bar__plus_00_dot_68_bar__plus_03_dot_71 Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42)\n (inReceptacle RemoteControl_bar__minus_02_dot_67_bar__plus_00_dot_48_bar__plus_03_dot_62 Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42)\n (inReceptacle Pencil_bar__minus_04_dot_90_bar__plus_00_dot_06_bar__plus_00_dot_36 GarbageCan_bar__minus_04_dot_87_bar__plus_00_dot_00_bar__plus_00_dot_27)\n (inReceptacle Pen_bar__minus_04_dot_87_bar__plus_00_dot_06_bar__plus_00_dot_22 GarbageCan_bar__minus_04_dot_87_bar__plus_00_dot_00_bar__plus_00_dot_27)\n (inReceptacle CreditCard_bar__minus_00_dot_29_bar__plus_00_dot_62_bar__plus_03_dot_29 Drawer_bar__minus_00_dot_30_bar__plus_00_dot_62_bar__plus_03_dot_37)\n (inReceptacle Statue_bar__minus_02_dot_93_bar__plus_00_dot_70_bar__plus_01_dot_67 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42)\n (inReceptacle Book_bar__minus_01_dot_87_bar__plus_00_dot_68_bar__plus_01_dot_17 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42)\n (inReceptacle Vase_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_05 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42)\n (inReceptacle Bowl_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_67 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42)\n (inReceptacle Laptop_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_42 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42)\n \n \n (receptacleAtLocation ArmChair_bar__minus_00_dot_78_bar__plus_00_dot_01_bar__plus_06_dot_08 loc_bar__minus_4_bar_20_bar_0_bar_60)\n (receptacleAtLocation ArmChair_bar__minus_04_dot_41_bar__plus_00_dot_01_bar__plus_06_dot_01 loc_bar__minus_17_bar_20_bar_0_bar_60)\n (receptacleAtLocation CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89 loc_bar__minus_14_bar_18_bar_1_bar_60)\n (receptacleAtLocation DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42 loc_bar__minus_10_bar_10_bar_2_bar_60)\n (receptacleAtLocation DiningTable_bar__minus_03_dot_20_bar__plus_00_dot_59_bar__plus_00_dot_21 loc_bar__minus_16_bar_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_30_bar__plus_00_dot_62_bar__plus_03_dot_37 loc_bar__minus_4_bar_17_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_11_bar__plus_00_dot_66_bar__minus_00_dot_07 loc_bar__minus_12_bar_2_bar_1_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_04_dot_87_bar__plus_00_dot_00_bar__plus_00_dot_27 loc_bar__minus_18_bar_2_bar_3_bar_60)\n (receptacleAtLocation SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_37 loc_bar__minus_3_bar_9_bar_0_bar_60)\n (receptacleAtLocation SideTable_bar__minus_02_dot_11_bar__plus_00_dot_01_bar__minus_00_dot_14 loc_bar__minus_8_bar_2_bar_2_bar_60)\n (receptacleAtLocation Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42 loc_bar__minus_9_bar_17_bar_2_bar_60)\n (receptacleAtLocation TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30 loc_bar__minus_10_bar_22_bar_0_bar_60)\n (objectAtLocation Pen_bar__minus_04_dot_87_bar__plus_00_dot_06_bar__plus_00_dot_22 loc_bar__minus_18_bar_2_bar_3_bar_60)\n (objectAtLocation Watch_bar__minus_02_dot_26_bar__plus_00_dot_24_bar__plus_06_dot_05 loc_bar__minus_10_bar_22_bar_0_bar_60)\n (objectAtLocation Pencil_bar__minus_04_dot_90_bar__plus_00_dot_06_bar__plus_00_dot_36 loc_bar__minus_18_bar_2_bar_3_bar_60)\n (objectAtLocation Vase_bar__minus_02_dot_51_bar__plus_00_dot_24_bar__plus_06_dot_16 loc_bar__minus_10_bar_22_bar_0_bar_60)\n (objectAtLocation Plate_bar__minus_02_dot_47_bar__plus_00_dot_10_bar__plus_04_dot_73 loc_bar__minus_14_bar_18_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__minus_00_dot_29_bar__plus_00_dot_62_bar__plus_03_dot_29 loc_bar__minus_4_bar_17_bar_2_bar_45)\n (objectAtLocation TissueBox_bar__minus_02_dot_47_bar__plus_00_dot_10_bar__plus_04_dot_89 loc_bar__minus_14_bar_18_bar_1_bar_60)\n (objectAtLocation Statue_bar__minus_02_dot_13_bar__plus_00_dot_24_bar__plus_06_dot_16 loc_bar__minus_10_bar_22_bar_0_bar_60)\n (objectAtLocation CreditCard_bar__minus_02_dot_24_bar__plus_00_dot_60_bar__plus_05_dot_12 loc_bar__minus_14_bar_18_bar_1_bar_60)\n (objectAtLocation Pencil_bar__minus_02_dot_24_bar__plus_00_dot_61_bar__plus_04_dot_73 loc_bar__minus_14_bar_18_bar_1_bar_60)\n (objectAtLocation Vase_bar__minus_02_dot_39_bar__plus_00_dot_75_bar__minus_00_dot_16 loc_bar__minus_8_bar_2_bar_2_bar_60)\n (objectAtLocation Painting_bar__minus_02_dot_05_bar__plus_01_dot_62_bar__minus_00_dot_30 loc_bar__minus_8_bar_2_bar_2_bar_0)\n (objectAtLocation Chair_bar__minus_01_dot_87_bar__minus_00_dot_01_bar__plus_01_dot_75 loc_bar__minus_6_bar_9_bar_2_bar_60)\n (objectAtLocation Book_bar__minus_01_dot_87_bar__plus_00_dot_68_bar__plus_01_dot_17 loc_bar__minus_10_bar_10_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_02_dot_48_bar__plus_00_dot_00_bar__plus_01_dot_75 loc_bar__minus_10_bar_10_bar_2_bar_60)\n (objectAtLocation Box_bar__minus_02_dot_14_bar__plus_00_dot_68_bar__plus_03_dot_71 loc_bar__minus_9_bar_17_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_01_dot_42_bar__minus_00_dot_01_bar__plus_01_dot_43 loc_bar__minus_3_bar_6_bar_3_bar_60)\n (objectAtLocation Chair_bar__minus_03_dot_03_bar__minus_00_dot_01_bar__plus_01_dot_40 loc_bar__minus_15_bar_6_bar_1_bar_60)\n (objectAtLocation Chair_bar__minus_01_dot_86_bar_00_dot_00_bar__plus_01_dot_14 loc_bar__minus_7_bar_2_bar_0_bar_60)\n (objectAtLocation Curtains_bar__minus_00_dot_08_bar__plus_02_dot_42_bar__plus_00_dot_97 loc_bar__minus_3_bar_9_bar_0_bar_60)\n (objectAtLocation Statue_bar__minus_02_dot_93_bar__plus_00_dot_70_bar__plus_01_dot_67 loc_bar__minus_10_bar_10_bar_2_bar_60)\n (objectAtLocation Laptop_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_42 loc_bar__minus_10_bar_10_bar_2_bar_60)\n (objectAtLocation Television_bar__minus_02_dot_36_bar__plus_01_dot_21_bar__plus_06_dot_28 loc_bar__minus_10_bar_22_bar_0_bar_60)\n (objectAtLocation HousePlant_bar__minus_03_dot_02_bar__plus_00_dot_59_bar__minus_00_dot_02 loc_bar__minus_16_bar_2_bar_1_bar_60)\n (objectAtLocation TissueBox_bar__minus_02_dot_32_bar__plus_00_dot_35_bar__plus_05_dot_04 loc_bar__minus_14_bar_18_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__minus_02_dot_24_bar__plus_00_dot_10_bar__plus_05_dot_04 loc_bar__minus_14_bar_18_bar_1_bar_60)\n (objectAtLocation Plate_bar__minus_02_dot_77_bar__plus_00_dot_72_bar__plus_06_dot_13 loc_bar__minus_10_bar_22_bar_0_bar_60)\n (objectAtLocation KeyChain_bar__minus_01_dot_61_bar__plus_00_dot_48_bar__plus_03_dot_71 loc_bar__minus_6_bar_17_bar_2_bar_60)\n (objectAtLocation FloorLamp_bar__minus_00_dot_57_bar__plus_00_dot_00_bar__plus_00_dot_03 loc_bar__minus_5_bar_1_bar_1_bar_60)\n (objectAtLocation Vase_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_05 loc_bar__minus_10_bar_10_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_02_dot_49_bar__minus_00_dot_01_bar__plus_01_dot_11 loc_bar__minus_10_bar_2_bar_0_bar_60)\n (objectAtLocation Pencil_bar__minus_02_dot_09_bar__plus_00_dot_60_bar__plus_04_dot_73 loc_bar__minus_14_bar_18_bar_1_bar_60)\n (objectAtLocation Pillow_bar__minus_03_dot_27_bar__plus_00_dot_66_bar__plus_03_dot_44 loc_bar__minus_9_bar_17_bar_2_bar_60)\n (objectAtLocation Bowl_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_67 loc_bar__minus_10_bar_10_bar_2_bar_60)\n (objectAtLocation RemoteControl_bar__minus_02_dot_67_bar__plus_00_dot_48_bar__plus_03_dot_62 loc_bar__minus_9_bar_17_bar_2_bar_60)\n (objectAtLocation Watch_bar__minus_00_dot_22_bar__plus_00_dot_70_bar__plus_03_dot_37 loc_bar__minus_3_bar_9_bar_0_bar_60)\n (objectAtLocation Pen_bar__minus_02_dot_47_bar__plus_00_dot_35_bar__plus_04_dot_89 loc_bar__minus_14_bar_18_bar_1_bar_60)\n (objectAtLocation Newspaper_bar__minus_02_dot_16_bar__plus_00_dot_10_bar__plus_04_dot_73 loc_bar__minus_14_bar_18_bar_1_bar_60)\n (objectAtLocation Window_bar__minus_00_dot_06_bar__plus_00_dot_93_bar__plus_01_dot_76 loc_bar__minus_2_bar_7_bar_1_bar_60)\n (objectAtLocation Window_bar__minus_00_dot_06_bar__plus_01_dot_13_bar__plus_04_dot_89 loc_bar__minus_2_bar_20_bar_1_bar_45)\n (objectAtLocation LightSwitch_bar__minus_03_dot_31_bar__plus_01_dot_34_bar__minus_00_dot_32 loc_bar__minus_14_bar_1_bar_2_bar_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o WatchType)\n (receptacleType ?r CoffeeTableType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to tvstand 1", "take watch 1 from tvstand 1", "go to coffeetable 1", "move watch 1 to coffeetable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Watch-None-CoffeeTable-201/trial_T20190908_124509_296941/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Watch-None-CoffeeTable-201/trial_T20190908_124509_296941/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..ca0b562cfbed9f3cf0b3523aa9de996f9266c719 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Watch-None-CoffeeTable-201/trial_T20190908_124509_296941/initial_state.pddl @@ -0,0 +1,608 @@ + +(define (problem plan_trial_T20190908_124509_296941) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Book_bar__minus_01_dot_87_bar__plus_00_dot_68_bar__plus_01_dot_17 - object + Bowl_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_67 - object + Box_bar__minus_02_dot_14_bar__plus_00_dot_68_bar__plus_03_dot_71 - object + Chair_bar__minus_01_dot_42_bar__minus_00_dot_01_bar__plus_01_dot_43 - object + Chair_bar__minus_01_dot_86_bar_00_dot_00_bar__plus_01_dot_14 - object + Chair_bar__minus_01_dot_87_bar__minus_00_dot_01_bar__plus_01_dot_75 - object + Chair_bar__minus_02_dot_48_bar__plus_00_dot_00_bar__plus_01_dot_75 - object + 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ArmChair_bar__minus_04_dot_41_bar__plus_00_dot_01_bar__plus_06_dot_01 - receptacle + CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89 - receptacle + DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42 - receptacle + DiningTable_bar__minus_03_dot_20_bar__plus_00_dot_59_bar__plus_00_dot_21 - receptacle + Drawer_bar__minus_00_dot_30_bar__plus_00_dot_62_bar__plus_03_dot_37 - receptacle + Drawer_bar__minus_02_dot_11_bar__plus_00_dot_66_bar__minus_00_dot_07 - receptacle + GarbageCan_bar__minus_04_dot_87_bar__plus_00_dot_00_bar__plus_00_dot_27 - receptacle + SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_37 - receptacle + SideTable_bar__minus_02_dot_11_bar__plus_00_dot_01_bar__minus_00_dot_14 - receptacle + Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42 - receptacle + TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30 - receptacle + loc_bar__minus_17_bar_20_bar_0_bar_60 - location + loc_bar__minus_2_bar_20_bar_1_bar_45 - location + loc_bar__minus_10_bar_22_bar_0_bar_60 - location + loc_bar__minus_8_bar_2_bar_2_bar_60 - location + loc_bar__minus_12_bar_2_bar_1_bar_45 - location + loc_bar__minus_10_bar_2_bar_0_bar_60 - location + loc_bar__minus_6_bar_9_bar_2_bar_60 - location + loc_bar__minus_16_bar_2_bar_1_bar_60 - location + loc_bar__minus_9_bar_17_bar_2_bar_60 - location + loc_bar__minus_18_bar_2_bar_3_bar_60 - location + loc_bar__minus_8_bar_2_bar_2_bar_0 - location + loc_bar__minus_15_bar_6_bar_1_bar_60 - location + loc_bar__minus_14_bar_1_bar_2_bar_30 - location + loc_bar__minus_3_bar_6_bar_3_bar_60 - location + loc_bar__minus_14_bar_18_bar_1_bar_60 - location + loc_bar__minus_6_bar_17_bar_2_bar_60 - location + loc_bar__minus_4_bar_20_bar_0_bar_60 - location + loc_bar__minus_3_bar_9_bar_0_bar_60 - location + loc_bar__minus_4_bar_17_bar_2_bar_45 - location + loc_bar__minus_2_bar_7_bar_1_bar_60 - location + loc_bar__minus_10_bar_10_bar_2_bar_60 - location + loc_bar__minus_7_bar_2_bar_0_bar_60 - location + loc_bar__minus_5_bar_1_bar_1_bar_60 - location + loc_bar__minus_17_bar_19_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30 TVStandType) + (receptacleType ArmChair_bar__minus_00_dot_78_bar__plus_00_dot_01_bar__plus_06_dot_08 ArmChairType) + (receptacleType DiningTable_bar__minus_03_dot_20_bar__plus_00_dot_59_bar__plus_00_dot_21 DiningTableType) + (receptacleType ArmChair_bar__minus_04_dot_41_bar__plus_00_dot_01_bar__plus_06_dot_01 ArmChairType) + (receptacleType Drawer_bar__minus_00_dot_30_bar__plus_00_dot_62_bar__plus_03_dot_37 DrawerType) + (receptacleType Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42 SofaType) + (receptacleType CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89 CoffeeTableType) + (receptacleType SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_37 SideTableType) + (receptacleType GarbageCan_bar__minus_04_dot_87_bar__plus_00_dot_00_bar__plus_00_dot_27 GarbageCanType) + (receptacleType DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42 DiningTableType) + (receptacleType SideTable_bar__minus_02_dot_11_bar__plus_00_dot_01_bar__minus_00_dot_14 SideTableType) + (receptacleType Drawer_bar__minus_02_dot_11_bar__plus_00_dot_66_bar__minus_00_dot_07 DrawerType) + (objectType Chair_bar__minus_01_dot_87_bar__minus_00_dot_01_bar__plus_01_dot_75 ChairType) + (objectType Pencil_bar__minus_02_dot_09_bar__plus_00_dot_60_bar__plus_04_dot_73 PencilType) + (objectType Plate_bar__minus_02_dot_77_bar__plus_00_dot_72_bar__plus_06_dot_13 PlateType) + (objectType Box_bar__minus_02_dot_14_bar__plus_00_dot_68_bar__plus_03_dot_71 BoxType) + (objectType Chair_bar__minus_01_dot_42_bar__minus_00_dot_01_bar__plus_01_dot_43 ChairType) + (objectType RemoteControl_bar__minus_02_dot_67_bar__plus_00_dot_48_bar__plus_03_dot_62 RemoteControlType) + (objectType 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(objectType Window_bar__minus_00_dot_06_bar__plus_01_dot_13_bar__plus_04_dot_89 WindowType) + (objectType Chair_bar__minus_02_dot_49_bar__minus_00_dot_01_bar__plus_01_dot_11 ChairType) + (objectType FloorLamp_bar__minus_00_dot_57_bar__plus_00_dot_00_bar__plus_00_dot_03 FloorLampType) + (objectType Television_bar__minus_02_dot_36_bar__plus_01_dot_21_bar__plus_06_dot_28 TelevisionType) + (objectType Statue_bar__minus_02_dot_93_bar__plus_00_dot_70_bar__plus_01_dot_67 StatueType) + (objectType Plate_bar__minus_02_dot_47_bar__plus_00_dot_10_bar__plus_04_dot_73 PlateType) + (objectType Statue_bar__minus_02_dot_13_bar__plus_00_dot_24_bar__plus_06_dot_16 StatueType) + (objectType Newspaper_bar__minus_02_dot_16_bar__plus_00_dot_10_bar__plus_04_dot_73 NewspaperType) + (objectType Pen_bar__minus_02_dot_47_bar__plus_00_dot_35_bar__plus_04_dot_89 PenType) + (objectType LightSwitch_bar__minus_03_dot_31_bar__plus_01_dot_34_bar__minus_00_dot_32 LightSwitchType) + (objectType 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Book_bar__minus_01_dot_87_bar__plus_00_dot_68_bar__plus_01_dot_17) + (pickupable Watch_bar__minus_00_dot_22_bar__plus_00_dot_70_bar__plus_03_dot_37) + (pickupable Bowl_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_67) + (pickupable Pillow_bar__minus_03_dot_27_bar__plus_00_dot_66_bar__plus_03_dot_44) + (pickupable Laptop_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_42) + (pickupable KeyChain_bar__minus_01_dot_61_bar__plus_00_dot_48_bar__plus_03_dot_71) + (pickupable CreditCard_bar__minus_02_dot_24_bar__plus_00_dot_60_bar__plus_05_dot_12) + (pickupable TissueBox_bar__minus_02_dot_47_bar__plus_00_dot_10_bar__plus_04_dot_89) + (isReceptacleObject Plate_bar__minus_02_dot_77_bar__plus_00_dot_72_bar__plus_06_dot_13) + (isReceptacleObject Box_bar__minus_02_dot_14_bar__plus_00_dot_68_bar__plus_03_dot_71) + (isReceptacleObject Plate_bar__minus_02_dot_47_bar__plus_00_dot_10_bar__plus_04_dot_73) + (isReceptacleObject Bowl_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_67) + (openable Drawer_bar__minus_00_dot_30_bar__plus_00_dot_62_bar__plus_03_dot_37) + (openable Drawer_bar__minus_02_dot_11_bar__plus_00_dot_66_bar__minus_00_dot_07) + + (atLocation agent1 loc_bar__minus_17_bar_19_bar_1_bar_30) + + (cleanable Plate_bar__minus_02_dot_77_bar__plus_00_dot_72_bar__plus_06_dot_13) + (cleanable Plate_bar__minus_02_dot_47_bar__plus_00_dot_10_bar__plus_04_dot_73) + (cleanable Bowl_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_67) + + (heatable Plate_bar__minus_02_dot_77_bar__plus_00_dot_72_bar__plus_06_dot_13) + (heatable Plate_bar__minus_02_dot_47_bar__plus_00_dot_10_bar__plus_04_dot_73) + (coolable Plate_bar__minus_02_dot_77_bar__plus_00_dot_72_bar__plus_06_dot_13) + (coolable Plate_bar__minus_02_dot_47_bar__plus_00_dot_10_bar__plus_04_dot_73) + (coolable Bowl_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_67) + + + (toggleable FloorLamp_bar__minus_00_dot_57_bar__plus_00_dot_00_bar__plus_00_dot_03) + + + + + (inReceptacle HousePlant_bar__minus_03_dot_02_bar__plus_00_dot_59_bar__minus_00_dot_02 DiningTable_bar__minus_03_dot_20_bar__plus_00_dot_59_bar__plus_00_dot_21) + (inReceptacle Statue_bar__minus_02_dot_13_bar__plus_00_dot_24_bar__plus_06_dot_16 TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30) + (inReceptacle Plate_bar__minus_02_dot_77_bar__plus_00_dot_72_bar__plus_06_dot_13 TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30) + (inReceptacle Watch_bar__minus_02_dot_26_bar__plus_00_dot_24_bar__plus_06_dot_05 TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30) + (inReceptacle Vase_bar__minus_02_dot_51_bar__plus_00_dot_24_bar__plus_06_dot_16 TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30) + (inReceptacle Television_bar__minus_02_dot_36_bar__plus_01_dot_21_bar__plus_06_dot_28 TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30) + (inReceptacle Newspaper_bar__minus_02_dot_16_bar__plus_00_dot_10_bar__plus_04_dot_73 CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89) + (inReceptacle Plate_bar__minus_02_dot_47_bar__plus_00_dot_10_bar__plus_04_dot_73 CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89) + (inReceptacle Pen_bar__minus_02_dot_47_bar__plus_00_dot_35_bar__plus_04_dot_89 CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89) + (inReceptacle TissueBox_bar__minus_02_dot_32_bar__plus_00_dot_35_bar__plus_05_dot_04 CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89) + (inReceptacle CreditCard_bar__minus_02_dot_24_bar__plus_00_dot_10_bar__plus_05_dot_04 CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89) + (inReceptacle Pencil_bar__minus_02_dot_09_bar__plus_00_dot_60_bar__plus_04_dot_73 CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89) + (inReceptacle TissueBox_bar__minus_02_dot_47_bar__plus_00_dot_10_bar__plus_04_dot_89 CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89) + (inReceptacle Pencil_bar__minus_02_dot_24_bar__plus_00_dot_61_bar__plus_04_dot_73 CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89) + (inReceptacle CreditCard_bar__minus_02_dot_24_bar__plus_00_dot_60_bar__plus_05_dot_12 CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89) + (inReceptacle Vase_bar__minus_02_dot_39_bar__plus_00_dot_75_bar__minus_00_dot_16 SideTable_bar__minus_02_dot_11_bar__plus_00_dot_01_bar__minus_00_dot_14) + (inReceptacle Curtains_bar__minus_00_dot_08_bar__plus_02_dot_42_bar__plus_00_dot_97 SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_37) + (inReceptacle Watch_bar__minus_00_dot_22_bar__plus_00_dot_70_bar__plus_03_dot_37 SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_37) + (inReceptacle Pillow_bar__minus_03_dot_27_bar__plus_00_dot_66_bar__plus_03_dot_44 Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42) + (inReceptacle Box_bar__minus_02_dot_14_bar__plus_00_dot_68_bar__plus_03_dot_71 Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42) + (inReceptacle RemoteControl_bar__minus_02_dot_67_bar__plus_00_dot_48_bar__plus_03_dot_62 Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42) + (inReceptacle Pencil_bar__minus_04_dot_90_bar__plus_00_dot_06_bar__plus_00_dot_36 GarbageCan_bar__minus_04_dot_87_bar__plus_00_dot_00_bar__plus_00_dot_27) + (inReceptacle Pen_bar__minus_04_dot_87_bar__plus_00_dot_06_bar__plus_00_dot_22 GarbageCan_bar__minus_04_dot_87_bar__plus_00_dot_00_bar__plus_00_dot_27) + (inReceptacle CreditCard_bar__minus_00_dot_29_bar__plus_00_dot_62_bar__plus_03_dot_29 Drawer_bar__minus_00_dot_30_bar__plus_00_dot_62_bar__plus_03_dot_37) + (inReceptacle Statue_bar__minus_02_dot_93_bar__plus_00_dot_70_bar__plus_01_dot_67 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42) + (inReceptacle Book_bar__minus_01_dot_87_bar__plus_00_dot_68_bar__plus_01_dot_17 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42) + (inReceptacle Vase_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_05 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42) + (inReceptacle Bowl_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_67 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42) + (inReceptacle Laptop_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_42 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42) + + + (receptacleAtLocation ArmChair_bar__minus_00_dot_78_bar__plus_00_dot_01_bar__plus_06_dot_08 loc_bar__minus_4_bar_20_bar_0_bar_60) + (receptacleAtLocation ArmChair_bar__minus_04_dot_41_bar__plus_00_dot_01_bar__plus_06_dot_01 loc_bar__minus_17_bar_20_bar_0_bar_60) + (receptacleAtLocation CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89 loc_bar__minus_14_bar_18_bar_1_bar_60) + (receptacleAtLocation DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42 loc_bar__minus_10_bar_10_bar_2_bar_60) + (receptacleAtLocation DiningTable_bar__minus_03_dot_20_bar__plus_00_dot_59_bar__plus_00_dot_21 loc_bar__minus_16_bar_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_30_bar__plus_00_dot_62_bar__plus_03_dot_37 loc_bar__minus_4_bar_17_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_11_bar__plus_00_dot_66_bar__minus_00_dot_07 loc_bar__minus_12_bar_2_bar_1_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_04_dot_87_bar__plus_00_dot_00_bar__plus_00_dot_27 loc_bar__minus_18_bar_2_bar_3_bar_60) + (receptacleAtLocation SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_37 loc_bar__minus_3_bar_9_bar_0_bar_60) + (receptacleAtLocation SideTable_bar__minus_02_dot_11_bar__plus_00_dot_01_bar__minus_00_dot_14 loc_bar__minus_8_bar_2_bar_2_bar_60) + (receptacleAtLocation Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42 loc_bar__minus_9_bar_17_bar_2_bar_60) + (receptacleAtLocation TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30 loc_bar__minus_10_bar_22_bar_0_bar_60) + (objectAtLocation Pen_bar__minus_04_dot_87_bar__plus_00_dot_06_bar__plus_00_dot_22 loc_bar__minus_18_bar_2_bar_3_bar_60) + (objectAtLocation Watch_bar__minus_02_dot_26_bar__plus_00_dot_24_bar__plus_06_dot_05 loc_bar__minus_10_bar_22_bar_0_bar_60) + (objectAtLocation Pencil_bar__minus_04_dot_90_bar__plus_00_dot_06_bar__plus_00_dot_36 loc_bar__minus_18_bar_2_bar_3_bar_60) + (objectAtLocation Vase_bar__minus_02_dot_51_bar__plus_00_dot_24_bar__plus_06_dot_16 loc_bar__minus_10_bar_22_bar_0_bar_60) + (objectAtLocation Plate_bar__minus_02_dot_47_bar__plus_00_dot_10_bar__plus_04_dot_73 loc_bar__minus_14_bar_18_bar_1_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_29_bar__plus_00_dot_62_bar__plus_03_dot_29 loc_bar__minus_4_bar_17_bar_2_bar_45) + (objectAtLocation TissueBox_bar__minus_02_dot_47_bar__plus_00_dot_10_bar__plus_04_dot_89 loc_bar__minus_14_bar_18_bar_1_bar_60) + (objectAtLocation Statue_bar__minus_02_dot_13_bar__plus_00_dot_24_bar__plus_06_dot_16 loc_bar__minus_10_bar_22_bar_0_bar_60) + (objectAtLocation CreditCard_bar__minus_02_dot_24_bar__plus_00_dot_60_bar__plus_05_dot_12 loc_bar__minus_14_bar_18_bar_1_bar_60) + (objectAtLocation Pencil_bar__minus_02_dot_24_bar__plus_00_dot_61_bar__plus_04_dot_73 loc_bar__minus_14_bar_18_bar_1_bar_60) + (objectAtLocation Vase_bar__minus_02_dot_39_bar__plus_00_dot_75_bar__minus_00_dot_16 loc_bar__minus_8_bar_2_bar_2_bar_60) + (objectAtLocation Painting_bar__minus_02_dot_05_bar__plus_01_dot_62_bar__minus_00_dot_30 loc_bar__minus_8_bar_2_bar_2_bar_0) + (objectAtLocation Chair_bar__minus_01_dot_87_bar__minus_00_dot_01_bar__plus_01_dot_75 loc_bar__minus_6_bar_9_bar_2_bar_60) + (objectAtLocation Book_bar__minus_01_dot_87_bar__plus_00_dot_68_bar__plus_01_dot_17 loc_bar__minus_10_bar_10_bar_2_bar_60) + (objectAtLocation Chair_bar__minus_02_dot_48_bar__plus_00_dot_00_bar__plus_01_dot_75 loc_bar__minus_10_bar_10_bar_2_bar_60) + (objectAtLocation Box_bar__minus_02_dot_14_bar__plus_00_dot_68_bar__plus_03_dot_71 loc_bar__minus_9_bar_17_bar_2_bar_60) + (objectAtLocation Chair_bar__minus_01_dot_42_bar__minus_00_dot_01_bar__plus_01_dot_43 loc_bar__minus_3_bar_6_bar_3_bar_60) + (objectAtLocation Chair_bar__minus_03_dot_03_bar__minus_00_dot_01_bar__plus_01_dot_40 loc_bar__minus_15_bar_6_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_01_dot_86_bar_00_dot_00_bar__plus_01_dot_14 loc_bar__minus_7_bar_2_bar_0_bar_60) + (objectAtLocation Curtains_bar__minus_00_dot_08_bar__plus_02_dot_42_bar__plus_00_dot_97 loc_bar__minus_3_bar_9_bar_0_bar_60) + (objectAtLocation Statue_bar__minus_02_dot_93_bar__plus_00_dot_70_bar__plus_01_dot_67 loc_bar__minus_10_bar_10_bar_2_bar_60) + (objectAtLocation Laptop_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_42 loc_bar__minus_10_bar_10_bar_2_bar_60) + (objectAtLocation Television_bar__minus_02_dot_36_bar__plus_01_dot_21_bar__plus_06_dot_28 loc_bar__minus_10_bar_22_bar_0_bar_60) + (objectAtLocation HousePlant_bar__minus_03_dot_02_bar__plus_00_dot_59_bar__minus_00_dot_02 loc_bar__minus_16_bar_2_bar_1_bar_60) + (objectAtLocation TissueBox_bar__minus_02_dot_32_bar__plus_00_dot_35_bar__plus_05_dot_04 loc_bar__minus_14_bar_18_bar_1_bar_60) + (objectAtLocation CreditCard_bar__minus_02_dot_24_bar__plus_00_dot_10_bar__plus_05_dot_04 loc_bar__minus_14_bar_18_bar_1_bar_60) + (objectAtLocation Plate_bar__minus_02_dot_77_bar__plus_00_dot_72_bar__plus_06_dot_13 loc_bar__minus_10_bar_22_bar_0_bar_60) + (objectAtLocation KeyChain_bar__minus_01_dot_61_bar__plus_00_dot_48_bar__plus_03_dot_71 loc_bar__minus_6_bar_17_bar_2_bar_60) + (objectAtLocation FloorLamp_bar__minus_00_dot_57_bar__plus_00_dot_00_bar__plus_00_dot_03 loc_bar__minus_5_bar_1_bar_1_bar_60) + (objectAtLocation Vase_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_05 loc_bar__minus_10_bar_10_bar_2_bar_60) + (objectAtLocation Chair_bar__minus_02_dot_49_bar__minus_00_dot_01_bar__plus_01_dot_11 loc_bar__minus_10_bar_2_bar_0_bar_60) + (objectAtLocation Pencil_bar__minus_02_dot_09_bar__plus_00_dot_60_bar__plus_04_dot_73 loc_bar__minus_14_bar_18_bar_1_bar_60) + (objectAtLocation Pillow_bar__minus_03_dot_27_bar__plus_00_dot_66_bar__plus_03_dot_44 loc_bar__minus_9_bar_17_bar_2_bar_60) + (objectAtLocation Bowl_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_67 loc_bar__minus_10_bar_10_bar_2_bar_60) + (objectAtLocation RemoteControl_bar__minus_02_dot_67_bar__plus_00_dot_48_bar__plus_03_dot_62 loc_bar__minus_9_bar_17_bar_2_bar_60) + (objectAtLocation Watch_bar__minus_00_dot_22_bar__plus_00_dot_70_bar__plus_03_dot_37 loc_bar__minus_3_bar_9_bar_0_bar_60) + (objectAtLocation Pen_bar__minus_02_dot_47_bar__plus_00_dot_35_bar__plus_04_dot_89 loc_bar__minus_14_bar_18_bar_1_bar_60) + (objectAtLocation Newspaper_bar__minus_02_dot_16_bar__plus_00_dot_10_bar__plus_04_dot_73 loc_bar__minus_14_bar_18_bar_1_bar_60) + (objectAtLocation Window_bar__minus_00_dot_06_bar__plus_00_dot_93_bar__plus_01_dot_76 loc_bar__minus_2_bar_7_bar_1_bar_60) + (objectAtLocation Window_bar__minus_00_dot_06_bar__plus_01_dot_13_bar__plus_04_dot_89 loc_bar__minus_2_bar_20_bar_1_bar_45) + (objectAtLocation LightSwitch_bar__minus_03_dot_31_bar__plus_01_dot_34_bar__minus_00_dot_32 loc_bar__minus_14_bar_1_bar_2_bar_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o WatchType) + (receptacleType ?r CoffeeTableType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Watch-None-CoffeeTable-201/trial_T20190908_124509_296941/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Watch-None-CoffeeTable-201/trial_T20190908_124509_296941/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..322b6e11d4443dd7ec96f9fcae898991ed612078 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Watch-None-CoffeeTable-201/trial_T20190908_124509_296941/traj_data.json @@ -0,0 +1,3051 @@ +{ + "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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1 + ] + }, + { + "assignment_id": "ARB8SJAWXUWTD_3J88R45B2JP8PZO54AZ18S5AQ65XP6", + "high_descs": [ + "Go to the TV table", + "Pick up a watch from the table", + "Go to the center glass table", + "Put the watch on the glass table" + ], + "task_desc": "Move a watch to the glass table", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2KAGFQU28JY43_3OVHNO1VE9SO5XLU0JWR5J4WKNOZDF", + "high_descs": [ + "Walk to the coffee table in the center of all the furniture in the living room, then turn left and go to the TV stand TV. ", + "Pick up the watch between the two ornaments, on the bottom shelf of the TV stand. ", + "Turn around and go to the coffee table in front of the couch. ", + "Place the watch on the right corner, closest to the couch, on the coffee table. " + ], + "task_desc": "Put the watch on the coffee table. ", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Watch-None-CoffeeTable-201/trial_T20190908_124528_692571/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Watch-None-CoffeeTable-201/trial_T20190908_124528_692571/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..874fa4767c1dd7b1f4ec604b8615bfefd0d2fc5e --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Watch-None-CoffeeTable-201/trial_T20190908_124528_692571/initial_state.pddl @@ -0,0 +1,623 @@ + +(define (problem plan_trial_T20190908_124528_692571) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Book_bar__minus_02_dot_14_bar__plus_00_dot_48_bar__plus_03_dot_53 - object + Bowl_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_42 - object + Bowl_bar__minus_02_dot_93_bar__plus_00_dot_69_bar__plus_01_dot_79 - object + Box_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__plus_03_dot_35 - object + Box_bar__minus_02_dot_40_bar__plus_00_dot_68_bar__plus_03_dot_53 - object + Chair_bar__minus_01_dot_42_bar__minus_00_dot_01_bar__plus_01_dot_43 - object + Chair_bar__minus_01_dot_86_bar_00_dot_00_bar__plus_01_dot_14 - object + Chair_bar__minus_01_dot_87_bar__minus_00_dot_01_bar__plus_01_dot_75 - object + Chair_bar__minus_02_dot_48_bar__plus_00_dot_00_bar__plus_01_dot_75 - object + Chair_bar__minus_02_dot_49_bar__minus_00_dot_01_bar__plus_01_dot_11 - object + Chair_bar__minus_03_dot_03_bar__minus_00_dot_01_bar__plus_01_dot_40 - object + CreditCard_bar__minus_01_dot_03_bar__plus_00_dot_44_bar__plus_06_dot_22 - object + CreditCard_bar__minus_02_dot_00_bar__plus_00_dot_72_bar__plus_06_dot_13 - object + Curtains_bar__minus_00_dot_08_bar__plus_02_dot_42_bar__plus_00_dot_97 - object + FloorLamp_bar__minus_00_dot_57_bar__plus_00_dot_00_bar__plus_00_dot_03 - object + HousePlant_bar__minus_03_dot_02_bar__plus_00_dot_59_bar__minus_00_dot_02 - object + KeyChain_bar__minus_01_dot_01_bar__plus_00_dot_43_bar__plus_05_dot_85 - object + KeyChain_bar__minus_01_dot_86_bar__plus_00_dot_65_bar__minus_00_dot_13 - object + Lamp_bar__minus_00_dot_28_bar__plus_00_dot_70_bar__plus_03_dot_61 - object + Laptop_bar__minus_01_dot_70_bar__plus_00_dot_68_bar__plus_01_dot_66 - object + LightSwitch_bar__minus_03_dot_31_bar__plus_01_dot_34_bar__minus_00_dot_32 - object + Newspaper_bar__minus_02_dot_05_bar__plus_00_dot_69_bar__plus_01_dot_30 - object + Newspaper_bar__minus_02_dot_25_bar__plus_00_dot_75_bar__minus_00_dot_03 - object + Newspaper_bar__minus_02_dot_40_bar__plus_00_dot_10_bar__plus_05_dot_12 - object + Painting_bar__minus_02_dot_05_bar__plus_01_dot_62_bar__minus_00_dot_30 - object + Pencil_bar__minus_02_dot_26_bar__plus_00_dot_24_bar__plus_06_dot_12 - object + Pencil_bar__minus_02_dot_39_bar__plus_00_dot_24_bar__plus_06_dot_01 - object + Pencil_bar__minus_02_dot_76_bar__plus_00_dot_24_bar__plus_06_dot_01 - object + Pen_bar__minus_02_dot_47_bar__plus_00_dot_35_bar__plus_04_dot_73 - object + Pen_bar__minus_02_dot_51_bar__plus_00_dot_24_bar__plus_06_dot_08 - object + Pillow_bar__minus_03_dot_27_bar__plus_00_dot_66_bar__plus_03_dot_44 - object + Plate_bar__minus_02_dot_40_bar__plus_00_dot_60_bar__plus_04_dot_81 - object + RemoteControl_bar__minus_02_dot_49_bar__plus_00_dot_69_bar__plus_01_dot_18 - object + RemoteControl_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_67 - object + RemoteControl_bar__minus_04_dot_46_bar__plus_00_dot_45_bar__plus_05_dot_90 - object + Statue_bar__minus_00_dot_25_bar__plus_00_dot_71_bar__plus_03_dot_20 - object + Television_bar__minus_02_dot_36_bar__plus_01_dot_21_bar__plus_06_dot_28 - object + TissueBox_bar__minus_02_dot_16_bar__plus_00_dot_10_bar__plus_05_dot_04 - object + TissueBox_bar__minus_02_dot_40_bar__plus_00_dot_60_bar__plus_04_dot_65 - object + TissueBox_bar__minus_02_dot_53_bar__plus_00_dot_75_bar__minus_00_dot_12 - object + Vase_bar__minus_02_dot_24_bar__plus_00_dot_10_bar__plus_04_dot_73 - object + Vase_bar__minus_02_dot_24_bar__plus_00_dot_35_bar__plus_04_dot_89 - object + Watch_bar__minus_02_dot_26_bar__plus_00_dot_72_bar__plus_06_dot_05 - object + Window_bar__minus_00_dot_06_bar__plus_00_dot_93_bar__plus_01_dot_76 - object + Window_bar__minus_00_dot_06_bar__plus_01_dot_13_bar__plus_04_dot_89 - object + ArmChair_bar__minus_00_dot_78_bar__plus_00_dot_01_bar__plus_06_dot_08 - receptacle + ArmChair_bar__minus_04_dot_41_bar__plus_00_dot_01_bar__plus_06_dot_01 - receptacle + CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89 - receptacle + DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42 - receptacle + DiningTable_bar__minus_03_dot_20_bar__plus_00_dot_59_bar__plus_00_dot_21 - receptacle + Drawer_bar__minus_00_dot_30_bar__plus_00_dot_62_bar__plus_03_dot_37 - receptacle + Drawer_bar__minus_02_dot_11_bar__plus_00_dot_66_bar__minus_00_dot_07 - receptacle + GarbageCan_bar__minus_04_dot_87_bar__plus_00_dot_00_bar__plus_00_dot_27 - receptacle + SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_37 - receptacle + SideTable_bar__minus_02_dot_11_bar__plus_00_dot_01_bar__minus_00_dot_14 - receptacle + Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42 - receptacle + TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30 - receptacle + loc_bar__minus_17_bar_20_bar_0_bar_60 - location + loc_bar__minus_2_bar_20_bar_1_bar_45 - location + loc_bar__minus_10_bar_22_bar_0_bar_60 - location + loc_bar__minus_8_bar_2_bar_2_bar_60 - location + loc_bar__minus_12_bar_2_bar_1_bar_45 - location + loc_bar__minus_10_bar_2_bar_0_bar_60 - location + loc_bar__minus_6_bar_9_bar_2_bar_60 - location + loc_bar__minus_16_bar_2_bar_1_bar_60 - location + loc_bar__minus_9_bar_17_bar_2_bar_60 - location + loc_bar__minus_18_bar_2_bar_3_bar_60 - location + loc_bar__minus_8_bar_2_bar_2_bar_0 - location + loc_bar__minus_15_bar_6_bar_1_bar_60 - location + loc_bar__minus_14_bar_1_bar_2_bar_30 - location + loc_bar__minus_3_bar_6_bar_3_bar_60 - location + loc_bar__minus_14_bar_18_bar_1_bar_60 - location + loc_bar__minus_4_bar_20_bar_0_bar_60 - location + loc_bar__minus_3_bar_9_bar_0_bar_60 - location + loc_bar__minus_4_bar_17_bar_2_bar_45 - location + loc_bar__minus_2_bar_7_bar_1_bar_60 - location + loc_bar__minus_10_bar_10_bar_2_bar_60 - location + loc_bar__minus_7_bar_2_bar_0_bar_60 - location + loc_bar__minus_5_bar_1_bar_1_bar_60 - location + loc_bar__minus_15_bar_11_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30 TVStandType) + (receptacleType ArmChair_bar__minus_00_dot_78_bar__plus_00_dot_01_bar__plus_06_dot_08 ArmChairType) + (receptacleType DiningTable_bar__minus_03_dot_20_bar__plus_00_dot_59_bar__plus_00_dot_21 DiningTableType) + (receptacleType ArmChair_bar__minus_04_dot_41_bar__plus_00_dot_01_bar__plus_06_dot_01 ArmChairType) + (receptacleType Drawer_bar__minus_00_dot_30_bar__plus_00_dot_62_bar__plus_03_dot_37 DrawerType) + (receptacleType Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42 SofaType) + (receptacleType CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89 CoffeeTableType) + (receptacleType SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_37 SideTableType) + (receptacleType GarbageCan_bar__minus_04_dot_87_bar__plus_00_dot_00_bar__plus_00_dot_27 GarbageCanType) + (receptacleType DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42 DiningTableType) + (receptacleType SideTable_bar__minus_02_dot_11_bar__plus_00_dot_01_bar__minus_00_dot_14 SideTableType) + (receptacleType Drawer_bar__minus_02_dot_11_bar__plus_00_dot_66_bar__minus_00_dot_07 DrawerType) + (objectType CreditCard_bar__minus_01_dot_03_bar__plus_00_dot_44_bar__plus_06_dot_22 CreditCardType) + (objectType Chair_bar__minus_01_dot_87_bar__minus_00_dot_01_bar__plus_01_dot_75 ChairType) + (objectType Watch_bar__minus_02_dot_26_bar__plus_00_dot_72_bar__plus_06_dot_05 WatchType) + (objectType CreditCard_bar__minus_02_dot_00_bar__plus_00_dot_72_bar__plus_06_dot_13 CreditCardType) + (objectType RemoteControl_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_67 RemoteControlType) + (objectType Laptop_bar__minus_01_dot_70_bar__plus_00_dot_68_bar__plus_01_dot_66 LaptopType) + (objectType Box_bar__minus_02_dot_40_bar__plus_00_dot_68_bar__plus_03_dot_53 BoxType) + (objectType Pencil_bar__minus_02_dot_76_bar__plus_00_dot_24_bar__plus_06_dot_01 PencilType) + (objectType Newspaper_bar__minus_02_dot_40_bar__plus_00_dot_10_bar__plus_05_dot_12 NewspaperType) + (objectType Chair_bar__minus_01_dot_42_bar__minus_00_dot_01_bar__plus_01_dot_43 ChairType) + (objectType Pencil_bar__minus_02_dot_26_bar__plus_00_dot_24_bar__plus_06_dot_12 PencilType) + (objectType Plate_bar__minus_02_dot_40_bar__plus_00_dot_60_bar__plus_04_dot_81 PlateType) + (objectType Chair_bar__minus_01_dot_86_bar_00_dot_00_bar__plus_01_dot_14 ChairType) + (objectType Pencil_bar__minus_02_dot_39_bar__plus_00_dot_24_bar__plus_06_dot_01 PencilType) + (objectType Bowl_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_42 BowlType) + (objectType Bowl_bar__minus_02_dot_93_bar__plus_00_dot_69_bar__plus_01_dot_79 BowlType) + (objectType Book_bar__minus_02_dot_14_bar__plus_00_dot_48_bar__plus_03_dot_53 BookType) + (objectType Chair_bar__minus_02_dot_48_bar__plus_00_dot_00_bar__plus_01_dot_75 ChairType) + (objectType Window_bar__minus_00_dot_06_bar__plus_00_dot_93_bar__plus_01_dot_76 WindowType) + (objectType KeyChain_bar__minus_01_dot_01_bar__plus_00_dot_43_bar__plus_05_dot_85 KeyChainType) + (objectType Newspaper_bar__minus_02_dot_25_bar__plus_00_dot_75_bar__minus_00_dot_03 NewspaperType) + (objectType Statue_bar__minus_00_dot_25_bar__plus_00_dot_71_bar__plus_03_dot_20 StatueType) + (objectType Window_bar__minus_00_dot_06_bar__plus_01_dot_13_bar__plus_04_dot_89 WindowType) + (objectType Chair_bar__minus_02_dot_49_bar__minus_00_dot_01_bar__plus_01_dot_11 ChairType) + (objectType RemoteControl_bar__minus_02_dot_49_bar__plus_00_dot_69_bar__plus_01_dot_18 RemoteControlType) + (objectType Television_bar__minus_02_dot_36_bar__plus_01_dot_21_bar__plus_06_dot_28 TelevisionType) + (objectType FloorLamp_bar__minus_00_dot_57_bar__plus_00_dot_00_bar__plus_00_dot_03 FloorLampType) + (objectType LightSwitch_bar__minus_03_dot_31_bar__plus_01_dot_34_bar__minus_00_dot_32 LightSwitchType) + (objectType Vase_bar__minus_02_dot_24_bar__plus_00_dot_35_bar__plus_04_dot_89 VaseType) + (objectType Newspaper_bar__minus_02_dot_05_bar__plus_00_dot_69_bar__plus_01_dot_30 NewspaperType) + (objectType TissueBox_bar__minus_02_dot_16_bar__plus_00_dot_10_bar__plus_05_dot_04 TissueBoxType) + (objectType TissueBox_bar__minus_02_dot_53_bar__plus_00_dot_75_bar__minus_00_dot_12 TissueBoxType) + (objectType TissueBox_bar__minus_02_dot_40_bar__plus_00_dot_60_bar__plus_04_dot_65 TissueBoxType) + (objectType KeyChain_bar__minus_01_dot_86_bar__plus_00_dot_65_bar__minus_00_dot_13 KeyChainType) + (objectType Pillow_bar__minus_03_dot_27_bar__plus_00_dot_66_bar__plus_03_dot_44 PillowType) + (objectType Pen_bar__minus_02_dot_51_bar__plus_00_dot_24_bar__plus_06_dot_08 PenType) + (objectType Pen_bar__minus_02_dot_47_bar__plus_00_dot_35_bar__plus_04_dot_73 PenType) + (objectType Curtains_bar__minus_00_dot_08_bar__plus_02_dot_42_bar__plus_00_dot_97 CurtainsType) + (objectType HousePlant_bar__minus_03_dot_02_bar__plus_00_dot_59_bar__minus_00_dot_02 HousePlantType) + (objectType Vase_bar__minus_02_dot_24_bar__plus_00_dot_10_bar__plus_04_dot_73 VaseType) + (objectType Box_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__plus_03_dot_35 BoxType) + (objectType Chair_bar__minus_03_dot_03_bar__minus_00_dot_01_bar__plus_01_dot_40 ChairType) + (objectType RemoteControl_bar__minus_04_dot_46_bar__plus_00_dot_45_bar__plus_05_dot_90 RemoteControlType) + (objectType Painting_bar__minus_02_dot_05_bar__plus_01_dot_62_bar__minus_00_dot_30 PaintingType) + (canContain TVStandType TissueBoxType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType BookType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType NewspaperType) + (canContain ArmChairType CreditCardType) + (canContain DiningTableType PenType) + (canContain DiningTableType BookType) + (canContain DiningTableType WatchType) + (canContain DiningTableType NewspaperType) + (canContain DiningTableType BowlType) + (canContain DiningTableType VaseType) + (canContain DiningTableType BoxType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType PencilType) + (canContain DiningTableType PlateType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType TissueBoxType) + (canContain DiningTableType StatueType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType BookType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType NewspaperType) + (canContain ArmChairType CreditCardType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType NewspaperType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType BookType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType NewspaperType) + (canContain SofaType CreditCardType) + (canContain CoffeeTableType PenType) + (canContain CoffeeTableType BookType) + (canContain CoffeeTableType WatchType) + (canContain CoffeeTableType NewspaperType) + (canContain CoffeeTableType BowlType) + (canContain CoffeeTableType VaseType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType PencilType) + (canContain CoffeeTableType PlateType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType TissueBoxType) + (canContain CoffeeTableType StatueType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType 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(canContain DiningTableType CreditCardType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType PencilType) + (canContain DiningTableType PlateType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType TissueBoxType) + (canContain DiningTableType StatueType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType WatchType) + (canContain SideTableType NewspaperType) + (canContain SideTableType BowlType) + (canContain SideTableType VaseType) + (canContain SideTableType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType PencilType) + (canContain SideTableType PlateType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType TissueBoxType) + (canContain SideTableType StatueType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType NewspaperType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (pickupable CreditCard_bar__minus_01_dot_03_bar__plus_00_dot_44_bar__plus_06_dot_22) + (pickupable Watch_bar__minus_02_dot_26_bar__plus_00_dot_72_bar__plus_06_dot_05) + (pickupable CreditCard_bar__minus_02_dot_00_bar__plus_00_dot_72_bar__plus_06_dot_13) + (pickupable RemoteControl_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_67) + (pickupable Laptop_bar__minus_01_dot_70_bar__plus_00_dot_68_bar__plus_01_dot_66) + (pickupable Box_bar__minus_02_dot_40_bar__plus_00_dot_68_bar__plus_03_dot_53) + (pickupable Pencil_bar__minus_02_dot_76_bar__plus_00_dot_24_bar__plus_06_dot_01) + (pickupable Newspaper_bar__minus_02_dot_40_bar__plus_00_dot_10_bar__plus_05_dot_12) + (pickupable Pencil_bar__minus_02_dot_26_bar__plus_00_dot_24_bar__plus_06_dot_12) + (pickupable Plate_bar__minus_02_dot_40_bar__plus_00_dot_60_bar__plus_04_dot_81) + (pickupable Pencil_bar__minus_02_dot_39_bar__plus_00_dot_24_bar__plus_06_dot_01) + (pickupable Bowl_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_42) + (pickupable Bowl_bar__minus_02_dot_93_bar__plus_00_dot_69_bar__plus_01_dot_79) + (pickupable Book_bar__minus_02_dot_14_bar__plus_00_dot_48_bar__plus_03_dot_53) + (pickupable KeyChain_bar__minus_01_dot_01_bar__plus_00_dot_43_bar__plus_05_dot_85) + (pickupable Newspaper_bar__minus_02_dot_25_bar__plus_00_dot_75_bar__minus_00_dot_03) + (pickupable Statue_bar__minus_00_dot_25_bar__plus_00_dot_71_bar__plus_03_dot_20) + (pickupable RemoteControl_bar__minus_02_dot_49_bar__plus_00_dot_69_bar__plus_01_dot_18) + (pickupable Vase_bar__minus_02_dot_24_bar__plus_00_dot_35_bar__plus_04_dot_89) + (pickupable Newspaper_bar__minus_02_dot_05_bar__plus_00_dot_69_bar__plus_01_dot_30) + (pickupable TissueBox_bar__minus_02_dot_16_bar__plus_00_dot_10_bar__plus_05_dot_04) + (pickupable TissueBox_bar__minus_02_dot_53_bar__plus_00_dot_75_bar__minus_00_dot_12) + (pickupable TissueBox_bar__minus_02_dot_40_bar__plus_00_dot_60_bar__plus_04_dot_65) + (pickupable KeyChain_bar__minus_01_dot_86_bar__plus_00_dot_65_bar__minus_00_dot_13) + (pickupable Pillow_bar__minus_03_dot_27_bar__plus_00_dot_66_bar__plus_03_dot_44) + (pickupable Pen_bar__minus_02_dot_51_bar__plus_00_dot_24_bar__plus_06_dot_08) + (pickupable Pen_bar__minus_02_dot_47_bar__plus_00_dot_35_bar__plus_04_dot_73) + (pickupable Vase_bar__minus_02_dot_24_bar__plus_00_dot_10_bar__plus_04_dot_73) + (pickupable Box_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__plus_03_dot_35) + (pickupable RemoteControl_bar__minus_04_dot_46_bar__plus_00_dot_45_bar__plus_05_dot_90) + (isReceptacleObject Box_bar__minus_02_dot_40_bar__plus_00_dot_68_bar__plus_03_dot_53) + (isReceptacleObject Plate_bar__minus_02_dot_40_bar__plus_00_dot_60_bar__plus_04_dot_81) + (isReceptacleObject Bowl_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_42) + (isReceptacleObject Bowl_bar__minus_02_dot_93_bar__plus_00_dot_69_bar__plus_01_dot_79) + (isReceptacleObject Box_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__plus_03_dot_35) + (openable Drawer_bar__minus_00_dot_30_bar__plus_00_dot_62_bar__plus_03_dot_37) + (openable Drawer_bar__minus_02_dot_11_bar__plus_00_dot_66_bar__minus_00_dot_07) + + (atLocation agent1 loc_bar__minus_15_bar_11_bar_2_bar_30) + + (cleanable Plate_bar__minus_02_dot_40_bar__plus_00_dot_60_bar__plus_04_dot_81) + (cleanable Bowl_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_42) + (cleanable Bowl_bar__minus_02_dot_93_bar__plus_00_dot_69_bar__plus_01_dot_79) + + (heatable Plate_bar__minus_02_dot_40_bar__plus_00_dot_60_bar__plus_04_dot_81) + (coolable Plate_bar__minus_02_dot_40_bar__plus_00_dot_60_bar__plus_04_dot_81) + (coolable Bowl_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_42) + (coolable Bowl_bar__minus_02_dot_93_bar__plus_00_dot_69_bar__plus_01_dot_79) + + + (toggleable FloorLamp_bar__minus_00_dot_57_bar__plus_00_dot_00_bar__plus_00_dot_03) + + + + + (inReceptacle CreditCard_bar__minus_01_dot_03_bar__plus_00_dot_44_bar__plus_06_dot_22 ArmChair_bar__minus_00_dot_78_bar__plus_00_dot_01_bar__plus_06_dot_08) + (inReceptacle KeyChain_bar__minus_01_dot_01_bar__plus_00_dot_43_bar__plus_05_dot_85 ArmChair_bar__minus_00_dot_78_bar__plus_00_dot_01_bar__plus_06_dot_08) + (inReceptacle HousePlant_bar__minus_03_dot_02_bar__plus_00_dot_59_bar__minus_00_dot_02 DiningTable_bar__minus_03_dot_20_bar__plus_00_dot_59_bar__plus_00_dot_21) + (inReceptacle Watch_bar__minus_02_dot_26_bar__plus_00_dot_72_bar__plus_06_dot_05 TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30) + (inReceptacle Pencil_bar__minus_02_dot_39_bar__plus_00_dot_24_bar__plus_06_dot_01 TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30) + (inReceptacle CreditCard_bar__minus_02_dot_00_bar__plus_00_dot_72_bar__plus_06_dot_13 TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30) + (inReceptacle Pen_bar__minus_02_dot_51_bar__plus_00_dot_24_bar__plus_06_dot_08 TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30) + (inReceptacle Pencil_bar__minus_02_dot_76_bar__plus_00_dot_24_bar__plus_06_dot_01 TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30) + (inReceptacle Pencil_bar__minus_02_dot_26_bar__plus_00_dot_24_bar__plus_06_dot_12 TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30) + (inReceptacle Television_bar__minus_02_dot_36_bar__plus_01_dot_21_bar__plus_06_dot_28 TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30) + (inReceptacle Pen_bar__minus_02_dot_47_bar__plus_00_dot_35_bar__plus_04_dot_73 CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89) + (inReceptacle TissueBox_bar__minus_02_dot_16_bar__plus_00_dot_10_bar__plus_05_dot_04 CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89) + (inReceptacle Vase_bar__minus_02_dot_24_bar__plus_00_dot_35_bar__plus_04_dot_89 CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89) + (inReceptacle Newspaper_bar__minus_02_dot_40_bar__plus_00_dot_10_bar__plus_05_dot_12 CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89) + (inReceptacle TissueBox_bar__minus_02_dot_40_bar__plus_00_dot_60_bar__plus_04_dot_65 CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89) + (inReceptacle Vase_bar__minus_02_dot_24_bar__plus_00_dot_10_bar__plus_04_dot_73 CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89) + (inReceptacle Plate_bar__minus_02_dot_40_bar__plus_00_dot_60_bar__plus_04_dot_81 CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89) + (inReceptacle RemoteControl_bar__minus_04_dot_46_bar__plus_00_dot_45_bar__plus_05_dot_90 ArmChair_bar__minus_04_dot_41_bar__plus_00_dot_01_bar__plus_06_dot_01) + (inReceptacle TissueBox_bar__minus_02_dot_53_bar__plus_00_dot_75_bar__minus_00_dot_12 SideTable_bar__minus_02_dot_11_bar__plus_00_dot_01_bar__minus_00_dot_14) + (inReceptacle Newspaper_bar__minus_02_dot_25_bar__plus_00_dot_75_bar__minus_00_dot_03 SideTable_bar__minus_02_dot_11_bar__plus_00_dot_01_bar__minus_00_dot_14) + (inReceptacle Statue_bar__minus_00_dot_25_bar__plus_00_dot_71_bar__plus_03_dot_20 SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_37) + (inReceptacle Curtains_bar__minus_00_dot_08_bar__plus_02_dot_42_bar__plus_00_dot_97 SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_37) + (inReceptacle KeyChain_bar__minus_01_dot_86_bar__plus_00_dot_65_bar__minus_00_dot_13 Drawer_bar__minus_02_dot_11_bar__plus_00_dot_66_bar__minus_00_dot_07) + (inReceptacle Pillow_bar__minus_03_dot_27_bar__plus_00_dot_66_bar__plus_03_dot_44 Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42) + (inReceptacle Box_bar__minus_02_dot_40_bar__plus_00_dot_68_bar__plus_03_dot_53 Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42) + (inReceptacle Box_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__plus_03_dot_35 Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42) + (inReceptacle Book_bar__minus_02_dot_14_bar__plus_00_dot_48_bar__plus_03_dot_53 Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42) + (inReceptacle RemoteControl_bar__minus_02_dot_49_bar__plus_00_dot_69_bar__plus_01_dot_18 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42) + (inReceptacle Bowl_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_42 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42) + (inReceptacle RemoteControl_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_67 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42) + (inReceptacle Bowl_bar__minus_02_dot_93_bar__plus_00_dot_69_bar__plus_01_dot_79 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42) + (inReceptacle Laptop_bar__minus_01_dot_70_bar__plus_00_dot_68_bar__plus_01_dot_66 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42) + (inReceptacle Newspaper_bar__minus_02_dot_05_bar__plus_00_dot_69_bar__plus_01_dot_30 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42) + + + (receptacleAtLocation ArmChair_bar__minus_00_dot_78_bar__plus_00_dot_01_bar__plus_06_dot_08 loc_bar__minus_4_bar_20_bar_0_bar_60) + (receptacleAtLocation ArmChair_bar__minus_04_dot_41_bar__plus_00_dot_01_bar__plus_06_dot_01 loc_bar__minus_17_bar_20_bar_0_bar_60) + (receptacleAtLocation CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89 loc_bar__minus_14_bar_18_bar_1_bar_60) + (receptacleAtLocation DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42 loc_bar__minus_10_bar_10_bar_2_bar_60) + (receptacleAtLocation DiningTable_bar__minus_03_dot_20_bar__plus_00_dot_59_bar__plus_00_dot_21 loc_bar__minus_16_bar_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_30_bar__plus_00_dot_62_bar__plus_03_dot_37 loc_bar__minus_4_bar_17_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_11_bar__plus_00_dot_66_bar__minus_00_dot_07 loc_bar__minus_12_bar_2_bar_1_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_04_dot_87_bar__plus_00_dot_00_bar__plus_00_dot_27 loc_bar__minus_18_bar_2_bar_3_bar_60) + (receptacleAtLocation SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_37 loc_bar__minus_3_bar_9_bar_0_bar_60) + (receptacleAtLocation SideTable_bar__minus_02_dot_11_bar__plus_00_dot_01_bar__minus_00_dot_14 loc_bar__minus_8_bar_2_bar_2_bar_60) + (receptacleAtLocation Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42 loc_bar__minus_9_bar_17_bar_2_bar_60) + (receptacleAtLocation TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30 loc_bar__minus_10_bar_22_bar_0_bar_60) + (objectAtLocation Newspaper_bar__minus_02_dot_25_bar__plus_00_dot_75_bar__minus_00_dot_03 loc_bar__minus_8_bar_2_bar_2_bar_60) + (objectAtLocation Pen_bar__minus_02_dot_47_bar__plus_00_dot_35_bar__plus_04_dot_73 loc_bar__minus_14_bar_18_bar_1_bar_60) + (objectAtLocation RemoteControl_bar__minus_04_dot_46_bar__plus_00_dot_45_bar__plus_05_dot_90 loc_bar__minus_17_bar_20_bar_0_bar_60) + (objectAtLocation Bowl_bar__minus_02_dot_93_bar__plus_00_dot_69_bar__plus_01_dot_79 loc_bar__minus_10_bar_10_bar_2_bar_60) + (objectAtLocation Pencil_bar__minus_02_dot_39_bar__plus_00_dot_24_bar__plus_06_dot_01 loc_bar__minus_10_bar_22_bar_0_bar_60) + (objectAtLocation Vase_bar__minus_02_dot_24_bar__plus_00_dot_35_bar__plus_04_dot_89 loc_bar__minus_14_bar_18_bar_1_bar_60) + (objectAtLocation KeyChain_bar__minus_01_dot_01_bar__plus_00_dot_43_bar__plus_05_dot_85 loc_bar__minus_4_bar_20_bar_0_bar_60) + (objectAtLocation CreditCard_bar__minus_02_dot_00_bar__plus_00_dot_72_bar__plus_06_dot_13 loc_bar__minus_10_bar_22_bar_0_bar_60) + (objectAtLocation TissueBox_bar__minus_02_dot_40_bar__plus_00_dot_60_bar__plus_04_dot_65 loc_bar__minus_14_bar_18_bar_1_bar_60) + (objectAtLocation Box_bar__minus_02_dot_40_bar__plus_00_dot_68_bar__plus_03_dot_53 loc_bar__minus_9_bar_17_bar_2_bar_60) + (objectAtLocation RemoteControl_bar__minus_02_dot_49_bar__plus_00_dot_69_bar__plus_01_dot_18 loc_bar__minus_10_bar_10_bar_2_bar_60) + (objectAtLocation Pencil_bar__minus_02_dot_26_bar__plus_00_dot_24_bar__plus_06_dot_12 loc_bar__minus_10_bar_22_bar_0_bar_60) + (objectAtLocation Newspaper_bar__minus_02_dot_05_bar__plus_00_dot_69_bar__plus_01_dot_30 loc_bar__minus_10_bar_10_bar_2_bar_60) + (objectAtLocation TissueBox_bar__minus_02_dot_53_bar__plus_00_dot_75_bar__minus_00_dot_12 loc_bar__minus_8_bar_2_bar_2_bar_60) + (objectAtLocation Painting_bar__minus_02_dot_05_bar__plus_01_dot_62_bar__minus_00_dot_30 loc_bar__minus_8_bar_2_bar_2_bar_0) + (objectAtLocation Chair_bar__minus_01_dot_87_bar__minus_00_dot_01_bar__plus_01_dot_75 loc_bar__minus_6_bar_9_bar_2_bar_60) + (objectAtLocation Book_bar__minus_02_dot_14_bar__plus_00_dot_48_bar__plus_03_dot_53 loc_bar__minus_9_bar_17_bar_2_bar_60) + (objectAtLocation Chair_bar__minus_02_dot_48_bar__plus_00_dot_00_bar__plus_01_dot_75 loc_bar__minus_10_bar_10_bar_2_bar_60) + (objectAtLocation Box_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__plus_03_dot_35 loc_bar__minus_9_bar_17_bar_2_bar_60) + (objectAtLocation Chair_bar__minus_01_dot_42_bar__minus_00_dot_01_bar__plus_01_dot_43 loc_bar__minus_3_bar_6_bar_3_bar_60) + (objectAtLocation Chair_bar__minus_03_dot_03_bar__minus_00_dot_01_bar__plus_01_dot_40 loc_bar__minus_15_bar_6_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_01_dot_86_bar_00_dot_00_bar__plus_01_dot_14 loc_bar__minus_7_bar_2_bar_0_bar_60) + (objectAtLocation Curtains_bar__minus_00_dot_08_bar__plus_02_dot_42_bar__plus_00_dot_97 loc_bar__minus_3_bar_9_bar_0_bar_60) + (objectAtLocation Statue_bar__minus_00_dot_25_bar__plus_00_dot_71_bar__plus_03_dot_20 loc_bar__minus_3_bar_9_bar_0_bar_60) + (objectAtLocation Laptop_bar__minus_01_dot_70_bar__plus_00_dot_68_bar__plus_01_dot_66 loc_bar__minus_10_bar_10_bar_2_bar_60) + (objectAtLocation Television_bar__minus_02_dot_36_bar__plus_01_dot_21_bar__plus_06_dot_28 loc_bar__minus_10_bar_22_bar_0_bar_60) + (objectAtLocation HousePlant_bar__minus_03_dot_02_bar__plus_00_dot_59_bar__minus_00_dot_02 loc_bar__minus_16_bar_2_bar_1_bar_60) + (objectAtLocation TissueBox_bar__minus_02_dot_16_bar__plus_00_dot_10_bar__plus_05_dot_04 loc_bar__minus_14_bar_18_bar_1_bar_60) + (objectAtLocation CreditCard_bar__minus_01_dot_03_bar__plus_00_dot_44_bar__plus_06_dot_22 loc_bar__minus_4_bar_20_bar_0_bar_60) + (objectAtLocation Plate_bar__minus_02_dot_40_bar__plus_00_dot_60_bar__plus_04_dot_81 loc_bar__minus_14_bar_18_bar_1_bar_60) + (objectAtLocation KeyChain_bar__minus_01_dot_86_bar__plus_00_dot_65_bar__minus_00_dot_13 loc_bar__minus_12_bar_2_bar_1_bar_45) + (objectAtLocation FloorLamp_bar__minus_00_dot_57_bar__plus_00_dot_00_bar__plus_00_dot_03 loc_bar__minus_5_bar_1_bar_1_bar_60) + (objectAtLocation Vase_bar__minus_02_dot_24_bar__plus_00_dot_10_bar__plus_04_dot_73 loc_bar__minus_14_bar_18_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_02_dot_49_bar__minus_00_dot_01_bar__plus_01_dot_11 loc_bar__minus_10_bar_2_bar_0_bar_60) + (objectAtLocation Pencil_bar__minus_02_dot_76_bar__plus_00_dot_24_bar__plus_06_dot_01 loc_bar__minus_10_bar_22_bar_0_bar_60) + (objectAtLocation Pillow_bar__minus_03_dot_27_bar__plus_00_dot_66_bar__plus_03_dot_44 loc_bar__minus_9_bar_17_bar_2_bar_60) + (objectAtLocation Bowl_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_42 loc_bar__minus_10_bar_10_bar_2_bar_60) + (objectAtLocation RemoteControl_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_67 loc_bar__minus_10_bar_10_bar_2_bar_60) + (objectAtLocation Watch_bar__minus_02_dot_26_bar__plus_00_dot_72_bar__plus_06_dot_05 loc_bar__minus_10_bar_22_bar_0_bar_60) + (objectAtLocation Pen_bar__minus_02_dot_51_bar__plus_00_dot_24_bar__plus_06_dot_08 loc_bar__minus_10_bar_22_bar_0_bar_60) + (objectAtLocation Newspaper_bar__minus_02_dot_40_bar__plus_00_dot_10_bar__plus_05_dot_12 loc_bar__minus_14_bar_18_bar_1_bar_60) + (objectAtLocation Window_bar__minus_00_dot_06_bar__plus_00_dot_93_bar__plus_01_dot_76 loc_bar__minus_2_bar_7_bar_1_bar_60) + (objectAtLocation Window_bar__minus_00_dot_06_bar__plus_01_dot_13_bar__plus_04_dot_89 loc_bar__minus_2_bar_20_bar_1_bar_45) + (objectAtLocation LightSwitch_bar__minus_03_dot_31_bar__plus_01_dot_34_bar__minus_00_dot_32 loc_bar__minus_14_bar_1_bar_2_bar_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o WatchType) + (receptacleType ?r CoffeeTableType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Watch-None-CoffeeTable-201/trial_T20190908_124528_692571/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Watch-None-CoffeeTable-201/trial_T20190908_124528_692571/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..c2d8107433b9fd39950fa832d2545fe00bf4b7a5 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Watch-None-CoffeeTable-201/trial_T20190908_124528_692571/traj_data.json @@ -0,0 +1,3493 @@ +{ + "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, + 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"position": { + "x": -2.39643335, + "y": 0.6003187, + "z": 4.80940866 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_17229c57", + "position": { + "x": -1.00814748, + "y": 0.433835745, + "z": 5.84756756 + }, + "rotation": { + "x": 0.0, + "y": 224.999969, + "z": 0.0 + } + }, + { + "objectName": "Vase_778c3347", + "position": { + "x": -2.24154282, + "y": 0.352598459, + "z": 4.887073 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pencil_28bfaf44", + "position": { + "x": -2.385267, + "y": 0.24129115, + "z": 6.010112 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pillow_0ec7daed", + "position": { + "x": -3.271, + "y": 0.661, + "z": 3.44 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 331.220551 + } + }, + { + "objectName": "Bowl_a610bd69", + "position": { + "x": -2.93476248, + "y": 0.6887834, + "z": 1.79379892 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "RemoteControl_a920a0bf", + "position": { + "x": -4.45702028, + "y": 0.4499311, + "z": 5.90222 + }, + "rotation": { + "x": 0.0, + "y": 59.9999466, + "z": 0.0 + } + }, + { + "objectName": "Watch_d71ae388", + "position": { + "x": -2.2579546, + "y": 0.7243306, + "z": 6.053634 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "Pen_c97e4a37", + "position": { + "x": -2.47387838, + "y": 0.351052821, + "z": 4.731745 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Newspaper_3336f113", + "position": { + "x": -2.253501, + "y": 0.7497844, + "z": -0.0287438035 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2042430680, + "scene_num": 201 + }, + "task_id": "trial_T20190908_124528_692571", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3SFPSMFRSRTB3_39L1G8WVWTITS9YPZJHN0GY8GUR13X", + "high_descs": [ + "Turn around, proceed past couch on right. Turn right, then left to face tv stand. Proceed to tv stand.", + "Remove watch from tv stand.", + "Turn left, proceed to chair. Proceed to couch, turn left.", + "Place watch on glass table, directly under the tissue box." + ], + "task_desc": "Move watch from to stand to table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1ELPYAFO7MANS_3HUTX6F6VXEP3J971L1TT26O3RP2OY", + "high_descs": [ + "Turn around and walk ahead, veering right to the TV stand.", + "Pick up the watch on the TV stand.", + "Turn around and walk to the right side of the coffee table.", + "Place the watch on the front left corner facing you." + ], + "task_desc": "Place a watch on a coffee table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1RLO9LNUJIW5S_3VD82FOHKTF21119YEQZ5FFAFICCOR", + "high_descs": [ + "Turn around and take a tiny step left then walk past the couch and turn right and walk to the area just before the coffee table then turn left and walk to the tv stand then turn right and walk to the middle of the tv then turn left.", + "Pick up the watch that's in front of you.", + "Turn left and walk to the chair then turn left and walk to the couch then turn left.", + "Put the watch under the tissues on the coffee table." + ], + "task_desc": "Put a watch on the coffee table.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Watch-None-CoffeeTable-201/trial_T20190908_124638_700872/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Watch-None-CoffeeTable-201/trial_T20190908_124638_700872/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..a9974780008ed90382c760b3a128d440948a40bf --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Watch-None-CoffeeTable-201/trial_T20190908_124638_700872/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 watch in coffeetable.\"\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_124638_700872)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Book_bar__minus_01_dot_87_bar__plus_00_dot_68_bar__plus_01_dot_17 - object\n Book_bar__minus_02_dot_24_bar__plus_00_dot_35_bar__plus_04_dot_96 - object\n Bowl_bar__minus_00_dot_25_bar__plus_00_dot_71_bar__plus_03_dot_20 - object\n Bowl_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_55 - object\n Box_bar__minus_03_dot_36_bar__plus_00_dot_22_bar__plus_06_dot_43 - object\n Chair_bar__minus_01_dot_42_bar__minus_00_dot_01_bar__plus_01_dot_43 - object\n Chair_bar__minus_01_dot_86_bar_00_dot_00_bar__plus_01_dot_14 - object\n Chair_bar__minus_01_dot_87_bar__minus_00_dot_01_bar__plus_01_dot_75 - object\n Chair_bar__minus_02_dot_48_bar__plus_00_dot_00_bar__plus_01_dot_75 - object\n Chair_bar__minus_02_dot_49_bar__minus_00_dot_01_bar__plus_01_dot_11 - object\n Chair_bar__minus_03_dot_03_bar__minus_00_dot_01_bar__plus_01_dot_40 - object\n CreditCard_bar__minus_02_dot_11_bar__plus_00_dot_75_bar__minus_00_dot_20 - object\n CreditCard_bar__minus_04_dot_01_bar__plus_00_dot_43_bar__plus_05_dot_87 - object\n Curtains_bar__minus_00_dot_08_bar__plus_02_dot_42_bar__plus_00_dot_97 - object\n FloorLamp_bar__minus_00_dot_57_bar__plus_00_dot_00_bar__plus_00_dot_03 - object\n HousePlant_bar__minus_03_dot_02_bar__plus_00_dot_59_bar__minus_00_dot_02 - object\n KeyChain_bar__minus_00_dot_71_bar__plus_00_dot_43_bar__plus_06_dot_15 - object\n KeyChain_bar__minus_02_dot_51_bar__plus_00_dot_24_bar__plus_06_dot_05 - object\n Lamp_bar__minus_00_dot_28_bar__plus_00_dot_70_bar__plus_03_dot_61 - object\n Laptop_bar__minus_00_dot_89_bar__plus_00_dot_45_bar__plus_05_dot_97 - object\n Laptop_bar__minus_02_dot_40_bar__plus_00_dot_48_bar__plus_03_dot_53 - object\n LightSwitch_bar__minus_03_dot_31_bar__plus_01_dot_34_bar__minus_00_dot_32 - object\n Newspaper_bar__minus_02_dot_67_bar__plus_00_dot_48_bar__plus_03_dot_53 - object\n Newspaper_bar__minus_04_dot_33_bar__plus_00_dot_45_bar__plus_05_dot_88 - object\n Painting_bar__minus_02_dot_05_bar__plus_01_dot_62_bar__minus_00_dot_30 - object\n Pencil_bar__minus_02_dot_64_bar__plus_00_dot_24_bar__plus_06_dot_19 - object\n Pencil_bar__minus_02_dot_76_bar__plus_00_dot_24_bar__plus_06_dot_12 - object\n Pencil_bar__minus_03_dot_08_bar__plus_00_dot_61_bar__plus_00_dot_00 - object\n Pen_bar__minus_02_dot_01_bar__plus_00_dot_24_bar__plus_06_dot_16 - object\n Pen_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_79 - object\n Pen_bar__minus_02_dot_40_bar__plus_00_dot_10_bar__plus_04_dot_81 - object\n Pillow_bar__minus_03_dot_27_bar__plus_00_dot_66_bar__plus_03_dot_44 - object\n Plate_bar__minus_02_dot_16_bar__plus_00_dot_10_bar__plus_04_dot_89 - object\n Plate_bar__minus_02_dot_39_bar__plus_00_dot_75_bar__minus_00_dot_12 - object\n RemoteControl_bar__minus_01_dot_87_bar__plus_00_dot_48_bar__plus_03_dot_71 - object\n RemoteControl_bar__minus_02_dot_55_bar__plus_00_dot_35_bar__plus_04_dot_89 - object\n Statue_bar__minus_01_dot_60_bar__plus_00_dot_70_bar__plus_01_dot_55 - object\n Statue_bar__minus_02_dot_93_bar__plus_00_dot_70_bar__plus_01_dot_42 - object\n Television_bar__minus_02_dot_36_bar__plus_01_dot_21_bar__plus_06_dot_28 - object\n TissueBox_bar__minus_01_dot_83_bar__plus_00_dot_69_bar__plus_01_dot_79 - object\n TissueBox_bar__minus_02_dot_47_bar__plus_00_dot_60_bar__plus_04_dot_81 - object\n Vase_bar__minus_02_dot_49_bar__plus_00_dot_69_bar__plus_01_dot_55 - object\n Watch_bar__minus_02_dot_50_bar__plus_00_dot_65_bar__minus_00_dot_02 - object\n Window_bar__minus_00_dot_06_bar__plus_00_dot_93_bar__plus_01_dot_76 - object\n Window_bar__minus_00_dot_06_bar__plus_01_dot_13_bar__plus_04_dot_89 - object\n ArmChair_bar__minus_00_dot_78_bar__plus_00_dot_01_bar__plus_06_dot_08 - receptacle\n ArmChair_bar__minus_04_dot_41_bar__plus_00_dot_01_bar__plus_06_dot_01 - receptacle\n CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89 - receptacle\n DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42 - receptacle\n DiningTable_bar__minus_03_dot_20_bar__plus_00_dot_59_bar__plus_00_dot_21 - receptacle\n Drawer_bar__minus_00_dot_30_bar__plus_00_dot_62_bar__plus_03_dot_37 - receptacle\n Drawer_bar__minus_02_dot_11_bar__plus_00_dot_66_bar__minus_00_dot_07 - receptacle\n GarbageCan_bar__minus_04_dot_87_bar__plus_00_dot_00_bar__plus_00_dot_27 - receptacle\n SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_37 - receptacle\n SideTable_bar__minus_02_dot_11_bar__plus_00_dot_01_bar__minus_00_dot_14 - receptacle\n Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42 - receptacle\n TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30 - receptacle\n loc_bar__minus_17_bar_20_bar_0_bar_60 - location\n loc_bar__minus_2_bar_20_bar_1_bar_45 - location\n loc_bar__minus_10_bar_22_bar_0_bar_60 - location\n loc_bar__minus_8_bar_2_bar_2_bar_60 - location\n loc_bar__minus_12_bar_2_bar_1_bar_45 - location\n loc_bar__minus_10_bar_2_bar_0_bar_60 - location\n loc_bar__minus_6_bar_9_bar_2_bar_60 - location\n loc_bar__minus_16_bar_2_bar_1_bar_60 - location\n loc_bar__minus_9_bar_17_bar_2_bar_60 - location\n loc_bar__minus_18_bar_2_bar_3_bar_60 - location\n loc_bar__minus_8_bar_2_bar_2_bar_0 - location\n loc_bar__minus_13_bar_23_bar_0_bar_60 - location\n loc_bar__minus_15_bar_6_bar_1_bar_60 - location\n loc_bar__minus_14_bar_1_bar_2_bar_30 - location\n loc_bar__minus_3_bar_6_bar_3_bar_60 - location\n loc_bar__minus_14_bar_18_bar_1_bar_60 - location\n loc_bar__minus_4_bar_20_bar_0_bar_60 - location\n loc_bar__minus_3_bar_9_bar_0_bar_60 - location\n loc_bar__minus_4_bar_17_bar_2_bar_45 - location\n loc_bar__minus_2_bar_7_bar_1_bar_60 - location\n loc_bar__minus_10_bar_10_bar_2_bar_60 - location\n loc_bar__minus_7_bar_2_bar_0_bar_60 - location\n loc_bar__minus_5_bar_1_bar_1_bar_60 - location\n loc_bar__minus_12_bar_21_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30 TVStandType)\n (receptacleType ArmChair_bar__minus_00_dot_78_bar__plus_00_dot_01_bar__plus_06_dot_08 ArmChairType)\n (receptacleType DiningTable_bar__minus_03_dot_20_bar__plus_00_dot_59_bar__plus_00_dot_21 DiningTableType)\n (receptacleType ArmChair_bar__minus_04_dot_41_bar__plus_00_dot_01_bar__plus_06_dot_01 ArmChairType)\n (receptacleType Drawer_bar__minus_00_dot_30_bar__plus_00_dot_62_bar__plus_03_dot_37 DrawerType)\n (receptacleType Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42 SofaType)\n (receptacleType CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89 CoffeeTableType)\n (receptacleType SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_37 SideTableType)\n (receptacleType GarbageCan_bar__minus_04_dot_87_bar__plus_00_dot_00_bar__plus_00_dot_27 GarbageCanType)\n (receptacleType DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42 DiningTableType)\n (receptacleType SideTable_bar__minus_02_dot_11_bar__plus_00_dot_01_bar__minus_00_dot_14 SideTableType)\n (receptacleType Drawer_bar__minus_02_dot_11_bar__plus_00_dot_66_bar__minus_00_dot_07 DrawerType)\n (objectType Chair_bar__minus_01_dot_87_bar__minus_00_dot_01_bar__plus_01_dot_75 ChairType)\n (objectType Plate_bar__minus_02_dot_16_bar__plus_00_dot_10_bar__plus_04_dot_89 PlateType)\n (objectType Pencil_bar__minus_02_dot_76_bar__plus_00_dot_24_bar__plus_06_dot_12 PencilType)\n (objectType TissueBox_bar__minus_01_dot_83_bar__plus_00_dot_69_bar__plus_01_dot_79 TissueBoxType)\n (objectType Box_bar__minus_03_dot_36_bar__plus_00_dot_22_bar__plus_06_dot_43 BoxType)\n (objectType Chair_bar__minus_01_dot_42_bar__minus_00_dot_01_bar__plus_01_dot_43 ChairType)\n (objectType RemoteControl_bar__minus_01_dot_87_bar__plus_00_dot_48_bar__plus_03_dot_71 RemoteControlType)\n (objectType Laptop_bar__minus_02_dot_40_bar__plus_00_dot_48_bar__plus_03_dot_53 LaptopType)\n (objectType Chair_bar__minus_01_dot_86_bar_00_dot_00_bar__plus_01_dot_14 ChairType)\n (objectType Plate_bar__minus_02_dot_39_bar__plus_00_dot_75_bar__minus_00_dot_12 PlateType)\n (objectType Newspaper_bar__minus_02_dot_67_bar__plus_00_dot_48_bar__plus_03_dot_53 NewspaperType)\n (objectType Statue_bar__minus_01_dot_60_bar__plus_00_dot_70_bar__plus_01_dot_55 StatueType)\n (objectType Chair_bar__minus_02_dot_48_bar__plus_00_dot_00_bar__plus_01_dot_75 ChairType)\n (objectType TissueBox_bar__minus_02_dot_47_bar__plus_00_dot_60_bar__plus_04_dot_81 TissueBoxType)\n (objectType Book_bar__minus_02_dot_24_bar__plus_00_dot_35_bar__plus_04_dot_96 BookType)\n (objectType Pen_bar__minus_02_dot_01_bar__plus_00_dot_24_bar__plus_06_dot_16 PenType)\n (objectType Window_bar__minus_00_dot_06_bar__plus_00_dot_93_bar__plus_01_dot_76 WindowType)\n (objectType Statue_bar__minus_02_dot_93_bar__plus_00_dot_70_bar__plus_01_dot_42 StatueType)\n (objectType Bowl_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_55 BowlType)\n (objectType Vase_bar__minus_02_dot_49_bar__plus_00_dot_69_bar__plus_01_dot_55 VaseType)\n (objectType Pen_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_79 PenType)\n (objectType Window_bar__minus_00_dot_06_bar__plus_01_dot_13_bar__plus_04_dot_89 WindowType)\n (objectType Pencil_bar__minus_02_dot_64_bar__plus_00_dot_24_bar__plus_06_dot_19 PencilType)\n (objectType Chair_bar__minus_02_dot_49_bar__minus_00_dot_01_bar__plus_01_dot_11 ChairType)\n (objectType FloorLamp_bar__minus_00_dot_57_bar__plus_00_dot_00_bar__plus_00_dot_03 FloorLampType)\n (objectType Television_bar__minus_02_dot_36_bar__plus_01_dot_21_bar__plus_06_dot_28 TelevisionType)\n (objectType KeyChain_bar__minus_00_dot_71_bar__plus_00_dot_43_bar__plus_06_dot_15 KeyChainType)\n (objectType Newspaper_bar__minus_04_dot_33_bar__plus_00_dot_45_bar__plus_05_dot_88 NewspaperType)\n (objectType CreditCard_bar__minus_02_dot_11_bar__plus_00_dot_75_bar__minus_00_dot_20 CreditCardType)\n (objectType LightSwitch_bar__minus_03_dot_31_bar__plus_01_dot_34_bar__minus_00_dot_32 LightSwitchType)\n (objectType Book_bar__minus_01_dot_87_bar__plus_00_dot_68_bar__plus_01_dot_17 BookType)\n (objectType Pen_bar__minus_02_dot_40_bar__plus_00_dot_10_bar__plus_04_dot_81 PenType)\n (objectType RemoteControl_bar__minus_02_dot_55_bar__plus_00_dot_35_bar__plus_04_dot_89 RemoteControlType)\n (objectType Pillow_bar__minus_03_dot_27_bar__plus_00_dot_66_bar__plus_03_dot_44 PillowType)\n (objectType Pencil_bar__minus_03_dot_08_bar__plus_00_dot_61_bar__plus_00_dot_00 PencilType)\n (objectType CreditCard_bar__minus_04_dot_01_bar__plus_00_dot_43_bar__plus_05_dot_87 CreditCardType)\n (objectType KeyChain_bar__minus_02_dot_51_bar__plus_00_dot_24_bar__plus_06_dot_05 KeyChainType)\n (objectType Curtains_bar__minus_00_dot_08_bar__plus_02_dot_42_bar__plus_00_dot_97 CurtainsType)\n (objectType HousePlant_bar__minus_03_dot_02_bar__plus_00_dot_59_bar__minus_00_dot_02 HousePlantType)\n (objectType Watch_bar__minus_02_dot_50_bar__plus_00_dot_65_bar__minus_00_dot_02 WatchType)\n (objectType Laptop_bar__minus_00_dot_89_bar__plus_00_dot_45_bar__plus_05_dot_97 LaptopType)\n (objectType Chair_bar__minus_03_dot_03_bar__minus_00_dot_01_bar__plus_01_dot_40 ChairType)\n (objectType Bowl_bar__minus_00_dot_25_bar__plus_00_dot_71_bar__plus_03_dot_20 BowlType)\n (objectType Painting_bar__minus_02_dot_05_bar__plus_01_dot_62_bar__minus_00_dot_30 PaintingType)\n (canContain TVStandType TissueBoxType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType BookType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType NewspaperType)\n (canContain ArmChairType CreditCardType)\n (canContain DiningTableType PenType)\n (canContain DiningTableType BookType)\n (canContain DiningTableType WatchType)\n (canContain DiningTableType NewspaperType)\n (canContain DiningTableType BowlType)\n (canContain DiningTableType VaseType)\n (canContain DiningTableType BoxType)\n (canContain DiningTableType KeyChainType)\n (canContain DiningTableType CreditCardType)\n (canContain DiningTableType LaptopType)\n (canContain DiningTableType PencilType)\n (canContain DiningTableType PlateType)\n (canContain DiningTableType RemoteControlType)\n (canContain DiningTableType TissueBoxType)\n (canContain DiningTableType StatueType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType BookType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType NewspaperType)\n (canContain ArmChairType CreditCardType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain SofaType BoxType)\n (canContain SofaType LaptopType)\n (canContain SofaType BookType)\n (canContain SofaType PillowType)\n (canContain SofaType RemoteControlType)\n (canContain SofaType KeyChainType)\n (canContain SofaType NewspaperType)\n (canContain SofaType CreditCardType)\n (canContain CoffeeTableType PenType)\n (canContain CoffeeTableType BookType)\n (canContain CoffeeTableType WatchType)\n (canContain CoffeeTableType NewspaperType)\n (canContain CoffeeTableType BowlType)\n (canContain CoffeeTableType VaseType)\n (canContain CoffeeTableType BoxType)\n (canContain CoffeeTableType KeyChainType)\n (canContain CoffeeTableType CreditCardType)\n (canContain CoffeeTableType LaptopType)\n (canContain CoffeeTableType PencilType)\n (canContain CoffeeTableType PlateType)\n (canContain CoffeeTableType RemoteControlType)\n (canContain CoffeeTableType TissueBoxType)\n (canContain CoffeeTableType StatueType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType WatchType)\n (canContain SideTableType NewspaperType)\n (canContain SideTableType BowlType)\n (canContain SideTableType VaseType)\n (canContain SideTableType BoxType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType PlateType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType TissueBoxType)\n (canContain SideTableType StatueType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType NewspaperType)\n (canContain GarbageCanType PencilType)\n (canContain GarbageCanType TissueBoxType)\n (canContain DiningTableType PenType)\n (canContain DiningTableType BookType)\n (canContain DiningTableType WatchType)\n (canContain DiningTableType NewspaperType)\n (canContain DiningTableType BowlType)\n (canContain DiningTableType VaseType)\n (canContain DiningTableType BoxType)\n (canContain DiningTableType KeyChainType)\n (canContain DiningTableType CreditCardType)\n (canContain DiningTableType LaptopType)\n (canContain DiningTableType PencilType)\n (canContain DiningTableType PlateType)\n (canContain DiningTableType RemoteControlType)\n (canContain DiningTableType TissueBoxType)\n (canContain DiningTableType StatueType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType WatchType)\n (canContain SideTableType NewspaperType)\n (canContain SideTableType BowlType)\n (canContain SideTableType VaseType)\n (canContain SideTableType BoxType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType PlateType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType TissueBoxType)\n (canContain SideTableType StatueType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType NewspaperType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (pickupable Plate_bar__minus_02_dot_16_bar__plus_00_dot_10_bar__plus_04_dot_89)\n (pickupable Pencil_bar__minus_02_dot_76_bar__plus_00_dot_24_bar__plus_06_dot_12)\n (pickupable TissueBox_bar__minus_01_dot_83_bar__plus_00_dot_69_bar__plus_01_dot_79)\n (pickupable Box_bar__minus_03_dot_36_bar__plus_00_dot_22_bar__plus_06_dot_43)\n (pickupable RemoteControl_bar__minus_01_dot_87_bar__plus_00_dot_48_bar__plus_03_dot_71)\n (pickupable Laptop_bar__minus_02_dot_40_bar__plus_00_dot_48_bar__plus_03_dot_53)\n (pickupable Plate_bar__minus_02_dot_39_bar__plus_00_dot_75_bar__minus_00_dot_12)\n (pickupable Newspaper_bar__minus_02_dot_67_bar__plus_00_dot_48_bar__plus_03_dot_53)\n (pickupable Statue_bar__minus_01_dot_60_bar__plus_00_dot_70_bar__plus_01_dot_55)\n (pickupable TissueBox_bar__minus_02_dot_47_bar__plus_00_dot_60_bar__plus_04_dot_81)\n (pickupable Book_bar__minus_02_dot_24_bar__plus_00_dot_35_bar__plus_04_dot_96)\n (pickupable Pen_bar__minus_02_dot_01_bar__plus_00_dot_24_bar__plus_06_dot_16)\n (pickupable Statue_bar__minus_02_dot_93_bar__plus_00_dot_70_bar__plus_01_dot_42)\n (pickupable Bowl_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_55)\n (pickupable Vase_bar__minus_02_dot_49_bar__plus_00_dot_69_bar__plus_01_dot_55)\n (pickupable Pen_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_79)\n (pickupable Pencil_bar__minus_02_dot_64_bar__plus_00_dot_24_bar__plus_06_dot_19)\n (pickupable KeyChain_bar__minus_00_dot_71_bar__plus_00_dot_43_bar__plus_06_dot_15)\n (pickupable Newspaper_bar__minus_04_dot_33_bar__plus_00_dot_45_bar__plus_05_dot_88)\n (pickupable CreditCard_bar__minus_02_dot_11_bar__plus_00_dot_75_bar__minus_00_dot_20)\n (pickupable Book_bar__minus_01_dot_87_bar__plus_00_dot_68_bar__plus_01_dot_17)\n (pickupable Pen_bar__minus_02_dot_40_bar__plus_00_dot_10_bar__plus_04_dot_81)\n (pickupable RemoteControl_bar__minus_02_dot_55_bar__plus_00_dot_35_bar__plus_04_dot_89)\n (pickupable Pillow_bar__minus_03_dot_27_bar__plus_00_dot_66_bar__plus_03_dot_44)\n (pickupable Pencil_bar__minus_03_dot_08_bar__plus_00_dot_61_bar__plus_00_dot_00)\n (pickupable CreditCard_bar__minus_04_dot_01_bar__plus_00_dot_43_bar__plus_05_dot_87)\n (pickupable KeyChain_bar__minus_02_dot_51_bar__plus_00_dot_24_bar__plus_06_dot_05)\n (pickupable Watch_bar__minus_02_dot_50_bar__plus_00_dot_65_bar__minus_00_dot_02)\n (pickupable Laptop_bar__minus_00_dot_89_bar__plus_00_dot_45_bar__plus_05_dot_97)\n (pickupable Bowl_bar__minus_00_dot_25_bar__plus_00_dot_71_bar__plus_03_dot_20)\n (isReceptacleObject Plate_bar__minus_02_dot_16_bar__plus_00_dot_10_bar__plus_04_dot_89)\n (isReceptacleObject Box_bar__minus_03_dot_36_bar__plus_00_dot_22_bar__plus_06_dot_43)\n (isReceptacleObject Plate_bar__minus_02_dot_39_bar__plus_00_dot_75_bar__minus_00_dot_12)\n (isReceptacleObject Bowl_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_55)\n (isReceptacleObject Bowl_bar__minus_00_dot_25_bar__plus_00_dot_71_bar__plus_03_dot_20)\n (openable Drawer_bar__minus_00_dot_30_bar__plus_00_dot_62_bar__plus_03_dot_37)\n (openable Drawer_bar__minus_02_dot_11_bar__plus_00_dot_66_bar__minus_00_dot_07)\n \n (atLocation agent1 loc_bar__minus_12_bar_21_bar_3_bar_30)\n \n (cleanable Plate_bar__minus_02_dot_16_bar__plus_00_dot_10_bar__plus_04_dot_89)\n (cleanable Plate_bar__minus_02_dot_39_bar__plus_00_dot_75_bar__minus_00_dot_12)\n (cleanable Bowl_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_55)\n (cleanable Bowl_bar__minus_00_dot_25_bar__plus_00_dot_71_bar__plus_03_dot_20)\n \n (heatable Plate_bar__minus_02_dot_16_bar__plus_00_dot_10_bar__plus_04_dot_89)\n (heatable Plate_bar__minus_02_dot_39_bar__plus_00_dot_75_bar__minus_00_dot_12)\n (coolable Plate_bar__minus_02_dot_16_bar__plus_00_dot_10_bar__plus_04_dot_89)\n (coolable Plate_bar__minus_02_dot_39_bar__plus_00_dot_75_bar__minus_00_dot_12)\n (coolable Bowl_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_55)\n (coolable Bowl_bar__minus_00_dot_25_bar__plus_00_dot_71_bar__plus_03_dot_20)\n \n \n (toggleable FloorLamp_bar__minus_00_dot_57_bar__plus_00_dot_00_bar__plus_00_dot_03)\n \n \n \n \n (inReceptacle KeyChain_bar__minus_00_dot_71_bar__plus_00_dot_43_bar__plus_06_dot_15 ArmChair_bar__minus_00_dot_78_bar__plus_00_dot_01_bar__plus_06_dot_08)\n (inReceptacle Laptop_bar__minus_00_dot_89_bar__plus_00_dot_45_bar__plus_05_dot_97 ArmChair_bar__minus_00_dot_78_bar__plus_00_dot_01_bar__plus_06_dot_08)\n (inReceptacle Pencil_bar__minus_03_dot_08_bar__plus_00_dot_61_bar__plus_00_dot_00 DiningTable_bar__minus_03_dot_20_bar__plus_00_dot_59_bar__plus_00_dot_21)\n (inReceptacle HousePlant_bar__minus_03_dot_02_bar__plus_00_dot_59_bar__minus_00_dot_02 DiningTable_bar__minus_03_dot_20_bar__plus_00_dot_59_bar__plus_00_dot_21)\n (inReceptacle Pencil_bar__minus_02_dot_76_bar__plus_00_dot_24_bar__plus_06_dot_12 TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30)\n (inReceptacle KeyChain_bar__minus_02_dot_51_bar__plus_00_dot_24_bar__plus_06_dot_05 TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30)\n (inReceptacle Pen_bar__minus_02_dot_01_bar__plus_00_dot_24_bar__plus_06_dot_16 TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30)\n (inReceptacle Pencil_bar__minus_02_dot_64_bar__plus_00_dot_24_bar__plus_06_dot_19 TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30)\n (inReceptacle Television_bar__minus_02_dot_36_bar__plus_01_dot_21_bar__plus_06_dot_28 TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30)\n (inReceptacle Plate_bar__minus_02_dot_16_bar__plus_00_dot_10_bar__plus_04_dot_89 CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89)\n (inReceptacle Book_bar__minus_02_dot_24_bar__plus_00_dot_35_bar__plus_04_dot_96 CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89)\n (inReceptacle TissueBox_bar__minus_02_dot_47_bar__plus_00_dot_60_bar__plus_04_dot_81 CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89)\n (inReceptacle Pen_bar__minus_02_dot_40_bar__plus_00_dot_10_bar__plus_04_dot_81 CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89)\n (inReceptacle RemoteControl_bar__minus_02_dot_55_bar__plus_00_dot_35_bar__plus_04_dot_89 CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89)\n (inReceptacle CreditCard_bar__minus_04_dot_01_bar__plus_00_dot_43_bar__plus_05_dot_87 ArmChair_bar__minus_04_dot_41_bar__plus_00_dot_01_bar__plus_06_dot_01)\n (inReceptacle Newspaper_bar__minus_04_dot_33_bar__plus_00_dot_45_bar__plus_05_dot_88 ArmChair_bar__minus_04_dot_41_bar__plus_00_dot_01_bar__plus_06_dot_01)\n (inReceptacle Plate_bar__minus_02_dot_39_bar__plus_00_dot_75_bar__minus_00_dot_12 SideTable_bar__minus_02_dot_11_bar__plus_00_dot_01_bar__minus_00_dot_14)\n (inReceptacle CreditCard_bar__minus_02_dot_11_bar__plus_00_dot_75_bar__minus_00_dot_20 SideTable_bar__minus_02_dot_11_bar__plus_00_dot_01_bar__minus_00_dot_14)\n (inReceptacle Curtains_bar__minus_00_dot_08_bar__plus_02_dot_42_bar__plus_00_dot_97 SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_37)\n (inReceptacle Bowl_bar__minus_00_dot_25_bar__plus_00_dot_71_bar__plus_03_dot_20 SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_37)\n (inReceptacle Watch_bar__minus_02_dot_50_bar__plus_00_dot_65_bar__minus_00_dot_02 Drawer_bar__minus_02_dot_11_bar__plus_00_dot_66_bar__minus_00_dot_07)\n (inReceptacle Pillow_bar__minus_03_dot_27_bar__plus_00_dot_66_bar__plus_03_dot_44 Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42)\n (inReceptacle Laptop_bar__minus_02_dot_40_bar__plus_00_dot_48_bar__plus_03_dot_53 Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42)\n (inReceptacle Newspaper_bar__minus_02_dot_67_bar__plus_00_dot_48_bar__plus_03_dot_53 Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42)\n (inReceptacle RemoteControl_bar__minus_01_dot_87_bar__plus_00_dot_48_bar__plus_03_dot_71 Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42)\n (inReceptacle Statue_bar__minus_01_dot_60_bar__plus_00_dot_70_bar__plus_01_dot_55 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42)\n (inReceptacle TissueBox_bar__minus_01_dot_83_bar__plus_00_dot_69_bar__plus_01_dot_79 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42)\n (inReceptacle Book_bar__minus_01_dot_87_bar__plus_00_dot_68_bar__plus_01_dot_17 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42)\n (inReceptacle Statue_bar__minus_02_dot_93_bar__plus_00_dot_70_bar__plus_01_dot_42 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42)\n (inReceptacle Bowl_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_55 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42)\n (inReceptacle Vase_bar__minus_02_dot_49_bar__plus_00_dot_69_bar__plus_01_dot_55 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42)\n (inReceptacle Pen_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_79 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42)\n \n \n (receptacleAtLocation ArmChair_bar__minus_00_dot_78_bar__plus_00_dot_01_bar__plus_06_dot_08 loc_bar__minus_4_bar_20_bar_0_bar_60)\n (receptacleAtLocation ArmChair_bar__minus_04_dot_41_bar__plus_00_dot_01_bar__plus_06_dot_01 loc_bar__minus_17_bar_20_bar_0_bar_60)\n (receptacleAtLocation CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89 loc_bar__minus_14_bar_18_bar_1_bar_60)\n (receptacleAtLocation DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42 loc_bar__minus_10_bar_10_bar_2_bar_60)\n (receptacleAtLocation DiningTable_bar__minus_03_dot_20_bar__plus_00_dot_59_bar__plus_00_dot_21 loc_bar__minus_16_bar_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_30_bar__plus_00_dot_62_bar__plus_03_dot_37 loc_bar__minus_4_bar_17_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_11_bar__plus_00_dot_66_bar__minus_00_dot_07 loc_bar__minus_12_bar_2_bar_1_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_04_dot_87_bar__plus_00_dot_00_bar__plus_00_dot_27 loc_bar__minus_18_bar_2_bar_3_bar_60)\n (receptacleAtLocation SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_37 loc_bar__minus_3_bar_9_bar_0_bar_60)\n (receptacleAtLocation SideTable_bar__minus_02_dot_11_bar__plus_00_dot_01_bar__minus_00_dot_14 loc_bar__minus_8_bar_2_bar_2_bar_60)\n (receptacleAtLocation Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42 loc_bar__minus_9_bar_17_bar_2_bar_60)\n (receptacleAtLocation TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30 loc_bar__minus_10_bar_22_bar_0_bar_60)\n (objectAtLocation Newspaper_bar__minus_04_dot_33_bar__plus_00_dot_45_bar__plus_05_dot_88 loc_bar__minus_17_bar_20_bar_0_bar_60)\n (objectAtLocation Pen_bar__minus_02_dot_40_bar__plus_00_dot_10_bar__plus_04_dot_81 loc_bar__minus_14_bar_18_bar_1_bar_60)\n (objectAtLocation RemoteControl_bar__minus_02_dot_55_bar__plus_00_dot_35_bar__plus_04_dot_89 loc_bar__minus_14_bar_18_bar_1_bar_60)\n (objectAtLocation Bowl_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_55 loc_bar__minus_10_bar_10_bar_2_bar_60)\n (objectAtLocation Pencil_bar__minus_02_dot_76_bar__plus_00_dot_24_bar__plus_06_dot_12 loc_bar__minus_10_bar_22_bar_0_bar_60)\n (objectAtLocation KeyChain_bar__minus_02_dot_51_bar__plus_00_dot_24_bar__plus_06_dot_05 loc_bar__minus_10_bar_22_bar_0_bar_60)\n (objectAtLocation Plate_bar__minus_02_dot_16_bar__plus_00_dot_10_bar__plus_04_dot_89 loc_bar__minus_14_bar_18_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__minus_02_dot_11_bar__plus_00_dot_75_bar__minus_00_dot_20 loc_bar__minus_8_bar_2_bar_2_bar_60)\n (objectAtLocation TissueBox_bar__minus_02_dot_47_bar__plus_00_dot_60_bar__plus_04_dot_81 loc_bar__minus_14_bar_18_bar_1_bar_60)\n (objectAtLocation Laptop_bar__minus_02_dot_40_bar__plus_00_dot_48_bar__plus_03_dot_53 loc_bar__minus_9_bar_17_bar_2_bar_60)\n (objectAtLocation Statue_bar__minus_02_dot_93_bar__plus_00_dot_70_bar__plus_01_dot_42 loc_bar__minus_10_bar_10_bar_2_bar_60)\n (objectAtLocation Book_bar__minus_01_dot_87_bar__plus_00_dot_68_bar__plus_01_dot_17 loc_bar__minus_10_bar_10_bar_2_bar_60)\n (objectAtLocation Pencil_bar__minus_02_dot_64_bar__plus_00_dot_24_bar__plus_06_dot_19 loc_bar__minus_10_bar_22_bar_0_bar_60)\n (objectAtLocation Pen_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_79 loc_bar__minus_10_bar_10_bar_2_bar_60)\n (objectAtLocation Painting_bar__minus_02_dot_05_bar__plus_01_dot_62_bar__minus_00_dot_30 loc_bar__minus_8_bar_2_bar_2_bar_0)\n (objectAtLocation Chair_bar__minus_01_dot_87_bar__minus_00_dot_01_bar__plus_01_dot_75 loc_bar__minus_6_bar_9_bar_2_bar_60)\n (objectAtLocation Book_bar__minus_02_dot_24_bar__plus_00_dot_35_bar__plus_04_dot_96 loc_bar__minus_14_bar_18_bar_1_bar_60)\n (objectAtLocation Chair_bar__minus_02_dot_48_bar__plus_00_dot_00_bar__plus_01_dot_75 loc_bar__minus_10_bar_10_bar_2_bar_60)\n (objectAtLocation Box_bar__minus_03_dot_36_bar__plus_00_dot_22_bar__plus_06_dot_43 loc_bar__minus_13_bar_23_bar_0_bar_60)\n (objectAtLocation Chair_bar__minus_01_dot_42_bar__minus_00_dot_01_bar__plus_01_dot_43 loc_bar__minus_3_bar_6_bar_3_bar_60)\n (objectAtLocation Chair_bar__minus_03_dot_03_bar__minus_00_dot_01_bar__plus_01_dot_40 loc_bar__minus_15_bar_6_bar_1_bar_60)\n (objectAtLocation Chair_bar__minus_01_dot_86_bar_00_dot_00_bar__plus_01_dot_14 loc_bar__minus_7_bar_2_bar_0_bar_60)\n (objectAtLocation Curtains_bar__minus_00_dot_08_bar__plus_02_dot_42_bar__plus_00_dot_97 loc_bar__minus_3_bar_9_bar_0_bar_60)\n (objectAtLocation Statue_bar__minus_01_dot_60_bar__plus_00_dot_70_bar__plus_01_dot_55 loc_bar__minus_10_bar_10_bar_2_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_89_bar__plus_00_dot_45_bar__plus_05_dot_97 loc_bar__minus_4_bar_20_bar_0_bar_60)\n (objectAtLocation Television_bar__minus_02_dot_36_bar__plus_01_dot_21_bar__plus_06_dot_28 loc_bar__minus_10_bar_22_bar_0_bar_60)\n (objectAtLocation HousePlant_bar__minus_03_dot_02_bar__plus_00_dot_59_bar__minus_00_dot_02 loc_bar__minus_16_bar_2_bar_1_bar_60)\n (objectAtLocation TissueBox_bar__minus_01_dot_83_bar__plus_00_dot_69_bar__plus_01_dot_79 loc_bar__minus_10_bar_10_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__minus_04_dot_01_bar__plus_00_dot_43_bar__plus_05_dot_87 loc_bar__minus_17_bar_20_bar_0_bar_60)\n (objectAtLocation Plate_bar__minus_02_dot_39_bar__plus_00_dot_75_bar__minus_00_dot_12 loc_bar__minus_8_bar_2_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__minus_00_dot_71_bar__plus_00_dot_43_bar__plus_06_dot_15 loc_bar__minus_4_bar_20_bar_0_bar_60)\n (objectAtLocation FloorLamp_bar__minus_00_dot_57_bar__plus_00_dot_00_bar__plus_00_dot_03 loc_bar__minus_5_bar_1_bar_1_bar_60)\n (objectAtLocation Vase_bar__minus_02_dot_49_bar__plus_00_dot_69_bar__plus_01_dot_55 loc_bar__minus_10_bar_10_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_02_dot_49_bar__minus_00_dot_01_bar__plus_01_dot_11 loc_bar__minus_10_bar_2_bar_0_bar_60)\n (objectAtLocation Pencil_bar__minus_03_dot_08_bar__plus_00_dot_61_bar__plus_00_dot_00 loc_bar__minus_16_bar_2_bar_1_bar_60)\n (objectAtLocation Pillow_bar__minus_03_dot_27_bar__plus_00_dot_66_bar__plus_03_dot_44 loc_bar__minus_9_bar_17_bar_2_bar_60)\n (objectAtLocation Bowl_bar__minus_00_dot_25_bar__plus_00_dot_71_bar__plus_03_dot_20 loc_bar__minus_3_bar_9_bar_0_bar_60)\n (objectAtLocation RemoteControl_bar__minus_01_dot_87_bar__plus_00_dot_48_bar__plus_03_dot_71 loc_bar__minus_9_bar_17_bar_2_bar_60)\n (objectAtLocation Watch_bar__minus_02_dot_50_bar__plus_00_dot_65_bar__minus_00_dot_02 loc_bar__minus_12_bar_2_bar_1_bar_45)\n (objectAtLocation Pen_bar__minus_02_dot_01_bar__plus_00_dot_24_bar__plus_06_dot_16 loc_bar__minus_10_bar_22_bar_0_bar_60)\n (objectAtLocation Newspaper_bar__minus_02_dot_67_bar__plus_00_dot_48_bar__plus_03_dot_53 loc_bar__minus_9_bar_17_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_00_dot_06_bar__plus_00_dot_93_bar__plus_01_dot_76 loc_bar__minus_2_bar_7_bar_1_bar_60)\n (objectAtLocation Window_bar__minus_00_dot_06_bar__plus_01_dot_13_bar__plus_04_dot_89 loc_bar__minus_2_bar_20_bar_1_bar_45)\n (objectAtLocation LightSwitch_bar__minus_03_dot_31_bar__plus_01_dot_34_bar__minus_00_dot_32 loc_bar__minus_14_bar_1_bar_2_bar_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o WatchType)\n (receptacleType ?r CoffeeTableType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to drawer 1", "open drawer 1", "take watch 1 from drawer 1", "go to coffeetable 1", "move watch 1 to coffeetable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Watch-None-CoffeeTable-201/trial_T20190908_124638_700872/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Watch-None-CoffeeTable-201/trial_T20190908_124638_700872/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..1af8636d1271c28ccf34f4dc6bc62cf73033a941 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Watch-None-CoffeeTable-201/trial_T20190908_124638_700872/initial_state.pddl @@ -0,0 +1,626 @@ + +(define (problem plan_trial_T20190908_124638_700872) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + 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CreditCard_bar__minus_04_dot_01_bar__plus_00_dot_43_bar__plus_05_dot_87 - object + Curtains_bar__minus_00_dot_08_bar__plus_02_dot_42_bar__plus_00_dot_97 - object + FloorLamp_bar__minus_00_dot_57_bar__plus_00_dot_00_bar__plus_00_dot_03 - object + HousePlant_bar__minus_03_dot_02_bar__plus_00_dot_59_bar__minus_00_dot_02 - object + KeyChain_bar__minus_00_dot_71_bar__plus_00_dot_43_bar__plus_06_dot_15 - object + KeyChain_bar__minus_02_dot_51_bar__plus_00_dot_24_bar__plus_06_dot_05 - object + Lamp_bar__minus_00_dot_28_bar__plus_00_dot_70_bar__plus_03_dot_61 - object + Laptop_bar__minus_00_dot_89_bar__plus_00_dot_45_bar__plus_05_dot_97 - object + Laptop_bar__minus_02_dot_40_bar__plus_00_dot_48_bar__plus_03_dot_53 - object + LightSwitch_bar__minus_03_dot_31_bar__plus_01_dot_34_bar__minus_00_dot_32 - object + Newspaper_bar__minus_02_dot_67_bar__plus_00_dot_48_bar__plus_03_dot_53 - object + Newspaper_bar__minus_04_dot_33_bar__plus_00_dot_45_bar__plus_05_dot_88 - object + Painting_bar__minus_02_dot_05_bar__plus_01_dot_62_bar__minus_00_dot_30 - object + Pencil_bar__minus_02_dot_64_bar__plus_00_dot_24_bar__plus_06_dot_19 - object + Pencil_bar__minus_02_dot_76_bar__plus_00_dot_24_bar__plus_06_dot_12 - object + Pencil_bar__minus_03_dot_08_bar__plus_00_dot_61_bar__plus_00_dot_00 - object + Pen_bar__minus_02_dot_01_bar__plus_00_dot_24_bar__plus_06_dot_16 - object + Pen_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_79 - object + Pen_bar__minus_02_dot_40_bar__plus_00_dot_10_bar__plus_04_dot_81 - object + Pillow_bar__minus_03_dot_27_bar__plus_00_dot_66_bar__plus_03_dot_44 - object + Plate_bar__minus_02_dot_16_bar__plus_00_dot_10_bar__plus_04_dot_89 - object + Plate_bar__minus_02_dot_39_bar__plus_00_dot_75_bar__minus_00_dot_12 - object + RemoteControl_bar__minus_01_dot_87_bar__plus_00_dot_48_bar__plus_03_dot_71 - object + RemoteControl_bar__minus_02_dot_55_bar__plus_00_dot_35_bar__plus_04_dot_89 - object + Statue_bar__minus_01_dot_60_bar__plus_00_dot_70_bar__plus_01_dot_55 - object + Statue_bar__minus_02_dot_93_bar__plus_00_dot_70_bar__plus_01_dot_42 - object + Television_bar__minus_02_dot_36_bar__plus_01_dot_21_bar__plus_06_dot_28 - object + TissueBox_bar__minus_01_dot_83_bar__plus_00_dot_69_bar__plus_01_dot_79 - object + TissueBox_bar__minus_02_dot_47_bar__plus_00_dot_60_bar__plus_04_dot_81 - object + Vase_bar__minus_02_dot_49_bar__plus_00_dot_69_bar__plus_01_dot_55 - object + Watch_bar__minus_02_dot_50_bar__plus_00_dot_65_bar__minus_00_dot_02 - object + Window_bar__minus_00_dot_06_bar__plus_00_dot_93_bar__plus_01_dot_76 - object + Window_bar__minus_00_dot_06_bar__plus_01_dot_13_bar__plus_04_dot_89 - object + ArmChair_bar__minus_00_dot_78_bar__plus_00_dot_01_bar__plus_06_dot_08 - receptacle + ArmChair_bar__minus_04_dot_41_bar__plus_00_dot_01_bar__plus_06_dot_01 - receptacle + CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89 - receptacle + DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42 - receptacle + DiningTable_bar__minus_03_dot_20_bar__plus_00_dot_59_bar__plus_00_dot_21 - receptacle + Drawer_bar__minus_00_dot_30_bar__plus_00_dot_62_bar__plus_03_dot_37 - receptacle + Drawer_bar__minus_02_dot_11_bar__plus_00_dot_66_bar__minus_00_dot_07 - receptacle + GarbageCan_bar__minus_04_dot_87_bar__plus_00_dot_00_bar__plus_00_dot_27 - receptacle + SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_37 - receptacle + SideTable_bar__minus_02_dot_11_bar__plus_00_dot_01_bar__minus_00_dot_14 - receptacle + Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42 - receptacle + TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30 - receptacle + loc_bar__minus_17_bar_20_bar_0_bar_60 - location + loc_bar__minus_2_bar_20_bar_1_bar_45 - location + loc_bar__minus_10_bar_22_bar_0_bar_60 - location + loc_bar__minus_8_bar_2_bar_2_bar_60 - location + loc_bar__minus_12_bar_2_bar_1_bar_45 - location + loc_bar__minus_10_bar_2_bar_0_bar_60 - location + loc_bar__minus_6_bar_9_bar_2_bar_60 - location + loc_bar__minus_16_bar_2_bar_1_bar_60 - location + loc_bar__minus_9_bar_17_bar_2_bar_60 - location + loc_bar__minus_18_bar_2_bar_3_bar_60 - location + loc_bar__minus_8_bar_2_bar_2_bar_0 - location + loc_bar__minus_13_bar_23_bar_0_bar_60 - location + loc_bar__minus_15_bar_6_bar_1_bar_60 - location + loc_bar__minus_14_bar_1_bar_2_bar_30 - location + loc_bar__minus_3_bar_6_bar_3_bar_60 - location + loc_bar__minus_14_bar_18_bar_1_bar_60 - location + loc_bar__minus_4_bar_20_bar_0_bar_60 - location + loc_bar__minus_3_bar_9_bar_0_bar_60 - location + loc_bar__minus_4_bar_17_bar_2_bar_45 - location + loc_bar__minus_2_bar_7_bar_1_bar_60 - location + loc_bar__minus_10_bar_10_bar_2_bar_60 - location + loc_bar__minus_7_bar_2_bar_0_bar_60 - location + loc_bar__minus_5_bar_1_bar_1_bar_60 - location + loc_bar__minus_12_bar_21_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30 TVStandType) + (receptacleType ArmChair_bar__minus_00_dot_78_bar__plus_00_dot_01_bar__plus_06_dot_08 ArmChairType) + (receptacleType DiningTable_bar__minus_03_dot_20_bar__plus_00_dot_59_bar__plus_00_dot_21 DiningTableType) + (receptacleType ArmChair_bar__minus_04_dot_41_bar__plus_00_dot_01_bar__plus_06_dot_01 ArmChairType) + (receptacleType Drawer_bar__minus_00_dot_30_bar__plus_00_dot_62_bar__plus_03_dot_37 DrawerType) + (receptacleType Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42 SofaType) + (receptacleType CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89 CoffeeTableType) + (receptacleType SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_37 SideTableType) + (receptacleType GarbageCan_bar__minus_04_dot_87_bar__plus_00_dot_00_bar__plus_00_dot_27 GarbageCanType) + (receptacleType DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42 DiningTableType) + (receptacleType SideTable_bar__minus_02_dot_11_bar__plus_00_dot_01_bar__minus_00_dot_14 SideTableType) + (receptacleType Drawer_bar__minus_02_dot_11_bar__plus_00_dot_66_bar__minus_00_dot_07 DrawerType) + (objectType Chair_bar__minus_01_dot_87_bar__minus_00_dot_01_bar__plus_01_dot_75 ChairType) + (objectType Plate_bar__minus_02_dot_16_bar__plus_00_dot_10_bar__plus_04_dot_89 PlateType) + (objectType Pencil_bar__minus_02_dot_76_bar__plus_00_dot_24_bar__plus_06_dot_12 PencilType) + (objectType TissueBox_bar__minus_01_dot_83_bar__plus_00_dot_69_bar__plus_01_dot_79 TissueBoxType) + (objectType Box_bar__minus_03_dot_36_bar__plus_00_dot_22_bar__plus_06_dot_43 BoxType) + (objectType Chair_bar__minus_01_dot_42_bar__minus_00_dot_01_bar__plus_01_dot_43 ChairType) + (objectType RemoteControl_bar__minus_01_dot_87_bar__plus_00_dot_48_bar__plus_03_dot_71 RemoteControlType) + (objectType 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SideTableType PencilType) + (canContain SideTableType PlateType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType TissueBoxType) + (canContain SideTableType StatueType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType NewspaperType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (pickupable Plate_bar__minus_02_dot_16_bar__plus_00_dot_10_bar__plus_04_dot_89) + (pickupable Pencil_bar__minus_02_dot_76_bar__plus_00_dot_24_bar__plus_06_dot_12) + (pickupable TissueBox_bar__minus_01_dot_83_bar__plus_00_dot_69_bar__plus_01_dot_79) + (pickupable Box_bar__minus_03_dot_36_bar__plus_00_dot_22_bar__plus_06_dot_43) + (pickupable RemoteControl_bar__minus_01_dot_87_bar__plus_00_dot_48_bar__plus_03_dot_71) + (pickupable Laptop_bar__minus_02_dot_40_bar__plus_00_dot_48_bar__plus_03_dot_53) + (pickupable Plate_bar__minus_02_dot_39_bar__plus_00_dot_75_bar__minus_00_dot_12) + (pickupable Newspaper_bar__minus_02_dot_67_bar__plus_00_dot_48_bar__plus_03_dot_53) + (pickupable Statue_bar__minus_01_dot_60_bar__plus_00_dot_70_bar__plus_01_dot_55) + (pickupable TissueBox_bar__minus_02_dot_47_bar__plus_00_dot_60_bar__plus_04_dot_81) + (pickupable Book_bar__minus_02_dot_24_bar__plus_00_dot_35_bar__plus_04_dot_96) + (pickupable Pen_bar__minus_02_dot_01_bar__plus_00_dot_24_bar__plus_06_dot_16) + (pickupable Statue_bar__minus_02_dot_93_bar__plus_00_dot_70_bar__plus_01_dot_42) + (pickupable Bowl_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_55) + (pickupable Vase_bar__minus_02_dot_49_bar__plus_00_dot_69_bar__plus_01_dot_55) + (pickupable Pen_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_79) + (pickupable Pencil_bar__minus_02_dot_64_bar__plus_00_dot_24_bar__plus_06_dot_19) + (pickupable KeyChain_bar__minus_00_dot_71_bar__plus_00_dot_43_bar__plus_06_dot_15) + (pickupable Newspaper_bar__minus_04_dot_33_bar__plus_00_dot_45_bar__plus_05_dot_88) + (pickupable CreditCard_bar__minus_02_dot_11_bar__plus_00_dot_75_bar__minus_00_dot_20) + (pickupable Book_bar__minus_01_dot_87_bar__plus_00_dot_68_bar__plus_01_dot_17) + (pickupable Pen_bar__minus_02_dot_40_bar__plus_00_dot_10_bar__plus_04_dot_81) + (pickupable RemoteControl_bar__minus_02_dot_55_bar__plus_00_dot_35_bar__plus_04_dot_89) + (pickupable Pillow_bar__minus_03_dot_27_bar__plus_00_dot_66_bar__plus_03_dot_44) + (pickupable Pencil_bar__minus_03_dot_08_bar__plus_00_dot_61_bar__plus_00_dot_00) + (pickupable CreditCard_bar__minus_04_dot_01_bar__plus_00_dot_43_bar__plus_05_dot_87) + (pickupable KeyChain_bar__minus_02_dot_51_bar__plus_00_dot_24_bar__plus_06_dot_05) + (pickupable Watch_bar__minus_02_dot_50_bar__plus_00_dot_65_bar__minus_00_dot_02) + (pickupable Laptop_bar__minus_00_dot_89_bar__plus_00_dot_45_bar__plus_05_dot_97) + (pickupable Bowl_bar__minus_00_dot_25_bar__plus_00_dot_71_bar__plus_03_dot_20) + (isReceptacleObject Plate_bar__minus_02_dot_16_bar__plus_00_dot_10_bar__plus_04_dot_89) + (isReceptacleObject Box_bar__minus_03_dot_36_bar__plus_00_dot_22_bar__plus_06_dot_43) + (isReceptacleObject Plate_bar__minus_02_dot_39_bar__plus_00_dot_75_bar__minus_00_dot_12) + (isReceptacleObject Bowl_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_55) + (isReceptacleObject Bowl_bar__minus_00_dot_25_bar__plus_00_dot_71_bar__plus_03_dot_20) + (openable Drawer_bar__minus_00_dot_30_bar__plus_00_dot_62_bar__plus_03_dot_37) + (openable Drawer_bar__minus_02_dot_11_bar__plus_00_dot_66_bar__minus_00_dot_07) + + (atLocation agent1 loc_bar__minus_12_bar_21_bar_3_bar_30) + + (cleanable Plate_bar__minus_02_dot_16_bar__plus_00_dot_10_bar__plus_04_dot_89) + (cleanable Plate_bar__minus_02_dot_39_bar__plus_00_dot_75_bar__minus_00_dot_12) + (cleanable Bowl_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_55) + (cleanable Bowl_bar__minus_00_dot_25_bar__plus_00_dot_71_bar__plus_03_dot_20) + + (heatable Plate_bar__minus_02_dot_16_bar__plus_00_dot_10_bar__plus_04_dot_89) + (heatable Plate_bar__minus_02_dot_39_bar__plus_00_dot_75_bar__minus_00_dot_12) + (coolable Plate_bar__minus_02_dot_16_bar__plus_00_dot_10_bar__plus_04_dot_89) + (coolable Plate_bar__minus_02_dot_39_bar__plus_00_dot_75_bar__minus_00_dot_12) + (coolable Bowl_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_55) + (coolable Bowl_bar__minus_00_dot_25_bar__plus_00_dot_71_bar__plus_03_dot_20) + + + (toggleable FloorLamp_bar__minus_00_dot_57_bar__plus_00_dot_00_bar__plus_00_dot_03) + + + + + (inReceptacle KeyChain_bar__minus_00_dot_71_bar__plus_00_dot_43_bar__plus_06_dot_15 ArmChair_bar__minus_00_dot_78_bar__plus_00_dot_01_bar__plus_06_dot_08) + (inReceptacle Laptop_bar__minus_00_dot_89_bar__plus_00_dot_45_bar__plus_05_dot_97 ArmChair_bar__minus_00_dot_78_bar__plus_00_dot_01_bar__plus_06_dot_08) + (inReceptacle Pencil_bar__minus_03_dot_08_bar__plus_00_dot_61_bar__plus_00_dot_00 DiningTable_bar__minus_03_dot_20_bar__plus_00_dot_59_bar__plus_00_dot_21) + (inReceptacle HousePlant_bar__minus_03_dot_02_bar__plus_00_dot_59_bar__minus_00_dot_02 DiningTable_bar__minus_03_dot_20_bar__plus_00_dot_59_bar__plus_00_dot_21) + (inReceptacle Pencil_bar__minus_02_dot_76_bar__plus_00_dot_24_bar__plus_06_dot_12 TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30) + (inReceptacle KeyChain_bar__minus_02_dot_51_bar__plus_00_dot_24_bar__plus_06_dot_05 TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30) + (inReceptacle Pen_bar__minus_02_dot_01_bar__plus_00_dot_24_bar__plus_06_dot_16 TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30) + (inReceptacle Pencil_bar__minus_02_dot_64_bar__plus_00_dot_24_bar__plus_06_dot_19 TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30) + (inReceptacle Television_bar__minus_02_dot_36_bar__plus_01_dot_21_bar__plus_06_dot_28 TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30) + (inReceptacle Plate_bar__minus_02_dot_16_bar__plus_00_dot_10_bar__plus_04_dot_89 CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89) + (inReceptacle Book_bar__minus_02_dot_24_bar__plus_00_dot_35_bar__plus_04_dot_96 CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89) + (inReceptacle TissueBox_bar__minus_02_dot_47_bar__plus_00_dot_60_bar__plus_04_dot_81 CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89) + (inReceptacle Pen_bar__minus_02_dot_40_bar__plus_00_dot_10_bar__plus_04_dot_81 CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89) + (inReceptacle RemoteControl_bar__minus_02_dot_55_bar__plus_00_dot_35_bar__plus_04_dot_89 CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89) + (inReceptacle CreditCard_bar__minus_04_dot_01_bar__plus_00_dot_43_bar__plus_05_dot_87 ArmChair_bar__minus_04_dot_41_bar__plus_00_dot_01_bar__plus_06_dot_01) + (inReceptacle Newspaper_bar__minus_04_dot_33_bar__plus_00_dot_45_bar__plus_05_dot_88 ArmChair_bar__minus_04_dot_41_bar__plus_00_dot_01_bar__plus_06_dot_01) + (inReceptacle Plate_bar__minus_02_dot_39_bar__plus_00_dot_75_bar__minus_00_dot_12 SideTable_bar__minus_02_dot_11_bar__plus_00_dot_01_bar__minus_00_dot_14) + (inReceptacle CreditCard_bar__minus_02_dot_11_bar__plus_00_dot_75_bar__minus_00_dot_20 SideTable_bar__minus_02_dot_11_bar__plus_00_dot_01_bar__minus_00_dot_14) + (inReceptacle Curtains_bar__minus_00_dot_08_bar__plus_02_dot_42_bar__plus_00_dot_97 SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_37) + (inReceptacle Bowl_bar__minus_00_dot_25_bar__plus_00_dot_71_bar__plus_03_dot_20 SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_37) + (inReceptacle Watch_bar__minus_02_dot_50_bar__plus_00_dot_65_bar__minus_00_dot_02 Drawer_bar__minus_02_dot_11_bar__plus_00_dot_66_bar__minus_00_dot_07) + (inReceptacle Pillow_bar__minus_03_dot_27_bar__plus_00_dot_66_bar__plus_03_dot_44 Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42) + (inReceptacle Laptop_bar__minus_02_dot_40_bar__plus_00_dot_48_bar__plus_03_dot_53 Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42) + (inReceptacle Newspaper_bar__minus_02_dot_67_bar__plus_00_dot_48_bar__plus_03_dot_53 Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42) + (inReceptacle RemoteControl_bar__minus_01_dot_87_bar__plus_00_dot_48_bar__plus_03_dot_71 Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42) + (inReceptacle Statue_bar__minus_01_dot_60_bar__plus_00_dot_70_bar__plus_01_dot_55 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42) + (inReceptacle TissueBox_bar__minus_01_dot_83_bar__plus_00_dot_69_bar__plus_01_dot_79 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42) + (inReceptacle Book_bar__minus_01_dot_87_bar__plus_00_dot_68_bar__plus_01_dot_17 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42) + (inReceptacle Statue_bar__minus_02_dot_93_bar__plus_00_dot_70_bar__plus_01_dot_42 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42) + (inReceptacle Bowl_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_55 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42) + (inReceptacle Vase_bar__minus_02_dot_49_bar__plus_00_dot_69_bar__plus_01_dot_55 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42) + (inReceptacle Pen_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_79 DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42) + + + (receptacleAtLocation ArmChair_bar__minus_00_dot_78_bar__plus_00_dot_01_bar__plus_06_dot_08 loc_bar__minus_4_bar_20_bar_0_bar_60) + (receptacleAtLocation ArmChair_bar__minus_04_dot_41_bar__plus_00_dot_01_bar__plus_06_dot_01 loc_bar__minus_17_bar_20_bar_0_bar_60) + (receptacleAtLocation CoffeeTable_bar__minus_02_dot_32_bar__plus_00_dot_00_bar__plus_04_dot_89 loc_bar__minus_14_bar_18_bar_1_bar_60) + (receptacleAtLocation DiningTable_bar__minus_02_dot_27_bar__minus_00_dot_02_bar__plus_01_dot_42 loc_bar__minus_10_bar_10_bar_2_bar_60) + (receptacleAtLocation DiningTable_bar__minus_03_dot_20_bar__plus_00_dot_59_bar__plus_00_dot_21 loc_bar__minus_16_bar_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_30_bar__plus_00_dot_62_bar__plus_03_dot_37 loc_bar__minus_4_bar_17_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_11_bar__plus_00_dot_66_bar__minus_00_dot_07 loc_bar__minus_12_bar_2_bar_1_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_04_dot_87_bar__plus_00_dot_00_bar__plus_00_dot_27 loc_bar__minus_18_bar_2_bar_3_bar_60) + (receptacleAtLocation SideTable_bar__minus_00_dot_24_bar__plus_00_dot_00_bar__plus_03_dot_37 loc_bar__minus_3_bar_9_bar_0_bar_60) + (receptacleAtLocation SideTable_bar__minus_02_dot_11_bar__plus_00_dot_01_bar__minus_00_dot_14 loc_bar__minus_8_bar_2_bar_2_bar_60) + (receptacleAtLocation Sofa_bar__minus_02_dot_40_bar__minus_00_dot_07_bar__plus_03_dot_42 loc_bar__minus_9_bar_17_bar_2_bar_60) + (receptacleAtLocation TVStand_bar__minus_02_dot_39_bar__plus_00_dot_00_bar__plus_06_dot_30 loc_bar__minus_10_bar_22_bar_0_bar_60) + (objectAtLocation Newspaper_bar__minus_04_dot_33_bar__plus_00_dot_45_bar__plus_05_dot_88 loc_bar__minus_17_bar_20_bar_0_bar_60) + (objectAtLocation Pen_bar__minus_02_dot_40_bar__plus_00_dot_10_bar__plus_04_dot_81 loc_bar__minus_14_bar_18_bar_1_bar_60) + (objectAtLocation RemoteControl_bar__minus_02_dot_55_bar__plus_00_dot_35_bar__plus_04_dot_89 loc_bar__minus_14_bar_18_bar_1_bar_60) + (objectAtLocation Bowl_bar__minus_02_dot_71_bar__plus_00_dot_69_bar__plus_01_dot_55 loc_bar__minus_10_bar_10_bar_2_bar_60) + (objectAtLocation Pencil_bar__minus_02_dot_76_bar__plus_00_dot_24_bar__plus_06_dot_12 loc_bar__minus_10_bar_22_bar_0_bar_60) + (objectAtLocation KeyChain_bar__minus_02_dot_51_bar__plus_00_dot_24_bar__plus_06_dot_05 loc_bar__minus_10_bar_22_bar_0_bar_60) + (objectAtLocation Plate_bar__minus_02_dot_16_bar__plus_00_dot_10_bar__plus_04_dot_89 loc_bar__minus_14_bar_18_bar_1_bar_60) + (objectAtLocation CreditCard_bar__minus_02_dot_11_bar__plus_00_dot_75_bar__minus_00_dot_20 loc_bar__minus_8_bar_2_bar_2_bar_60) + (objectAtLocation TissueBox_bar__minus_02_dot_47_bar__plus_00_dot_60_bar__plus_04_dot_81 loc_bar__minus_14_bar_18_bar_1_bar_60) + (objectAtLocation Laptop_bar__minus_02_dot_40_bar__plus_00_dot_48_bar__plus_03_dot_53 loc_bar__minus_9_bar_17_bar_2_bar_60) + (objectAtLocation Statue_bar__minus_02_dot_93_bar__plus_00_dot_70_bar__plus_01_dot_42 loc_bar__minus_10_bar_10_bar_2_bar_60) + (objectAtLocation Book_bar__minus_01_dot_87_bar__plus_00_dot_68_bar__plus_01_dot_17 loc_bar__minus_10_bar_10_bar_2_bar_60) + (objectAtLocation Pencil_bar__minus_02_dot_64_bar__plus_00_dot_24_bar__plus_06_dot_19 loc_bar__minus_10_bar_22_bar_0_bar_60) + (objectAtLocation Pen_bar__minus_02_dot_27_bar__plus_00_dot_69_bar__plus_01_dot_79 loc_bar__minus_10_bar_10_bar_2_bar_60) + (objectAtLocation Painting_bar__minus_02_dot_05_bar__plus_01_dot_62_bar__minus_00_dot_30 loc_bar__minus_8_bar_2_bar_2_bar_0) + (objectAtLocation Chair_bar__minus_01_dot_87_bar__minus_00_dot_01_bar__plus_01_dot_75 loc_bar__minus_6_bar_9_bar_2_bar_60) + (objectAtLocation Book_bar__minus_02_dot_24_bar__plus_00_dot_35_bar__plus_04_dot_96 loc_bar__minus_14_bar_18_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_02_dot_48_bar__plus_00_dot_00_bar__plus_01_dot_75 loc_bar__minus_10_bar_10_bar_2_bar_60) + (objectAtLocation Box_bar__minus_03_dot_36_bar__plus_00_dot_22_bar__plus_06_dot_43 loc_bar__minus_13_bar_23_bar_0_bar_60) + (objectAtLocation Chair_bar__minus_01_dot_42_bar__minus_00_dot_01_bar__plus_01_dot_43 loc_bar__minus_3_bar_6_bar_3_bar_60) + (objectAtLocation Chair_bar__minus_03_dot_03_bar__minus_00_dot_01_bar__plus_01_dot_40 loc_bar__minus_15_bar_6_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_01_dot_86_bar_00_dot_00_bar__plus_01_dot_14 loc_bar__minus_7_bar_2_bar_0_bar_60) + (objectAtLocation Curtains_bar__minus_00_dot_08_bar__plus_02_dot_42_bar__plus_00_dot_97 loc_bar__minus_3_bar_9_bar_0_bar_60) + (objectAtLocation Statue_bar__minus_01_dot_60_bar__plus_00_dot_70_bar__plus_01_dot_55 loc_bar__minus_10_bar_10_bar_2_bar_60) + (objectAtLocation Laptop_bar__minus_00_dot_89_bar__plus_00_dot_45_bar__plus_05_dot_97 loc_bar__minus_4_bar_20_bar_0_bar_60) + (objectAtLocation Television_bar__minus_02_dot_36_bar__plus_01_dot_21_bar__plus_06_dot_28 loc_bar__minus_10_bar_22_bar_0_bar_60) + (objectAtLocation HousePlant_bar__minus_03_dot_02_bar__plus_00_dot_59_bar__minus_00_dot_02 loc_bar__minus_16_bar_2_bar_1_bar_60) + (objectAtLocation TissueBox_bar__minus_01_dot_83_bar__plus_00_dot_69_bar__plus_01_dot_79 loc_bar__minus_10_bar_10_bar_2_bar_60) + (objectAtLocation CreditCard_bar__minus_04_dot_01_bar__plus_00_dot_43_bar__plus_05_dot_87 loc_bar__minus_17_bar_20_bar_0_bar_60) + (objectAtLocation Plate_bar__minus_02_dot_39_bar__plus_00_dot_75_bar__minus_00_dot_12 loc_bar__minus_8_bar_2_bar_2_bar_60) + (objectAtLocation KeyChain_bar__minus_00_dot_71_bar__plus_00_dot_43_bar__plus_06_dot_15 loc_bar__minus_4_bar_20_bar_0_bar_60) + (objectAtLocation FloorLamp_bar__minus_00_dot_57_bar__plus_00_dot_00_bar__plus_00_dot_03 loc_bar__minus_5_bar_1_bar_1_bar_60) + (objectAtLocation Vase_bar__minus_02_dot_49_bar__plus_00_dot_69_bar__plus_01_dot_55 loc_bar__minus_10_bar_10_bar_2_bar_60) + (objectAtLocation Chair_bar__minus_02_dot_49_bar__minus_00_dot_01_bar__plus_01_dot_11 loc_bar__minus_10_bar_2_bar_0_bar_60) + (objectAtLocation Pencil_bar__minus_03_dot_08_bar__plus_00_dot_61_bar__plus_00_dot_00 loc_bar__minus_16_bar_2_bar_1_bar_60) + (objectAtLocation Pillow_bar__minus_03_dot_27_bar__plus_00_dot_66_bar__plus_03_dot_44 loc_bar__minus_9_bar_17_bar_2_bar_60) + (objectAtLocation Bowl_bar__minus_00_dot_25_bar__plus_00_dot_71_bar__plus_03_dot_20 loc_bar__minus_3_bar_9_bar_0_bar_60) + (objectAtLocation RemoteControl_bar__minus_01_dot_87_bar__plus_00_dot_48_bar__plus_03_dot_71 loc_bar__minus_9_bar_17_bar_2_bar_60) + (objectAtLocation Watch_bar__minus_02_dot_50_bar__plus_00_dot_65_bar__minus_00_dot_02 loc_bar__minus_12_bar_2_bar_1_bar_45) + (objectAtLocation Pen_bar__minus_02_dot_01_bar__plus_00_dot_24_bar__plus_06_dot_16 loc_bar__minus_10_bar_22_bar_0_bar_60) + (objectAtLocation Newspaper_bar__minus_02_dot_67_bar__plus_00_dot_48_bar__plus_03_dot_53 loc_bar__minus_9_bar_17_bar_2_bar_60) + (objectAtLocation Window_bar__minus_00_dot_06_bar__plus_00_dot_93_bar__plus_01_dot_76 loc_bar__minus_2_bar_7_bar_1_bar_60) + (objectAtLocation Window_bar__minus_00_dot_06_bar__plus_01_dot_13_bar__plus_04_dot_89 loc_bar__minus_2_bar_20_bar_1_bar_45) + (objectAtLocation LightSwitch_bar__minus_03_dot_31_bar__plus_01_dot_34_bar__minus_00_dot_32 loc_bar__minus_14_bar_1_bar_2_bar_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o WatchType) + (receptacleType ?r CoffeeTableType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Watch-None-CoffeeTable-201/trial_T20190908_124638_700872/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Watch-None-CoffeeTable-201/trial_T20190908_124638_700872/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..e60e59c8ed5973e2e7688739108d55d9a7884856 --- /dev/null +++ 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the drawer, take the watch out of the drawer, close the drawer", + "turn right, walk forward, turn right, walk forward, turn right after the couch, face the coffee table in front of you", + "put the watch on the coffee table" + ], + "task_desc": "move watch from a drawer to the coffee table", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1SX8IVV82M0LW_3R08VXYT7FM4UTFFYJ9Y6N0IH8KW7S", + "high_descs": [ + "Walk across the room to the table under the picture.", + "Grab a watch from the table drawer.", + "Go across the room to the coffee table.", + "Place the watch on the coffee table." + ], + "task_desc": "Present a watch on a table.", + "votes": [ + 1, + 1, + 0 + ] + }, + { + "assignment_id": "A1ELPYAFO7MANS_3VZLGYJEYO1233QBRJX3ZQ7O04DXZQ", + "high_descs": [ + "Walk ahead a step, then turn left and walk to the wall. Then turn left and walk to the small dresser on the right.", + "Take the watch out of the drawer of the dresser.", + "Turn right to the wall and then right again, walk around the couch to the coffee table.", + "Set the watch on the coffee table to the right of the tissue box." + ], + "task_desc": "Place a watch on a coffee table.", + "votes": [ + 0, + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-WateringCan-None-CoffeeTable-209/trial_T20190908_134510_511294/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-WateringCan-None-CoffeeTable-209/trial_T20190908_134510_511294/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..d15c31d878f2702851b3e91904af6bac66a4fa71 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-WateringCan-None-CoffeeTable-209/trial_T20190908_134510_511294/initial_state.pddl @@ -0,0 +1,534 @@ + +(define (problem plan_trial_T20190908_134510_511294) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Book_bar__minus_02_dot_36_bar__plus_00_dot_59_bar__minus_02_dot_99 - object + Book_bar__minus_04_dot_41_bar__plus_00_dot_33_bar__minus_03_dot_59 - object + Box_bar__minus_02_dot_36_bar__plus_00_dot_26_bar__minus_01_dot_65 - object + CreditCard_bar__minus_02_dot_10_bar__plus_00_dot_48_bar__minus_05_dot_21 - object + FloorLamp_bar__minus_04_dot_82_bar__plus_00_dot_00_bar__minus_05_dot_12 - object + HousePlant_bar__minus_05_dot_63_bar__plus_00_dot_48_bar__minus_05_dot_13 - object + KeyChain_bar__minus_04_dot_26_bar__plus_00_dot_34_bar__minus_03_dot_37 - object + Laptop_bar__minus_02_dot_57_bar__plus_00_dot_58_bar__minus_02_dot_51 - object + LightSwitch_bar__minus_05_dot_76_bar__plus_01_dot_33_bar__plus_00_dot_01 - object + Mirror_bar__minus_03_dot_40_bar__plus_02_dot_03_bar__plus_00_dot_00 - object + 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Vase_bar__minus_02_dot_65_bar__plus_00_dot_71_bar__minus_05_dot_00 - object + Vase_bar__minus_03_dot_90_bar__plus_00_dot_70_bar__minus_05_dot_10 - object + Vase_bar__minus_04_dot_22_bar__plus_00_dot_70_bar__minus_05_dot_05 - object + Vase_bar__minus_04_dot_48_bar__plus_00_dot_70_bar__minus_05_dot_08 - object + Watch_bar__minus_02_dot_93_bar__plus_00_dot_71_bar__minus_04_dot_95 - object + Watch_bar__minus_04_dot_07_bar__plus_00_dot_70_bar__minus_05_dot_19 - object + Watch_bar__minus_04_dot_36_bar__plus_00_dot_08_bar__minus_05_dot_03 - object + WateringCan_bar__minus_07_dot_99_bar__plus_00_dot_00_bar__minus_04_dot_63 - object + Window_bar__minus_08_dot_24_bar__plus_01_dot_41_bar__minus_01_dot_51 - object + Window_bar__minus_08_dot_24_bar__plus_01_dot_41_bar__minus_04_dot_08 - object + ArmChair_bar__minus_04_dot_39_bar__plus_00_dot_00_bar__minus_03_dot_55 - receptacle + CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49 - receptacle + Drawer_bar__minus_02_dot_98_bar__plus_00_dot_17_bar__minus_05_dot_01 - receptacle + Drawer_bar__minus_02_dot_98_bar__plus_00_dot_48_bar__minus_05_dot_01 - receptacle + Drawer_bar__minus_04_dot_02_bar__plus_00_dot_17_bar__minus_05_dot_01 - receptacle + Drawer_bar__minus_04_dot_02_bar__plus_00_dot_48_bar__minus_05_dot_01 - receptacle + Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10 - receptacle + GarbageCan_bar__minus_00_dot_97_bar__plus_00_dot_00_bar__minus_05_dot_06 - receptacle + SideTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__minus_05_dot_08 - receptacle + SideTable_bar__minus_05_dot_43_bar__minus_00_dot_01_bar__minus_05_dot_12 - receptacle + Sofa_bar__minus_04_dot_36_bar__plus_00_dot_00_bar__minus_02_dot_09 - receptacle + loc_bar__minus_31_bar__minus_6_bar_3_bar_30 - location + loc_bar__minus_7_bar__minus_18_bar_3_bar_45 - location + loc_bar__minus_16_bar__minus_18_bar_1_bar_45 - location + loc_bar__minus_18_bar__minus_18_bar_2_bar_60 - location + loc_bar__minus_31_bar__minus_16_bar_3_bar_30 - location + loc_bar__minus_8_bar__minus_6_bar_3_bar_60 - location + loc_bar__minus_6_bar__minus_19_bar_1_bar_60 - location + loc_bar__minus_15_bar__minus_14_bar_3_bar_60 - location + loc_bar__minus_31_bar__minus_17_bar_2_bar_60 - location + loc_bar__minus_13_bar__minus_15_bar_3_bar_60 - location + loc_bar__minus_23_bar__minus_17_bar_2_bar_60 - location + loc_bar__minus_13_bar__minus_17_bar_2_bar_60 - location + loc_bar__minus_13_bar__minus_8_bar_3_bar_60 - location + loc_bar__minus_14_bar__minus_3_bar_0_bar__minus_30 - location + loc_bar__minus_16_bar__minus_18_bar_2_bar_60 - location + loc_bar__minus_5_bar__minus_10_bar_1_bar_0 - location + loc_bar__minus_5_bar__minus_10_bar_3_bar_60 - location + loc_bar__minus_10_bar__minus_17_bar_2_bar_60 - location + loc_bar__minus_12_bar__minus_18_bar_3_bar_45 - location + loc_bar__minus_13_bar__minus_18_bar_2_bar__minus_15 - location + loc_bar__minus_23_bar__minus_2_bar_0_bar_30 - location + loc_bar__minus_8_bar__minus_14_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType ArmChair_bar__minus_04_dot_39_bar__plus_00_dot_00_bar__minus_03_dot_55 ArmChairType) + (receptacleType GarbageCan_bar__minus_00_dot_97_bar__plus_00_dot_00_bar__minus_05_dot_06 GarbageCanType) + (receptacleType Drawer_bar__minus_02_dot_98_bar__plus_00_dot_48_bar__minus_05_dot_01 DrawerType) + (receptacleType SideTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__minus_05_dot_08 SideTableType) + (receptacleType SideTable_bar__minus_05_dot_43_bar__minus_00_dot_01_bar__minus_05_dot_12 SideTableType) + (receptacleType Drawer_bar__minus_04_dot_02_bar__plus_00_dot_48_bar__minus_05_dot_01 DrawerType) + (receptacleType Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10 DresserType) + (receptacleType Drawer_bar__minus_02_dot_98_bar__plus_00_dot_17_bar__minus_05_dot_01 DrawerType) + (receptacleType CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49 CoffeeTableType) + (receptacleType Drawer_bar__minus_04_dot_02_bar__plus_00_dot_17_bar__minus_05_dot_01 DrawerType) + (receptacleType Sofa_bar__minus_04_dot_36_bar__plus_00_dot_00_bar__minus_02_dot_09 SofaType) + (objectType LightSwitch_bar__minus_05_dot_76_bar__plus_01_dot_33_bar__plus_00_dot_01 LightSwitchType) + (objectType Newspaper_bar__minus_04_dot_27_bar__plus_00_dot_34_bar__minus_02_dot_16 NewspaperType) + (objectType Watch_bar__minus_02_dot_93_bar__plus_00_dot_71_bar__minus_04_dot_95 WatchType) + (objectType WateringCan_bar__minus_07_dot_99_bar__plus_00_dot_00_bar__minus_04_dot_63 WateringCanType) + (objectType Vase_bar__minus_02_dot_65_bar__plus_00_dot_71_bar__minus_05_dot_00 VaseType) + (objectType Newspaper_bar__minus_02_dot_26_bar__plus_00_dot_59_bar__minus_02_dot_16 NewspaperType) + (objectType Watch_bar__minus_04_dot_36_bar__plus_00_dot_08_bar__minus_05_dot_03 WatchType) + (objectType CreditCard_bar__minus_02_dot_10_bar__plus_00_dot_48_bar__minus_05_dot_21 CreditCardType) + (objectType Vase_bar__minus_04_dot_48_bar__plus_00_dot_70_bar__minus_05_dot_08 VaseType) + (objectType Pen_bar__minus_04_dot_36_bar__plus_00_dot_71_bar__minus_05_dot_24 PenType) + (objectType Statue_bar__minus_03_dot_22_bar__plus_00_dot_71_bar__minus_05_dot_09 StatueType) + (objectType Book_bar__minus_02_dot_36_bar__plus_00_dot_59_bar__minus_02_dot_99 BookType) + (objectType Pen_bar__minus_05_dot_42_bar__plus_00_dot_49_bar__minus_05_dot_17 PenType) + (objectType Vase_bar__minus_03_dot_90_bar__plus_00_dot_70_bar__minus_05_dot_10 VaseType) + (objectType FloorLamp_bar__minus_04_dot_82_bar__plus_00_dot_00_bar__minus_05_dot_12 FloorLampType) + (objectType RemoteControl_bar__minus_02_dot_68_bar__plus_00_dot_59_bar__minus_02_dot_00 RemoteControlType) + (objectType Window_bar__minus_08_dot_24_bar__plus_01_dot_41_bar__minus_01_dot_51 WindowType) + (objectType KeyChain_bar__minus_04_dot_26_bar__plus_00_dot_34_bar__minus_03_dot_37 KeyChainType) + (objectType Pillow_bar__minus_04_dot_19_bar__plus_00_dot_44_bar__minus_03_dot_45 PillowType) + (objectType Television_bar__minus_00_dot_61_bar__plus_01_dot_67_bar__minus_02_dot_60 TelevisionType) + (objectType Box_bar__minus_02_dot_36_bar__plus_00_dot_26_bar__minus_01_dot_65 BoxType) + (objectType Watch_bar__minus_04_dot_07_bar__plus_00_dot_70_bar__minus_05_dot_19 WatchType) + (objectType Mirror_bar__minus_03_dot_40_bar__plus_02_dot_03_bar__plus_00_dot_00 MirrorType) + (objectType Window_bar__minus_08_dot_24_bar__plus_01_dot_41_bar__minus_04_dot_08 WindowType) + (objectType Statue_bar__minus_03_dot_50_bar__plus_00_dot_71_bar__minus_05_dot_05 StatueType) + (objectType HousePlant_bar__minus_05_dot_63_bar__plus_00_dot_48_bar__minus_05_dot_13 HousePlantType) + (objectType Book_bar__minus_04_dot_41_bar__plus_00_dot_33_bar__minus_03_dot_59 BookType) + (objectType Pillow_bar__minus_04_dot_28_bar__plus_00_dot_45_bar__minus_01_dot_74 PillowType) + (objectType Pen_bar__minus_03_dot_22_bar__plus_00_dot_71_bar__minus_04_dot_95 PenType) + (objectType Vase_bar__minus_04_dot_22_bar__plus_00_dot_70_bar__minus_05_dot_05 VaseType) + (objectType Laptop_bar__minus_02_dot_57_bar__plus_00_dot_58_bar__minus_02_dot_51 LaptopType) + (objectType Painting_bar__minus_03_dot_37_bar__plus_01_dot_80_bar__minus_05_dot_39 PaintingType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType BookType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType NewspaperType) + (canContain ArmChairType CreditCardType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType NewspaperType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType NewspaperType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType WatchType) + (canContain SideTableType NewspaperType) + (canContain SideTableType VaseType) + (canContain SideTableType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType StatueType) + (canContain SideTableType WateringCanType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType WatchType) + (canContain SideTableType NewspaperType) + (canContain SideTableType VaseType) + (canContain SideTableType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType RemoteControlType) + (canContain 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(canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain CoffeeTableType PenType) + (canContain CoffeeTableType BookType) + (canContain CoffeeTableType WatchType) + (canContain CoffeeTableType NewspaperType) + (canContain CoffeeTableType VaseType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType StatueType) + (canContain CoffeeTableType WateringCanType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType NewspaperType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType BookType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType NewspaperType) + (canContain SofaType CreditCardType) + (pickupable Newspaper_bar__minus_04_dot_27_bar__plus_00_dot_34_bar__minus_02_dot_16) + (pickupable Watch_bar__minus_02_dot_93_bar__plus_00_dot_71_bar__minus_04_dot_95) + (pickupable WateringCan_bar__minus_07_dot_99_bar__plus_00_dot_00_bar__minus_04_dot_63) + (pickupable Vase_bar__minus_02_dot_65_bar__plus_00_dot_71_bar__minus_05_dot_00) + (pickupable Newspaper_bar__minus_02_dot_26_bar__plus_00_dot_59_bar__minus_02_dot_16) + (pickupable Watch_bar__minus_04_dot_36_bar__plus_00_dot_08_bar__minus_05_dot_03) + (pickupable CreditCard_bar__minus_02_dot_10_bar__plus_00_dot_48_bar__minus_05_dot_21) + (pickupable Vase_bar__minus_04_dot_48_bar__plus_00_dot_70_bar__minus_05_dot_08) + (pickupable 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Statue_bar__minus_03_dot_50_bar__plus_00_dot_71_bar__minus_05_dot_05 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10) + (inReceptacle Vase_bar__minus_02_dot_65_bar__plus_00_dot_71_bar__minus_05_dot_00 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10) + (inReceptacle Pen_bar__minus_03_dot_22_bar__plus_00_dot_71_bar__minus_04_dot_95 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10) + (inReceptacle Vase_bar__minus_04_dot_22_bar__plus_00_dot_70_bar__minus_05_dot_05 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10) + (inReceptacle Vase_bar__minus_04_dot_48_bar__plus_00_dot_70_bar__minus_05_dot_08 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10) + (inReceptacle Watch_bar__minus_04_dot_07_bar__plus_00_dot_70_bar__minus_05_dot_19 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10) + (inReceptacle Pen_bar__minus_04_dot_36_bar__plus_00_dot_71_bar__minus_05_dot_24 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ArmChair_bar__minus_04_dot_39_bar__plus_00_dot_00_bar__minus_03_dot_55) + (inReceptacle Watch_bar__minus_04_dot_36_bar__plus_00_dot_08_bar__minus_05_dot_03 Drawer_bar__minus_04_dot_02_bar__plus_00_dot_17_bar__minus_05_dot_01) + (inReceptacle Newspaper_bar__minus_04_dot_27_bar__plus_00_dot_34_bar__minus_02_dot_16 Sofa_bar__minus_04_dot_36_bar__plus_00_dot_00_bar__minus_02_dot_09) + (inReceptacle Pillow_bar__minus_04_dot_28_bar__plus_00_dot_45_bar__minus_01_dot_74 Sofa_bar__minus_04_dot_36_bar__plus_00_dot_00_bar__minus_02_dot_09) + (inReceptacle Book_bar__minus_02_dot_36_bar__plus_00_dot_59_bar__minus_02_dot_99 CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49) + (inReceptacle RemoteControl_bar__minus_02_dot_68_bar__plus_00_dot_59_bar__minus_02_dot_00 CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49) + (inReceptacle Laptop_bar__minus_02_dot_57_bar__plus_00_dot_58_bar__minus_02_dot_51 CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49) + (inReceptacle Newspaper_bar__minus_02_dot_26_bar__plus_00_dot_59_bar__minus_02_dot_16 CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49) + (inReceptacle CreditCard_bar__minus_02_dot_10_bar__plus_00_dot_48_bar__minus_05_dot_21 SideTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__minus_05_dot_08) + + + (receptacleAtLocation ArmChair_bar__minus_04_dot_39_bar__plus_00_dot_00_bar__minus_03_dot_55 loc_bar__minus_13_bar__minus_15_bar_3_bar_60) + (receptacleAtLocation CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49 loc_bar__minus_5_bar__minus_10_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_98_bar__plus_00_dot_17_bar__minus_05_dot_01 loc_bar__minus_7_bar__minus_18_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_98_bar__plus_00_dot_48_bar__minus_05_dot_01 loc_bar__minus_16_bar__minus_18_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_04_dot_02_bar__plus_00_dot_17_bar__minus_05_dot_01 loc_bar__minus_16_bar__minus_18_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_04_dot_02_bar__plus_00_dot_48_bar__minus_05_dot_01 loc_bar__minus_12_bar__minus_18_bar_3_bar_45) + (receptacleAtLocation Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10 loc_bar__minus_13_bar__minus_17_bar_2_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_97_bar__plus_00_dot_00_bar__minus_05_dot_06 loc_bar__minus_6_bar__minus_19_bar_1_bar_60) + (receptacleAtLocation SideTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__minus_05_dot_08 loc_bar__minus_10_bar__minus_17_bar_2_bar_60) + (receptacleAtLocation SideTable_bar__minus_05_dot_43_bar__minus_00_dot_01_bar__minus_05_dot_12 loc_bar__minus_23_bar__minus_17_bar_2_bar_60) + (receptacleAtLocation Sofa_bar__minus_04_dot_36_bar__plus_00_dot_00_bar__minus_02_dot_09 loc_bar__minus_13_bar__minus_8_bar_3_bar_60) + (objectAtLocation Statue_bar__minus_03_dot_22_bar__plus_00_dot_71_bar__minus_05_dot_09 loc_bar__minus_13_bar__minus_17_bar_2_bar_60) + (objectAtLocation Pillow_bar__minus_04_dot_28_bar__plus_00_dot_45_bar__minus_01_dot_74 loc_bar__minus_13_bar__minus_8_bar_3_bar_60) + (objectAtLocation Pen_bar__minus_05_dot_42_bar__plus_00_dot_49_bar__minus_05_dot_17 loc_bar__minus_23_bar__minus_17_bar_2_bar_60) + (objectAtLocation Watch_bar__minus_04_dot_36_bar__plus_00_dot_08_bar__minus_05_dot_03 loc_bar__minus_16_bar__minus_18_bar_2_bar_60) + (objectAtLocation Newspaper_bar__minus_04_dot_27_bar__plus_00_dot_34_bar__minus_02_dot_16 loc_bar__minus_13_bar__minus_8_bar_3_bar_60) + (objectAtLocation Book_bar__minus_02_dot_36_bar__plus_00_dot_59_bar__minus_02_dot_99 loc_bar__minus_5_bar__minus_10_bar_3_bar_60) + (objectAtLocation Pen_bar__minus_04_dot_36_bar__plus_00_dot_71_bar__minus_05_dot_24 loc_bar__minus_13_bar__minus_17_bar_2_bar_60) + (objectAtLocation Watch_bar__minus_04_dot_07_bar__plus_00_dot_70_bar__minus_05_dot_19 loc_bar__minus_13_bar__minus_17_bar_2_bar_60) + (objectAtLocation Box_bar__minus_02_dot_36_bar__plus_00_dot_26_bar__minus_01_dot_65 loc_bar__minus_8_bar__minus_6_bar_3_bar_60) + (objectAtLocation Book_bar__minus_04_dot_41_bar__plus_00_dot_33_bar__minus_03_dot_59 loc_bar__minus_13_bar__minus_15_bar_3_bar_60) + (objectAtLocation Mirror_bar__minus_03_dot_40_bar__plus_02_dot_03_bar__plus_00_dot_00 loc_bar__minus_14_bar__minus_3_bar_0_bar__minus_30) + (objectAtLocation Newspaper_bar__minus_02_dot_26_bar__plus_00_dot_59_bar__minus_02_dot_16 loc_bar__minus_5_bar__minus_10_bar_3_bar_60) + (objectAtLocation Watch_bar__minus_02_dot_93_bar__plus_00_dot_71_bar__minus_04_dot_95 loc_bar__minus_13_bar__minus_17_bar_2_bar_60) + (objectAtLocation Pen_bar__minus_03_dot_22_bar__plus_00_dot_71_bar__minus_04_dot_95 loc_bar__minus_13_bar__minus_17_bar_2_bar_60) + (objectAtLocation FloorLamp_bar__minus_04_dot_82_bar__plus_00_dot_00_bar__minus_05_dot_12 loc_bar__minus_18_bar__minus_18_bar_2_bar_60) + (objectAtLocation LightSwitch_bar__minus_05_dot_76_bar__plus_01_dot_33_bar__plus_00_dot_01 loc_bar__minus_23_bar__minus_2_bar_0_bar_30) + (objectAtLocation WateringCan_bar__minus_07_dot_99_bar__plus_00_dot_00_bar__minus_04_dot_63 loc_bar__minus_31_bar__minus_17_bar_2_bar_60) + (objectAtLocation Pillow_bar__minus_04_dot_19_bar__plus_00_dot_44_bar__minus_03_dot_45 loc_bar__minus_13_bar__minus_15_bar_3_bar_60) + (objectAtLocation CreditCard_bar__minus_02_dot_10_bar__plus_00_dot_48_bar__minus_05_dot_21 loc_bar__minus_10_bar__minus_17_bar_2_bar_60) + (objectAtLocation Vase_bar__minus_04_dot_48_bar__plus_00_dot_70_bar__minus_05_dot_08 loc_bar__minus_13_bar__minus_17_bar_2_bar_60) + (objectAtLocation KeyChain_bar__minus_04_dot_26_bar__plus_00_dot_34_bar__minus_03_dot_37 loc_bar__minus_15_bar__minus_14_bar_3_bar_60) + (objectAtLocation Vase_bar__minus_04_dot_22_bar__plus_00_dot_70_bar__minus_05_dot_05 loc_bar__minus_13_bar__minus_17_bar_2_bar_60) + (objectAtLocation Laptop_bar__minus_02_dot_57_bar__plus_00_dot_58_bar__minus_02_dot_51 loc_bar__minus_5_bar__minus_10_bar_3_bar_60) + (objectAtLocation HousePlant_bar__minus_05_dot_63_bar__plus_00_dot_48_bar__minus_05_dot_13 loc_bar__minus_23_bar__minus_17_bar_2_bar_60) + (objectAtLocation Statue_bar__minus_03_dot_50_bar__plus_00_dot_71_bar__minus_05_dot_05 loc_bar__minus_13_bar__minus_17_bar_2_bar_60) + (objectAtLocation Vase_bar__minus_03_dot_90_bar__plus_00_dot_70_bar__minus_05_dot_10 loc_bar__minus_13_bar__minus_17_bar_2_bar_60) + (objectAtLocation Painting_bar__minus_03_dot_37_bar__plus_01_dot_80_bar__minus_05_dot_39 loc_bar__minus_13_bar__minus_18_bar_2_bar__minus_15) + (objectAtLocation RemoteControl_bar__minus_02_dot_68_bar__plus_00_dot_59_bar__minus_02_dot_00 loc_bar__minus_5_bar__minus_10_bar_3_bar_60) + (objectAtLocation Television_bar__minus_00_dot_61_bar__plus_01_dot_67_bar__minus_02_dot_60 loc_bar__minus_5_bar__minus_10_bar_1_bar_0) + (objectAtLocation Vase_bar__minus_02_dot_65_bar__plus_00_dot_71_bar__minus_05_dot_00 loc_bar__minus_13_bar__minus_17_bar_2_bar_60) + (objectAtLocation Window_bar__minus_08_dot_24_bar__plus_01_dot_41_bar__minus_01_dot_51 loc_bar__minus_31_bar__minus_6_bar_3_bar_30) + (objectAtLocation Window_bar__minus_08_dot_24_bar__plus_01_dot_41_bar__minus_04_dot_08 loc_bar__minus_31_bar__minus_16_bar_3_bar_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o WateringCanType) + (receptacleType ?r CoffeeTableType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-WateringCan-None-CoffeeTable-209/trial_T20190908_134510_511294/traj_data.json 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{ + "objectName": "Pillow_43f5ce75", + "position": { + "x": -4.2824, + "y": 0.4545, + "z": -1.736 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_d56c9394", + "position": { + "x": -2.10408354, + "y": 0.482100874, + "z": -5.205836 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Vase_6a3e9901", + "position": { + "x": -4.477, + "y": 0.697854638, + "z": -5.076 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_66f96f55", + "position": { + "x": -4.262827, + "y": 0.33595705, + "z": -3.37497163 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Vase_b321c4a8", + "position": { + "x": -4.218, + "y": 0.697854638, + "z": -5.046 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Laptop_fa6f33e1", + "position": { + "x": -2.56851029, + "y": 0.580341637, + "z": -2.51465273 + }, + "rotation": { + "x": 0.0, + "y": 300.000061, + "z": 0.0 + } + }, + { + "objectName": "Statue_e7eb2316", + "position": { + "x": -3.21841669, + "y": 0.711534, + "z": -5.09397364 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Vase_9af66930", + "position": { + "x": -3.901, + "y": 0.697854638, + "z": -5.103 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "RemoteControl_1c8f3660", + "position": { + "x": -2.68087339, + "y": 0.5900489, + "z": -1.99663389 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Vase_eb5b21fb", + "position": { + "x": -2.64822364, + "y": 0.705553532, + "z": -4.99946 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3338354296, + "scene_num": 209 + }, + "task_id": "trial_T20190908_134510_511294", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3R19ZA45J8915_3P1L2B7AD4GV45VFBRJY8Y5X9R9LOZ", + "high_descs": [ + "Turn around, walk almost to the wall, then turn right and walk up to the windows. ", + "Pick up the watering can that sits in front of the windows. ", + "Turn around, walk to the wall, then turn left, walk a few steps, then turn left again to face the coffee table. ", + "Place the watering can down on the table, in front of the laptop." + ], + "task_desc": "Move a watering can to the coffee table. ", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1RLO9LNUJIW5S_3WETL7AQWWZSGRZ806JZ36BPS9Z35I", + "high_descs": [ + "Turn around and walk to the stand then turn right and walk to the window.", + "Pick up the watering can that's in front of you on the floor.", + "Turn around and walk to the wall then turn left and walk to the middle of the coffee table to your left.", + "Put the watering can on the coffee table under the laptop." + ], + "task_desc": "Put a watering can on a table.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2RUHO7I7Y4XFA_3WZ36BJEV67Z4OEBGVG3O5FFW4YTBQ", + "high_descs": [ + "Turn right and walk between the wooden counter on the left and the black couch on the right.", + "Pick up the tea kettle on the ground in the corner.", + "Turn around and walk back between the couch and the wooden table on your right.", + "Put the tea kettle down on the brown coffee table in the middle of the room." + ], + "task_desc": "Pick up the tea kettle and put it on the table.", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-WateringCan-None-CoffeeTable-209/trial_T20190908_134534_137948/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-WateringCan-None-CoffeeTable-209/trial_T20190908_134534_137948/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..6af3852a32dd414b49b3a9fe5bb4c1b6106ecb6b --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-WateringCan-None-CoffeeTable-209/trial_T20190908_134534_137948/initial_state.pddl @@ -0,0 +1,505 @@ + +(define (problem plan_trial_T20190908_134534_137948) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Book_bar__minus_02_dot_53_bar__plus_00_dot_70_bar__minus_05_dot_12 - object + Box_bar__minus_02_dot_36_bar__plus_00_dot_26_bar__minus_01_dot_65 - object + Box_bar__minus_04_dot_26_bar__plus_00_dot_58_bar__minus_03_dot_37 - object + CreditCard_bar__minus_04_dot_49_bar__plus_00_dot_34_bar__minus_03_dot_59 - object + FloorLamp_bar__minus_04_dot_82_bar__plus_00_dot_00_bar__minus_05_dot_12 - object + HousePlant_bar__minus_05_dot_63_bar__plus_00_dot_48_bar__minus_05_dot_13 - object + KeyChain_bar__minus_03_dot_50_bar__plus_00_dot_71_bar__minus_05_dot_19 - object + Laptop_bar__minus_02_dot_57_bar__plus_00_dot_58_bar__minus_02_dot_51 - object + LightSwitch_bar__minus_05_dot_76_bar__plus_01_dot_33_bar__plus_00_dot_01 - object + Mirror_bar__minus_03_dot_40_bar__plus_02_dot_03_bar__plus_00_dot_00 - object + Newspaper_bar__minus_03_dot_22_bar__plus_00_dot_71_bar__minus_05_dot_14 - object + Painting_bar__minus_03_dot_37_bar__plus_01_dot_80_bar__minus_05_dot_39 - object + Pen_bar__minus_03_dot_79_bar__plus_00_dot_71_bar__minus_05_dot_14 - object + Pillow_bar__minus_04_dot_28_bar__plus_00_dot_45_bar__minus_01_dot_74 - object + RemoteControl_bar__minus_04_dot_41_bar__plus_00_dot_34_bar__minus_03_dot_67 - object + Statue_bar__minus_02_dot_36_bar__plus_00_dot_59_bar__minus_02_dot_00 - object + Statue_bar__minus_02_dot_93_bar__plus_00_dot_71_bar__minus_05_dot_19 - object + Television_bar__minus_00_dot_61_bar__plus_01_dot_67_bar__minus_02_dot_60 - object + Vase_bar__minus_02_dot_10_bar__plus_00_dot_48_bar__minus_05_dot_08 - object + Vase_bar__minus_03_dot_90_bar__plus_00_dot_70_bar__minus_05_dot_10 - object + Vase_bar__minus_04_dot_48_bar__plus_00_dot_70_bar__minus_05_dot_08 - object + Vase_bar__minus_05_dot_22_bar__plus_00_dot_49_bar__minus_05_dot_17 - object + Watch_bar__minus_03_dot_32_bar__plus_00_dot_08_bar__minus_05_dot_00 - object + WateringCan_bar__minus_07_dot_99_bar__plus_00_dot_00_bar__minus_04_dot_63 - object + Window_bar__minus_08_dot_24_bar__plus_01_dot_41_bar__minus_01_dot_51 - object + Window_bar__minus_08_dot_24_bar__plus_01_dot_41_bar__minus_04_dot_08 - object + ArmChair_bar__minus_04_dot_39_bar__plus_00_dot_00_bar__minus_03_dot_55 - receptacle + CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49 - receptacle + Drawer_bar__minus_02_dot_98_bar__plus_00_dot_17_bar__minus_05_dot_01 - receptacle + Drawer_bar__minus_02_dot_98_bar__plus_00_dot_48_bar__minus_05_dot_01 - receptacle + Drawer_bar__minus_04_dot_02_bar__plus_00_dot_17_bar__minus_05_dot_01 - receptacle + Drawer_bar__minus_04_dot_02_bar__plus_00_dot_48_bar__minus_05_dot_01 - receptacle + Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10 - receptacle + GarbageCan_bar__minus_00_dot_97_bar__plus_00_dot_00_bar__minus_05_dot_06 - receptacle + SideTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__minus_05_dot_08 - receptacle + SideTable_bar__minus_05_dot_43_bar__minus_00_dot_01_bar__minus_05_dot_12 - receptacle + Sofa_bar__minus_04_dot_36_bar__plus_00_dot_00_bar__minus_02_dot_09 - receptacle + loc_bar__minus_31_bar__minus_6_bar_3_bar_30 - location + loc_bar__minus_7_bar__minus_18_bar_3_bar_45 - location + loc_bar__minus_18_bar__minus_17_bar_0_bar_60 - location + loc_bar__minus_16_bar__minus_18_bar_1_bar_45 - location + loc_bar__minus_18_bar__minus_18_bar_2_bar_60 - location + loc_bar__minus_31_bar__minus_16_bar_3_bar_30 - location + loc_bar__minus_8_bar__minus_6_bar_3_bar_60 - location + loc_bar__minus_6_bar__minus_19_bar_1_bar_60 - location + loc_bar__minus_31_bar__minus_17_bar_2_bar_60 - location + loc_bar__minus_13_bar__minus_15_bar_3_bar_60 - location + loc_bar__minus_23_bar__minus_17_bar_2_bar_60 - location + loc_bar__minus_13_bar__minus_17_bar_2_bar_60 - location + loc_bar__minus_13_bar__minus_8_bar_3_bar_60 - location + loc_bar__minus_14_bar__minus_3_bar_0_bar__minus_30 - location + loc_bar__minus_16_bar__minus_18_bar_2_bar_60 - location + loc_bar__minus_5_bar__minus_10_bar_1_bar_0 - location + loc_bar__minus_5_bar__minus_10_bar_3_bar_60 - location + loc_bar__minus_10_bar__minus_17_bar_2_bar_60 - location + loc_bar__minus_12_bar__minus_18_bar_3_bar_45 - location + loc_bar__minus_13_bar__minus_18_bar_2_bar__minus_15 - location + loc_bar__minus_23_bar__minus_2_bar_0_bar_30 - location + loc_bar__minus_7_bar__minus_12_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType ArmChair_bar__minus_04_dot_39_bar__plus_00_dot_00_bar__minus_03_dot_55 ArmChairType) + (receptacleType GarbageCan_bar__minus_00_dot_97_bar__plus_00_dot_00_bar__minus_05_dot_06 GarbageCanType) + (receptacleType Drawer_bar__minus_02_dot_98_bar__plus_00_dot_48_bar__minus_05_dot_01 DrawerType) + (receptacleType SideTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__minus_05_dot_08 SideTableType) + (receptacleType SideTable_bar__minus_05_dot_43_bar__minus_00_dot_01_bar__minus_05_dot_12 SideTableType) + (receptacleType Drawer_bar__minus_04_dot_02_bar__plus_00_dot_48_bar__minus_05_dot_01 DrawerType) + (receptacleType Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10 DresserType) + (receptacleType Drawer_bar__minus_02_dot_98_bar__plus_00_dot_17_bar__minus_05_dot_01 DrawerType) + (receptacleType CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49 CoffeeTableType) + (receptacleType Drawer_bar__minus_04_dot_02_bar__plus_00_dot_17_bar__minus_05_dot_01 DrawerType) + (receptacleType Sofa_bar__minus_04_dot_36_bar__plus_00_dot_00_bar__minus_02_dot_09 SofaType) + (objectType LightSwitch_bar__minus_05_dot_76_bar__plus_01_dot_33_bar__plus_00_dot_01 LightSwitchType) + (objectType WateringCan_bar__minus_07_dot_99_bar__plus_00_dot_00_bar__minus_04_dot_63 WateringCanType) + (objectType Vase_bar__minus_02_dot_10_bar__plus_00_dot_48_bar__minus_05_dot_08 VaseType) + (objectType Pen_bar__minus_03_dot_79_bar__plus_00_dot_71_bar__minus_05_dot_14 PenType) + (objectType KeyChain_bar__minus_03_dot_50_bar__plus_00_dot_71_bar__minus_05_dot_19 KeyChainType) + (objectType Vase_bar__minus_04_dot_48_bar__plus_00_dot_70_bar__minus_05_dot_08 VaseType) + (objectType Vase_bar__minus_03_dot_90_bar__plus_00_dot_70_bar__minus_05_dot_10 VaseType) + (objectType Newspaper_bar__minus_03_dot_22_bar__plus_00_dot_71_bar__minus_05_dot_14 NewspaperType) + (objectType Statue_bar__minus_02_dot_93_bar__plus_00_dot_71_bar__minus_05_dot_19 StatueType) + (objectType RemoteControl_bar__minus_04_dot_41_bar__plus_00_dot_34_bar__minus_03_dot_67 RemoteControlType) + (objectType FloorLamp_bar__minus_04_dot_82_bar__plus_00_dot_00_bar__minus_05_dot_12 FloorLampType) + (objectType Vase_bar__minus_05_dot_22_bar__plus_00_dot_49_bar__minus_05_dot_17 VaseType) + (objectType Window_bar__minus_08_dot_24_bar__plus_01_dot_41_bar__minus_01_dot_51 WindowType) + (objectType Television_bar__minus_00_dot_61_bar__plus_01_dot_67_bar__minus_02_dot_60 TelevisionType) + (objectType Box_bar__minus_02_dot_36_bar__plus_00_dot_26_bar__minus_01_dot_65 BoxType) + (objectType Mirror_bar__minus_03_dot_40_bar__plus_02_dot_03_bar__plus_00_dot_00 MirrorType) + (objectType Window_bar__minus_08_dot_24_bar__plus_01_dot_41_bar__minus_04_dot_08 WindowType) + (objectType CreditCard_bar__minus_04_dot_49_bar__plus_00_dot_34_bar__minus_03_dot_59 CreditCardType) + (objectType HousePlant_bar__minus_05_dot_63_bar__plus_00_dot_48_bar__minus_05_dot_13 HousePlantType) + (objectType Pillow_bar__minus_04_dot_28_bar__plus_00_dot_45_bar__minus_01_dot_74 PillowType) + (objectType Statue_bar__minus_02_dot_36_bar__plus_00_dot_59_bar__minus_02_dot_00 StatueType) + (objectType Laptop_bar__minus_02_dot_57_bar__plus_00_dot_58_bar__minus_02_dot_51 LaptopType) + (objectType Box_bar__minus_04_dot_26_bar__plus_00_dot_58_bar__minus_03_dot_37 BoxType) + (objectType Book_bar__minus_02_dot_53_bar__plus_00_dot_70_bar__minus_05_dot_12 BookType) + (objectType Painting_bar__minus_03_dot_37_bar__plus_01_dot_80_bar__minus_05_dot_39 PaintingType) + (objectType Watch_bar__minus_03_dot_32_bar__plus_00_dot_08_bar__minus_05_dot_00 WatchType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType BookType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType NewspaperType) + (canContain ArmChairType CreditCardType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType NewspaperType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType NewspaperType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType WatchType) + (canContain SideTableType NewspaperType) + (canContain SideTableType VaseType) + (canContain SideTableType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType StatueType) + (canContain SideTableType WateringCanType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType WatchType) + (canContain SideTableType NewspaperType) + (canContain SideTableType VaseType) + (canContain SideTableType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType StatueType) + (canContain SideTableType WateringCanType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType NewspaperType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain DresserType PenType) + (canContain DresserType BookType) + (canContain DresserType WatchType) + (canContain DresserType NewspaperType) + (canContain DresserType VaseType) + (canContain DresserType BoxType) + (canContain DresserType KeyChainType) + (canContain DresserType CreditCardType) + (canContain DresserType LaptopType) + (canContain DresserType RemoteControlType) + (canContain DresserType StatueType) + (canContain DresserType WateringCanType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType NewspaperType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain CoffeeTableType PenType) + (canContain CoffeeTableType BookType) + (canContain CoffeeTableType WatchType) + (canContain CoffeeTableType NewspaperType) + (canContain CoffeeTableType VaseType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType StatueType) + (canContain CoffeeTableType WateringCanType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType NewspaperType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType BookType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType NewspaperType) + (canContain SofaType CreditCardType) + (pickupable WateringCan_bar__minus_07_dot_99_bar__plus_00_dot_00_bar__minus_04_dot_63) + (pickupable Vase_bar__minus_02_dot_10_bar__plus_00_dot_48_bar__minus_05_dot_08) + (pickupable Pen_bar__minus_03_dot_79_bar__plus_00_dot_71_bar__minus_05_dot_14) + (pickupable KeyChain_bar__minus_03_dot_50_bar__plus_00_dot_71_bar__minus_05_dot_19) + (pickupable Vase_bar__minus_04_dot_48_bar__plus_00_dot_70_bar__minus_05_dot_08) + (pickupable Vase_bar__minus_03_dot_90_bar__plus_00_dot_70_bar__minus_05_dot_10) + (pickupable Newspaper_bar__minus_03_dot_22_bar__plus_00_dot_71_bar__minus_05_dot_14) + (pickupable Statue_bar__minus_02_dot_93_bar__plus_00_dot_71_bar__minus_05_dot_19) + (pickupable RemoteControl_bar__minus_04_dot_41_bar__plus_00_dot_34_bar__minus_03_dot_67) + (pickupable Vase_bar__minus_05_dot_22_bar__plus_00_dot_49_bar__minus_05_dot_17) + (pickupable Box_bar__minus_02_dot_36_bar__plus_00_dot_26_bar__minus_01_dot_65) + (pickupable CreditCard_bar__minus_04_dot_49_bar__plus_00_dot_34_bar__minus_03_dot_59) + (pickupable Pillow_bar__minus_04_dot_28_bar__plus_00_dot_45_bar__minus_01_dot_74) + (pickupable Statue_bar__minus_02_dot_36_bar__plus_00_dot_59_bar__minus_02_dot_00) + (pickupable Laptop_bar__minus_02_dot_57_bar__plus_00_dot_58_bar__minus_02_dot_51) + (pickupable Box_bar__minus_04_dot_26_bar__plus_00_dot_58_bar__minus_03_dot_37) + (pickupable Book_bar__minus_02_dot_53_bar__plus_00_dot_70_bar__minus_05_dot_12) + (pickupable Watch_bar__minus_03_dot_32_bar__plus_00_dot_08_bar__minus_05_dot_00) + (isReceptacleObject Box_bar__minus_02_dot_36_bar__plus_00_dot_26_bar__minus_01_dot_65) + (isReceptacleObject Box_bar__minus_04_dot_26_bar__plus_00_dot_58_bar__minus_03_dot_37) + (openable Drawer_bar__minus_02_dot_98_bar__plus_00_dot_48_bar__minus_05_dot_01) + (openable Drawer_bar__minus_04_dot_02_bar__plus_00_dot_48_bar__minus_05_dot_01) + (openable Drawer_bar__minus_02_dot_98_bar__plus_00_dot_17_bar__minus_05_dot_01) + + (atLocation agent1 loc_bar__minus_7_bar__minus_12_bar_3_bar_30) + + + + + + + + (toggleable FloorLamp_bar__minus_04_dot_82_bar__plus_00_dot_00_bar__minus_05_dot_12) + + + + + (inReceptacle Pen_bar__minus_03_dot_79_bar__plus_00_dot_71_bar__minus_05_dot_14 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10) + (inReceptacle KeyChain_bar__minus_03_dot_50_bar__plus_00_dot_71_bar__minus_05_dot_19 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10) + (inReceptacle Book_bar__minus_02_dot_53_bar__plus_00_dot_70_bar__minus_05_dot_12 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10) + (inReceptacle Newspaper_bar__minus_03_dot_22_bar__plus_00_dot_71_bar__minus_05_dot_14 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10) + (inReceptacle Vase_bar__minus_04_dot_48_bar__plus_00_dot_70_bar__minus_05_dot_08 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10) + (inReceptacle Vase_bar__minus_03_dot_90_bar__plus_00_dot_70_bar__minus_05_dot_10 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10) + (inReceptacle Statue_bar__minus_02_dot_93_bar__plus_00_dot_71_bar__minus_05_dot_19 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10) + (inReceptacle Vase_bar__minus_05_dot_22_bar__plus_00_dot_49_bar__minus_05_dot_17 SideTable_bar__minus_05_dot_43_bar__minus_00_dot_01_bar__minus_05_dot_12) + (inReceptacle HousePlant_bar__minus_05_dot_63_bar__plus_00_dot_48_bar__minus_05_dot_13 SideTable_bar__minus_05_dot_43_bar__minus_00_dot_01_bar__minus_05_dot_12) + (inReceptacle RemoteControl_bar__minus_04_dot_41_bar__plus_00_dot_34_bar__minus_03_dot_67 ArmChair_bar__minus_04_dot_39_bar__plus_00_dot_00_bar__minus_03_dot_55) + (inReceptacle Box_bar__minus_04_dot_26_bar__plus_00_dot_58_bar__minus_03_dot_37 ArmChair_bar__minus_04_dot_39_bar__plus_00_dot_00_bar__minus_03_dot_55) + (inReceptacle Pillow_bar__minus_04_dot_28_bar__plus_00_dot_45_bar__minus_01_dot_74 Sofa_bar__minus_04_dot_36_bar__plus_00_dot_00_bar__minus_02_dot_09) + (inReceptacle Statue_bar__minus_02_dot_36_bar__plus_00_dot_59_bar__minus_02_dot_00 CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49) + (inReceptacle Laptop_bar__minus_02_dot_57_bar__plus_00_dot_58_bar__minus_02_dot_51 CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49) + (inReceptacle Vase_bar__minus_02_dot_10_bar__plus_00_dot_48_bar__minus_05_dot_08 SideTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__minus_05_dot_08) + (inReceptacle Watch_bar__minus_03_dot_32_bar__plus_00_dot_08_bar__minus_05_dot_00 Drawer_bar__minus_02_dot_98_bar__plus_00_dot_17_bar__minus_05_dot_01) + + + (receptacleAtLocation ArmChair_bar__minus_04_dot_39_bar__plus_00_dot_00_bar__minus_03_dot_55 loc_bar__minus_13_bar__minus_15_bar_3_bar_60) + (receptacleAtLocation CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49 loc_bar__minus_5_bar__minus_10_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_98_bar__plus_00_dot_17_bar__minus_05_dot_01 loc_bar__minus_7_bar__minus_18_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_98_bar__plus_00_dot_48_bar__minus_05_dot_01 loc_bar__minus_16_bar__minus_18_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_04_dot_02_bar__plus_00_dot_17_bar__minus_05_dot_01 loc_bar__minus_16_bar__minus_18_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_04_dot_02_bar__plus_00_dot_48_bar__minus_05_dot_01 loc_bar__minus_12_bar__minus_18_bar_3_bar_45) + (receptacleAtLocation Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10 loc_bar__minus_13_bar__minus_17_bar_2_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_97_bar__plus_00_dot_00_bar__minus_05_dot_06 loc_bar__minus_6_bar__minus_19_bar_1_bar_60) + (receptacleAtLocation SideTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__minus_05_dot_08 loc_bar__minus_10_bar__minus_17_bar_2_bar_60) + (receptacleAtLocation SideTable_bar__minus_05_dot_43_bar__minus_00_dot_01_bar__minus_05_dot_12 loc_bar__minus_23_bar__minus_17_bar_2_bar_60) + (receptacleAtLocation Sofa_bar__minus_04_dot_36_bar__plus_00_dot_00_bar__minus_02_dot_09 loc_bar__minus_13_bar__minus_8_bar_3_bar_60) + (objectAtLocation Statue_bar__minus_02_dot_93_bar__plus_00_dot_71_bar__minus_05_dot_19 loc_bar__minus_13_bar__minus_17_bar_2_bar_60) + (objectAtLocation Box_bar__minus_02_dot_36_bar__plus_00_dot_26_bar__minus_01_dot_65 loc_bar__minus_8_bar__minus_6_bar_3_bar_60) + (objectAtLocation Box_bar__minus_04_dot_26_bar__plus_00_dot_58_bar__minus_03_dot_37 loc_bar__minus_13_bar__minus_15_bar_3_bar_60) + (objectAtLocation Book_bar__minus_02_dot_53_bar__plus_00_dot_70_bar__minus_05_dot_12 loc_bar__minus_13_bar__minus_17_bar_2_bar_60) + (objectAtLocation Mirror_bar__minus_03_dot_40_bar__plus_02_dot_03_bar__plus_00_dot_00 loc_bar__minus_14_bar__minus_3_bar_0_bar__minus_30) + (objectAtLocation Newspaper_bar__minus_03_dot_22_bar__plus_00_dot_71_bar__minus_05_dot_14 loc_bar__minus_13_bar__minus_17_bar_2_bar_60) + (objectAtLocation Watch_bar__minus_03_dot_32_bar__plus_00_dot_08_bar__minus_05_dot_00 loc_bar__minus_7_bar__minus_18_bar_3_bar_45) + (objectAtLocation Pen_bar__minus_03_dot_79_bar__plus_00_dot_71_bar__minus_05_dot_14 loc_bar__minus_13_bar__minus_17_bar_2_bar_60) + (objectAtLocation FloorLamp_bar__minus_04_dot_82_bar__plus_00_dot_00_bar__minus_05_dot_12 loc_bar__minus_18_bar__minus_18_bar_2_bar_60) + (objectAtLocation LightSwitch_bar__minus_05_dot_76_bar__plus_01_dot_33_bar__plus_00_dot_01 loc_bar__minus_23_bar__minus_2_bar_0_bar_30) + (objectAtLocation WateringCan_bar__minus_07_dot_99_bar__plus_00_dot_00_bar__minus_04_dot_63 loc_bar__minus_31_bar__minus_17_bar_2_bar_60) + (objectAtLocation Pillow_bar__minus_04_dot_28_bar__plus_00_dot_45_bar__minus_01_dot_74 loc_bar__minus_13_bar__minus_8_bar_3_bar_60) + (objectAtLocation CreditCard_bar__minus_04_dot_49_bar__plus_00_dot_34_bar__minus_03_dot_59 loc_bar__minus_18_bar__minus_17_bar_0_bar_60) + (objectAtLocation Vase_bar__minus_04_dot_48_bar__plus_00_dot_70_bar__minus_05_dot_08 loc_bar__minus_13_bar__minus_17_bar_2_bar_60) + (objectAtLocation KeyChain_bar__minus_03_dot_50_bar__plus_00_dot_71_bar__minus_05_dot_19 loc_bar__minus_13_bar__minus_17_bar_2_bar_60) + (objectAtLocation Vase_bar__minus_05_dot_22_bar__plus_00_dot_49_bar__minus_05_dot_17 loc_bar__minus_23_bar__minus_17_bar_2_bar_60) + (objectAtLocation Laptop_bar__minus_02_dot_57_bar__plus_00_dot_58_bar__minus_02_dot_51 loc_bar__minus_5_bar__minus_10_bar_3_bar_60) + (objectAtLocation HousePlant_bar__minus_05_dot_63_bar__plus_00_dot_48_bar__minus_05_dot_13 loc_bar__minus_23_bar__minus_17_bar_2_bar_60) + (objectAtLocation Statue_bar__minus_02_dot_36_bar__plus_00_dot_59_bar__minus_02_dot_00 loc_bar__minus_5_bar__minus_10_bar_3_bar_60) + (objectAtLocation Vase_bar__minus_03_dot_90_bar__plus_00_dot_70_bar__minus_05_dot_10 loc_bar__minus_13_bar__minus_17_bar_2_bar_60) + (objectAtLocation Painting_bar__minus_03_dot_37_bar__plus_01_dot_80_bar__minus_05_dot_39 loc_bar__minus_13_bar__minus_18_bar_2_bar__minus_15) + (objectAtLocation RemoteControl_bar__minus_04_dot_41_bar__plus_00_dot_34_bar__minus_03_dot_67 loc_bar__minus_13_bar__minus_15_bar_3_bar_60) + (objectAtLocation Television_bar__minus_00_dot_61_bar__plus_01_dot_67_bar__minus_02_dot_60 loc_bar__minus_5_bar__minus_10_bar_1_bar_0) + (objectAtLocation Vase_bar__minus_02_dot_10_bar__plus_00_dot_48_bar__minus_05_dot_08 loc_bar__minus_10_bar__minus_17_bar_2_bar_60) + (objectAtLocation Window_bar__minus_08_dot_24_bar__plus_01_dot_41_bar__minus_01_dot_51 loc_bar__minus_31_bar__minus_6_bar_3_bar_30) + (objectAtLocation Window_bar__minus_08_dot_24_bar__plus_01_dot_41_bar__minus_04_dot_08 loc_bar__minus_31_bar__minus_16_bar_3_bar_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists 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} + } + ], + "object_toggles": [], + "random_seed": 2349981510, + "scene_num": 209 + }, + "task_id": "trial_T20190908_134534_137948", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A2A028LRDJB7ZB_30X31N5D66HT6EW4LHBHJPZNC4LASB", + "high_descs": [ + "Turn left walk straight the turn right and head to the window", + "Pick up the watering can on the floor", + "Turn around to your right walk straight past the sofa then turn left on the center table", + "Put the watering can on the table beside the laptop" + ], + "task_desc": "Put the watering can on the center table", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A6U2C66WQ7QQN_3EQHHY4HQVJTA3BWVLQJM00YWFK5GA", + "high_descs": [ + "take a few steps to the left, head across the room to the window", + "take the white watering can from the window", + "turn around, head across the room", + "put the white watering can on the coffee table" + ], + "task_desc": "take the watering can from the window, put it on the coffee table", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2RUHO7I7Y4XFA_3NGI5ARFTWW0ZY3CXHEUDJ19LQ01PQ", + "high_descs": [ + "Turn left and walk to the wooden stool. Turn right at the wooden stool and walk to the window.", + "Pick up the tea kettle in the corner.", + "Turn around and walk to the corner. Turn left at the corner with the blue bin.", + "Put the tea kettle down on the brown coffee table." + ], + "task_desc": "Pick up the tea kettle and put it down on the brown coffee table.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-WateringCan-None-CoffeeTable-209/trial_T20190908_134558_175024/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-WateringCan-None-CoffeeTable-209/trial_T20190908_134558_175024/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..090f4e35f16f176ad529592ebcdfd420227e99e4 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-WateringCan-None-CoffeeTable-209/trial_T20190908_134558_175024/initial_state.pddl @@ -0,0 +1,520 @@ + +(define (problem plan_trial_T20190908_134558_175024) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Book_bar__minus_02_dot_15_bar__plus_00_dot_59_bar__minus_02_dot_99 - object + Book_bar__minus_02_dot_36_bar__plus_00_dot_59_bar__minus_02_dot_82 - object + Book_bar__minus_02_dot_53_bar__plus_00_dot_70_bar__minus_05_dot_12 - object + Box_bar__minus_04_dot_26_bar__plus_00_dot_58_bar__minus_03_dot_37 - object + CreditCard_bar__minus_02_dot_93_bar__plus_00_dot_70_bar__minus_05_dot_19 - object + FloorLamp_bar__minus_04_dot_82_bar__plus_00_dot_00_bar__minus_05_dot_12 - object + HousePlant_bar__minus_05_dot_63_bar__plus_00_dot_48_bar__minus_05_dot_13 - object + KeyChain_bar__minus_02_dot_26_bar__plus_00_dot_59_bar__minus_02_dot_16 - object + KeyChain_bar__minus_02_dot_68_bar__plus_00_dot_59_bar__minus_02_dot_33 - object + KeyChain_bar__minus_05_dot_32_bar__plus_00_dot_48_bar__minus_05_dot_13 - object + Laptop_bar__minus_02_dot_57_bar__plus_00_dot_58_bar__minus_02_dot_51 - object + LightSwitch_bar__minus_05_dot_76_bar__plus_01_dot_33_bar__plus_00_dot_01 - object + Mirror_bar__minus_03_dot_40_bar__plus_02_dot_03_bar__plus_00_dot_00 - object + Newspaper_bar__minus_03_dot_22_bar__plus_00_dot_71_bar__minus_05_dot_14 - object + Painting_bar__minus_03_dot_37_bar__plus_01_dot_80_bar__minus_05_dot_39 - object + Pen_bar__minus_02_dot_79_bar__plus_00_dot_59_bar__minus_02_dot_00 - object + Pillow_bar__minus_04_dot_28_bar__plus_00_dot_45_bar__minus_01_dot_74 - object + RemoteControl_bar__minus_04_dot_41_bar__plus_00_dot_34_bar__minus_03_dot_59 - object + Statue_bar__minus_02_dot_15_bar__plus_00_dot_59_bar__minus_02_dot_66 - object + Television_bar__minus_00_dot_61_bar__plus_01_dot_67_bar__minus_02_dot_60 - object + Vase_bar__minus_03_dot_50_bar__plus_00_dot_71_bar__minus_05_dot_00 - object + Vase_bar__minus_03_dot_90_bar__plus_00_dot_70_bar__minus_05_dot_10 - object + Vase_bar__minus_04_dot_22_bar__plus_00_dot_70_bar__minus_05_dot_05 - object + Vase_bar__minus_04_dot_48_bar__plus_00_dot_70_bar__minus_05_dot_08 - object + Watch_bar__minus_02_dot_36_bar__plus_00_dot_59_bar__minus_02_dot_66 - object + Watch_bar__minus_02_dot_57_bar__plus_00_dot_59_bar__minus_02_dot_00 - object + WateringCan_bar__minus_07_dot_99_bar__plus_00_dot_00_bar__minus_04_dot_63 - object + Window_bar__minus_08_dot_24_bar__plus_01_dot_41_bar__minus_01_dot_51 - object + Window_bar__minus_08_dot_24_bar__plus_01_dot_41_bar__minus_04_dot_08 - object + ArmChair_bar__minus_04_dot_39_bar__plus_00_dot_00_bar__minus_03_dot_55 - receptacle + CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49 - receptacle + Drawer_bar__minus_02_dot_98_bar__plus_00_dot_17_bar__minus_05_dot_01 - receptacle + Drawer_bar__minus_02_dot_98_bar__plus_00_dot_48_bar__minus_05_dot_01 - receptacle + Drawer_bar__minus_04_dot_02_bar__plus_00_dot_17_bar__minus_05_dot_01 - receptacle + Drawer_bar__minus_04_dot_02_bar__plus_00_dot_48_bar__minus_05_dot_01 - receptacle + Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10 - receptacle + GarbageCan_bar__minus_00_dot_97_bar__plus_00_dot_00_bar__minus_05_dot_06 - receptacle + SideTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__minus_05_dot_08 - receptacle + SideTable_bar__minus_05_dot_43_bar__minus_00_dot_01_bar__minus_05_dot_12 - receptacle + Sofa_bar__minus_04_dot_36_bar__plus_00_dot_00_bar__minus_02_dot_09 - receptacle + loc_bar__minus_31_bar__minus_6_bar_3_bar_30 - location + loc_bar__minus_7_bar__minus_18_bar_3_bar_45 - location + loc_bar__minus_16_bar__minus_18_bar_1_bar_45 - location + loc_bar__minus_18_bar__minus_18_bar_2_bar_60 - location + loc_bar__minus_31_bar__minus_16_bar_3_bar_30 - location + loc_bar__minus_6_bar__minus_19_bar_1_bar_60 - location + loc_bar__minus_31_bar__minus_17_bar_2_bar_60 - location + loc_bar__minus_13_bar__minus_15_bar_3_bar_60 - location + loc_bar__minus_23_bar__minus_17_bar_2_bar_60 - location + loc_bar__minus_13_bar__minus_17_bar_2_bar_60 - location + loc_bar__minus_13_bar__minus_8_bar_3_bar_60 - location + loc_bar__minus_14_bar__minus_3_bar_0_bar__minus_30 - location + loc_bar__minus_16_bar__minus_18_bar_2_bar_60 - location + loc_bar__minus_5_bar__minus_10_bar_1_bar_0 - location + loc_bar__minus_5_bar__minus_10_bar_3_bar_60 - location + loc_bar__minus_10_bar__minus_17_bar_2_bar_60 - location + loc_bar__minus_12_bar__minus_18_bar_3_bar_45 - location + loc_bar__minus_13_bar__minus_18_bar_2_bar__minus_15 - location + loc_bar__minus_23_bar__minus_2_bar_0_bar_30 - location + loc_bar__minus_22_bar__minus_9_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType ArmChair_bar__minus_04_dot_39_bar__plus_00_dot_00_bar__minus_03_dot_55 ArmChairType) + (receptacleType GarbageCan_bar__minus_00_dot_97_bar__plus_00_dot_00_bar__minus_05_dot_06 GarbageCanType) + (receptacleType Drawer_bar__minus_02_dot_98_bar__plus_00_dot_48_bar__minus_05_dot_01 DrawerType) + (receptacleType SideTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__minus_05_dot_08 SideTableType) + (receptacleType SideTable_bar__minus_05_dot_43_bar__minus_00_dot_01_bar__minus_05_dot_12 SideTableType) + (receptacleType Drawer_bar__minus_04_dot_02_bar__plus_00_dot_48_bar__minus_05_dot_01 DrawerType) + (receptacleType Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10 DresserType) + (receptacleType Drawer_bar__minus_02_dot_98_bar__plus_00_dot_17_bar__minus_05_dot_01 DrawerType) + (receptacleType CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49 CoffeeTableType) + (receptacleType Drawer_bar__minus_04_dot_02_bar__plus_00_dot_17_bar__minus_05_dot_01 DrawerType) + (receptacleType Sofa_bar__minus_04_dot_36_bar__plus_00_dot_00_bar__minus_02_dot_09 SofaType) + (objectType CreditCard_bar__minus_02_dot_93_bar__plus_00_dot_70_bar__minus_05_dot_19 CreditCardType) + (objectType LightSwitch_bar__minus_05_dot_76_bar__plus_01_dot_33_bar__plus_00_dot_01 LightSwitchType) + (objectType RemoteControl_bar__minus_04_dot_41_bar__plus_00_dot_34_bar__minus_03_dot_59 RemoteControlType) + (objectType WateringCan_bar__minus_07_dot_99_bar__plus_00_dot_00_bar__minus_04_dot_63 WateringCanType) + (objectType Book_bar__minus_02_dot_15_bar__plus_00_dot_59_bar__minus_02_dot_99 BookType) + (objectType Vase_bar__minus_04_dot_48_bar__plus_00_dot_70_bar__minus_05_dot_08 VaseType) + (objectType Watch_bar__minus_02_dot_36_bar__plus_00_dot_59_bar__minus_02_dot_66 WatchType) + (objectType Vase_bar__minus_03_dot_90_bar__plus_00_dot_70_bar__minus_05_dot_10 VaseType) + (objectType Newspaper_bar__minus_03_dot_22_bar__plus_00_dot_71_bar__minus_05_dot_14 NewspaperType) + (objectType Book_bar__minus_02_dot_36_bar__plus_00_dot_59_bar__minus_02_dot_82 BookType) + (objectType Watch_bar__minus_02_dot_57_bar__plus_00_dot_59_bar__minus_02_dot_00 WatchType) + (objectType FloorLamp_bar__minus_04_dot_82_bar__plus_00_dot_00_bar__minus_05_dot_12 FloorLampType) + (objectType Window_bar__minus_08_dot_24_bar__plus_01_dot_41_bar__minus_01_dot_51 WindowType) + (objectType Television_bar__minus_00_dot_61_bar__plus_01_dot_67_bar__minus_02_dot_60 TelevisionType) + (objectType KeyChain_bar__minus_02_dot_26_bar__plus_00_dot_59_bar__minus_02_dot_16 KeyChainType) + (objectType Mirror_bar__minus_03_dot_40_bar__plus_02_dot_03_bar__plus_00_dot_00 MirrorType) + (objectType Statue_bar__minus_02_dot_15_bar__plus_00_dot_59_bar__minus_02_dot_66 StatueType) + (objectType Window_bar__minus_08_dot_24_bar__plus_01_dot_41_bar__minus_04_dot_08 WindowType) + (objectType Vase_bar__minus_03_dot_50_bar__plus_00_dot_71_bar__minus_05_dot_00 VaseType) + (objectType HousePlant_bar__minus_05_dot_63_bar__plus_00_dot_48_bar__minus_05_dot_13 HousePlantType) + (objectType Pen_bar__minus_02_dot_79_bar__plus_00_dot_59_bar__minus_02_dot_00 PenType) + (objectType Pillow_bar__minus_04_dot_28_bar__plus_00_dot_45_bar__minus_01_dot_74 PillowType) + (objectType KeyChain_bar__minus_02_dot_68_bar__plus_00_dot_59_bar__minus_02_dot_33 KeyChainType) + (objectType Vase_bar__minus_04_dot_22_bar__plus_00_dot_70_bar__minus_05_dot_05 VaseType) + (objectType Laptop_bar__minus_02_dot_57_bar__plus_00_dot_58_bar__minus_02_dot_51 LaptopType) + (objectType Box_bar__minus_04_dot_26_bar__plus_00_dot_58_bar__minus_03_dot_37 BoxType) + (objectType Book_bar__minus_02_dot_53_bar__plus_00_dot_70_bar__minus_05_dot_12 BookType) + (objectType KeyChain_bar__minus_05_dot_32_bar__plus_00_dot_48_bar__minus_05_dot_13 KeyChainType) + (objectType Painting_bar__minus_03_dot_37_bar__plus_01_dot_80_bar__minus_05_dot_39 PaintingType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType BookType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType NewspaperType) + (canContain ArmChairType CreditCardType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType NewspaperType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType NewspaperType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType WatchType) + (canContain SideTableType NewspaperType) + (canContain SideTableType VaseType) + (canContain SideTableType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType StatueType) + (canContain SideTableType WateringCanType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType WatchType) + (canContain SideTableType NewspaperType) + (canContain SideTableType VaseType) + (canContain SideTableType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType StatueType) + (canContain SideTableType WateringCanType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType NewspaperType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain DresserType PenType) + (canContain DresserType BookType) + (canContain DresserType WatchType) + (canContain DresserType NewspaperType) + (canContain DresserType VaseType) + (canContain DresserType BoxType) + (canContain DresserType KeyChainType) + (canContain DresserType CreditCardType) + (canContain DresserType LaptopType) + (canContain DresserType RemoteControlType) + (canContain DresserType StatueType) + (canContain DresserType WateringCanType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType NewspaperType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain CoffeeTableType PenType) + (canContain CoffeeTableType BookType) + (canContain CoffeeTableType WatchType) + (canContain CoffeeTableType NewspaperType) + (canContain CoffeeTableType VaseType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType StatueType) + (canContain CoffeeTableType WateringCanType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType 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Vase_bar__minus_03_dot_50_bar__plus_00_dot_71_bar__minus_05_dot_00 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10) + (inReceptacle Vase_bar__minus_04_dot_22_bar__plus_00_dot_70_bar__minus_05_dot_05 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10) + (inReceptacle Book_bar__minus_02_dot_53_bar__plus_00_dot_70_bar__minus_05_dot_12 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10) + (inReceptacle Vase_bar__minus_04_dot_48_bar__plus_00_dot_70_bar__minus_05_dot_08 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10) + (inReceptacle Vase_bar__minus_03_dot_90_bar__plus_00_dot_70_bar__minus_05_dot_10 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10) + (inReceptacle Newspaper_bar__minus_03_dot_22_bar__plus_00_dot_71_bar__minus_05_dot_14 Dresser_bar__minus_03_dot_51_bar__plus_00_dot_00_bar__minus_05_dot_10) + (inReceptacle KeyChain_bar__minus_05_dot_32_bar__plus_00_dot_48_bar__minus_05_dot_13 SideTable_bar__minus_05_dot_43_bar__minus_00_dot_01_bar__minus_05_dot_12) + (inReceptacle HousePlant_bar__minus_05_dot_63_bar__plus_00_dot_48_bar__minus_05_dot_13 SideTable_bar__minus_05_dot_43_bar__minus_00_dot_01_bar__minus_05_dot_12) + (inReceptacleObject RemoteControl_bar__minus_04_dot_41_bar__plus_00_dot_34_bar__minus_03_dot_59 Box_bar__minus_04_dot_26_bar__plus_00_dot_58_bar__minus_03_dot_37) + (inReceptacle RemoteControl_bar__minus_04_dot_41_bar__plus_00_dot_34_bar__minus_03_dot_59 ArmChair_bar__minus_04_dot_39_bar__plus_00_dot_00_bar__minus_03_dot_55) + (inReceptacle Box_bar__minus_04_dot_26_bar__plus_00_dot_58_bar__minus_03_dot_37 ArmChair_bar__minus_04_dot_39_bar__plus_00_dot_00_bar__minus_03_dot_55) + (inReceptacle Pillow_bar__minus_04_dot_28_bar__plus_00_dot_45_bar__minus_01_dot_74 Sofa_bar__minus_04_dot_36_bar__plus_00_dot_00_bar__minus_02_dot_09) + (inReceptacle Watch_bar__minus_02_dot_57_bar__plus_00_dot_59_bar__minus_02_dot_00 CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49) + (inReceptacle Book_bar__minus_02_dot_15_bar__plus_00_dot_59_bar__minus_02_dot_99 CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49) + (inReceptacle Pen_bar__minus_02_dot_79_bar__plus_00_dot_59_bar__minus_02_dot_00 CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49) + (inReceptacle Laptop_bar__minus_02_dot_57_bar__plus_00_dot_58_bar__minus_02_dot_51 CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49) + (inReceptacle KeyChain_bar__minus_02_dot_26_bar__plus_00_dot_59_bar__minus_02_dot_16 CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49) + (inReceptacle Statue_bar__minus_02_dot_15_bar__plus_00_dot_59_bar__minus_02_dot_66 CoffeeTable_bar__minus_02_dot_47_bar__plus_00_dot_00_bar__minus_02_dot_49) + (inReceptacle Watch_bar__minus_02_dot_36_bar__plus_00_dot_59_bar__minus_02_dot_66 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Pillow_bar__minus_04_dot_28_bar__plus_00_dot_45_bar__minus_01_dot_74 loc_bar__minus_13_bar__minus_8_bar_3_bar_60) + (objectAtLocation CreditCard_bar__minus_02_dot_93_bar__plus_00_dot_70_bar__minus_05_dot_19 loc_bar__minus_13_bar__minus_17_bar_2_bar_60) + (objectAtLocation Vase_bar__minus_04_dot_48_bar__plus_00_dot_70_bar__minus_05_dot_08 loc_bar__minus_13_bar__minus_17_bar_2_bar_60) + (objectAtLocation KeyChain_bar__minus_02_dot_68_bar__plus_00_dot_59_bar__minus_02_dot_33 loc_bar__minus_5_bar__minus_10_bar_3_bar_60) + (objectAtLocation Vase_bar__minus_04_dot_22_bar__plus_00_dot_70_bar__minus_05_dot_05 loc_bar__minus_13_bar__minus_17_bar_2_bar_60) + (objectAtLocation Laptop_bar__minus_02_dot_57_bar__plus_00_dot_58_bar__minus_02_dot_51 loc_bar__minus_5_bar__minus_10_bar_3_bar_60) + (objectAtLocation HousePlant_bar__minus_05_dot_63_bar__plus_00_dot_48_bar__minus_05_dot_13 loc_bar__minus_23_bar__minus_17_bar_2_bar_60) + (objectAtLocation 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"CreditCard_d56c9394", + "position": { + "x": -2.93332, + "y": 0.7048506, + "z": -5.188487 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Vase_6a3e9901", + "position": { + "x": -4.477, + "y": 0.697854638, + "z": -5.076 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_66f96f55", + "position": { + "x": -5.318226, + "y": 0.482940644, + "z": -5.12956524 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Vase_b321c4a8", + "position": { + "x": -4.218, + "y": 0.697854638, + "z": -5.046 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Laptop_fa6f33e1", + "position": { + "x": -2.56851029, + "y": 0.580341637, + "z": -2.51465273 + }, + "rotation": { + "x": 0.0, + "y": 300.000061, + "z": 0.0 + } + }, + { + "objectName": "Statue_e7eb2316", + "position": { + "x": -2.15119, + "y": 0.594021, + "z": -2.65712357 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Vase_9af66930", + "position": { + "x": -3.901, + "y": 0.697854638, + "z": -5.103 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "RemoteControl_1c8f3660", + "position": { + "x": -4.412895, + "y": 0.337828577, + "z": -3.5931 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Vase_eb5b21fb", + "position": { + "x": -3.503513, + "y": 0.705553532, + "z": -4.99946 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 423486467, + "scene_num": 209 + }, + "task_id": "trial_T20190908_134558_175024", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1ELPYAFO7MANS_31IBVUNM9VQ4UXUGQS2E8DUL8OBFVH", + "high_descs": [ + "Walk straight to the wall and then veer right all the way to the window.", + "Pick up the pitcher on the floor.", + "Turn around and walk to the wall, then turn around and veer right to the coffee table.", + "Place the pitcher on the coffee table to the right of the statue." + ], + "task_desc": "Place a pitcher on a coffee table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2NGMLBFZ3YQP5_3C6FJU71TTKAH9MBQSKX1CZI0SYYUE", + "high_descs": [ + "Walk to small wooden table, turn right, walk to the window.", + "Pick up the teapot from floor in front of the window", + "Turn right, turn right again, walk to past couch and coffee table, turn left to face table, walk to table.", + "Put teapot on the table beside the laptop." + ], + "task_desc": "Put teapot on the coffee table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A6U2C66WQ7QQN_3GU1KF0O4LS1CWL4ZE7JJVEI72OBPG", + "high_descs": [ + "Head straight, turn right, head to the window", + "Take the white watering can from the window sill", + "Turn around, head across the room", + "Put the watering can on the coffee table" + ], + "task_desc": "Take the watering can from the window sill, put it on the coffee table", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-CD-Bowl-SideTable-330/trial_T20190907_223640_035743/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-CD-Bowl-SideTable-330/trial_T20190907_223640_035743/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..8b488f9cba880ba6857e8c65bf7f2ffef571bc59 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-CD-Bowl-SideTable-330/trial_T20190907_223640_035743/initial_state.pddl @@ -0,0 +1,728 @@ + +(define (problem plan_trial_T20190907_223640_035743) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + AlarmClock_bar__minus_01_dot_51_bar__plus_00_dot_97_bar__minus_00_dot_34 - object + Blinds_bar__minus_01_dot_06_bar__plus_02_dot_36_bar__minus_03_dot_17 - object + Book_bar__plus_01_dot_50_bar__plus_00_dot_77_bar__minus_00_dot_40 - object + Book_bar__plus_02_dot_41_bar__plus_00_dot_45_bar__plus_01_dot_84 - object + Book_bar__minus_01_dot_70_bar__plus_01_dot_15_bar__minus_02_dot_07 - object + Boots_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__minus_01_dot_08 - object + Bowl_bar__minus_01_dot_68_bar__plus_01_dot_14_bar__minus_02_dot_30 - object + Bowl_bar__minus_01_dot_73_bar__plus_00_dot_97_bar__minus_00_dot_54 - object + CD_bar__plus_02_dot_44_bar__plus_00_dot_68_bar__minus_01_dot_58 - object + CD_bar__plus_02_dot_44_bar__plus_00_dot_68_bar__minus_01_dot_72 - object + CD_bar__minus_01_dot_66_bar__plus_00_dot_80_bar__minus_00_dot_35 - object + CellPhone_bar__minus_01_dot_67_bar__plus_01_dot_64_bar__minus_01_dot_73 - object + CreditCard_bar__plus_01_dot_42_bar__plus_00_dot_68_bar__plus_02_dot_35 - object + HousePlant_bar__minus_01_dot_79_bar__plus_00_dot_97_bar__plus_00_dot_53 - object + KeyChain_bar__plus_02_dot_41_bar__plus_00_dot_44_bar__plus_02_dot_01 - object + KeyChain_bar__minus_01_dot_61_bar__plus_00_dot_04_bar__minus_00_dot_63 - object + KeyChain_bar__minus_01_dot_73_bar__plus_01_dot_64_bar__minus_01_dot_96 - object + Lamp_bar__plus_01_dot_40_bar__plus_00_dot_67_bar__plus_02_dot_21 - object + Lamp_bar__plus_02_dot_60_bar__plus_00_dot_67_bar__minus_01_dot_71 - object + Laptop_bar__plus_00_dot_30_bar__plus_00_dot_77_bar__minus_00_dot_99 - object + Laptop_bar__minus_01_dot_63_bar__plus_00_dot_97_bar__plus_00_dot_08 - object + LightSwitch_bar__minus_00_dot_16_bar__plus_01_dot_09_bar__plus_02_dot_45 - object + Mirror_bar__minus_01_dot_95_bar__plus_01_dot_74_bar__minus_00_dot_21 - object + Painting_bar__plus_00_dot_38_bar__plus_01_dot_98_bar__minus_01_dot_90 - object + Painting_bar__plus_00_dot_88_bar__plus_01_dot_98_bar__minus_01_dot_90 - object + Painting_bar__plus_01_dot_37_bar__plus_01_dot_98_bar__minus_01_dot_90 - object + Pencil_bar__plus_01_dot_58_bar__plus_00_dot_69_bar__plus_02_dot_26 - object + Pencil_bar__minus_01_dot_67_bar__plus_01_dot_64_bar__minus_02_dot_19 - object + Pencil_bar__minus_01_dot_73_bar__plus_01_dot_64_bar__minus_02_dot_42 - object + Pen_bar__minus_01_dot_51_bar__plus_00_dot_98_bar__minus_00_dot_54 - object + Pen_bar__minus_01_dot_66_bar__plus_00_dot_98_bar__plus_00_dot_46 - object + Pillow_bar__plus_00_dot_65_bar__plus_00_dot_79_bar__minus_01_dot_53 - object + Pillow_bar__plus_00_dot_78_bar__plus_00_dot_84_bar__minus_00_dot_11 - object + Pillow_bar__plus_01_dot_41_bar__plus_00_dot_79_bar__minus_01_dot_51 - object + Statue_bar__plus_01_dot_73_bar__plus_00_dot_69_bar__plus_02_dot_08 - object + Vase_bar__minus_01_dot_65_bar__plus_01_dot_63_bar__minus_02_dot_32 - object + Vase_bar__minus_01_dot_67_bar__plus_01_dot_15_bar__minus_01_dot_85 - object + Window_bar__minus_01_dot_10_bar__plus_01_dot_57_bar__minus_03_dot_23 - object + ArmChair_bar__plus_02_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_00 - receptacle + Bed_bar__plus_01_dot_02_bar__plus_00_dot_06_bar__minus_00_dot_73 - receptacle + Drawer_bar__plus_01_dot_58_bar__plus_00_dot_17_bar__plus_02_dot_14 - receptacle + Drawer_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14 - receptacle + Drawer_bar__plus_02_dot_44_bar__plus_00_dot_17_bar__minus_01_dot_60 - receptacle + Drawer_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60 - receptacle + Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__plus_00_dot_26 - receptacle + Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__minus_00_dot_54 - receptacle + Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__plus_00_dot_26 - receptacle + Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__minus_00_dot_54 - receptacle + Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__plus_00_dot_26 - receptacle + Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__minus_00_dot_54 - receptacle + Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__plus_00_dot_26 - receptacle + Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__minus_00_dot_54 - receptacle + Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__plus_00_dot_26 - receptacle + Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_00_dot_54 - receptacle + Drawer_bar__minus_01_dot_72_bar__plus_00_dot_30_bar__minus_02_dot_07 - receptacle + Drawer_bar__minus_01_dot_72_bar__plus_00_dot_80_bar__minus_02_dot_07 - receptacle + Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15 - receptacle + Dresser_bar__minus_01_dot_77_bar__minus_00_dot_01_bar__minus_02_dot_08 - receptacle + GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_00_dot_86 - receptacle + Shelf_bar__minus_01_dot_70_bar__plus_01_dot_14_bar__minus_02_dot_06 - receptacle + Shelf_bar__minus_01_dot_70_bar__plus_01_dot_63_bar__minus_02_dot_06 - receptacle + SideTable_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14 - receptacle + SideTable_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60 - receptacle + loc_bar__minus_1_bar_2_bar_3_bar_45 - location + loc_bar__minus_4_bar__minus_2_bar_3_bar_60 - location + loc_bar__minus_2_bar_1_bar_3_bar_30 - location + loc_bar__minus_2_bar_3_bar_2_bar_45 - location + loc_bar__minus_4_bar__minus_8_bar_3_bar_0 - location + loc_bar__minus_4_bar__minus_4_bar_3_bar_60 - location + loc_bar__minus_1_bar__minus_1_bar_3_bar_45 - location + loc_bar_0_bar_3_bar_3_bar_45 - location + loc_bar_9_bar_3_bar_0_bar_60 - location + loc_bar_2_bar_5_bar_1_bar_60 - location + loc_bar__minus_3_bar_2_bar_2_bar_45 - location + loc_bar__minus_4_bar__minus_8_bar_3_bar_30 - location + loc_bar__minus_4_bar__minus_10_bar_2_bar__minus_30 - location + loc_bar_9_bar__minus_2_bar_2_bar_60 - location + loc_bar_9_bar__minus_3_bar_2_bar_60 - location + loc_bar__minus_4_bar__minus_8_bar_3_bar_60 - location + loc_bar__minus_2_bar__minus_2_bar_3_bar_30 - location + loc_bar__minus_1_bar_7_bar_0_bar_45 - location + loc_bar__minus_3_bar__minus_8_bar_1_bar__minus_15 - location + loc_bar__minus_4_bar__minus_8_bar_3_bar_45 - location + loc_bar_8_bar_5_bar_0_bar_60 - location + loc_bar__minus_1_bar_0_bar_3_bar_45 - location + loc_bar__minus_3_bar__minus_3_bar_0_bar_45 - location + loc_bar__minus_5_bar_4_bar_3_bar_60 - location + loc_bar__minus_4_bar__minus_10_bar_2_bar_0 - location + loc_bar_10_bar__minus_4_bar_2_bar_60 - location + loc_bar_2_bar_7_bar_1_bar_45 - location + loc_bar_4_bar_3_bar_2_bar_45 - location + loc_bar_9_bar__minus_5_bar_3_bar__minus_15 - location + loc_bar_2_bar_4_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_00_dot_54 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__minus_00_dot_54 DrawerType) + (receptacleType GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_00_dot_86 GarbageCanType) + (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__plus_00_dot_26 DrawerType) + (receptacleType Dresser_bar__minus_01_dot_77_bar__minus_00_dot_01_bar__minus_02_dot_08 DresserType) + (receptacleType Drawer_bar__plus_01_dot_58_bar__plus_00_dot_17_bar__plus_02_dot_14 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__minus_00_dot_54 DrawerType) + (receptacleType SideTable_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60 SideTableType) + (receptacleType Drawer_bar__plus_02_dot_44_bar__plus_00_dot_17_bar__minus_01_dot_60 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_72_bar__plus_00_dot_30_bar__minus_02_dot_07 DrawerType) + (receptacleType Shelf_bar__minus_01_dot_70_bar__plus_01_dot_63_bar__minus_02_dot_06 ShelfType) + (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__plus_00_dot_26 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__plus_00_dot_26 DrawerType) + (receptacleType Bed_bar__plus_01_dot_02_bar__plus_00_dot_06_bar__minus_00_dot_73 BedType) + (receptacleType ArmChair_bar__plus_02_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_00 ArmChairType) + (receptacleType SideTable_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14 SideTableType) + (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__plus_00_dot_26 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__minus_00_dot_54 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_72_bar__plus_00_dot_80_bar__minus_02_dot_07 DrawerType) + (receptacleType Shelf_bar__minus_01_dot_70_bar__plus_01_dot_14_bar__minus_02_dot_06 ShelfType) + (receptacleType Drawer_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__plus_00_dot_26 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__minus_00_dot_54 DrawerType) + (receptacleType Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15 DresserType) + (objectType CreditCard_bar__plus_01_dot_42_bar__plus_00_dot_68_bar__plus_02_dot_35 CreditCardType) + (objectType Statue_bar__plus_01_dot_73_bar__plus_00_dot_69_bar__plus_02_dot_08 StatueType) + (objectType Painting_bar__plus_01_dot_37_bar__plus_01_dot_98_bar__minus_01_dot_90 PaintingType) + (objectType HousePlant_bar__minus_01_dot_79_bar__plus_00_dot_97_bar__plus_00_dot_53 HousePlantType) + (objectType Window_bar__minus_01_dot_10_bar__plus_01_dot_57_bar__minus_03_dot_23 WindowType) + (objectType Pillow_bar__plus_00_dot_65_bar__plus_00_dot_79_bar__minus_01_dot_53 PillowType) + (objectType KeyChain_bar__minus_01_dot_61_bar__plus_00_dot_04_bar__minus_00_dot_63 KeyChainType) + (objectType LightSwitch_bar__minus_00_dot_16_bar__plus_01_dot_09_bar__plus_02_dot_45 LightSwitchType) + (objectType 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Pillow_bar__plus_00_dot_65_bar__plus_00_dot_79_bar__minus_01_dot_53 Bed_bar__plus_01_dot_02_bar__plus_00_dot_06_bar__minus_00_dot_73) + (inReceptacle Laptop_bar__plus_00_dot_30_bar__plus_00_dot_77_bar__minus_00_dot_99 Bed_bar__plus_01_dot_02_bar__plus_00_dot_06_bar__minus_00_dot_73) + (inReceptacle Pillow_bar__plus_01_dot_41_bar__plus_00_dot_79_bar__minus_01_dot_51 Bed_bar__plus_01_dot_02_bar__plus_00_dot_06_bar__minus_00_dot_73) + (inReceptacle Vase_bar__minus_01_dot_67_bar__plus_01_dot_15_bar__minus_01_dot_85 Shelf_bar__minus_01_dot_70_bar__plus_01_dot_14_bar__minus_02_dot_06) + (inReceptacle Book_bar__minus_01_dot_70_bar__plus_01_dot_15_bar__minus_02_dot_07 Shelf_bar__minus_01_dot_70_bar__plus_01_dot_14_bar__minus_02_dot_06) + (inReceptacle Bowl_bar__minus_01_dot_68_bar__plus_01_dot_14_bar__minus_02_dot_30 Shelf_bar__minus_01_dot_70_bar__plus_01_dot_14_bar__minus_02_dot_06) + (inReceptacle Vase_bar__minus_01_dot_65_bar__plus_01_dot_63_bar__minus_02_dot_32 Shelf_bar__minus_01_dot_70_bar__plus_01_dot_63_bar__minus_02_dot_06) + (inReceptacle Pencil_bar__minus_01_dot_67_bar__plus_01_dot_64_bar__minus_02_dot_19 Shelf_bar__minus_01_dot_70_bar__plus_01_dot_63_bar__minus_02_dot_06) + (inReceptacle Pencil_bar__minus_01_dot_73_bar__plus_01_dot_64_bar__minus_02_dot_42 Shelf_bar__minus_01_dot_70_bar__plus_01_dot_63_bar__minus_02_dot_06) + (inReceptacle CellPhone_bar__minus_01_dot_67_bar__plus_01_dot_64_bar__minus_01_dot_73 Shelf_bar__minus_01_dot_70_bar__plus_01_dot_63_bar__minus_02_dot_06) + + + (receptacleAtLocation ArmChair_bar__plus_02_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_00 loc_bar_9_bar_3_bar_0_bar_60) + (receptacleAtLocation Bed_bar__plus_01_dot_02_bar__plus_00_dot_06_bar__minus_00_dot_73 loc_bar_4_bar_3_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_58_bar__plus_00_dot_17_bar__plus_02_dot_14 loc_bar_2_bar_5_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14 loc_bar_8_bar_5_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_44_bar__plus_00_dot_17_bar__minus_01_dot_60 loc_bar_9_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60 loc_bar_9_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__plus_00_dot_26 loc_bar_0_bar_3_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__minus_00_dot_54 loc_bar__minus_2_bar_3_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__plus_00_dot_26 loc_bar__minus_1_bar__minus_1_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__minus_00_dot_54 loc_bar__minus_1_bar_0_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__plus_00_dot_26 loc_bar__minus_1_bar_2_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__minus_00_dot_54 loc_bar__minus_1_bar__minus_1_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__plus_00_dot_26 loc_bar__minus_3_bar__minus_3_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__minus_00_dot_54 loc_bar__minus_3_bar_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__plus_00_dot_26 loc_bar__minus_2_bar_1_bar_3_bar_30) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_00_dot_54 loc_bar__minus_2_bar__minus_2_bar_3_bar_30) + (receptacleAtLocation Drawer_bar__minus_01_dot_72_bar__plus_00_dot_30_bar__minus_02_dot_07 loc_bar__minus_4_bar__minus_8_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_72_bar__plus_00_dot_80_bar__minus_02_dot_07 loc_bar__minus_4_bar__minus_8_bar_3_bar_45) + (receptacleAtLocation Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15 loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (receptacleAtLocation Dresser_bar__minus_01_dot_77_bar__minus_00_dot_01_bar__minus_02_dot_08 loc_bar__minus_4_bar__minus_8_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_00_dot_86 loc_bar__minus_5_bar_4_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__minus_01_dot_70_bar__plus_01_dot_14_bar__minus_02_dot_06 loc_bar__minus_4_bar__minus_8_bar_3_bar_30) + (receptacleAtLocation Shelf_bar__minus_01_dot_70_bar__plus_01_dot_63_bar__minus_02_dot_06 loc_bar__minus_4_bar__minus_8_bar_3_bar_0) + (receptacleAtLocation SideTable_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14 loc_bar_2_bar_7_bar_1_bar_45) + (receptacleAtLocation SideTable_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60 loc_bar_10_bar__minus_4_bar_2_bar_60) + (objectAtLocation Bowl_bar__minus_01_dot_68_bar__plus_01_dot_14_bar__minus_02_dot_30 loc_bar__minus_4_bar__minus_8_bar_3_bar_30) + (objectAtLocation CD_bar__plus_02_dot_44_bar__plus_00_dot_68_bar__minus_01_dot_58 loc_bar_10_bar__minus_4_bar_2_bar_60) + (objectAtLocation Pen_bar__minus_01_dot_66_bar__plus_00_dot_98_bar__plus_00_dot_46 loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (objectAtLocation Pencil_bar__plus_01_dot_58_bar__plus_00_dot_69_bar__plus_02_dot_26 loc_bar_2_bar_7_bar_1_bar_45) + (objectAtLocation Laptop_bar__minus_01_dot_63_bar__plus_00_dot_97_bar__plus_00_dot_08 loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (objectAtLocation Pillow_bar__plus_01_dot_41_bar__plus_00_dot_79_bar__minus_01_dot_51 loc_bar_4_bar_3_bar_2_bar_45) + (objectAtLocation KeyChain_bar__minus_01_dot_73_bar__plus_01_dot_64_bar__minus_01_dot_96 loc_bar__minus_4_bar__minus_8_bar_3_bar_0) + (objectAtLocation Book_bar__minus_01_dot_70_bar__plus_01_dot_15_bar__minus_02_dot_07 loc_bar__minus_4_bar__minus_8_bar_3_bar_30) + (objectAtLocation Book_bar__plus_02_dot_41_bar__plus_00_dot_45_bar__plus_01_dot_84 loc_bar_9_bar_3_bar_0_bar_60) + (objectAtLocation KeyChain_bar__plus_02_dot_41_bar__plus_00_dot_44_bar__plus_02_dot_01 loc_bar_9_bar_3_bar_0_bar_60) + (objectAtLocation Pencil_bar__minus_01_dot_73_bar__plus_01_dot_64_bar__minus_02_dot_42 loc_bar__minus_4_bar__minus_8_bar_3_bar_0) + (objectAtLocation CD_bar__plus_02_dot_44_bar__plus_00_dot_68_bar__minus_01_dot_72 loc_bar_10_bar__minus_4_bar_2_bar_60) + (objectAtLocation Book_bar__plus_01_dot_50_bar__plus_00_dot_77_bar__minus_00_dot_40 loc_bar_4_bar_3_bar_2_bar_45) + (objectAtLocation KeyChain_bar__minus_01_dot_61_bar__plus_00_dot_04_bar__minus_00_dot_63 loc_bar__minus_2_bar_3_bar_2_bar_45) + (objectAtLocation AlarmClock_bar__minus_01_dot_51_bar__plus_00_dot_97_bar__minus_00_dot_34 loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (objectAtLocation Pillow_bar__plus_00_dot_78_bar__plus_00_dot_84_bar__minus_00_dot_11 loc_bar_4_bar_3_bar_2_bar_45) + (objectAtLocation Pillow_bar__plus_00_dot_65_bar__plus_00_dot_79_bar__minus_01_dot_53 loc_bar_4_bar_3_bar_2_bar_45) + (objectAtLocation Vase_bar__minus_01_dot_67_bar__plus_01_dot_15_bar__minus_01_dot_85 loc_bar__minus_4_bar__minus_8_bar_3_bar_30) + (objectAtLocation HousePlant_bar__minus_01_dot_79_bar__plus_00_dot_97_bar__plus_00_dot_53 loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (objectAtLocation Laptop_bar__plus_00_dot_30_bar__plus_00_dot_77_bar__minus_00_dot_99 loc_bar_4_bar_3_bar_2_bar_45) + (objectAtLocation Vase_bar__minus_01_dot_65_bar__plus_01_dot_63_bar__minus_02_dot_32 loc_bar__minus_4_bar__minus_8_bar_3_bar_0) + (objectAtLocation Pencil_bar__minus_01_dot_67_bar__plus_01_dot_64_bar__minus_02_dot_19 loc_bar__minus_4_bar__minus_8_bar_3_bar_0) + (objectAtLocation CreditCard_bar__plus_01_dot_42_bar__plus_00_dot_68_bar__plus_02_dot_35 loc_bar_2_bar_7_bar_1_bar_45) + (objectAtLocation Boots_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__minus_01_dot_08 loc_bar__minus_4_bar__minus_4_bar_3_bar_60) + (objectAtLocation Painting_bar__plus_00_dot_38_bar__plus_01_dot_98_bar__minus_01_dot_90 loc_bar__minus_3_bar__minus_8_bar_1_bar__minus_15) + (objectAtLocation Painting_bar__plus_00_dot_88_bar__plus_01_dot_98_bar__minus_01_dot_90 loc_bar__minus_3_bar__minus_8_bar_1_bar__minus_15) + (objectAtLocation Painting_bar__plus_01_dot_37_bar__plus_01_dot_98_bar__minus_01_dot_90 loc_bar_9_bar__minus_5_bar_3_bar__minus_15) + (objectAtLocation Pen_bar__minus_01_dot_51_bar__plus_00_dot_98_bar__minus_00_dot_54 loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (objectAtLocation LightSwitch_bar__minus_00_dot_16_bar__plus_01_dot_09_bar__plus_02_dot_45 loc_bar__minus_1_bar_7_bar_0_bar_45) + (objectAtLocation Mirror_bar__minus_01_dot_95_bar__plus_01_dot_74_bar__minus_00_dot_21 loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (objectAtLocation CellPhone_bar__minus_01_dot_67_bar__plus_01_dot_64_bar__minus_01_dot_73 loc_bar__minus_4_bar__minus_8_bar_3_bar_0) + (objectAtLocation 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0.000668019056, + "z": -1.077008 + }, + "rotation": { + "x": 0.0903331637, + "y": 135.194382, + "z": 0.00278281514 + } + }, + { + "objectName": "Pen_cfe375f5", + "position": { + "x": -1.65724456, + "y": 0.9764528, + "z": 0.4642825 + }, + "rotation": { + "x": 0.0, + "y": -0.000140018863, + "z": 0.0 + } + }, + { + "objectName": "CellPhone_7035669b", + "position": { + "x": -1.66816747, + "y": 1.63802516, + "z": -1.73138547 + }, + "rotation": { + "x": 0.0, + "y": 90.0005, + "z": 0.0 + } + }, + { + "objectName": "CD_e8ffdc91", + "position": { + "x": 2.43800068, + "y": 0.6806067, + "z": -1.58172226 + }, + "rotation": { + "x": 0.0, + "y": 0.0006744811, + "z": 0.0 + } + }, + { + "objectName": "Bowl_d59970df", + "position": { + "x": -1.68482971, + "y": 1.13501811, + "z": -2.30082417 + }, + "rotation": { + "x": 0.0, + "y": 346.9008, + "z": 0.0 + } + }, + { + "objectName": "Statue_15407ea7", + "position": { + "x": 1.73104358, + "y": 0.691063941, + "z": 2.08251882 + }, + "rotation": { + "x": 0.0, + "y": 0.000683018938, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 4121728132, + "scene_num": 330 + }, + "task_id": "trial_T20190907_223640_035743", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A36DK84J5YJ942_31LM9EDVOO9Z65L5BJIRC88YLC0JNO", + "high_descs": [ + "move to the end table to the left of the bed", + "pick up a cd from the table", + "move to the dresser to the right of the bed", + "put the CD in a bowl on the dresser", + "pick up the bowl with the CD from the dresser", + "move to the end table to the left of the bed", + "put the bowl on the end table" + ], + "task_desc": "Put a bowl with a CD on a end table.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2A028LRDJB7ZB_3H7XDTSHKF8F2X4IVEOBBET9MWFWGG", + "high_descs": [ + "Turn around to your left walk towards the wall then turn right walk towards the side table ", + "Pick up the cd on the edge of the side table", + "Turn around to your right walk straight, turn left then left again head to the drawer", + "Put the cd in the bowl on the drawer", + "Pick up the bowl with cd on the drawer", + "Turn to your right walk straight then turn right, head to the side table", + "Put the bowl with cd on the side table" + ], + "task_desc": "Put the bowl with cd on the side table", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1RLO9LNUJIW5S_3P1L2B7AD46NJG9HFJUH7CLVFBGLOD", + "high_descs": [ + "Turn around and walk to the wall then turn right and walk to the nightstand.", + "Pick up the bottom cd.", + "Turn around and walk to the chair then turn left and walk to the dresser that's on the wall in front of you and face the left side of it so you're looking at a clear bowl.", + "Put the cd in the bowl.", + "Pick up the bowl.", + "Walk back to where you got the cd from.", + "Put the bowl on top of the cd." + ], + "task_desc": "Put a bowl with a cd in it on the nightstand.", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-CD-Bowl-SideTable-330/trial_T20190907_223831_750006/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-CD-Bowl-SideTable-330/trial_T20190907_223831_750006/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..8586307f7f5bcc909f418694dbf8cf789c0e99cc --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-CD-Bowl-SideTable-330/trial_T20190907_223831_750006/initial_state.pddl @@ -0,0 +1,715 @@ + +(define (problem plan_trial_T20190907_223831_750006) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + AlarmClock_bar__minus_01_dot_67_bar__plus_01_dot_15_bar__minus_02_dot_07 - object + AlarmClock_bar__minus_01_dot_73_bar__plus_01_dot_64_bar__minus_02_dot_07 - object + Blinds_bar__minus_01_dot_06_bar__plus_02_dot_36_bar__minus_03_dot_17 - object + Book_bar__minus_01_dot_49_bar__plus_00_dot_04_bar__minus_00_dot_72 - object + Boots_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__minus_01_dot_08 - object + Bowl_bar__minus_01_dot_68_bar__plus_01_dot_14_bar__minus_02_dot_30 - object + CD_bar__minus_01_dot_44_bar__plus_00_dot_97_bar__minus_00_dot_74 - object + CD_bar__minus_01_dot_61_bar__plus_00_dot_61_bar__minus_00_dot_72 - object + CD_bar__minus_01_dot_68_bar__plus_00_dot_17_bar__minus_01_dot_97 - object + CD_bar__minus_01_dot_76_bar__plus_00_dot_66_bar__minus_02_dot_07 - object + CellPhone_bar__plus_02_dot_22_bar__plus_00_dot_43_bar__plus_01_dot_67 - object + CellPhone_bar__minus_01_dot_61_bar__plus_00_dot_80_bar__plus_00_dot_54 - object + CreditCard_bar__minus_01_dot_64_bar__plus_01_dot_64_bar__minus_02_dot_07 - object + HousePlant_bar__minus_01_dot_79_bar__plus_00_dot_97_bar__plus_00_dot_53 - object + KeyChain_bar__plus_02_dot_69_bar__plus_00_dot_43_bar__plus_01_dot_58 - object + KeyChain_bar__minus_01_dot_76_bar__plus_01_dot_64_bar__minus_01_dot_96 - object + Lamp_bar__plus_01_dot_40_bar__plus_00_dot_67_bar__plus_02_dot_21 - object + Lamp_bar__plus_02_dot_60_bar__plus_00_dot_67_bar__minus_01_dot_71 - object + Laptop_bar__plus_01_dot_74_bar__plus_00_dot_77_bar__minus_01_dot_28 - object + LightSwitch_bar__minus_00_dot_16_bar__plus_01_dot_09_bar__plus_02_dot_45 - object + Mirror_bar__minus_01_dot_95_bar__plus_01_dot_74_bar__minus_00_dot_21 - object + Painting_bar__plus_00_dot_38_bar__plus_01_dot_98_bar__minus_01_dot_90 - object + Painting_bar__plus_00_dot_88_bar__plus_01_dot_98_bar__minus_01_dot_90 - object + Painting_bar__plus_01_dot_37_bar__plus_01_dot_98_bar__minus_01_dot_90 - object + Pencil_bar__minus_01_dot_58_bar__plus_00_dot_98_bar__plus_00_dot_46 - object + Pencil_bar__minus_01_dot_66_bar__plus_00_dot_98_bar__minus_00_dot_74 - object + Pencil_bar__minus_01_dot_80_bar__plus_00_dot_98_bar__minus_00_dot_34 - object + Pen_bar__minus_01_dot_51_bar__plus_00_dot_98_bar__minus_00_dot_54 - object + Pen_bar__minus_01_dot_73_bar__plus_00_dot_98_bar__plus_00_dot_46 - object + Pen_bar__minus_01_dot_73_bar__plus_00_dot_98_bar__minus_00_dot_54 - object + Pillow_bar__plus_00_dot_30_bar__plus_00_dot_84_bar__minus_00_dot_40 - object + Pillow_bar__plus_01_dot_26_bar__plus_00_dot_84_bar__minus_00_dot_70 - object + Statue_bar__minus_01_dot_76_bar__plus_00_dot_97_bar__minus_00_dot_76 - object + Vase_bar__minus_01_dot_65_bar__plus_01_dot_63_bar__minus_02_dot_32 - object + Vase_bar__minus_01_dot_66_bar__plus_01_dot_63_bar__minus_01_dot_79 - object + Window_bar__minus_01_dot_10_bar__plus_01_dot_57_bar__minus_03_dot_23 - object + ArmChair_bar__plus_02_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_00 - receptacle + Bed_bar__plus_01_dot_02_bar__plus_00_dot_06_bar__minus_00_dot_73 - receptacle + Drawer_bar__plus_01_dot_58_bar__plus_00_dot_17_bar__plus_02_dot_14 - receptacle + Drawer_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14 - receptacle + Drawer_bar__plus_02_dot_44_bar__plus_00_dot_17_bar__minus_01_dot_60 - receptacle + Drawer_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60 - receptacle + Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__plus_00_dot_26 - receptacle + Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__minus_00_dot_54 - receptacle + Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__plus_00_dot_26 - receptacle + Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__minus_00_dot_54 - receptacle + Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__plus_00_dot_26 - receptacle + Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__minus_00_dot_54 - receptacle + Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__plus_00_dot_26 - receptacle + Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__minus_00_dot_54 - receptacle + Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__plus_00_dot_26 - receptacle + Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_00_dot_54 - receptacle + Drawer_bar__minus_01_dot_72_bar__plus_00_dot_30_bar__minus_02_dot_07 - receptacle + Drawer_bar__minus_01_dot_72_bar__plus_00_dot_80_bar__minus_02_dot_07 - receptacle + Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15 - receptacle + Dresser_bar__minus_01_dot_77_bar__minus_00_dot_01_bar__minus_02_dot_08 - receptacle + GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_00_dot_86 - receptacle + Shelf_bar__minus_01_dot_70_bar__plus_01_dot_14_bar__minus_02_dot_06 - receptacle + Shelf_bar__minus_01_dot_70_bar__plus_01_dot_63_bar__minus_02_dot_06 - receptacle + SideTable_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14 - receptacle + SideTable_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60 - receptacle + loc_bar__minus_1_bar_2_bar_3_bar_45 - location + loc_bar__minus_4_bar__minus_2_bar_3_bar_60 - location + loc_bar__minus_2_bar_1_bar_3_bar_30 - location + loc_bar__minus_2_bar_3_bar_2_bar_45 - location + loc_bar__minus_4_bar__minus_8_bar_3_bar_0 - location + loc_bar__minus_4_bar__minus_4_bar_3_bar_60 - location + loc_bar__minus_1_bar__minus_1_bar_3_bar_45 - location + loc_bar_0_bar_3_bar_3_bar_45 - location + loc_bar_9_bar_3_bar_0_bar_60 - location + loc_bar_2_bar_5_bar_1_bar_60 - location + loc_bar__minus_3_bar_2_bar_2_bar_45 - location + loc_bar__minus_4_bar__minus_8_bar_3_bar_30 - location + loc_bar__minus_4_bar__minus_10_bar_2_bar__minus_30 - location + loc_bar_9_bar__minus_2_bar_2_bar_60 - location + loc_bar_9_bar__minus_3_bar_2_bar_60 - location + loc_bar__minus_4_bar__minus_8_bar_3_bar_60 - location + loc_bar__minus_2_bar__minus_2_bar_3_bar_30 - location + loc_bar__minus_1_bar_7_bar_0_bar_45 - location + loc_bar__minus_3_bar__minus_8_bar_1_bar__minus_15 - location + loc_bar__minus_4_bar__minus_8_bar_3_bar_45 - location + loc_bar_8_bar_5_bar_0_bar_60 - location + loc_bar__minus_1_bar_0_bar_3_bar_45 - location + loc_bar__minus_3_bar__minus_3_bar_0_bar_45 - location + loc_bar__minus_5_bar_4_bar_3_bar_60 - location + loc_bar__minus_4_bar__minus_10_bar_2_bar_0 - location + loc_bar_10_bar__minus_4_bar_2_bar_60 - location + loc_bar_10_bar_5_bar_0_bar_60 - location + loc_bar_2_bar_7_bar_1_bar_45 - location + loc_bar_4_bar_3_bar_2_bar_45 - location + loc_bar_9_bar__minus_5_bar_3_bar__minus_15 - location + loc_bar__minus_7_bar_5_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_00_dot_54 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__minus_00_dot_54 DrawerType) + (receptacleType GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_00_dot_86 GarbageCanType) + (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__plus_00_dot_26 DrawerType) + (receptacleType Dresser_bar__minus_01_dot_77_bar__minus_00_dot_01_bar__minus_02_dot_08 DresserType) + (receptacleType Drawer_bar__plus_01_dot_58_bar__plus_00_dot_17_bar__plus_02_dot_14 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__minus_00_dot_54 DrawerType) + (receptacleType SideTable_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60 SideTableType) + (receptacleType Drawer_bar__plus_02_dot_44_bar__plus_00_dot_17_bar__minus_01_dot_60 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_72_bar__plus_00_dot_30_bar__minus_02_dot_07 DrawerType) + (receptacleType Shelf_bar__minus_01_dot_70_bar__plus_01_dot_63_bar__minus_02_dot_06 ShelfType) + (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__plus_00_dot_26 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__plus_00_dot_26 DrawerType) + (receptacleType Bed_bar__plus_01_dot_02_bar__plus_00_dot_06_bar__minus_00_dot_73 BedType) + (receptacleType ArmChair_bar__plus_02_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_00 ArmChairType) + (receptacleType SideTable_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14 SideTableType) + (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__plus_00_dot_26 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__minus_00_dot_54 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_72_bar__plus_00_dot_80_bar__minus_02_dot_07 DrawerType) + (receptacleType Shelf_bar__minus_01_dot_70_bar__plus_01_dot_14_bar__minus_02_dot_06 ShelfType) + (receptacleType Drawer_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__plus_00_dot_26 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__minus_00_dot_54 DrawerType) + (receptacleType Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15 DresserType) + (objectType Pencil_bar__minus_01_dot_58_bar__plus_00_dot_98_bar__plus_00_dot_46 PencilType) + (objectType CD_bar__minus_01_dot_61_bar__plus_00_dot_61_bar__minus_00_dot_72 CDType) + (objectType KeyChain_bar__plus_02_dot_69_bar__plus_00_dot_43_bar__plus_01_dot_58 KeyChainType) + (objectType Painting_bar__plus_01_dot_37_bar__plus_01_dot_98_bar__minus_01_dot_90 PaintingType) + (objectType HousePlant_bar__minus_01_dot_79_bar__plus_00_dot_97_bar__plus_00_dot_53 HousePlantType) + (objectType Window_bar__minus_01_dot_10_bar__plus_01_dot_57_bar__minus_03_dot_23 WindowType) + (objectType LightSwitch_bar__minus_00_dot_16_bar__plus_01_dot_09_bar__plus_02_dot_45 LightSwitchType) + (objectType KeyChain_bar__minus_01_dot_76_bar__plus_01_dot_64_bar__minus_01_dot_96 KeyChainType) + (objectType CreditCard_bar__minus_01_dot_64_bar__plus_01_dot_64_bar__minus_02_dot_07 CreditCardType) + (objectType CellPhone_bar__plus_02_dot_22_bar__plus_00_dot_43_bar__plus_01_dot_67 CellPhoneType) + (objectType 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Mirror_bar__minus_01_dot_95_bar__plus_01_dot_74_bar__minus_00_dot_21 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15) + (inReceptacle Pencil_bar__minus_01_dot_58_bar__plus_00_dot_98_bar__plus_00_dot_46 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15) + (inReceptacle Pencil_bar__minus_01_dot_66_bar__plus_00_dot_98_bar__minus_00_dot_74 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15) + (inReceptacle Pen_bar__minus_01_dot_73_bar__plus_00_dot_98_bar__plus_00_dot_46 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15) + (inReceptacle Pen_bar__minus_01_dot_73_bar__plus_00_dot_98_bar__minus_00_dot_54 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15) + (inReceptacle HousePlant_bar__minus_01_dot_79_bar__plus_00_dot_97_bar__plus_00_dot_53 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15) + (inReceptacle CD_bar__minus_01_dot_44_bar__plus_00_dot_97_bar__minus_00_dot_74 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15) + (inReceptacle Statue_bar__minus_01_dot_76_bar__plus_00_dot_97_bar__minus_00_dot_76 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15) + (inReceptacle Pencil_bar__minus_01_dot_80_bar__plus_00_dot_98_bar__minus_00_dot_34 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15) + (inReceptacle Pen_bar__minus_01_dot_51_bar__plus_00_dot_98_bar__minus_00_dot_54 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15) + (inReceptacle CD_bar__minus_01_dot_76_bar__plus_00_dot_66_bar__minus_02_dot_07 Drawer_bar__minus_01_dot_72_bar__plus_00_dot_80_bar__minus_02_dot_07) + (inReceptacle CellPhone_bar__minus_01_dot_61_bar__plus_00_dot_80_bar__plus_00_dot_54 Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__plus_00_dot_26) + (inReceptacle Laptop_bar__plus_01_dot_74_bar__plus_00_dot_77_bar__minus_01_dot_28 Bed_bar__plus_01_dot_02_bar__plus_00_dot_06_bar__minus_00_dot_73) + 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Shelf_bar__minus_01_dot_70_bar__plus_01_dot_63_bar__minus_02_dot_06) + (inReceptacle CreditCard_bar__minus_01_dot_64_bar__plus_01_dot_64_bar__minus_02_dot_07 Shelf_bar__minus_01_dot_70_bar__plus_01_dot_63_bar__minus_02_dot_06) + + + (receptacleAtLocation ArmChair_bar__plus_02_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_00 loc_bar_9_bar_3_bar_0_bar_60) + (receptacleAtLocation Bed_bar__plus_01_dot_02_bar__plus_00_dot_06_bar__minus_00_dot_73 loc_bar_4_bar_3_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_58_bar__plus_00_dot_17_bar__plus_02_dot_14 loc_bar_2_bar_5_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14 loc_bar_8_bar_5_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_44_bar__plus_00_dot_17_bar__minus_01_dot_60 loc_bar_9_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60 loc_bar_9_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__plus_00_dot_26 loc_bar_0_bar_3_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__minus_00_dot_54 loc_bar__minus_2_bar_3_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__plus_00_dot_26 loc_bar__minus_1_bar__minus_1_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__minus_00_dot_54 loc_bar__minus_1_bar_0_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__plus_00_dot_26 loc_bar__minus_1_bar_2_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__minus_00_dot_54 loc_bar__minus_1_bar__minus_1_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__plus_00_dot_26 loc_bar__minus_3_bar__minus_3_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__minus_00_dot_54 loc_bar__minus_3_bar_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__plus_00_dot_26 loc_bar__minus_2_bar_1_bar_3_bar_30) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_00_dot_54 loc_bar__minus_2_bar__minus_2_bar_3_bar_30) + (receptacleAtLocation Drawer_bar__minus_01_dot_72_bar__plus_00_dot_30_bar__minus_02_dot_07 loc_bar__minus_4_bar__minus_8_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_72_bar__plus_00_dot_80_bar__minus_02_dot_07 loc_bar__minus_4_bar__minus_8_bar_3_bar_45) + (receptacleAtLocation Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15 loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (receptacleAtLocation Dresser_bar__minus_01_dot_77_bar__minus_00_dot_01_bar__minus_02_dot_08 loc_bar__minus_4_bar__minus_8_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_00_dot_86 loc_bar__minus_5_bar_4_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__minus_01_dot_70_bar__plus_01_dot_14_bar__minus_02_dot_06 loc_bar__minus_4_bar__minus_8_bar_3_bar_30) + (receptacleAtLocation Shelf_bar__minus_01_dot_70_bar__plus_01_dot_63_bar__minus_02_dot_06 loc_bar__minus_4_bar__minus_8_bar_3_bar_0) + (receptacleAtLocation SideTable_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14 loc_bar_2_bar_7_bar_1_bar_45) + (receptacleAtLocation SideTable_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60 loc_bar_10_bar__minus_4_bar_2_bar_60) + (objectAtLocation CD_bar__minus_01_dot_44_bar__plus_00_dot_97_bar__minus_00_dot_74 loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (objectAtLocation CellPhone_bar__plus_02_dot_22_bar__plus_00_dot_43_bar__plus_01_dot_67 loc_bar_9_bar_3_bar_0_bar_60) + (objectAtLocation Pen_bar__minus_01_dot_73_bar__plus_00_dot_98_bar__minus_00_dot_54 loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (objectAtLocation Pencil_bar__minus_01_dot_58_bar__plus_00_dot_98_bar__plus_00_dot_46 loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (objectAtLocation AlarmClock_bar__minus_01_dot_73_bar__plus_01_dot_64_bar__minus_02_dot_07 loc_bar__minus_4_bar__minus_8_bar_3_bar_0) + (objectAtLocation KeyChain_bar__plus_02_dot_69_bar__plus_00_dot_43_bar__plus_01_dot_58 loc_bar_10_bar_5_bar_0_bar_60) + (objectAtLocation Pencil_bar__minus_01_dot_80_bar__plus_00_dot_98_bar__minus_00_dot_34 loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (objectAtLocation Pen_bar__minus_01_dot_51_bar__plus_00_dot_98_bar__minus_00_dot_54 loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (objectAtLocation CD_bar__minus_01_dot_68_bar__plus_00_dot_17_bar__minus_01_dot_97 loc_bar__minus_4_bar__minus_8_bar_3_bar_60) + (objectAtLocation CD_bar__minus_01_dot_61_bar__plus_00_dot_61_bar__minus_00_dot_72 loc_bar__minus_3_bar_2_bar_2_bar_45) + (objectAtLocation Book_bar__minus_01_dot_49_bar__plus_00_dot_04_bar__minus_00_dot_72 loc_bar__minus_2_bar_3_bar_2_bar_45) + (objectAtLocation KeyChain_bar__minus_01_dot_76_bar__plus_01_dot_64_bar__minus_01_dot_96 loc_bar__minus_4_bar__minus_8_bar_3_bar_0) + (objectAtLocation AlarmClock_bar__minus_01_dot_67_bar__plus_01_dot_15_bar__minus_02_dot_07 loc_bar__minus_4_bar__minus_8_bar_3_bar_30) + (objectAtLocation Pillow_bar__plus_00_dot_30_bar__plus_00_dot_84_bar__minus_00_dot_40 loc_bar_4_bar_3_bar_2_bar_45) + (objectAtLocation Pillow_bar__plus_01_dot_26_bar__plus_00_dot_84_bar__minus_00_dot_70 loc_bar_4_bar_3_bar_2_bar_45) + (objectAtLocation Vase_bar__minus_01_dot_66_bar__plus_01_dot_63_bar__minus_01_dot_79 loc_bar__minus_4_bar__minus_8_bar_3_bar_0) + (objectAtLocation HousePlant_bar__minus_01_dot_79_bar__plus_00_dot_97_bar__plus_00_dot_53 loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (objectAtLocation Laptop_bar__plus_01_dot_74_bar__plus_00_dot_77_bar__minus_01_dot_28 loc_bar_4_bar_3_bar_2_bar_45) + (objectAtLocation Vase_bar__minus_01_dot_65_bar__plus_01_dot_63_bar__minus_02_dot_32 loc_bar__minus_4_bar__minus_8_bar_3_bar_0) + (objectAtLocation Pencil_bar__minus_01_dot_66_bar__plus_00_dot_98_bar__minus_00_dot_74 loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (objectAtLocation CreditCard_bar__minus_01_dot_64_bar__plus_01_dot_64_bar__minus_02_dot_07 loc_bar__minus_4_bar__minus_8_bar_3_bar_0) + (objectAtLocation Boots_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__minus_01_dot_08 loc_bar__minus_4_bar__minus_4_bar_3_bar_60) + (objectAtLocation Painting_bar__plus_00_dot_38_bar__plus_01_dot_98_bar__minus_01_dot_90 loc_bar__minus_3_bar__minus_8_bar_1_bar__minus_15) + (objectAtLocation Painting_bar__plus_00_dot_88_bar__plus_01_dot_98_bar__minus_01_dot_90 loc_bar__minus_3_bar__minus_8_bar_1_bar__minus_15) + (objectAtLocation Painting_bar__plus_01_dot_37_bar__plus_01_dot_98_bar__minus_01_dot_90 loc_bar_9_bar__minus_5_bar_3_bar__minus_15) + (objectAtLocation Pen_bar__minus_01_dot_73_bar__plus_00_dot_98_bar__plus_00_dot_46 loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (objectAtLocation 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loc_bar__minus_4_bar__minus_10_bar_2_bar__minus_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (and + (receptacleType ?r SideTableType) + (exists (?o - object) + (and + (objectType ?o CDType) + (exists (?mo - object) + (and + (objectType ?mo BowlType) + (isReceptacleObject ?mo) + (inReceptacleObject ?o ?mo) + (inReceptacle ?mo ?r) + ) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-CD-Bowl-SideTable-330/trial_T20190907_223831_750006/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-CD-Bowl-SideTable-330/trial_T20190907_223831_750006/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..2e85ccef7eb72aaf8f23e10d5972ddccec9f7567 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-CD-Bowl-SideTable-330/trial_T20190907_223831_750006/traj_data.json @@ -0,0 +1,4691 @@ +{ + "images": [ + { + 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bowl to the right of the lamp on the table." + ], + "task_desc": "Place a bowl with a CD on the bedside table.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3JZLYQ606HJJR_3ZOTGHDK5LSANT47ZSRIJYZQ74GSOO", + "high_descs": [ + "Turn around and move to the long, low black dresser. ", + "Pick up the CD that is on the far left-hand side of the dresser. ", + "Turn to the left and move to the tall black book shelf. ", + "Place the CD into the glass bowl that is on the shelf. ", + "Pick up the glass bowl with the CD in it. ", + "Move across the room to the black night stand that is on the left hand side of the bed. ", + "Place the bowl with the CD in it on top of the night stand." + ], + "task_desc": "Move a CD and glass bowl to the black nighstand on the left side of the bed. ", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AU34T9OMHN4Z4_384PI804XVIPKCCOX7P7TX3891F0SL", + "high_descs": [ + "Turn around then turn right at the dresser", + "Pick up the CD from the dresser", + "Turn left and then turn right towards the cabinet", + "Place the CD in the bowl next to the clock", + "Pick up the bowl with the CD and turn right", + "Turn right and go towards the door before turning right again and passing by the end of the bed and turning right on the other side of the bed closest to the wall towards a nightstand", + "Place the Bowl with the CD on the nightstand just to the right of the lamp" + ], + "task_desc": "Delivering a CD to the nightstand beside the bed in a bowl", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-CD-Bowl-SideTable-330/trial_T20190908_002918_347755/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-CD-Bowl-SideTable-330/trial_T20190908_002918_347755/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..d7d3555eed0c71d395ddf33f238836ebc474f22b --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-CD-Bowl-SideTable-330/trial_T20190908_002918_347755/initial_state.pddl @@ -0,0 +1,731 @@ + +(define (problem plan_trial_T20190908_002918_347755) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket 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Laptop_bar__plus_00_dot_54_bar__plus_00_dot_77_bar__minus_00_dot_40) + (pickupable Pen_bar__minus_01_dot_58_bar__plus_00_dot_98_bar__minus_00_dot_74) + (pickupable AlarmClock_bar__plus_02_dot_21_bar__plus_00_dot_68_bar__minus_01_dot_67) + (pickupable CreditCard_bar__plus_02_dot_28_bar__plus_00_dot_68_bar__minus_01_dot_76) + (pickupable Book_bar__plus_02_dot_60_bar__plus_00_dot_44_bar__plus_01_dot_92) + (pickupable KeyChain_bar__plus_02_dot_22_bar__plus_00_dot_43_bar__plus_01_dot_67) + (pickupable Vase_bar__minus_01_dot_51_bar__plus_00_dot_97_bar__minus_00_dot_54) + (pickupable Pen_bar__plus_02_dot_44_bar__plus_00_dot_69_bar__minus_01_dot_58) + (pickupable Book_bar__minus_01_dot_51_bar__plus_00_dot_97_bar__minus_00_dot_14) + (pickupable Pillow_bar__plus_01_dot_41_bar__plus_00_dot_79_bar__minus_01_dot_51) + (pickupable Statue_bar__minus_01_dot_66_bar__plus_00_dot_98_bar__minus_00_dot_54) + (pickupable CD_bar__minus_01_dot_83_bar__plus_00_dot_17_bar__minus_02_dot_18) + (pickupable Vase_bar__minus_01_dot_51_bar__plus_00_dot_97_bar__plus_00_dot_26) + (pickupable AlarmClock_bar__minus_01_dot_64_bar__plus_01_dot_15_bar__minus_02_dot_07) + (pickupable Pencil_bar__plus_01_dot_65_bar__plus_00_dot_69_bar__plus_02_dot_13) + (pickupable Statue_bar__minus_01_dot_80_bar__plus_00_dot_98_bar__plus_00_dot_26) + (pickupable Laptop_bar__plus_01_dot_02_bar__plus_00_dot_77_bar__plus_00_dot_19) + (pickupable Vase_bar__minus_01_dot_65_bar__plus_01_dot_63_bar__minus_02_dot_32) + (pickupable Boots_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__minus_01_dot_08) + (pickupable Pencil_bar__minus_01_dot_67_bar__plus_01_dot_15_bar__minus_01_dot_73) + (pickupable CellPhone_bar__minus_01_dot_80_bar__plus_00_dot_97_bar__minus_00_dot_34) + (pickupable Pillow_bar__plus_00_dot_30_bar__plus_00_dot_84_bar__minus_00_dot_99) + (pickupable CreditCard_bar__plus_02_dot_69_bar__plus_00_dot_44_bar__plus_02_dot_09) + (pickupable CellPhone_bar__minus_01_dot_73_bar__plus_01_dot_15_bar__minus_01_dot_85) + (pickupable Pen_bar__minus_01_dot_72_bar__plus_00_dot_18_bar__minus_02_dot_38) + (pickupable CellPhone_bar__plus_01_dot_58_bar__plus_00_dot_68_bar__plus_02_dot_17) + (pickupable Bowl_bar__minus_01_dot_58_bar__plus_00_dot_97_bar__plus_00_dot_46) + (pickupable CD_bar__plus_02_dot_13_bar__plus_00_dot_44_bar__plus_01_dot_93) + (pickupable KeyChain_bar__plus_02_dot_41_bar__plus_00_dot_44_bar__plus_02_dot_01) + (isReceptacleObject Bowl_bar__minus_01_dot_58_bar__plus_00_dot_97_bar__plus_00_dot_46) + (openable Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_00_dot_54) + (openable Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__minus_00_dot_54) + (openable Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__plus_00_dot_26) + (openable Drawer_bar__plus_01_dot_58_bar__plus_00_dot_17_bar__plus_02_dot_14) + (openable Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__minus_00_dot_54) + (openable Drawer_bar__plus_02_dot_44_bar__plus_00_dot_17_bar__minus_01_dot_60) + (openable Drawer_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60) + (openable Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__plus_00_dot_26) + (openable Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__plus_00_dot_26) + (openable Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__plus_00_dot_26) + (openable Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__minus_00_dot_54) + (openable Drawer_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14) + (openable Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__plus_00_dot_26) + (openable Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__minus_00_dot_54) + + (atLocation agent1 loc_bar__minus_4_bar_9_bar_1_bar_30) + + (cleanable Bowl_bar__minus_01_dot_58_bar__plus_00_dot_97_bar__plus_00_dot_46) + + + (coolable Bowl_bar__minus_01_dot_58_bar__plus_00_dot_97_bar__plus_00_dot_46) + + + + + + + + (inReceptacle CellPhone_bar__plus_01_dot_58_bar__plus_00_dot_68_bar__plus_02_dot_17 SideTable_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14) + (inReceptacle Pencil_bar__plus_01_dot_65_bar__plus_00_dot_69_bar__plus_02_dot_13 SideTable_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14) + (inReceptacle AlarmClock_bar__plus_02_dot_21_bar__plus_00_dot_68_bar__minus_01_dot_67 SideTable_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60) + (inReceptacle Pen_bar__plus_02_dot_44_bar__plus_00_dot_69_bar__minus_01_dot_58 SideTable_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60) + (inReceptacle CreditCard_bar__plus_02_dot_28_bar__plus_00_dot_68_bar__minus_01_dot_76 SideTable_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60) + (inReceptacle CD_bar__minus_01_dot_83_bar__plus_00_dot_17_bar__minus_02_dot_18 Drawer_bar__minus_01_dot_72_bar__plus_00_dot_30_bar__minus_02_dot_07) + (inReceptacle Pen_bar__minus_01_dot_72_bar__plus_00_dot_18_bar__minus_02_dot_38 Drawer_bar__minus_01_dot_72_bar__plus_00_dot_30_bar__minus_02_dot_07) + (inReceptacle CD_bar__plus_02_dot_13_bar__plus_00_dot_44_bar__plus_01_dot_93 ArmChair_bar__plus_02_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_00) + (inReceptacle KeyChain_bar__plus_02_dot_41_bar__plus_00_dot_44_bar__plus_02_dot_01 ArmChair_bar__plus_02_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_00) + (inReceptacle Book_bar__plus_02_dot_60_bar__plus_00_dot_44_bar__plus_01_dot_92 ArmChair_bar__plus_02_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_00) + (inReceptacle CreditCard_bar__plus_02_dot_69_bar__plus_00_dot_44_bar__plus_02_dot_09 ArmChair_bar__plus_02_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_00) + (inReceptacle Mirror_bar__minus_01_dot_95_bar__plus_01_dot_74_bar__minus_00_dot_21 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15) + (inReceptacle CellPhone_bar__minus_01_dot_80_bar__plus_00_dot_97_bar__minus_00_dot_34 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15) + (inReceptacle Pen_bar__minus_01_dot_58_bar__plus_00_dot_98_bar__minus_00_dot_74 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15) + (inReceptacle Statue_bar__minus_01_dot_66_bar__plus_00_dot_98_bar__minus_00_dot_54 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15) + (inReceptacle Book_bar__minus_01_dot_51_bar__plus_00_dot_97_bar__minus_00_dot_14 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15) + (inReceptacle HousePlant_bar__minus_01_dot_79_bar__plus_00_dot_97_bar__plus_00_dot_53 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15) + (inReceptacle Vase_bar__minus_01_dot_51_bar__plus_00_dot_97_bar__plus_00_dot_26 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15) + (inReceptacle Statue_bar__minus_01_dot_80_bar__plus_00_dot_98_bar__plus_00_dot_26 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15) + (inReceptacle Bowl_bar__minus_01_dot_58_bar__plus_00_dot_97_bar__plus_00_dot_46 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15) + (inReceptacle Vase_bar__minus_01_dot_51_bar__plus_00_dot_97_bar__minus_00_dot_54 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15) + (inReceptacle Laptop_bar__plus_00_dot_54_bar__plus_00_dot_77_bar__minus_00_dot_40 Bed_bar__plus_01_dot_02_bar__plus_00_dot_06_bar__minus_00_dot_73) + (inReceptacle Pillow_bar__plus_00_dot_30_bar__plus_00_dot_84_bar__minus_00_dot_99 Bed_bar__plus_01_dot_02_bar__plus_00_dot_06_bar__minus_00_dot_73) + (inReceptacle Pillow_bar__plus_01_dot_41_bar__plus_00_dot_79_bar__minus_01_dot_51 Bed_bar__plus_01_dot_02_bar__plus_00_dot_06_bar__minus_00_dot_73) + (inReceptacle Laptop_bar__plus_01_dot_02_bar__plus_00_dot_77_bar__plus_00_dot_19 Bed_bar__plus_01_dot_02_bar__plus_00_dot_06_bar__minus_00_dot_73) + (inReceptacle CellPhone_bar__minus_01_dot_73_bar__plus_01_dot_15_bar__minus_01_dot_85 Shelf_bar__minus_01_dot_70_bar__plus_01_dot_14_bar__minus_02_dot_06) + (inReceptacle Pencil_bar__minus_01_dot_67_bar__plus_01_dot_15_bar__minus_01_dot_73 Shelf_bar__minus_01_dot_70_bar__plus_01_dot_14_bar__minus_02_dot_06) + (inReceptacle AlarmClock_bar__minus_01_dot_64_bar__plus_01_dot_15_bar__minus_02_dot_07 Shelf_bar__minus_01_dot_70_bar__plus_01_dot_14_bar__minus_02_dot_06) + (inReceptacle Vase_bar__minus_01_dot_65_bar__plus_01_dot_63_bar__minus_02_dot_32 Shelf_bar__minus_01_dot_70_bar__plus_01_dot_63_bar__minus_02_dot_06) + + + (receptacleAtLocation ArmChair_bar__plus_02_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_00 loc_bar_9_bar_3_bar_0_bar_60) + (receptacleAtLocation Bed_bar__plus_01_dot_02_bar__plus_00_dot_06_bar__minus_00_dot_73 loc_bar_4_bar_3_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_58_bar__plus_00_dot_17_bar__plus_02_dot_14 loc_bar_2_bar_5_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14 loc_bar_8_bar_5_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_44_bar__plus_00_dot_17_bar__minus_01_dot_60 loc_bar_9_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60 loc_bar_9_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__plus_00_dot_26 loc_bar_0_bar_3_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__minus_00_dot_54 loc_bar__minus_2_bar_3_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__plus_00_dot_26 loc_bar__minus_1_bar__minus_1_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__minus_00_dot_54 loc_bar__minus_1_bar_0_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__plus_00_dot_26 loc_bar__minus_1_bar_2_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__minus_00_dot_54 loc_bar__minus_1_bar__minus_1_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__plus_00_dot_26 loc_bar__minus_3_bar__minus_3_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__minus_00_dot_54 loc_bar__minus_3_bar_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__plus_00_dot_26 loc_bar__minus_2_bar_1_bar_3_bar_30) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_00_dot_54 loc_bar__minus_2_bar__minus_2_bar_3_bar_30) + (receptacleAtLocation Drawer_bar__minus_01_dot_72_bar__plus_00_dot_30_bar__minus_02_dot_07 loc_bar__minus_4_bar__minus_8_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_72_bar__plus_00_dot_80_bar__minus_02_dot_07 loc_bar__minus_4_bar__minus_8_bar_3_bar_45) + (receptacleAtLocation Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15 loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (receptacleAtLocation Dresser_bar__minus_01_dot_77_bar__minus_00_dot_01_bar__minus_02_dot_08 loc_bar__minus_4_bar__minus_8_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_00_dot_86 loc_bar__minus_5_bar_4_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__minus_01_dot_70_bar__plus_01_dot_14_bar__minus_02_dot_06 loc_bar__minus_4_bar__minus_8_bar_3_bar_30) + (receptacleAtLocation Shelf_bar__minus_01_dot_70_bar__plus_01_dot_63_bar__minus_02_dot_06 loc_bar__minus_4_bar__minus_8_bar_3_bar_0) + (receptacleAtLocation SideTable_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14 loc_bar_2_bar_7_bar_1_bar_45) + (receptacleAtLocation SideTable_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60 loc_bar_10_bar__minus_4_bar_2_bar_60) + (objectAtLocation Statue_bar__minus_01_dot_66_bar__plus_00_dot_98_bar__minus_00_dot_54 loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (objectAtLocation CD_bar__plus_02_dot_13_bar__plus_00_dot_44_bar__plus_01_dot_93 loc_bar_9_bar_3_bar_0_bar_60) + (objectAtLocation CellPhone_bar__minus_01_dot_73_bar__plus_01_dot_15_bar__minus_01_dot_85 loc_bar__minus_4_bar__minus_8_bar_3_bar_30) + (objectAtLocation Pen_bar__plus_02_dot_44_bar__plus_00_dot_69_bar__minus_01_dot_58 loc_bar_10_bar__minus_4_bar_2_bar_60) + (objectAtLocation CreditCard_bar__plus_02_dot_69_bar__plus_00_dot_44_bar__plus_02_dot_09 loc_bar_9_bar_3_bar_0_bar_60) + (objectAtLocation Pencil_bar__minus_01_dot_67_bar__plus_01_dot_15_bar__minus_01_dot_73 loc_bar__minus_4_bar__minus_8_bar_3_bar_30) + (objectAtLocation Laptop_bar__plus_01_dot_02_bar__plus_00_dot_77_bar__plus_00_dot_19 loc_bar_4_bar_3_bar_2_bar_45) + (objectAtLocation Vase_bar__minus_01_dot_51_bar__plus_00_dot_97_bar__plus_00_dot_26 loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (objectAtLocation AlarmClock_bar__minus_01_dot_64_bar__plus_01_dot_15_bar__minus_02_dot_07 loc_bar__minus_4_bar__minus_8_bar_3_bar_30) + 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Pillow_bar__plus_00_dot_30_bar__plus_00_dot_84_bar__minus_00_dot_99 loc_bar_4_bar_3_bar_2_bar_45) + (objectAtLocation Vase_bar__minus_01_dot_51_bar__plus_00_dot_97_bar__minus_00_dot_54 loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (objectAtLocation HousePlant_bar__minus_01_dot_79_bar__plus_00_dot_97_bar__plus_00_dot_53 loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (objectAtLocation Laptop_bar__plus_00_dot_54_bar__plus_00_dot_77_bar__minus_00_dot_40 loc_bar_4_bar_3_bar_2_bar_45) + (objectAtLocation Vase_bar__minus_01_dot_65_bar__plus_01_dot_63_bar__minus_02_dot_32 loc_bar__minus_4_bar__minus_8_bar_3_bar_0) + (objectAtLocation Pencil_bar__plus_01_dot_65_bar__plus_00_dot_69_bar__plus_02_dot_13 loc_bar_2_bar_7_bar_1_bar_45) + (objectAtLocation CreditCard_bar__plus_02_dot_28_bar__plus_00_dot_68_bar__minus_01_dot_76 loc_bar_10_bar__minus_4_bar_2_bar_60) + (objectAtLocation Boots_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__minus_01_dot_08 loc_bar__minus_4_bar__minus_4_bar_3_bar_60) + 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0.9714989, + "z": 0.263230026 + }, + "rotation": { + "x": 0.0, + "y": -0.000140018863, + "z": 0.0 + } + }, + { + "objectName": "Laptop_a777a0ae", + "position": { + "x": 1.02, + "y": 0.773138165, + "z": 0.188206315 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Vase_3dd4c039", + "position": { + "x": -1.65057909, + "y": 1.626018, + "z": -2.31655216 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pencil_c0c69a42", + "position": { + "x": -1.66816688, + "y": 1.15183914, + "z": -1.73138332 + }, + "rotation": { + "x": 0.0, + "y": 90.0005, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_a6306ccf", + "position": { + "x": 2.69266963, + "y": 0.4399098, + "z": 2.09157228 + }, + "rotation": { + "x": 0.0, + "y": 90.81287, + "z": 0.0 + } + }, + { + "objectName": "Boots_6438362f", + "position": { + "x": -1.84297776, + "y": 0.000668019056, + "z": -1.077008 + }, + "rotation": { + "x": 0.0903331637, + "y": 135.194382, + "z": 0.00278281514 + } + }, + { + "objectName": "Pen_cfe375f5", + "position": { + "x": 2.43800068, + "y": 0.686652839, + "z": -1.58172226 + }, + "rotation": { + "x": 0.0, + "y": 0.0006744811, + "z": 0.0 + } + }, + { + "objectName": "CellPhone_7035669b", + "position": { + "x": -1.730828, + "y": 1.1465646, + "z": -1.84539413 + }, + "rotation": { + "x": 0.0, + "y": 90.0005, + "z": 0.0 + } + }, + { + "objectName": "CD_e8ffdc91", + "position": { + "x": 2.13359475, + "y": 0.437482238, + "z": 1.92984676 + }, + "rotation": { + "x": 0.0, + "y": 90.81287, + "z": 0.0 + } + }, + { + "objectName": "Bowl_d59970df", + "position": { + "x": -1.58354783, + "y": 0.970915258, + "z": 0.4642827 + }, + "rotation": { + "x": 0.0, + "y": 89.99987, + "z": 0.0 + } + }, + { + "objectName": "Statue_15407ea7", + "position": { + "x": -1.65724206, + "y": 0.9808639, + "z": -0.5409817 + }, + "rotation": { + "x": 0.0, + "y": 89.99987, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2358438475, + "scene_num": 330 + }, + "task_id": "trial_T20190908_002918_347755", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A2A028LRDJB7ZB_358010RM5HAD9UZ3UEJJDYAQIDBXV1", + "high_descs": [ + "Turn to your right then left walk forward then head to the couch ", + "Pick up the cd on the couch", + "Turn to your left then walk straight turn to you left then face the cabinet on you right", + "Put the cd in the bowl on the cabinet", + "Pick up the bowl with cd on the cabinet", + "Turn to your right then walk straight turn right then head to the side table of the couch", + "Put the bowl with cd on far right of the side table" + ], + "task_desc": "Put the bowl with cd on the side table", + "votes": [ + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1RLO9LNUJIW5S_3H7Z272LXAO54GLIUJ7WWCQLPGCPLY", + "high_descs": [ + "Walk and face the chat that's in front of you to the right of the light in front of you.", + "Pick up the cd that's on the chair.", + "Turn left and walk to the right side of the dresser that's in front of you.", + "Put the cd in the clear bowl on the dresser.", + "Pick up the bowl with the cd in it.", + "Turn around and walk to the small black end table to the left of the chair that you got the cd from and face it so you're looking at the wall behind it.", + "Put the bowl in the corner near the phone on the small black end table." + ], + "task_desc": "Put a bowl with a cd in it on the table.", + "votes": [ + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1K5ILJMG439M5_3VFJCI1K42GAU1NWWKE5OFLSUN0GR9", + "high_descs": [ + "Cross the room to the brown chair and look down at the seat cushion.", + "Pick up the disc from the left side of the seat cushion.", + "Bring the disc across the room and face the right end of the black dresser.", + "Put the disc in the gray bowl to the left of the yellow vase.", + "Pick up the bowl with the disc in it.", + "Bring the bowl over to the black table that's to the left of the brown chair.", + "Set the bowl down on the right side of the black table." + ], + "task_desc": "Put a bowl with a disc in it on the table.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-DishSponge-Pan-SinkBasin-2/trial_T20190909_004454_569743/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-DishSponge-Pan-SinkBasin-2/trial_T20190909_004454_569743/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..01266e299b4a95c2396ee2e2c25f2692fb64c2c7 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-DishSponge-Pan-SinkBasin-2/trial_T20190909_004454_569743/initial_state.pddl @@ -0,0 +1,1145 @@ + +(define (problem plan_trial_T20190909_004454_569743) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + 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DishSponge_bar__plus_01_dot_66_bar__plus_00_dot_76_bar__plus_01_dot_15 - object + DishSponge_bar__minus_00_dot_74_bar__plus_01_dot_68_bar__minus_01_dot_69 - object + Egg_bar__minus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_74 - object + Egg_bar__minus_01_dot_75_bar__plus_01_dot_53_bar__plus_00_dot_20 - object + Faucet_bar__minus_00_dot_02_bar__plus_01_dot_14_bar__minus_01_dot_61 - object + Fork_bar__plus_01_dot_56_bar__plus_00_dot_55_bar__plus_01_dot_35 - object + Kettle_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_82 - object + Kettle_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_82 - object + Knife_bar__plus_00_dot_11_bar__plus_00_dot_95_bar__plus_00_dot_97 - object + Knife_bar__plus_00_dot_21_bar__plus_00_dot_95_bar__plus_00_dot_27 - object + Knife_bar__plus_01_dot_77_bar__plus_00_dot_79_bar__plus_01_dot_44 - object + Ladle_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_01_dot_35 - object + Ladle_bar__minus_01_dot_15_bar__plus_00_dot_16_bar__minus_01_dot_36 - object + Lettuce_bar__minus_00_dot_11_bar__plus_01_dot_00_bar__plus_00_dot_97 - object + Lettuce_bar__minus_01_dot_46_bar__plus_00_dot_99_bar__minus_01_dot_61 - object + LightSwitch_bar__minus_00_dot_15_bar__plus_01_dot_29_bar__plus_03_dot_70 - object + Mug_bar__plus_01_dot_96_bar__plus_01_dot_00_bar__minus_00_dot_55 - object + Pan_bar__plus_00_dot_89_bar__plus_00_dot_91_bar__minus_01_dot_32 - object + Pan_bar__minus_01_dot_29_bar__plus_00_dot_90_bar__minus_01_dot_35 - object + PepperShaker_bar__plus_01_dot_90_bar__plus_00_dot_91_bar__plus_01_dot_26 - object + Plate_bar__minus_01_dot_75_bar__plus_01_dot_68_bar__plus_00_dot_20 - object + Plate_bar__minus_01_dot_87_bar__plus_00_dot_91_bar__minus_01_dot_42 - object + Potato_bar__minus_01_dot_72_bar__plus_00_dot_86_bar__minus_00_dot_27 - object + Potato_bar__minus_01_dot_78_bar__plus_00_dot_86_bar__minus_00_dot_08 - object + Potato_bar__minus_01_dot_80_bar__plus_00_dot_07_bar__plus_01_dot_25 - object + Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_38 - object + Pot_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_51 - object + SaltShaker_bar__plus_01_dot_80_bar__plus_00_dot_91_bar__minus_01_dot_51 - object + SaltShaker_bar__minus_00_dot_32_bar__plus_00_dot_92_bar__minus_00_dot_19 - object + SaltShaker_bar__minus_00_dot_42_bar__plus_00_dot_11_bar__minus_01_dot_35 - object + Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44 - object + SoapBottle_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_04 - object + SoapBottle_bar__minus_00_dot_74_bar__plus_01_dot_68_bar__minus_01_dot_58 - object + Spatula_bar__plus_01_dot_76_bar__plus_00_dot_49_bar__minus_00_dot_09 - object + Spatula_bar__plus_01_dot_82_bar__plus_00_dot_59_bar__plus_00_dot_53 - object + Spoon_bar__plus_01_dot_71_bar__plus_00_dot_12_bar__plus_00_dot_60 - object + Spoon_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_74 - object + StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_46 - object + StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_52 - object + StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_57 - object + StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_63 - object + StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_68 - object + StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_74 - object + Tomato_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_27 - object + Tomato_bar__minus_01_dot_66_bar__plus_00_dot_62_bar__minus_00_dot_18 - object + Tomato_bar__minus_01_dot_72_bar__plus_00_dot_62_bar__plus_00_dot_11 - object + Window_bar__plus_02_dot_22_bar__plus_01_dot_57_bar__minus_00_dot_39 - object + Window_bar__minus_00_dot_01_bar__plus_01_dot_58_bar__minus_01_dot_82 - object + Window_bar__minus_03_dot_24_bar__plus_01_dot_62_bar__plus_02_dot_69 - object + Cabinet_bar__plus_00_dot_41_bar__plus_00_dot_48_bar__plus_00_dot_45 - receptacle + Cabinet_bar__plus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 - receptacle + Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 - receptacle + Cabinet_bar__plus_01_dot_71_bar__plus_02_dot_02_bar__minus_01_dot_45 - receptacle + Cabinet_bar__plus_01_dot_79_bar__plus_02_dot_02_bar__minus_00_dot_82 - receptacle + Cabinet_bar__minus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 - receptacle + Cabinet_bar__minus_00_dot_63_bar__plus_02_dot_02_bar__minus_01_dot_45 - receptacle + Cabinet_bar__minus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 - receptacle + Cabinet_bar__minus_01_dot_70_bar__plus_02_dot_02_bar__minus_01_dot_45 - receptacle + CoffeeMachine_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__minus_01_dot_60 - receptacle + CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51 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StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_82 - receptacle + Toaster_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__minus_00_dot_34 - receptacle + loc_bar_4_bar__minus_3_bar_1_bar__minus_30 - location + loc_bar_3_bar_1_bar_1_bar_60 - location + loc_bar_5_bar_2_bar_1_bar_60 - location + loc_bar_3_bar_4_bar_1_bar_60 - location + loc_bar_2_bar_7_bar_1_bar_60 - location + loc_bar__minus_3_bar__minus_1_bar_2_bar_60 - location + loc_bar__minus_3_bar__minus_2_bar_2_bar_60 - location + loc_bar_4_bar__minus_3_bar_1_bar_45 - location + loc_bar_0_bar__minus_3_bar_2_bar_45 - location + loc_bar_5_bar_3_bar_1_bar_60 - location + loc_bar_3_bar_7_bar_2_bar_60 - location + loc_bar_0_bar_8_bar_2_bar_60 - location + loc_bar_3_bar_3_bar_1_bar_60 - location + loc_bar_5_bar_0_bar_1_bar_60 - location + loc_bar_5_bar_0_bar_2_bar_45 - location + loc_bar_5_bar_4_bar_3_bar_60 - location + loc_bar__minus_10_bar_11_bar_3_bar_0 - location + loc_bar_4_bar_3_bar_2_bar_60 - location + loc_bar__minus_5_bar_6_bar_3_bar_60 - location + loc_bar__minus_3_bar_0_bar_3_bar_60 - location + loc_bar__minus_3_bar__minus_3_bar_3_bar__minus_15 - location + loc_bar__minus_1_bar_12_bar_0_bar_30 - location + loc_bar_5_bar_3_bar_1_bar_45 - location + loc_bar__minus_3_bar__minus_3_bar_2_bar_45 - location + loc_bar__minus_3_bar__minus_3_bar_2_bar__minus_30 - location + loc_bar_4_bar__minus_3_bar_2_bar_45 - location + loc_bar_5_bar_2_bar_1_bar_45 - location + loc_bar_3_bar__minus_1_bar_2_bar_60 - location + loc_bar_3_bar_6_bar_1_bar_45 - location + loc_bar_3_bar_2_bar_3_bar_45 - location + loc_bar_4_bar__minus_1_bar_1_bar_45 - location + loc_bar_0_bar__minus_3_bar_2_bar_60 - location + loc_bar__minus_4_bar_11_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_82 StoveBurnerType) + (receptacleType Cabinet_bar__minus_01_dot_70_bar__plus_02_dot_02_bar__minus_01_dot_45 CabinetType) + (receptacleType 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(receptacleType Toaster_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__minus_00_dot_34 ToasterType) + (receptacleType CoffeeMachine_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__minus_01_dot_60 CoffeeMachineType) + (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_14_bar__plus_00_dot_60 DrawerType) + (receptacleType Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77 MicrowaveType) + (receptacleType StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_60 StoveBurnerType) + (receptacleType Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 CabinetType) + (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__minus_00_dot_02 DrawerType) + (receptacleType Cabinet_bar__minus_00_dot_63_bar__plus_02_dot_02_bar__minus_01_dot_45 CabinetType) + (receptacleType Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin SinkBasinType) + (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__minus_00_dot_02 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_54_bar__plus_00_dot_60 DrawerType) + (receptacleType Cabinet_bar__plus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 CabinetType) + (receptacleType StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_38 StoveBurnerType) + (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__minus_00_dot_02 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__plus_01_dot_22 DrawerType) + (receptacleType StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_82 StoveBurnerType) + (receptacleType StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_38 StoveBurnerType) + (receptacleType Cabinet_bar__plus_01_dot_71_bar__plus_02_dot_02_bar__minus_01_dot_45 CabinetType) + (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_60_bar__minus_00_dot_02 DrawerType) + (receptacleType StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_60 StoveBurnerType) + (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_52_bar__plus_01_dot_22 DrawerType) + (receptacleType GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_01_dot_33 GarbageCanType) + (receptacleType Drawer_bar__plus_00_dot_81_bar__plus_00_dot_48_bar__minus_01_dot_16 DrawerType) + (receptacleType Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01 FridgeType) + (objectType StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_46 StoveKnobType) + (objectType LightSwitch_bar__minus_00_dot_15_bar__plus_01_dot_29_bar__plus_03_dot_70 LightSwitchType) + (objectType Cup_bar__minus_01_dot_65_bar__plus_01_dot_47_bar__plus_00_dot_01 CupType) + (objectType Plate_bar__minus_01_dot_87_bar__plus_00_dot_91_bar__minus_01_dot_42 PlateType) + (objectType StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_68 StoveKnobType) + (objectType SaltShaker_bar__plus_01_dot_80_bar__plus_00_dot_91_bar__minus_01_dot_51 SaltShakerType) + (objectType Pot_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_51 PotType) + (objectType Plate_bar__minus_01_dot_75_bar__plus_01_dot_68_bar__plus_00_dot_20 PlateType) + (objectType Mug_bar__plus_01_dot_96_bar__plus_01_dot_00_bar__minus_00_dot_55 MugType) + (objectType DishSponge_bar__plus_01_dot_60_bar__plus_00_dot_12_bar__plus_00_dot_53 DishSpongeType) + (objectType Window_bar__plus_02_dot_22_bar__plus_01_dot_57_bar__minus_00_dot_39 WindowType) + (objectType Chair_bar__minus_00_dot_06_bar__plus_00_dot_52_bar__plus_01_dot_37 ChairType) + (objectType Kettle_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_82 KettleType) + (objectType SaltShaker_bar__minus_00_dot_42_bar__plus_00_dot_11_bar__minus_01_dot_35 SaltShakerType) + (objectType CellPhone_bar__plus_01_dot_66_bar__plus_00_dot_24_bar__plus_00_dot_05 CellPhoneType) + (objectType 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Lettuce_bar__minus_01_dot_46_bar__plus_00_dot_99_bar__minus_01_dot_61) + (sliceable Potato_bar__minus_01_dot_80_bar__plus_00_dot_07_bar__plus_01_dot_25) + (sliceable Egg_bar__minus_01_dot_75_bar__plus_01_dot_53_bar__plus_00_dot_20) + (sliceable Tomato_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_27) + (sliceable Egg_bar__minus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_74) + (sliceable Apple_bar__minus_00_dot_32_bar__plus_00_dot_98_bar__plus_00_dot_97) + (sliceable Bread_bar__plus_00_dot_26_bar__plus_00_dot_99_bar__minus_00_dot_08) + (sliceable Bread_bar__plus_00_dot_32_bar__plus_01_dot_01_bar__plus_00_dot_74) + (sliceable Lettuce_bar__minus_00_dot_11_bar__plus_01_dot_00_bar__plus_00_dot_97) + + (inReceptacle Ladle_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_01_dot_35 Cabinet_bar__minus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15) + (inReceptacle SaltShaker_bar__minus_00_dot_42_bar__plus_00_dot_11_bar__minus_01_dot_35 Cabinet_bar__minus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15) + (inReceptacle CellPhone_bar__plus_01_dot_66_bar__plus_00_dot_24_bar__plus_00_dot_05 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__minus_00_dot_02) + (inReceptacle Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_38 StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_38) + (inReceptacle Spoon_bar__plus_01_dot_71_bar__plus_00_dot_12_bar__plus_00_dot_60 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_14_bar__plus_00_dot_60) + (inReceptacle DishSponge_bar__plus_01_dot_60_bar__plus_00_dot_12_bar__plus_00_dot_53 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_14_bar__plus_00_dot_60) + (inReceptacle Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_38 StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_60) + (inReceptacle Spatula_bar__plus_01_dot_76_bar__plus_00_dot_49_bar__minus_00_dot_09 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__minus_00_dot_02) + (inReceptacle Kettle_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_82 StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_82) + (inReceptacle Fork_bar__plus_01_dot_56_bar__plus_00_dot_55_bar__plus_01_dot_35 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_52_bar__plus_01_dot_22) + (inReceptacle Bowl_bar__plus_01_dot_59_bar__plus_01_dot_68_bar__minus_01_dot_65 Cabinet_bar__plus_01_dot_71_bar__plus_02_dot_02_bar__minus_01_dot_45) + (inReceptacle Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_38 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle PepperShaker_bar__plus_01_dot_90_bar__plus_00_dot_91_bar__plus_01_dot_26 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Plate_bar__minus_01_dot_87_bar__plus_00_dot_91_bar__minus_01_dot_42 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Pan_bar__plus_00_dot_89_bar__plus_00_dot_91_bar__minus_01_dot_32 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Window_bar__minus_00_dot_01_bar__plus_01_dot_58_bar__minus_01_dot_82 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle SaltShaker_bar__plus_01_dot_80_bar__plus_00_dot_91_bar__minus_01_dot_51 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle CellPhone_bar__plus_01_dot_90_bar__plus_00_dot_91_bar__plus_01_dot_11 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Window_bar__plus_02_dot_22_bar__plus_01_dot_57_bar__minus_00_dot_39 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Lettuce_bar__minus_01_dot_46_bar__plus_00_dot_99_bar__minus_01_dot_61 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle ButterKnife_bar__minus_01_dot_73_bar__plus_00_dot_91_bar__minus_01_dot_06 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Pan_bar__minus_01_dot_29_bar__plus_00_dot_90_bar__minus_01_dot_35 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle SoapBottle_bar__minus_00_dot_74_bar__plus_01_dot_68_bar__minus_01_dot_58 Cabinet_bar__minus_00_dot_63_bar__plus_02_dot_02_bar__minus_01_dot_45) + (inReceptacle DishSponge_bar__minus_00_dot_74_bar__plus_01_dot_68_bar__minus_01_dot_69 Cabinet_bar__minus_00_dot_63_bar__plus_02_dot_02_bar__minus_01_dot_45) + (inReceptacle Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_38 StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_38) + (inReceptacle Spatula_bar__plus_01_dot_82_bar__plus_00_dot_59_bar__plus_00_dot_53 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_54_bar__plus_00_dot_60) + (inReceptacle Knife_bar__plus_01_dot_77_bar__plus_00_dot_79_bar__plus_01_dot_44 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_78_bar__plus_01_dot_22) + (inReceptacle DishSponge_bar__plus_01_dot_66_bar__plus_00_dot_76_bar__plus_01_dot_15 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_78_bar__plus_01_dot_22) + (inReceptacle Bread_bar__plus_00_dot_32_bar__plus_01_dot_01_bar__plus_00_dot_74 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Tomato_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_27 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle CellPhone_bar__minus_00_dot_32_bar__plus_00_dot_92_bar__plus_00_dot_27 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Spoon_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_74 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Pot_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_51 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Lettuce_bar__minus_00_dot_11_bar__plus_01_dot_00_bar__plus_00_dot_97 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle SoapBottle_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_04 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Knife_bar__plus_00_dot_21_bar__plus_00_dot_95_bar__plus_00_dot_27 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Egg_bar__minus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_74 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Apple_bar__minus_00_dot_32_bar__plus_00_dot_98_bar__plus_00_dot_97 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Bread_bar__plus_00_dot_26_bar__plus_00_dot_99_bar__minus_00_dot_08 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Knife_bar__plus_00_dot_11_bar__plus_00_dot_95_bar__plus_00_dot_97 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle SaltShaker_bar__minus_00_dot_32_bar__plus_00_dot_92_bar__minus_00_dot_19 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle ButterKnife_bar__minus_00_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_20 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Kettle_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_82 StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_82) + (inReceptacle Ladle_bar__minus_01_dot_15_bar__plus_00_dot_16_bar__minus_01_dot_36 Cabinet_bar__minus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15) + (inReceptacle Potato_bar__minus_01_dot_80_bar__plus_00_dot_07_bar__plus_01_dot_25 GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_01_dot_33) + (inReceptacle Mug_bar__plus_01_dot_96_bar__plus_01_dot_00_bar__minus_00_dot_55 Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77) + (inReceptacle Potato_bar__minus_01_dot_78_bar__plus_00_dot_86_bar__minus_00_dot_08 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01) + (inReceptacle Cup_bar__minus_01_dot_65_bar__plus_01_dot_47_bar__plus_00_dot_01 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01) + (inReceptacle Tomato_bar__minus_01_dot_72_bar__plus_00_dot_62_bar__plus_00_dot_11 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01) + (inReceptacle Plate_bar__minus_01_dot_75_bar__plus_01_dot_68_bar__plus_00_dot_20 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01) + (inReceptacle Tomato_bar__minus_01_dot_66_bar__plus_00_dot_62_bar__minus_00_dot_18 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01) + (inReceptacle Potato_bar__minus_01_dot_72_bar__plus_00_dot_86_bar__minus_00_dot_27 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01) + (inReceptacle Egg_bar__minus_01_dot_75_bar__plus_01_dot_53_bar__plus_00_dot_20 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_41_bar__plus_00_dot_48_bar__plus_00_dot_45 loc_bar_5_bar_4_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__plus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 loc_bar_3_bar__minus_1_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 loc_bar_3_bar__minus_1_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_71_bar__plus_02_dot_02_bar__minus_01_dot_45 loc_bar_4_bar__minus_3_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_79_bar__plus_02_dot_02_bar__minus_00_dot_82 loc_bar_4_bar__minus_3_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 loc_bar__minus_3_bar__minus_1_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_63_bar__plus_02_dot_02_bar__minus_01_dot_45 loc_bar__minus_3_bar__minus_3_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 loc_bar__minus_3_bar__minus_1_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_70_bar__plus_02_dot_02_bar__minus_01_dot_45 loc_bar__minus_3_bar__minus_3_bar_3_bar__minus_15) + (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__minus_01_dot_60 loc_bar_4_bar__minus_3_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51 loc_bar__minus_3_bar__minus_3_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51 loc_bar_3_bar_2_bar_3_bar_45) + (receptacleAtLocation 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Drawer_bar__plus_01_dot_50_bar__plus_00_dot_60_bar__minus_00_dot_02 loc_bar_4_bar_3_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__plus_00_dot_61 loc_bar_3_bar_4_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__minus_00_dot_02 loc_bar_3_bar_1_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_78_bar__plus_01_dot_22 loc_bar_3_bar_6_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_48_bar__minus_01_dot_16 loc_bar__minus_3_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01 loc_bar__minus_3_bar_0_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_01_dot_33 loc_bar__minus_5_bar_6_bar_3_bar_60) + (receptacleAtLocation Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77 loc_bar_4_bar__minus_3_bar_1_bar_45) + (receptacleAtLocation Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin loc_bar_0_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_38 loc_bar_5_bar_2_bar_1_bar_60) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_60 loc_bar_5_bar_2_bar_1_bar_60) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_82 loc_bar_5_bar_3_bar_1_bar_60) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_38 loc_bar_5_bar_2_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_60 loc_bar_5_bar_2_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_82 loc_bar_5_bar_3_bar_1_bar_45) + (receptacleAtLocation Toaster_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__minus_00_dot_34 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+ "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_253fa632", + "position": { + "x": 1.58783627, + "y": 1.67807925, + "z": -1.65244007 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 1239319131, + "scene_num": 2 + }, + "task_id": "trial_T20190909_004454_569743", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A2KAGFQU28JY43_33LKR6A5KHBYRQWJEYNEIT26AZKT1Y", + "high_descs": [ + "Turn around and go to the top cabinet, to the right of the window, across from you. ", + "Pull out the sponge from the cabinet. ", + "Turn to your left and go to the end of the counter, then turn to the pan on the counter, to your right. ", + "Place the sponge in the fry pan on the counter. ", + "Pick up the fry pan with the sponge inside it. ", + "Turn to your right and go to the sink right next to you. ", + "Place the pan with the sponge inside it in the sink. " + ], + "task_desc": "Put a pan containing a sponge, in the sink. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A19LVWX8ZLO6CS_39LOEL67OVWB39IAY4Q2FQLGU5X38T", + "high_descs": [ + "Turn around and step forward to the kitchen counter. Look up to the kitchen cabinet.", + "Open the cabinet and remove the sponge in front of the dispenser, then close the door.", + "Come down to the floor, turn left and walk to the intersection and turn right to face a pan.", + "Place the sponge upright on the left side of the pan.", + "Pick up the pan from the kitchen counter.", + "Turn right and walk forward till you reach the kitchen sink on the left. Turn and face the sink.", + "Place the pan with the sponge in the sink." + ], + "task_desc": "Take a sponge out of the cabinet to put in a pan and place in the sink.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AM2KK02JXXW48_3X08E93BHY9NWEM4ORR22F19Y1866F", + "high_descs": [ + "Turn around, move to the counter right of the sink.", + "Pick up the sponge in the cabinet above the counter, right of the sink. ", + "Bring the sponge to the pan on the counter, left of the sink.", + "Put the sponge in the pan on the counter. ", + "Pick up the pan with sponge on the counter. ", + "Bring the pan to the sink on the right.", + "Put the pan with sponge in the sink." + ], + "task_desc": "Put a pan with sponge in it, in the sink. ", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-DishSponge-Pan-SinkBasin-2/trial_T20190909_004531_402154/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-DishSponge-Pan-SinkBasin-2/trial_T20190909_004531_402154/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..f04d05a09e616cec22ebb86ad24aa72276d55c35 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-DishSponge-Pan-SinkBasin-2/trial_T20190909_004531_402154/initial_state.pddl @@ -0,0 +1,1150 @@ + +(define (problem plan_trial_T20190909_004531_402154) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__plus_01_dot_89_bar__plus_01_dot_06_bar__minus_00_dot_81 - object + Apple_bar__plus_01_dot_99_bar__plus_01_dot_06_bar__minus_00_dot_60 - object + 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Drawer_bar__minus_00_dot_70_bar__plus_00_dot_48_bar__minus_01_dot_16 - receptacle + Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01 - receptacle + GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_01_dot_33 - receptacle + Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77 - receptacle + Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin - receptacle + StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_38 - receptacle + StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_60 - receptacle + StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_82 - receptacle + StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_38 - receptacle + StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_60 - receptacle + StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_82 - receptacle + Toaster_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__minus_00_dot_34 - receptacle + loc_bar_4_bar__minus_3_bar_1_bar__minus_30 - location + loc_bar_3_bar_1_bar_1_bar_60 - location + loc_bar_5_bar_2_bar_1_bar_60 - location + loc_bar_3_bar_4_bar_1_bar_60 - location + loc_bar_2_bar_7_bar_1_bar_60 - location + loc_bar__minus_3_bar__minus_1_bar_2_bar_60 - location + loc_bar__minus_3_bar__minus_2_bar_2_bar_60 - location + loc_bar_4_bar__minus_3_bar_1_bar_45 - location + loc_bar_0_bar__minus_3_bar_2_bar_45 - location + loc_bar_5_bar_3_bar_1_bar_60 - location + loc_bar_3_bar_7_bar_2_bar_60 - location + loc_bar_0_bar_8_bar_2_bar_60 - location + loc_bar_3_bar_3_bar_1_bar_60 - location + loc_bar_5_bar_0_bar_1_bar_60 - location + loc_bar_5_bar_0_bar_2_bar_45 - location + loc_bar_5_bar_4_bar_3_bar_60 - location + loc_bar__minus_10_bar_11_bar_3_bar_0 - location + loc_bar_4_bar_3_bar_2_bar_60 - location + loc_bar__minus_5_bar_6_bar_3_bar_60 - location + loc_bar__minus_3_bar_0_bar_3_bar_60 - location 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DrawerType) + (receptacleType Cabinet_bar__plus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 CabinetType) + (receptacleType StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_38 StoveBurnerType) + (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__minus_00_dot_02 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__plus_01_dot_22 DrawerType) + (receptacleType StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_82 StoveBurnerType) + (receptacleType StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_38 StoveBurnerType) + (receptacleType Cabinet_bar__plus_01_dot_71_bar__plus_02_dot_02_bar__minus_01_dot_45 CabinetType) + (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_60_bar__minus_00_dot_02 DrawerType) + (receptacleType StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_60 StoveBurnerType) + (receptacleType 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Cup_bar__plus_00_dot_31_bar__plus_00_dot_11_bar__minus_01_dot_22) + (cleanable Ladle_bar__plus_00_dot_19_bar__plus_00_dot_16_bar__minus_01_dot_35) + (cleanable Bowl_bar__minus_01_dot_20_bar__plus_00_dot_11_bar__minus_01_dot_30) + (cleanable DishSponge_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_01_dot_29) + (cleanable Ladle_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__minus_00_dot_09) + (cleanable Bowl_bar__minus_01_dot_70_bar__plus_01_dot_47_bar__plus_00_dot_11) + (cleanable DishSponge_bar__minus_01_dot_84_bar__plus_01_dot_66_bar__minus_00_dot_98) + (cleanable Cup_bar__minus_00_dot_42_bar__plus_00_dot_11_bar__minus_01_dot_28) + (cleanable Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_82) + (cleanable Lettuce_bar__minus_00_dot_21_bar__plus_01_dot_00_bar__plus_00_dot_97) + (cleanable Fork_bar__plus_01_dot_80_bar__plus_00_dot_91_bar__minus_01_dot_61) + (cleanable Tomato_bar__minus_01_dot_65_bar__plus_01_dot_52_bar__minus_00_dot_08) + (cleanable Tomato_bar__minus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_27) + (cleanable Apple_bar__plus_01_dot_99_bar__plus_01_dot_06_bar__minus_00_dot_60) + (cleanable Spatula_bar__minus_00_dot_64_bar__plus_00_dot_93_bar__minus_01_dot_71) + (cleanable Kettle_bar__plus_01_dot_68_bar__plus_00_dot_90_bar__plus_00_dot_09) + (cleanable DishSponge_bar__plus_01_dot_66_bar__plus_00_dot_58_bar__minus_00_dot_09) + (cleanable Knife_bar__plus_01_dot_66_bar__plus_00_dot_14_bar__plus_00_dot_53) + (cleanable Ladle_bar__plus_00_dot_89_bar__plus_00_dot_96_bar__minus_01_dot_61) + (cleanable Egg_bar__minus_01_dot_75_bar__plus_00_dot_62_bar__plus_00_dot_20) + (cleanable Knife_bar__plus_00_dot_11_bar__plus_00_dot_95_bar__plus_00_dot_97) + (cleanable Bowl_bar__minus_00_dot_19_bar__plus_00_dot_11_bar__minus_01_dot_47) + (cleanable Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_38) + (cleanable Spoon_bar__plus_01_dot_77_bar__plus_00_dot_12_bar__plus_00_dot_67) + (cleanable Tomato_bar__minus_01_dot_72_bar__plus_00_dot_62_bar__minus_00_dot_18) + (cleanable Lettuce_bar__plus_00_dot_11_bar__plus_01_dot_00_bar__plus_00_dot_74) + (cleanable ButterKnife_bar__minus_01_dot_55_bar__plus_00_dot_91_bar__minus_00_dot_96) + (cleanable Plate_bar__plus_01_dot_20_bar__plus_00_dot_11_bar__minus_01_dot_48) + (cleanable Plate_bar__minus_01_dot_90_bar__plus_00_dot_91_bar__minus_00_dot_91) + (cleanable Apple_bar__minus_01_dot_77_bar__plus_01_dot_08_bar__plus_00_dot_30) + (cleanable Potato_bar__plus_01_dot_51_bar__plus_00_dot_94_bar__plus_00_dot_95) + (cleanable Knife_bar__plus_00_dot_11_bar__plus_00_dot_95_bar__plus_00_dot_27) + (cleanable Pan_bar__minus_01_dot_29_bar__plus_00_dot_90_bar__minus_01_dot_35) + + (heatable Mug_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__minus_01_dot_36) + (heatable Apple_bar__plus_01_dot_89_bar__plus_01_dot_06_bar__minus_00_dot_81) + (heatable Cup_bar__plus_00_dot_31_bar__plus_00_dot_11_bar__minus_01_dot_22) + (heatable Bread_bar__minus_01_dot_80_bar__plus_01_dot_76_bar__minus_00_dot_18) + (heatable Cup_bar__minus_00_dot_42_bar__plus_00_dot_11_bar__minus_01_dot_28) + (heatable Tomato_bar__minus_01_dot_65_bar__plus_01_dot_52_bar__minus_00_dot_08) + (heatable Tomato_bar__minus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_27) + (heatable Apple_bar__plus_01_dot_99_bar__plus_01_dot_06_bar__minus_00_dot_60) + (heatable Egg_bar__minus_01_dot_75_bar__plus_00_dot_62_bar__plus_00_dot_20) + (heatable Tomato_bar__minus_01_dot_72_bar__plus_00_dot_62_bar__minus_00_dot_18) + (heatable Plate_bar__plus_01_dot_20_bar__plus_00_dot_11_bar__minus_01_dot_48) + (heatable Plate_bar__minus_01_dot_90_bar__plus_00_dot_91_bar__minus_00_dot_91) + (heatable Apple_bar__minus_01_dot_77_bar__plus_01_dot_08_bar__plus_00_dot_30) + (heatable Potato_bar__plus_01_dot_51_bar__plus_00_dot_94_bar__plus_00_dot_95) + (coolable Lettuce_bar__minus_00_dot_21_bar__plus_01_dot_00_bar__plus_00_dot_51) + (coolable Mug_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__minus_01_dot_36) + (coolable Apple_bar__plus_01_dot_89_bar__plus_01_dot_06_bar__minus_00_dot_81) + (coolable Cup_bar__plus_00_dot_31_bar__plus_00_dot_11_bar__minus_01_dot_22) + (coolable Bread_bar__minus_01_dot_80_bar__plus_01_dot_76_bar__minus_00_dot_18) + (coolable Bowl_bar__minus_01_dot_20_bar__plus_00_dot_11_bar__minus_01_dot_30) + (coolable Bowl_bar__minus_01_dot_70_bar__plus_01_dot_47_bar__plus_00_dot_11) + (coolable Cup_bar__minus_00_dot_42_bar__plus_00_dot_11_bar__minus_01_dot_28) + (coolable Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_82) + (coolable Lettuce_bar__minus_00_dot_21_bar__plus_01_dot_00_bar__plus_00_dot_97) + (coolable Tomato_bar__minus_01_dot_65_bar__plus_01_dot_52_bar__minus_00_dot_08) + (coolable Tomato_bar__minus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_27) + (coolable Apple_bar__plus_01_dot_99_bar__plus_01_dot_06_bar__minus_00_dot_60) + (coolable Egg_bar__minus_01_dot_75_bar__plus_00_dot_62_bar__plus_00_dot_20) + (coolable Bowl_bar__minus_00_dot_19_bar__plus_00_dot_11_bar__minus_01_dot_47) + (coolable Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_38) + (coolable Tomato_bar__minus_01_dot_72_bar__plus_00_dot_62_bar__minus_00_dot_18) + (coolable Lettuce_bar__plus_00_dot_11_bar__plus_01_dot_00_bar__plus_00_dot_74) + (coolable Plate_bar__plus_01_dot_20_bar__plus_00_dot_11_bar__minus_01_dot_48) + (coolable Plate_bar__minus_01_dot_90_bar__plus_00_dot_91_bar__minus_00_dot_91) + (coolable Apple_bar__minus_01_dot_77_bar__plus_01_dot_08_bar__plus_00_dot_30) + (coolable Potato_bar__plus_01_dot_51_bar__plus_00_dot_94_bar__plus_00_dot_95) + (coolable Pan_bar__minus_01_dot_29_bar__plus_00_dot_90_bar__minus_01_dot_35) + + + + + + (sliceable Lettuce_bar__minus_00_dot_21_bar__plus_01_dot_00_bar__plus_00_dot_51) + (sliceable Apple_bar__plus_01_dot_89_bar__plus_01_dot_06_bar__minus_00_dot_81) + (sliceable Bread_bar__minus_01_dot_80_bar__plus_01_dot_76_bar__minus_00_dot_18) + (sliceable Lettuce_bar__minus_00_dot_21_bar__plus_01_dot_00_bar__plus_00_dot_97) + (sliceable Tomato_bar__minus_01_dot_65_bar__plus_01_dot_52_bar__minus_00_dot_08) + (sliceable Tomato_bar__minus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_27) + (sliceable Apple_bar__plus_01_dot_99_bar__plus_01_dot_06_bar__minus_00_dot_60) + (sliceable Egg_bar__minus_01_dot_75_bar__plus_00_dot_62_bar__plus_00_dot_20) + (sliceable Tomato_bar__minus_01_dot_72_bar__plus_00_dot_62_bar__minus_00_dot_18) + (sliceable Lettuce_bar__plus_00_dot_11_bar__plus_01_dot_00_bar__plus_00_dot_74) + (sliceable Apple_bar__minus_01_dot_77_bar__plus_01_dot_08_bar__plus_00_dot_30) + (sliceable Potato_bar__plus_01_dot_51_bar__plus_00_dot_94_bar__plus_00_dot_95) + + (inReceptacle Cup_bar__minus_00_dot_42_bar__plus_00_dot_11_bar__minus_01_dot_28 Cabinet_bar__minus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15) + (inReceptacle Bowl_bar__minus_00_dot_19_bar__plus_00_dot_11_bar__minus_01_dot_47 Cabinet_bar__minus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15) + (inReceptacle DishSponge_bar__plus_01_dot_66_bar__plus_00_dot_58_bar__minus_00_dot_09 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_60_bar__minus_00_dot_02) + (inReceptacle Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_38 StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_38) + (inReceptacle DishSponge_bar__minus_01_dot_84_bar__plus_01_dot_66_bar__minus_00_dot_98 Cabinet_bar__minus_01_dot_70_bar__plus_02_dot_02_bar__minus_01_dot_45) + (inReceptacle PepperShaker_bar__minus_01_dot_84_bar__plus_01_dot_66_bar__minus_01_dot_13 Cabinet_bar__minus_01_dot_70_bar__plus_02_dot_02_bar__minus_01_dot_45) + (inReceptacle SoapBottle_bar__plus_01_dot_92_bar__plus_01_dot_66_bar__minus_01_dot_05 Cabinet_bar__plus_01_dot_79_bar__plus_02_dot_02_bar__minus_00_dot_82) + (inReceptacle SaltShaker_bar__plus_00_dot_42_bar__plus_00_dot_11_bar__minus_01_dot_22 Cabinet_bar__plus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15) + (inReceptacle Cup_bar__plus_00_dot_31_bar__plus_00_dot_11_bar__minus_01_dot_22 Cabinet_bar__plus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15) + (inReceptacle Ladle_bar__plus_00_dot_19_bar__plus_00_dot_16_bar__minus_01_dot_35 Cabinet_bar__plus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15) + (inReceptacle Spoon_bar__plus_01_dot_77_bar__plus_00_dot_12_bar__plus_00_dot_67 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_14_bar__plus_00_dot_60) + (inReceptacle Knife_bar__plus_01_dot_66_bar__plus_00_dot_14_bar__plus_00_dot_53 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_14_bar__plus_00_dot_60) + (inReceptacle Plate_bar__plus_01_dot_20_bar__plus_00_dot_11_bar__minus_01_dot_48 Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15) + (inReceptacle Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_38 StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_60) + (inReceptacle Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_82 StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_60) + (inReceptacle Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_82 StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_82) + (inReceptacle CellPhone_bar__plus_01_dot_81_bar__plus_00_dot_54_bar__plus_01_dot_28 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_52_bar__plus_01_dot_22) + (inReceptacle Spatula_bar__minus_00_dot_64_bar__plus_00_dot_93_bar__minus_01_dot_71 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Kettle_bar__plus_01_dot_68_bar__plus_00_dot_90_bar__plus_00_dot_09 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_38 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) 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Fork_bar__plus_01_dot_80_bar__plus_00_dot_91_bar__minus_01_dot_61 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Plate_bar__minus_01_dot_90_bar__plus_00_dot_91_bar__minus_00_dot_91 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Potato_bar__plus_01_dot_51_bar__plus_00_dot_94_bar__plus_00_dot_95 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Window_bar__minus_00_dot_01_bar__plus_01_dot_58_bar__minus_01_dot_82 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Pan_bar__minus_01_dot_29_bar__plus_00_dot_90_bar__minus_01_dot_35 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle SoapBottle_bar__minus_00_dot_99_bar__plus_01_dot_68_bar__minus_01_dot_58 Cabinet_bar__minus_00_dot_63_bar__plus_02_dot_02_bar__minus_01_dot_45) + (inReceptacle Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_38 StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_38) + (inReceptacle ButterKnife_bar__plus_01_dot_66_bar__plus_00_dot_58_bar__plus_00_dot_60 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_54_bar__plus_00_dot_60) + (inReceptacle Lettuce_bar__minus_00_dot_21_bar__plus_01_dot_00_bar__plus_00_dot_51 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle SaltShaker_bar__minus_00_dot_11_bar__plus_00_dot_92_bar__plus_00_dot_74 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Lettuce_bar__plus_00_dot_11_bar__plus_01_dot_00_bar__plus_00_dot_74 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Kettle_bar__plus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_51 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Lettuce_bar__minus_00_dot_21_bar__plus_01_dot_00_bar__plus_00_dot_97 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle PepperShaker_bar__minus_00_dot_21_bar__plus_00_dot_92_bar__plus_00_dot_74 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Knife_bar__plus_00_dot_11_bar__plus_00_dot_95_bar__plus_00_dot_97 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Tomato_bar__minus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_27 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Knife_bar__plus_00_dot_11_bar__plus_00_dot_95_bar__plus_00_dot_27 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_82 StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_82) + (inReceptacle Bowl_bar__minus_01_dot_20_bar__plus_00_dot_11_bar__minus_01_dot_30 Cabinet_bar__minus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15) + (inReceptacle DishSponge_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_01_dot_29 GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_01_dot_33) + (inReceptacle Apple_bar__plus_01_dot_89_bar__plus_01_dot_06_bar__minus_00_dot_81 Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77) + (inReceptacle Apple_bar__plus_01_dot_99_bar__plus_01_dot_06_bar__minus_00_dot_60 Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77) + (inReceptacle Mug_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__minus_01_dot_36 CoffeeMachine_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__minus_01_dot_60) + (inReceptacle Bowl_bar__minus_01_dot_70_bar__plus_01_dot_47_bar__plus_00_dot_11 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01) + (inReceptacle Tomato_bar__minus_01_dot_72_bar__plus_00_dot_62_bar__minus_00_dot_18 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01) + (inReceptacle Egg_bar__minus_01_dot_75_bar__plus_00_dot_62_bar__plus_00_dot_20 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01) + (inReceptacle Bread_bar__minus_01_dot_80_bar__plus_01_dot_76_bar__minus_00_dot_18 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01) + (inReceptacle Tomato_bar__minus_01_dot_65_bar__plus_01_dot_52_bar__minus_00_dot_08 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01) + (inReceptacle Apple_bar__minus_01_dot_77_bar__plus_01_dot_08_bar__plus_00_dot_30 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_41_bar__plus_00_dot_48_bar__plus_00_dot_45 loc_bar_5_bar_4_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__plus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 loc_bar_3_bar__minus_1_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 loc_bar_3_bar__minus_1_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_71_bar__plus_02_dot_02_bar__minus_01_dot_45 loc_bar_4_bar__minus_3_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_79_bar__plus_02_dot_02_bar__minus_00_dot_82 loc_bar_4_bar__minus_3_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 loc_bar__minus_3_bar__minus_1_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_63_bar__plus_02_dot_02_bar__minus_01_dot_45 loc_bar__minus_3_bar__minus_3_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 loc_bar__minus_3_bar__minus_1_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_70_bar__plus_02_dot_02_bar__minus_01_dot_45 loc_bar__minus_3_bar__minus_3_bar_3_bar__minus_15) + (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__minus_01_dot_60 loc_bar_4_bar__minus_3_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51 loc_bar__minus_3_bar__minus_3_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51 loc_bar_3_bar_2_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_81_bar__plus_00_dot_48_bar__minus_01_dot_16 loc_bar_5_bar_0_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_14_bar__plus_00_dot_60 loc_bar_3_bar_7_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__plus_01_dot_22 loc_bar_2_bar_7_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__minus_00_dot_02 loc_bar_5_bar_0_bar_1_bar_60) + (receptacleAtLocation 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Drawer_bar__minus_00_dot_70_bar__plus_00_dot_48_bar__minus_01_dot_16 loc_bar__minus_3_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01 loc_bar__minus_3_bar_0_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_01_dot_33 loc_bar__minus_5_bar_6_bar_3_bar_60) + (receptacleAtLocation Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77 loc_bar_4_bar__minus_3_bar_1_bar_45) + (receptacleAtLocation Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin loc_bar_0_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_38 loc_bar_5_bar_2_bar_1_bar_60) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_60 loc_bar_5_bar_2_bar_1_bar_60) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_82 loc_bar_5_bar_3_bar_1_bar_60) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_38 loc_bar_5_bar_2_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_60 loc_bar_5_bar_2_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_82 loc_bar_5_bar_3_bar_1_bar_45) + (receptacleAtLocation Toaster_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__minus_00_dot_34 loc_bar_4_bar__minus_1_bar_1_bar_45) + (objectAtLocation Bowl_bar__minus_01_dot_20_bar__plus_00_dot_11_bar__minus_01_dot_30 loc_bar__minus_3_bar__minus_1_bar_2_bar_60) + (objectAtLocation DishSponge_bar__minus_01_dot_84_bar__plus_01_dot_66_bar__minus_00_dot_98 loc_bar__minus_3_bar__minus_3_bar_3_bar__minus_15) + (objectAtLocation Tomato_bar__minus_01_dot_65_bar__plus_01_dot_52_bar__minus_00_dot_08 loc_bar__minus_3_bar_0_bar_3_bar_60) + (objectAtLocation ButterKnife_bar__minus_01_dot_55_bar__plus_00_dot_91_bar__minus_00_dot_96 loc_bar__minus_3_bar__minus_3_bar_2_bar_45) + (objectAtLocation PepperShaker_bar__minus_01_dot_84_bar__plus_01_dot_66_bar__minus_01_dot_13 loc_bar__minus_3_bar__minus_3_bar_3_bar__minus_15) + (objectAtLocation SaltShaker_bar__minus_00_dot_11_bar__plus_00_dot_92_bar__plus_00_dot_74 loc_bar_3_bar_2_bar_3_bar_45) + (objectAtLocation Knife_bar__plus_00_dot_11_bar__plus_00_dot_95_bar__plus_00_dot_27 loc_bar_3_bar_2_bar_3_bar_45) + (objectAtLocation Apple_bar__minus_01_dot_77_bar__plus_01_dot_08_bar__plus_00_dot_30 loc_bar__minus_3_bar_0_bar_3_bar_60) + (objectAtLocation Lettuce_bar__minus_00_dot_21_bar__plus_01_dot_00_bar__plus_00_dot_51 loc_bar_3_bar_2_bar_3_bar_45) + (objectAtLocation Plate_bar__plus_01_dot_20_bar__plus_00_dot_11_bar__minus_01_dot_48 loc_bar_3_bar__minus_1_bar_2_bar_60) + (objectAtLocation Kettle_bar__plus_01_dot_68_bar__plus_00_dot_90_bar__plus_00_dot_09 loc_bar__minus_3_bar__minus_3_bar_2_bar_45) 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Mug_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__minus_01_dot_36 loc_bar_4_bar__minus_3_bar_2_bar_45) + (objectAtLocation Bowl_bar__minus_01_dot_70_bar__plus_01_dot_47_bar__plus_00_dot_11 loc_bar__minus_3_bar_0_bar_3_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (and + (receptacleType ?r SinkBasinType) + (exists (?o - object) + (and + (objectType ?o DishSpongeType) + (exists (?mo - object) + (and + (objectType ?mo PanType) + (isReceptacleObject ?mo) + (inReceptacleObject ?o ?mo) + (inReceptacle ?mo ?r) + ) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-DishSponge-Pan-SinkBasin-2/trial_T20190909_004531_402154/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-DishSponge-Pan-SinkBasin-2/trial_T20190909_004531_402154/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..64178c14a2b52fc5fd1357461bc671c05765a87c --- 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} + }, + { + "objectName": "ButterKnife_4f8c70c0", + "position": { + "x": -1.55163574, + "y": 0.911542058, + "z": -0.9641914 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_48e00ad2", + "position": { + "x": -1.80318046, + "y": 1.75657606, + "z": -0.175191209 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_448791c6", + "position": { + "x": -1.64519477, + "y": 1.52438152, + "z": -0.0810168 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Potato_5e728867", + "position": { + "x": 1.50984621, + "y": 0.9352317, + "z": 0.9472885 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_e1c57c26", + "position": { + "x": -1.8419168, + "y": 1.66154408, + "z": -0.9806492 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_bfeb74cb", + "position": { + "x": 1.76926708, + "y": 0.121540681, + "z": 0.672840953 + }, + "rotation": { + "x": -7.062251e-30, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_b045e42b", + "position": { + "x": 1.3554858, + "y": 0.9554, + "z": -1.36239815 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_253fa632", + "position": { + "x": -1.19789994, + "y": 0.111906528, + "z": -1.29661942 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2928021814, + "scene_num": 2 + }, + "task_id": "trial_T20190909_004531_402154", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "ALKQPW0O9C98N_38F5OAUN5Q3MX3KQ3KNY5KQV2Q4H7M", + "high_descs": [ + "Turn left and go to the white trash can", + "Take the sponge out of the trash can", + "Turn left and go to the counter with the pan on it", + "Put the sponge in the pan", + "Pick up the sponge and pan from the counter", + "Turn left and go to the sink on the right", + "Place the sponge and pan in the sink" + ], + "task_desc": "Put a sponge and pan in a sink", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1RLO9LNUJIW5S_3IXQG4FA2WPGK95XIPBMX5E324YB9P", + "high_descs": [ + "Walk to the garbage that's in front of you to the left and stand facing it.", + "Pick up the sponge that's in front of you in the garbage.", + "Turn left and take a step to your left then walk to the counter in front of you.", + "Put the sponge in the frying pan to your right on the counter.", + "Pick up the pan with the sponge in it.", + "Take a step or two to your left to face the ink.", + "Put the pan in the sink." + ], + "task_desc": "Put a pan with a sponge in it in the sink.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3PPLDHC3CG0YN_3U088ZLJVNKQCIFVDKOPR8QV91M0WI", + "high_descs": [ + "Walk to the white bin to the right of the fridge. ", + "Pick up the sponge from the bin. ", + "Walk to the counter to the right of the sink. ", + "Put the sponge in the pan on the right. ", + "Pick up the pan from the counter. ", + "Walk to the sink on the left. ", + "Put the pan down in the sink. " + ], + "task_desc": "Put the sponge in the pan and put the pan in the sink. ", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-DishSponge-Plate-Cabinet-19/trial_T20190908_235646_691072/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-DishSponge-Plate-Cabinet-19/trial_T20190908_235646_691072/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..fc5513a797b6211ad28197c788f66c8005e6a161 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-DishSponge-Plate-Cabinet-19/trial_T20190908_235646_691072/initial_state.pddl @@ -0,0 +1,1091 @@ + +(define (problem plan_trial_T20190908_235646_691072) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - 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CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle Egg_bar__minus_01_dot_55_bar__plus_00_dot_95_bar__minus_03_dot_99 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle Lettuce_bar__minus_01_dot_32_bar__plus_00_dot_99_bar__minus_03_dot_76 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle Potato_bar__minus_03_dot_35_bar__plus_00_dot_96_bar__minus_03_dot_66 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle Tomato_bar__minus_03_dot_14_bar__plus_00_dot_96_bar__minus_03_dot_33 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle Bowl_bar__minus_00_dot_45_bar__plus_00_dot_91_bar__minus_03_dot_66 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle Knife_bar__minus_00_dot_24_bar__plus_00_dot_95_bar__minus_03_dot_73 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle Mug_bar__minus_00_dot_04_bar__plus_00_dot_91_bar__minus_04_dot_03 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle Bread_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__minus_03_dot_80 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle Cup_bar__minus_03_dot_23_bar__plus_01_dot_87_bar__minus_02_dot_08 Cabinet_bar__minus_03_dot_02_bar__plus_02_dot_10_bar__minus_01_dot_74) + (inReceptacle PepperShaker_bar__minus_00_dot_79_bar__plus_01_dot_29_bar__minus_03_dot_81 Cabinet_bar__minus_01_dot_23_bar__plus_01_dot_81_bar__minus_03_dot_76) + (inReceptacle Plate_bar__minus_02_dot_99_bar__plus_00_dot_72_bar__minus_00_dot_92 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle SaltShaker_bar__minus_03_dot_00_bar__plus_00_dot_71_bar__minus_00_dot_63 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StoveBurner_bar__minus_00_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_03) + (inReceptacle Fork_bar__minus_00_dot_44_bar__plus_00_dot_75_bar__minus_03_dot_08 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_02_dot_97) + (inReceptacle Pot_bar__minus_00_dot_17_bar__plus_00_dot_98_bar__minus_02_dot_03 StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_03) + (inReceptacle Pan_bar__minus_00_dot_39_bar__plus_00_dot_97_bar__minus_02_dot_41 StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_45) + (inReceptacle Mug_bar__minus_02_dot_93_bar__plus_00_dot_76_bar__minus_00_dot_36 CoffeeMachine_bar__minus_03_dot_10_bar__plus_00_dot_71_bar__minus_00_dot_19) + (inReceptacle Bowl_bar__minus_03_dot_18_bar__plus_01_dot_40_bar__minus_01_dot_94 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19) + (inReceptacle Apple_bar__minus_03_dot_03_bar__plus_00_dot_68_bar__minus_01_dot_94 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19) + (inReceptacle Apple_bar__minus_03_dot_23_bar__plus_01_dot_06_bar__minus_02_dot_06 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19) + (inReceptacle Potato_bar__minus_03_dot_23_bar__plus_01_dot_06_bar__minus_01_dot_88 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19) + (inReceptacle DishSponge_bar__minus_01_dot_64_bar__plus_00_dot_79_bar__minus_03_dot_75 Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75_bar_SinkBasin) + (inReceptacle Spatula_bar__minus_01_dot_91_bar__plus_00_dot_81_bar__minus_03_dot_83 Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75_bar_SinkBasin) + + + (receptacleAtLocation Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_21_bar__minus_04_dot_24 loc_bar__minus_5_bar__minus_13_bar_1_bar_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_00_dot_45 loc_bar__minus_4_bar__minus_2_bar_1_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_01_dot_74 loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_02_dot_73 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_00_dot_24_bar__plus_02_dot_10_bar__minus_01_dot_77 loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_24_bar__plus_02_dot_10_bar__minus_02_dot_71 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_00_dot_45 loc_bar__minus_6_bar__minus_2_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_73 loc_bar__minus_7_bar__minus_4_bar_1_bar_45) + (receptacleAtLocation 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-0.621 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_46bffc5f", + "position": { + "x": -2.43923759, + "y": 0.7494046, + "z": -0.433500051 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_46bffc5f", + "position": { + "x": -0.243096232, + "y": 0.94613713, + "z": -3.72987866 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_dd4bbd23", + "position": { + "x": -0.41940093, + "y": 0.9155963, + "z": -1.3709687 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_697b561f", + "position": { + "x": -0.4470415, + "y": 0.911298, + "z": -3.65575743 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_2ce80e75", + "position": { + "x": -3.14085817, + "y": 0.74291414, + "z": -2.85748839 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": 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"A3F7G1FSFWQPLE_33LKR6A5KHBYRQWJEYNEIT26AX61TO", + "high_descs": [ + "Walk to the wall, then turn left and walk over to the round wooden table.", + "Pick up the sponge off of the table.", + "Turn around and walk forward, then turn right and walk forward, turn right again and walk up to the wooden table.", + "Put the sponge on the closest grey plate that is on the table.", + "Pick up the plate with the sponge on it off of the table.", + "Turn left and walk forward, then turn left again and walk to the counter.", + "Open the right lower cabinet door and put the plate with the sponge on it inside, then close the door." + ], + "task_desc": "Put a plate with a sponge on it in a cabinet.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A20FCMWP43CVIU_3O6CYIULEGS6S4RBBR29GFE2POKUW5", + "high_descs": [ + "turn around, walk to face the wooden round table", + "pick up the green sponge from the table top", + "walk slightly left to still face the table", + "place the sponge on the plate on the right on the table", + "pick up the plate from the table top", + "turn to walk to face the microwave", + "open the cabinet below microwave, put sponge inside cabinet, close the door" + ], + "task_desc": "put a sponge and plate in a kitchen cabinet", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3PGS1Q1XAY79I_36PW28KO42NSWVRMKMRCU8V8BI9EAL", + "high_descs": [ + "Walk in the direction of the door, hang a left to the round table in the corner to the left of the door.", + "Pick up the green sponge sitting to the right of the coffee maker.", + "Walk to the left side of the table.", + "Place the sponge on the plate directly in front of the coffee maker.", + "Pick up the plate with the sponge on it.", + "Turn around and walk to the cupboard below the counter that the microwave is sitting on.", + "Open the cupboard door on the right, place the plate with the sponge on it in the cupboard, close the door." + ], + "task_desc": "Put a sponge on a plate, place the plate in the cupboard under the microwave", + "votes": [ + 0, + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-DishSponge-Plate-Cabinet-19/trial_T20190908_235802_391655/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-DishSponge-Plate-Cabinet-19/trial_T20190908_235802_391655/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..ba992fb0c20a15b7cbeae6f4d5f96e7df537c17a --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-DishSponge-Plate-Cabinet-19/trial_T20190908_235802_391655/initial_state.pddl @@ -0,0 +1,1135 @@ + +(define (problem plan_trial_T20190908_235802_391655) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__minus_02_dot_44_bar__plus_00_dot_76_bar__minus_00_dot_37 - object + Bowl_bar__minus_00_dot_29_bar__plus_01_dot_29_bar__minus_03_dot_61 - object + Bowl_bar__minus_00_dot_45_bar__plus_00_dot_91_bar__minus_03_dot_95 - object + Bowl_bar__minus_03_dot_29_bar__plus_00_dot_71_bar__minus_00_dot_43 - object + Bread_bar__minus_00_dot_33_bar__plus_00_dot_95_bar__minus_03_dot_68 - object + ButterKnife_bar__minus_00_dot_34_bar__plus_00_dot_92_bar__minus_01_dot_49 - object + ButterKnife_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__minus_03_dot_73 - object + ButterKnife_bar__minus_01_dot_26_bar__plus_00_dot_91_bar__minus_03_dot_80 - object + Chair_bar__minus_02_dot_38_bar__plus_00_dot_02_bar__minus_00_dot_55 - object + Chair_bar__minus_03_dot_16_bar__plus_00_dot_01_bar__minus_00_dot_99 - object + Cup_bar__minus_00_dot_01_bar__plus_00_dot_92_bar__minus_01_dot_68 - object + Cup_bar__minus_00_dot_81_bar__plus_00_dot_08_bar__minus_03_dot_75 - object + Cup_bar__minus_03_dot_04_bar__plus_00_dot_89_bar__minus_02_dot_47 - object + DishSponge_bar__minus_00_dot_09_bar__plus_01_dot_29_bar__minus_00_dot_70 - object + DishSponge_bar__minus_00_dot_41_bar__plus_00_dot_08_bar__minus_00_dot_68 - object + DishSponge_bar__minus_01_dot_26_bar__plus_00_dot_08_bar__minus_03_dot_71 - object + DishSponge_bar__minus_02_dot_99_bar__plus_00_dot_91_bar__minus_04_dot_03 - object + Egg_bar__minus_01_dot_85_bar__plus_00_dot_83_bar__minus_03_dot_62 - object + Faucet_bar__minus_01_dot_79_bar__plus_01_dot_14_bar__minus_03_dot_91 - object + Fork_bar__minus_03_dot_31_bar__plus_00_dot_91_bar__minus_02_dot_93 - object + Knife_bar__minus_01_dot_67_bar__plus_00_dot_95_bar__minus_03_dot_52 - object + Knife_bar__minus_03_dot_11_bar__plus_00_dot_78_bar__minus_02_dot_91 - object + Knife_bar__minus_03_dot_14_bar__plus_00_dot_95_bar__minus_03_dot_43 - object + Lettuce_bar__minus_02_dot_78_bar__plus_00_dot_80_bar__minus_00_dot_58 - object + Lettuce_bar__minus_03_dot_07_bar__plus_00_dot_80_bar__minus_00_dot_70 - object + 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", + "Pick up a sponge in the cupboard. ", + "Turn and go to the counter by the toaster.", + "Put the sponge on the plate on the counter. ", + "Pick up the plate on the counter. ", + "Turn and go to the cupboard by the microwave.", + "Put the plate in the cupboard under the microwave. " + ], + "task_desc": "Move a plate with a sponge to the cupboard. 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left", + "place green sponge on gray plate to the left of toaster", + "pick up gray plate with green sponge", + "turn around, go to bottom end cabinet to the right", + "open cabinet, place plate with sponge to the right of green sponge in cabinet, close cabinet" + ], + "task_desc": "Place gray plate with green sponge in end bottom cabinet", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-DishSponge-Plate-Cabinet-19/trial_T20190908_235919_745486/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-DishSponge-Plate-Cabinet-19/trial_T20190908_235919_745486/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..e79caedb742782cdf936f1374d5b5aafa86421e8 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-DishSponge-Plate-Cabinet-19/trial_T20190908_235919_745486/initial_state.pddl @@ -0,0 +1,1137 @@ + +(define (problem plan_trial_T20190908_235919_745486) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + 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loc_bar__minus_7_bar__minus_13_bar_2_bar_60 - location + loc_bar__minus_9_bar__minus_5_bar_3_bar_60 - location + loc_bar__minus_7_bar__minus_4_bar_1_bar_45 - location + loc_bar__minus_4_bar__minus_10_bar_2_bar_45 - location + loc_bar__minus_8_bar__minus_11_bar_3_bar__minus_30 - location + loc_bar__minus_5_bar__minus_13_bar_1_bar_30 - location + loc_bar__minus_6_bar__minus_13_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30 - location + loc_bar__minus_4_bar__minus_10_bar_1_bar_45 - location + loc_bar__minus_8_bar__minus_10_bar_2_bar_45 - location + loc_bar__minus_9_bar__minus_9_bar_3_bar_60 - location + loc_bar__minus_4_bar__minus_1_bar_0_bar_15 - location + loc_bar__minus_8_bar__minus_3_bar_3_bar_60 - location + loc_bar__minus_7_bar__minus_11_bar_1_bar_45 - location + loc_bar__minus_4_bar__minus_8_bar_1_bar_60 - location + loc_bar__minus_5_bar__minus_10_bar_2_bar_45 - location + loc_bar__minus_9_bar__minus_12_bar_3_bar_60 - location + loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_30 - location + loc_bar__minus_4_bar__minus_1_bar_1_bar_60 - location + loc_bar__minus_6_bar__minus_2_bar_1_bar_60 - location + loc_bar__minus_8_bar__minus_13_bar_3_bar_0 - location + loc_bar__minus_4_bar__minus_12_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_2_bar_1_bar__minus_15 - location + loc_bar__minus_4_bar__minus_3_bar_1_bar_45 - location + loc_bar__minus_8_bar__minus_1_bar_3_bar_45 - location + loc_bar__minus_7_bar__minus_2_bar_3_bar_45 - location + loc_bar__minus_4_bar__minus_6_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_9_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_15 - location + loc_bar__minus_7_bar__minus_7_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__minus_00_dot_61_bar__plus_00_dot_39_bar__minus_03_dot_51 CabinetType) + (receptacleType CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80 CounterTopType) + (receptacleType Cabinet_bar__minus_02_dot_98_bar__plus_00_dot_39_bar__minus_03_dot_20 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_15_bar__plus_00_dot_39_bar__minus_03_dot_51 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_21_bar__minus_04_dot_24 CabinetType) + (receptacleType CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09 CounterTopType) + (receptacleType Cabinet_bar__minus_00_dot_24_bar__plus_02_dot_10_bar__minus_02_dot_71 CabinetType) + (receptacleType Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_02_dot_97 DrawerType) + (receptacleType Cabinet_bar__minus_02_dot_81_bar__plus_01_dot_81_bar__minus_03_dot_76 CabinetType) + (receptacleType StoveBurner_bar__minus_00_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_03 StoveBurnerType) + (receptacleType Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_39_bar__minus_03_dot_51 CabinetType) + (receptacleType Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_03_dot_35 DrawerType) + (receptacleType Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19 FridgeType) + (receptacleType Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_74 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_23_bar__plus_01_dot_81_bar__minus_03_dot_76 CabinetType) + (receptacleType Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_01_dot_41 DrawerType) + (receptacleType Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_00_dot_45 CabinetType) + (receptacleType StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_03 StoveBurnerType) + (receptacleType DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51 DiningTableType) + (receptacleType Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_00_dot_76 DrawerType) + (receptacleType Toaster_bar__minus_00_dot_23_bar__plus_00_dot_90_bar__minus_03_dot_41 ToasterType) + (receptacleType 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(pickupable Potato_bar__minus_00_dot_24_bar__plus_00_dot_96_bar__minus_03_dot_88) + (pickupable Egg_bar__minus_03_dot_29_bar__plus_00_dot_68_bar__minus_02_dot_00) + (pickupable PepperShaker_bar__minus_00_dot_10_bar__plus_00_dot_91_bar__minus_00_dot_51) + (pickupable Fork_bar__minus_00_dot_53_bar__plus_00_dot_75_bar__minus_02_dot_91) + (pickupable Fork_bar__minus_02_dot_44_bar__plus_00_dot_72_bar__minus_00_dot_43) + (pickupable DishSponge_bar__minus_02_dot_43_bar__plus_00_dot_71_bar__minus_00_dot_67) + (pickupable Spoon_bar__minus_02_dot_74_bar__plus_00_dot_71_bar__minus_00_dot_21) + (pickupable Plate_bar__minus_03_dot_18_bar__plus_00_dot_64_bar__minus_02_dot_13) + (pickupable Bowl_bar__minus_03_dot_02_bar__plus_00_dot_71_bar__minus_00_dot_74) + (pickupable Spoon_bar__minus_00_dot_53_bar__plus_00_dot_75_bar__minus_01_dot_33) + (pickupable Mug_bar__minus_02_dot_93_bar__plus_00_dot_76_bar__minus_00_dot_36) + (pickupable Egg_bar__minus_01_dot_91_bar__plus_00_dot_83_bar__minus_03_dot_83) + (pickupable Plate_bar__minus_03_dot_18_bar__plus_01_dot_40_bar__minus_02_dot_13) + (pickupable Spatula_bar__minus_03_dot_17_bar__plus_00_dot_76_bar__minus_03_dot_08) + (pickupable ButterKnife_bar__minus_03_dot_39_bar__plus_00_dot_91_bar__minus_03_dot_33) + (pickupable Apple_bar__minus_03_dot_20_bar__plus_00_dot_76_bar__minus_00_dot_56) + (pickupable Pan_bar__minus_00_dot_65_bar__plus_00_dot_91_bar__minus_03_dot_66) + (pickupable Spoon_bar__minus_00_dot_38_bar__plus_00_dot_75_bar__minus_02_dot_97) + (pickupable SaltShaker_bar__minus_02_dot_56_bar__plus_00_dot_71_bar__minus_00_dot_80) + (pickupable Pan_bar__minus_00_dot_18_bar__plus_00_dot_91_bar__minus_01_dot_43) + (pickupable Cup_bar__minus_01_dot_15_bar__plus_01_dot_29_bar__minus_03_dot_85) + (pickupable SaltShaker_bar__minus_00_dot_38_bar__plus_00_dot_74_bar__minus_01_dot_64) + (pickupable SoapBottle_bar__minus_03_dot_14_bar__plus_00_dot_91_bar__minus_03_dot_03) + (pickupable DishSponge_bar__minus_00_dot_47_bar__plus_00_dot_75_bar__minus_00_dot_91) + (pickupable Bread_bar__minus_02_dot_72_bar__plus_00_dot_75_bar__minus_00_dot_62) + (pickupable ButterKnife_bar__minus_02_dot_45_bar__plus_00_dot_91_bar__minus_03_dot_80) + (pickupable Fork_bar__minus_00_dot_42_bar__plus_00_dot_92_bar__minus_00_dot_51) + (pickupable Potato_bar__minus_03_dot_26_bar__plus_00_dot_76_bar__minus_00_dot_71) + (pickupable ButterKnife_bar__minus_03_dot_14_bar__plus_00_dot_91_bar__minus_02_dot_83) + (pickupable Tomato_bar__minus_00_dot_04_bar__plus_00_dot_96_bar__minus_03_dot_80) + (isReceptacleObject Plate_bar__minus_02_dot_80_bar__plus_00_dot_71_bar__minus_00_dot_92) + (isReceptacleObject Bowl_bar__minus_00_dot_13_bar__plus_01_dot_01_bar__minus_00_dot_90) + (isReceptacleObject Bowl_bar__minus_01_dot_06_bar__plus_00_dot_91_bar__minus_03_dot_95) + (isReceptacleObject Pot_bar__minus_00_dot_38_bar__plus_00_dot_98_bar__minus_02_dot_03) + (isReceptacleObject Cup_bar__minus_03_dot_32_bar__plus_01_dot_87_bar__minus_02_dot_57) + (isReceptacleObject Plate_bar__minus_03_dot_13_bar__plus_01_dot_40_bar__minus_01_dot_88) + (isReceptacleObject Plate_bar__minus_03_dot_18_bar__plus_00_dot_64_bar__minus_02_dot_13) + (isReceptacleObject Bowl_bar__minus_03_dot_02_bar__plus_00_dot_71_bar__minus_00_dot_74) + (isReceptacleObject Mug_bar__minus_02_dot_93_bar__plus_00_dot_76_bar__minus_00_dot_36) + (isReceptacleObject Plate_bar__minus_03_dot_18_bar__plus_01_dot_40_bar__minus_02_dot_13) + (isReceptacleObject Pan_bar__minus_00_dot_65_bar__plus_00_dot_91_bar__minus_03_dot_66) + (isReceptacleObject Pan_bar__minus_00_dot_18_bar__plus_00_dot_91_bar__minus_01_dot_43) + (isReceptacleObject Cup_bar__minus_01_dot_15_bar__plus_01_dot_29_bar__minus_03_dot_85) + (openable Cabinet_bar__minus_00_dot_61_bar__plus_00_dot_39_bar__minus_03_dot_51) + (openable Cabinet_bar__minus_02_dot_15_bar__plus_00_dot_39_bar__minus_03_dot_51) + (openable Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_21_bar__minus_04_dot_24) + (openable Cabinet_bar__minus_02_dot_81_bar__plus_01_dot_81_bar__minus_03_dot_76) + (openable Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_39_bar__minus_03_dot_51) + (openable Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19) + (openable Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_74) + (openable Cabinet_bar__minus_01_dot_23_bar__plus_01_dot_81_bar__minus_03_dot_76) + (openable Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_48) + (openable Cabinet_bar__minus_03_dot_02_bar__plus_02_dot_10_bar__minus_01_dot_74) + (openable Cabinet_bar__minus_03_dot_02_bar__plus_02_dot_10_bar__minus_02_dot_68) + (openable Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_00_dot_45) + (openable Cabinet_bar__minus_01_dot_38_bar__plus_00_dot_39_bar__minus_03_dot_51) + (openable Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_73) + (openable Microwave_bar__minus_00_dot_14_bar__plus_00_dot_90_bar__minus_00_dot_91) + + (atLocation agent1 loc_bar__minus_7_bar__minus_7_bar_0_bar_30) + + (cleanable Plate_bar__minus_02_dot_80_bar__plus_00_dot_71_bar__minus_00_dot_92) + (cleanable Bowl_bar__minus_00_dot_13_bar__plus_01_dot_01_bar__minus_00_dot_90) + (cleanable Lettuce_bar__minus_01_dot_32_bar__plus_00_dot_99_bar__minus_03_dot_76) + (cleanable Apple_bar__minus_03_dot_04_bar__plus_00_dot_93_bar__minus_02_dot_53) + (cleanable Bowl_bar__minus_01_dot_06_bar__plus_00_dot_91_bar__minus_03_dot_95) + (cleanable Knife_bar__minus_01_dot_55_bar__plus_00_dot_95_bar__minus_03_dot_52) + (cleanable DishSponge_bar__minus_02_dot_72_bar__plus_00_dot_71_bar__minus_00_dot_44) + (cleanable Pot_bar__minus_00_dot_38_bar__plus_00_dot_98_bar__minus_02_dot_03) + (cleanable Cup_bar__minus_03_dot_32_bar__plus_01_dot_87_bar__minus_02_dot_57) + (cleanable Plate_bar__minus_03_dot_13_bar__plus_01_dot_40_bar__minus_01_dot_88) + (cleanable Knife_bar__minus_00_dot_41_bar__plus_00_dot_78_bar__minus_02_dot_91) + (cleanable Knife_bar__minus_00_dot_38_bar__plus_00_dot_78_bar__minus_00_dot_61) + (cleanable Potato_bar__minus_00_dot_24_bar__plus_00_dot_96_bar__minus_03_dot_88) + (cleanable Egg_bar__minus_03_dot_29_bar__plus_00_dot_68_bar__minus_02_dot_00) + (cleanable Fork_bar__minus_00_dot_53_bar__plus_00_dot_75_bar__minus_02_dot_91) + (cleanable Fork_bar__minus_02_dot_44_bar__plus_00_dot_72_bar__minus_00_dot_43) + (cleanable DishSponge_bar__minus_02_dot_43_bar__plus_00_dot_71_bar__minus_00_dot_67) + (cleanable Spoon_bar__minus_02_dot_74_bar__plus_00_dot_71_bar__minus_00_dot_21) + (cleanable Plate_bar__minus_03_dot_18_bar__plus_00_dot_64_bar__minus_02_dot_13) + (cleanable Bowl_bar__minus_03_dot_02_bar__plus_00_dot_71_bar__minus_00_dot_74) + (cleanable Spoon_bar__minus_00_dot_53_bar__plus_00_dot_75_bar__minus_01_dot_33) + (cleanable Mug_bar__minus_02_dot_93_bar__plus_00_dot_76_bar__minus_00_dot_36) + (cleanable Egg_bar__minus_01_dot_91_bar__plus_00_dot_83_bar__minus_03_dot_83) + (cleanable Plate_bar__minus_03_dot_18_bar__plus_01_dot_40_bar__minus_02_dot_13) + (cleanable Spatula_bar__minus_03_dot_17_bar__plus_00_dot_76_bar__minus_03_dot_08) + (cleanable ButterKnife_bar__minus_03_dot_39_bar__plus_00_dot_91_bar__minus_03_dot_33) + (cleanable Apple_bar__minus_03_dot_20_bar__plus_00_dot_76_bar__minus_00_dot_56) + (cleanable Pan_bar__minus_00_dot_65_bar__plus_00_dot_91_bar__minus_03_dot_66) + (cleanable Spoon_bar__minus_00_dot_38_bar__plus_00_dot_75_bar__minus_02_dot_97) + (cleanable Pan_bar__minus_00_dot_18_bar__plus_00_dot_91_bar__minus_01_dot_43) + (cleanable Cup_bar__minus_01_dot_15_bar__plus_01_dot_29_bar__minus_03_dot_85) + (cleanable DishSponge_bar__minus_00_dot_47_bar__plus_00_dot_75_bar__minus_00_dot_91) + (cleanable ButterKnife_bar__minus_02_dot_45_bar__plus_00_dot_91_bar__minus_03_dot_80) + (cleanable Fork_bar__minus_00_dot_42_bar__plus_00_dot_92_bar__minus_00_dot_51) + (cleanable Potato_bar__minus_03_dot_26_bar__plus_00_dot_76_bar__minus_00_dot_71) + (cleanable ButterKnife_bar__minus_03_dot_14_bar__plus_00_dot_91_bar__minus_02_dot_83) + (cleanable Tomato_bar__minus_00_dot_04_bar__plus_00_dot_96_bar__minus_03_dot_80) + + (heatable Plate_bar__minus_02_dot_80_bar__plus_00_dot_71_bar__minus_00_dot_92) + (heatable Apple_bar__minus_03_dot_04_bar__plus_00_dot_93_bar__minus_02_dot_53) + (heatable Cup_bar__minus_03_dot_32_bar__plus_01_dot_87_bar__minus_02_dot_57) + (heatable Plate_bar__minus_03_dot_13_bar__plus_01_dot_40_bar__minus_01_dot_88) + (heatable Potato_bar__minus_00_dot_24_bar__plus_00_dot_96_bar__minus_03_dot_88) + (heatable Egg_bar__minus_03_dot_29_bar__plus_00_dot_68_bar__minus_02_dot_00) + (heatable Plate_bar__minus_03_dot_18_bar__plus_00_dot_64_bar__minus_02_dot_13) + (heatable Mug_bar__minus_02_dot_93_bar__plus_00_dot_76_bar__minus_00_dot_36) + (heatable Egg_bar__minus_01_dot_91_bar__plus_00_dot_83_bar__minus_03_dot_83) + (heatable Plate_bar__minus_03_dot_18_bar__plus_01_dot_40_bar__minus_02_dot_13) + (heatable Apple_bar__minus_03_dot_20_bar__plus_00_dot_76_bar__minus_00_dot_56) + (heatable Cup_bar__minus_01_dot_15_bar__plus_01_dot_29_bar__minus_03_dot_85) + (heatable Bread_bar__minus_02_dot_72_bar__plus_00_dot_75_bar__minus_00_dot_62) + (heatable Potato_bar__minus_03_dot_26_bar__plus_00_dot_76_bar__minus_00_dot_71) + (heatable Tomato_bar__minus_00_dot_04_bar__plus_00_dot_96_bar__minus_03_dot_80) + (coolable Plate_bar__minus_02_dot_80_bar__plus_00_dot_71_bar__minus_00_dot_92) + (coolable Bowl_bar__minus_00_dot_13_bar__plus_01_dot_01_bar__minus_00_dot_90) + (coolable Lettuce_bar__minus_01_dot_32_bar__plus_00_dot_99_bar__minus_03_dot_76) + (coolable Apple_bar__minus_03_dot_04_bar__plus_00_dot_93_bar__minus_02_dot_53) + (coolable Bowl_bar__minus_01_dot_06_bar__plus_00_dot_91_bar__minus_03_dot_95) + (coolable Pot_bar__minus_00_dot_38_bar__plus_00_dot_98_bar__minus_02_dot_03) + (coolable Cup_bar__minus_03_dot_32_bar__plus_01_dot_87_bar__minus_02_dot_57) + (coolable Plate_bar__minus_03_dot_13_bar__plus_01_dot_40_bar__minus_01_dot_88) + (coolable Potato_bar__minus_00_dot_24_bar__plus_00_dot_96_bar__minus_03_dot_88) + (coolable Egg_bar__minus_03_dot_29_bar__plus_00_dot_68_bar__minus_02_dot_00) + (coolable Plate_bar__minus_03_dot_18_bar__plus_00_dot_64_bar__minus_02_dot_13) + (coolable Bowl_bar__minus_03_dot_02_bar__plus_00_dot_71_bar__minus_00_dot_74) + (coolable Mug_bar__minus_02_dot_93_bar__plus_00_dot_76_bar__minus_00_dot_36) + (coolable Egg_bar__minus_01_dot_91_bar__plus_00_dot_83_bar__minus_03_dot_83) + (coolable Plate_bar__minus_03_dot_18_bar__plus_01_dot_40_bar__minus_02_dot_13) + (coolable Apple_bar__minus_03_dot_20_bar__plus_00_dot_76_bar__minus_00_dot_56) + (coolable Pan_bar__minus_00_dot_65_bar__plus_00_dot_91_bar__minus_03_dot_66) + (coolable Pan_bar__minus_00_dot_18_bar__plus_00_dot_91_bar__minus_01_dot_43) + (coolable Cup_bar__minus_01_dot_15_bar__plus_01_dot_29_bar__minus_03_dot_85) + (coolable Bread_bar__minus_02_dot_72_bar__plus_00_dot_75_bar__minus_00_dot_62) + (coolable Potato_bar__minus_03_dot_26_bar__plus_00_dot_76_bar__minus_00_dot_71) + (coolable Tomato_bar__minus_00_dot_04_bar__plus_00_dot_96_bar__minus_03_dot_80) + + + + + + (sliceable Lettuce_bar__minus_01_dot_32_bar__plus_00_dot_99_bar__minus_03_dot_76) + (sliceable Apple_bar__minus_03_dot_04_bar__plus_00_dot_93_bar__minus_02_dot_53) + (sliceable Potato_bar__minus_00_dot_24_bar__plus_00_dot_96_bar__minus_03_dot_88) + (sliceable Egg_bar__minus_03_dot_29_bar__plus_00_dot_68_bar__minus_02_dot_00) + (sliceable Egg_bar__minus_01_dot_91_bar__plus_00_dot_83_bar__minus_03_dot_83) + (sliceable Apple_bar__minus_03_dot_20_bar__plus_00_dot_76_bar__minus_00_dot_56) + (sliceable Bread_bar__minus_02_dot_72_bar__plus_00_dot_75_bar__minus_00_dot_62) + (sliceable Potato_bar__minus_03_dot_26_bar__plus_00_dot_76_bar__minus_00_dot_71) + (sliceable Tomato_bar__minus_00_dot_04_bar__plus_00_dot_96_bar__minus_03_dot_80) + + (inReceptacle Potato_bar__minus_00_dot_24_bar__plus_00_dot_96_bar__minus_03_dot_88 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle Pan_bar__minus_00_dot_65_bar__plus_00_dot_91_bar__minus_03_dot_66 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle Lettuce_bar__minus_01_dot_32_bar__plus_00_dot_99_bar__minus_03_dot_76 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle SoapBottle_bar__minus_03_dot_14_bar__plus_00_dot_91_bar__minus_03_dot_03 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle ButterKnife_bar__minus_03_dot_39_bar__plus_00_dot_91_bar__minus_03_dot_33 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle Bowl_bar__minus_01_dot_06_bar__plus_00_dot_91_bar__minus_03_dot_95 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle Knife_bar__minus_01_dot_55_bar__plus_00_dot_95_bar__minus_03_dot_52 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle ButterKnife_bar__minus_02_dot_45_bar__plus_00_dot_91_bar__minus_03_dot_80 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle ButterKnife_bar__minus_03_dot_14_bar__plus_00_dot_91_bar__minus_02_dot_83 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle Tomato_bar__minus_00_dot_04_bar__plus_00_dot_96_bar__minus_03_dot_80 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle Cup_bar__minus_03_dot_32_bar__plus_01_dot_87_bar__minus_02_dot_57 Cabinet_bar__minus_03_dot_02_bar__plus_02_dot_10_bar__minus_02_dot_68) + (inReceptacle SoapBottle_bar__minus_00_dot_45_bar__plus_00_dot_08_bar__minus_02_dot_91 Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_74) + (inReceptacle Cup_bar__minus_01_dot_15_bar__plus_01_dot_29_bar__minus_03_dot_85 Cabinet_bar__minus_01_dot_23_bar__plus_01_dot_81_bar__minus_03_dot_76) + (inReceptacle PepperShaker_bar__minus_01_dot_43_bar__plus_00_dot_08_bar__minus_03_dot_67 Cabinet_bar__minus_01_dot_38_bar__plus_00_dot_39_bar__minus_03_dot_51) + (inReceptacle Plate_bar__minus_02_dot_80_bar__plus_00_dot_71_bar__minus_00_dot_92 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle SaltShaker_bar__minus_02_dot_56_bar__plus_00_dot_71_bar__minus_00_dot_80 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Fork_bar__minus_02_dot_44_bar__plus_00_dot_72_bar__minus_00_dot_43 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle DishSponge_bar__minus_02_dot_43_bar__plus_00_dot_71_bar__minus_00_dot_67 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Spoon_bar__minus_02_dot_74_bar__plus_00_dot_71_bar__minus_00_dot_21 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Mug_bar__minus_02_dot_93_bar__plus_00_dot_76_bar__minus_00_dot_36 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Bowl_bar__minus_03_dot_02_bar__plus_00_dot_71_bar__minus_00_dot_74 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Apple_bar__minus_03_dot_20_bar__plus_00_dot_76_bar__minus_00_dot_56 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Bread_bar__minus_02_dot_72_bar__plus_00_dot_75_bar__minus_00_dot_62 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle DishSponge_bar__minus_02_dot_72_bar__plus_00_dot_71_bar__minus_00_dot_44 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Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_02_dot_97) + (inReceptacle Knife_bar__minus_00_dot_41_bar__plus_00_dot_78_bar__minus_02_dot_91 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_02_dot_97) + (inReceptacle Spoon_bar__minus_00_dot_38_bar__plus_00_dot_75_bar__minus_02_dot_97 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_02_dot_97) + (inReceptacle Pot_bar__minus_00_dot_38_bar__plus_00_dot_98_bar__minus_02_dot_03 StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_03) + (inReceptacle Bowl_bar__minus_00_dot_13_bar__plus_01_dot_01_bar__minus_00_dot_90 Microwave_bar__minus_00_dot_14_bar__plus_00_dot_90_bar__minus_00_dot_91) + (inReceptacle Mug_bar__minus_02_dot_93_bar__plus_00_dot_76_bar__minus_00_dot_36 CoffeeMachine_bar__minus_03_dot_10_bar__plus_00_dot_71_bar__minus_00_dot_19) + (inReceptacle Egg_bar__minus_03_dot_29_bar__plus_00_dot_68_bar__minus_02_dot_00 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19) + (inReceptacle Apple_bar__minus_03_dot_04_bar__plus_00_dot_93_bar__minus_02_dot_53 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19) + (inReceptacle Plate_bar__minus_03_dot_18_bar__plus_00_dot_64_bar__minus_02_dot_13 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19) + (inReceptacle Plate_bar__minus_03_dot_18_bar__plus_01_dot_40_bar__minus_02_dot_13 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19) + (inReceptacle Plate_bar__minus_03_dot_13_bar__plus_01_dot_40_bar__minus_01_dot_88 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19) + (inReceptacle Egg_bar__minus_01_dot_91_bar__plus_00_dot_83_bar__minus_03_dot_83 Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75_bar_SinkBasin) + + + (receptacleAtLocation Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_21_bar__minus_04_dot_24 loc_bar__minus_5_bar__minus_13_bar_1_bar_30) + 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DishSponge_bar__minus_00_dot_47_bar__plus_00_dot_75_bar__minus_00_dot_91 loc_bar__minus_4_bar__minus_3_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_02_dot_38_bar__plus_00_dot_02_bar__minus_00_dot_55 loc_bar__minus_8_bar__minus_3_bar_3_bar_60) + (objectAtLocation Chair_bar__minus_03_dot_16_bar__plus_00_dot_01_bar__minus_00_dot_99 loc_bar__minus_9_bar__minus_5_bar_3_bar_60) + (objectAtLocation Spoon_bar__minus_00_dot_53_bar__plus_00_dot_75_bar__minus_01_dot_33 loc_bar__minus_4_bar__minus_6_bar_1_bar_60) + (objectAtLocation Mug_bar__minus_02_dot_93_bar__plus_00_dot_76_bar__minus_00_dot_36 loc_bar__minus_8_bar__minus_1_bar_3_bar_45) + (objectAtLocation Bowl_bar__minus_00_dot_13_bar__plus_01_dot_01_bar__minus_00_dot_90 loc_bar__minus_4_bar__minus_3_bar_1_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (and + (receptacleType ?r CabinetType) + (exists (?o - object) + (and + (objectType ?o DishSpongeType) + (exists (?mo - object) + (and + (objectType ?mo PlateType) + (isReceptacleObject ?mo) + (inReceptacleObject ?o ?mo) + (inReceptacle ?mo ?r) + ) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-DishSponge-Plate-Cabinet-19/trial_T20190908_235919_745486/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-DishSponge-Plate-Cabinet-19/trial_T20190908_235919_745486/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..3c9294dd2aae5a14fe3f3b4b71adb45605c6aa61 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-DishSponge-Plate-Cabinet-19/trial_T20190908_235919_745486/traj_data.json @@ -0,0 +1,5311 @@ +{ + "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": 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0.7100764, + "z": -0.797625959 + }, + "rotation": { + "x": 0.0, + "y": 135.000092, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_5fac94a5", + "position": { + "x": -1.431937, + "y": 0.0792369246, + "z": -3.67346835 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_1634f71e", + "position": { + "x": -3.03688383, + "y": 0.9290436, + "z": -2.53162169 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Pot_fd5c5c80", + "position": { + "x": -0.3767, + "y": 0.9759, + "z": -2.0314 + }, + "rotation": { + "x": 0.0, + "y": 180.000336, + "z": 0.0 + } + }, + { + "objectName": "Egg_b0ce4484", + "position": { + "x": -3.28619838, + "y": 0.6771408, + "z": -2.00261641 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Cup_410beacd", + "position": { + "x": -1.15268588, + "y": 1.29323149, + "z": -3.84997988 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_77e17ce3", + "position": { + "x": -2.72361231, + "y": 0.75464195, + "z": -0.621 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Fork_1cd5bb8d", + "position": { + "x": -0.5301752, + "y": 0.746890068, + "z": -2.91359067 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Pan_4966d0cc", + "position": { + "x": -0.176295966, + "y": 0.914374053, + "z": -1.43231547 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Potato_2b74ee3a", + "position": { + "x": -3.2558136, + "y": 0.757567048, + "z": -0.7092366 + }, + "rotation": { + "x": 0.0, + "y": 225.000046, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_908150ce", + "position": { + "x": -1.32413423, + "y": 0.9881281, + "z": -3.75902057 + }, + "rotation": { + "x": 1.46825719, + "y": 253.69043, + "z": 356.7306 + } + }, + { + "objectName": "Tomato_f34461c5", + "position": { + "x": -0.0391509533, + "y": 0.9632834, + "z": -3.804 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_1634f71e", + "position": { + "x": -3.19946575, + "y": 0.75641, + "z": -0.5645008 + }, + "rotation": { + "x": 0.0, + "y": 225.000046, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_dd4bbd23", + "position": { + "x": -3.14090919, + "y": 0.9132962, + "z": -3.026417 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spatula_fca8a224", + "position": { + "x": -3.16996837, + "y": 0.7615969, + "z": -3.07884526 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_2ce80e75", + "position": { + "x": -0.3825171, + "y": 0.7431938, + "z": -1.64126992 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_46bffc5f", + "position": { + "x": -0.382517129, + "y": 0.778778732, + "z": -0.6097589 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_5fac94a5", + "position": { + "x": -0.09526098, + "y": 0.9123061, + "z": -0.5075458 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_a7531534", + "position": { + "x": -2.44983053, + "y": 0.913742065, + "z": -3.804 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_bdd88192", + "position": { + "x": -3.13095546, + "y": 1.3970542, + "z": -1.87947476 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_78f219bc", + "position": { + "x": -2.431592, + "y": 0.713334441, + "z": -0.665043533 + }, + "rotation": { + "x": 0.0, + "y": 135.000092, + "z": 0.0 + } + }, + { + "objectName": "Spoon_94d2125c", + "position": { + "x": -0.3825171, + "y": 0.7474709, + "z": -2.96885037 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_f4b8ca2f", + "position": { + "x": -2.93075848, + "y": 0.7624276, + "z": -0.358240426 + }, + "rotation": { + "x": -0.002125355, + "y": 134.9997, + "z": -0.00129139412 + } + }, + { + "objectName": "Bowl_697b561f", + "position": { + "x": -3.02268934, + "y": 0.711368263, + "z": -0.7412776 + }, + "rotation": { + "x": 0.0, + "y": 225.000046, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 4279179005, + "scene_num": 19 + }, + "task_id": "trial_T20190908_235919_745486", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A31681CCEVDIH3_354P56DE9NUBNCY6EEZX9YXXB1TS7Q", + "high_descs": [ + "Walk forward to face the round table.", + "Pick up the sponge from the table next to the spoon.", + "Walk around the table to reach the round plate sitting on the table.", + "Set the sponge down on the round plate.", + "Pick up the round plate and sponge from the table.", + "Turn around to face the cabinets under the microwave.", + "Put the sponge and plate in the right cabinet underneath the microwave." + ], + "task_desc": "Put a sponge on a plate from the table into the right cabinet under the microwave.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A17TKHT8FEVH0R_3CFJTT4SXWHMTYVA925J5WRA24Y7IM", + "high_descs": [ + "Go straight and stop at the round table on the left", + "Grab a bar of soap off of the table", + "Turn left and go to the other side of the round table", + "Put the soap on the plate", + "Grab the plate off of the table", + "Turn right and face the cabinets on the bottom", + "Put the plate in the second cabinet from the bottom" + ], + "task_desc": "Putting a plate with a bar of soap on it in a cabinet", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A255A9FFZD8PQW_3VBEN272MNQUG5977H3RFBAQA5MGST", + "high_descs": [ + "Go forward and turn left to face the table. ", + "Pick up the sponge from the table. ", + "Turn around completely and walk around the right side of the table. Turn left to face the table.", + "Place the sponge on the plate on the table.", + "Pick up the sponge and plate from the table. ", + "Walk to the left and go to the counter across from the table", + "Open the cabinets under the counter and place the items inside." + ], + "task_desc": "Move a sponge and plate to the cabinets. ", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Fork-Plate-SinkBasin-25/trial_T20190909_024035_050796/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Fork-Plate-SinkBasin-25/trial_T20190909_024035_050796/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..58a7d9e6102a0ea37bb6209aec3a3fb7c8f8d8ab --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Fork-Plate-SinkBasin-25/trial_T20190909_024035_050796/initial_state.pddl @@ -0,0 +1,960 @@ + +(define (problem plan_trial_T20190909_024035_050796) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__minus_02_dot_66_bar__plus_00_dot_90_bar__plus_00_dot_63 - object + Bowl_bar__minus_00_dot_40_bar__plus_00_dot_12_bar__plus_00_dot_91 - object + Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25 - object + ButterKnife_bar__minus_02_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_48 - object + Chair_bar__minus_00_dot_91_bar__plus_00_dot_01_bar__plus_02_dot_12 - object + Cup_bar__minus_02_dot_50_bar__plus_00_dot_82_bar__plus_00_dot_95 - object + Cup_bar__minus_02_dot_67_bar__plus_01_dot_45_bar__plus_02_dot_05 - object + Cup_bar__minus_02_dot_84_bar__plus_00_dot_92_bar__plus_01_dot_23 - object + DishSponge_bar__minus_00_dot_39_bar__plus_00_dot_69_bar__plus_01_dot_22 - object + DishSponge_bar__minus_02_dot_06_bar__plus_00_dot_12_bar__plus_00_dot_44 - object + DishSponge_bar__minus_02_dot_58_bar__plus_01_dot_85_bar__plus_01_dot_82 - object + Egg_bar__minus_01_dot_75_bar__plus_00_dot_72_bar__plus_00_dot_30 - object + Egg_bar__minus_01_dot_91_bar__plus_00_dot_72_bar__plus_00_dot_34 - object + Faucet_bar__minus_01_dot_69_bar__plus_00_dot_95_bar__plus_00_dot_18 - object + Fork_bar__minus_01_dot_97_bar__plus_00_dot_70_bar__plus_00_dot_30 - object + Knife_bar__minus_02_dot_66_bar__plus_00_dot_85_bar__plus_00_dot_79 - object + Ladle_bar__minus_02_dot_38_bar__plus_00_dot_87_bar__plus_00_dot_50 - object + Ladle_bar__minus_02_dot_61_bar__plus_00_dot_17_bar__plus_01_dot_55 - object + Ladle_bar__minus_02_dot_75_bar__plus_01_dot_48_bar__plus_00_dot_26 - object + Lettuce_bar__minus_02_dot_78_bar__plus_01_dot_53_bar__plus_02_dot_22 - object + Lettuce_bar__minus_02_dot_84_bar__plus_00_dot_91_bar__plus_00_dot_20 - object + Lettuce_bar__minus_02_dot_84_bar__plus_00_dot_91_bar__plus_02_dot_31 - object + LightSwitch_bar__minus_00_dot_62_bar__plus_01_dot_38_bar__plus_03_dot_00 - object + Mug_bar__minus_00_dot_65_bar__plus_00_dot_89_bar__plus_00_dot_37 - object + Mug_bar__minus_02_dot_91_bar__plus_01_dot_43_bar__plus_00_dot_61 - object + Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08 - object + PepperShaker_bar__minus_00_dot_82_bar__plus_00_dot_82_bar__plus_00_dot_43 - object + PepperShaker_bar__minus_01_dot_15_bar__plus_00_dot_82_bar__plus_00_dot_35 - object + PepperShaker_bar__minus_02_dot_42_bar__plus_01_dot_43_bar__plus_00_dot_06 - object + Plate_bar__minus_01_dot_58_bar__plus_00_dot_13_bar__plus_00_dot_40 - object + Potato_bar__minus_00_dot_26_bar__plus_00_dot_10_bar__plus_02_dot_64 - object + Potato_bar__minus_02_dot_84_bar__plus_00_dot_96_bar__plus_01_dot_39 - object + Pot_bar__minus_00_dot_53_bar__plus_00_dot_82_bar__plus_02_dot_10 - object + SaltShaker_bar__minus_00_dot_09_bar__plus_00_dot_82_bar__plus_01_dot_21 - object + SaltShaker_bar__minus_01_dot_89_bar__plus_00_dot_12_bar__plus_00_dot_36 - object + SaltShaker_bar__minus_02_dot_91_bar__plus_01_dot_43_bar__plus_00_dot_94 - object + Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34 - object + SoapBottle_bar__minus_02_dot_77_bar__plus_01_dot_43_bar__plus_00_dot_17 - object + Spatula_bar__minus_02_dot_38_bar__plus_00_dot_84_bar__plus_00_dot_13 - object + Spatula_bar__minus_02_dot_96_bar__plus_00_dot_84_bar__plus_00_dot_35 - object + Spoon_bar__minus_00_dot_94_bar__plus_00_dot_71_bar__plus_00_dot_38 - object + StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_01_dot_61 - object + StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_01_dot_77 - object + StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_02_dot_02 - object + StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_02_dot_17 - object + Tomato_bar__minus_00_dot_40_bar__plus_00_dot_11_bar__plus_02_dot_54 - object + Tomato_bar__minus_00_dot_40_bar__plus_00_dot_11_bar__plus_02_dot_67 - object + Tomato_bar__minus_02_dot_78_bar__plus_01_dot_19_bar__plus_02_dot_49 - object + Window_bar__minus_01_dot_72_bar__plus_01_dot_34_bar__minus_00_dot_21 - object + Cabinet_bar__minus_00_dot_55_bar__plus_00_dot_39_bar__plus_00_dot_75 - receptacle + Cabinet_bar__minus_00_dot_55_bar__plus_00_dot_39_bar__plus_01_dot_41 - receptacle + Cabinet_bar__minus_00_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_57 - receptacle + Cabinet_bar__minus_01_dot_26_bar__plus_00_dot_39_bar__plus_00_dot_57 - receptacle + Cabinet_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_56 - receptacle + Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_39_bar__plus_00_dot_56 - receptacle + Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_58 - receptacle + Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_02_bar__plus_01_dot_72 - receptacle + Cabinet_bar__minus_02_dot_44_bar__plus_00_dot_39_bar__plus_01_dot_67 - receptacle + Cabinet_bar__minus_02_dot_46_bar__plus_01_dot_80_bar__plus_00_dot_23 - receptacle + Cabinet_bar__minus_02_dot_77_bar__plus_01_dot_80_bar__plus_00_dot_51 - receptacle + Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_82 - receptacle + Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_83 - receptacle + CoffeeMachine_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_19 - receptacle + CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28 - receptacle + Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_00_dot_91 - receptacle + Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_01_dot_25 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_71_bar__plus_00_dot_42 - receptacle + Drawer_bar__minus_01_dot_13_bar__plus_00_dot_71_bar__plus_00_dot_42 - receptacle + Drawer_bar__minus_02_dot_59_bar__plus_00_dot_70_bar__plus_01_dot_51 - receptacle + Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22 - receptacle + GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_61 - receptacle + Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35 - receptacle + Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34_bar_SinkBasin - receptacle + 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loc_bar__minus_6_bar_4_bar_3_bar_0 - location + loc_bar__minus_4_bar_4_bar_1_bar_60 - location + loc_bar__minus_7_bar_9_bar_3_bar_60 - location + loc_bar__minus_5_bar_4_bar_1_bar_45 - location + loc_bar__minus_6_bar_6_bar_2_bar_60 - location + loc_bar__minus_7_bar_4_bar_2_bar_60 - location + loc_bar__minus_4_bar_6_bar_2_bar_60 - location + loc_bar__minus_7_bar_7_bar_3_bar__minus_30 - location + loc_bar__minus_4_bar_10_bar_1_bar_60 - location + loc_bar__minus_8_bar_4_bar_3_bar__minus_15 - location + loc_bar__minus_6_bar_4_bar_3_bar_60 - location + loc_bar__minus_4_bar_6_bar_1_bar_30 - location + loc_bar__minus_4_bar_4_bar_2_bar_45 - location + loc_bar__minus_7_bar_9_bar_3_bar__minus_30 - location + loc_bar__minus_4_bar_6_bar_1_bar_60 - location + loc_bar__minus_8_bar_5_bar_3_bar_45 - location + loc_bar__minus_4_bar_4_bar_2_bar_60 - location + loc_bar__minus_4_bar_4_bar_1_bar_45 - location + loc_bar__minus_4_bar_6_bar_1_bar_45 - location + loc_bar__minus_4_bar_10_bar_1_bar_30 - location + loc_bar__minus_4_bar_5_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_00_dot_91 DrawerType) + (receptacleType Cabinet_bar__minus_02_dot_77_bar__plus_01_dot_80_bar__plus_00_dot_51 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_46_bar__plus_01_dot_80_bar__plus_00_dot_23 CabinetType) + (receptacleType StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_01_dot_68 StoveBurnerType) + (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_02_bar__plus_01_dot_72 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_44_bar__plus_00_dot_39_bar__plus_01_dot_67 CabinetType) + (receptacleType Drawer_bar__minus_01_dot_13_bar__plus_00_dot_71_bar__plus_00_dot_42 DrawerType) + (receptacleType Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35 MicrowaveType) + (receptacleType Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_82 CabinetType) + (receptacleType 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(objectAtLocation DishSponge_bar__minus_02_dot_58_bar__plus_01_dot_85_bar__plus_01_dot_82 loc_bar__minus_7_bar_7_bar_3_bar__minus_30) + (objectAtLocation Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Spoon_bar__minus_00_dot_94_bar__plus_00_dot_71_bar__plus_00_dot_38 loc_bar__minus_5_bar_5_bar_2_bar_45) + (objectAtLocation Mug_bar__minus_02_dot_91_bar__plus_01_dot_43_bar__plus_00_dot_61 loc_bar__minus_8_bar_4_bar_3_bar__minus_15) + (objectAtLocation Bowl_bar__minus_00_dot_40_bar__plus_00_dot_12_bar__plus_00_dot_91 loc_bar__minus_4_bar_4_bar_1_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (and + (receptacleType ?r SinkBasinType) + (exists (?o - object) + (and + (objectType ?o ForkType) + (exists (?mo - object) + (and + (objectType ?mo PlateType) + (isReceptacleObject ?mo) + (inReceptacleObject ?o ?mo) + (inReceptacle ?mo ?r) + ) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff 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"PepperShaker_407d7c3b", + "position": { + "x": -1.15182948, + "y": 0.8185999, + "z": 0.352121234 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_407d7c3b", + "position": { + "x": -0.8170933, + "y": 0.8185999, + "z": 0.426242471 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_b2f1312c", + "position": { + "x": -2.83720732, + "y": 0.9087977, + "z": 2.30964541 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_b2f1312c", + "position": { + "x": -2.782, + "y": 1.529565, + "z": 2.2217 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Mug_57da2f86", + "position": { + "x": -2.905465, + "y": 1.430771, + "z": 0.605720758 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_0dd786e0", + "position": { + "x": -2.65868163, + "y": 0.896565557, + "z": 0.625891566 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Fork_2c8fe53a", + "position": { + "x": -1.96787512, + "y": 0.7030673, + "z": 0.295923918 + }, + "rotation": { + "x": 1.40334191e-14, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Ladle_3943cbe8", + "position": { + "x": -2.375244, + "y": 0.8679624, + "z": 0.500363469 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pan_e0764688", + "position": { + "x": -0.2442, + "y": 0.8297, + "z": 2.0755 + }, + "rotation": { + "x": 0.0, + "y": 180.000336, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_3a4a4d0d", + "position": { + "x": -2.774387, + "y": 1.43281615, + "z": 0.173208535 + }, + "rotation": { + "x": 0.0, + "y": 44.9999962, + "z": 0.0 + } + }, + { + "objectName": "Pot_ccf3345d", + "position": { + "x": -0.531748533, + "y": 0.8226794, + "z": 2.09645438 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_2ee69558", + "position": { + "x": -0.395996869, + "y": 0.106025338, + "z": 2.53909016 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Potato_a3c14b3a", + "position": { + "x": -2.84400558, + "y": 0.9602245, + "z": 1.39082932 + }, + "rotation": { + "x": 0.0, + "y": 89.99987, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_69e12ad1", + "position": { + "x": -2.905852, + "y": 1.4294852, + "z": 0.941400766 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_29dab58d", + "position": { + "x": -1.58026433, + "y": 0.130002618, + "z": 0.401696056 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spatula_77ce7117", + "position": { + "x": -2.957396, + "y": 0.838599861, + "z": 0.3521211 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_298dd93a", + "position": { + "x": -2.65868163, + "y": 0.849218249, + "z": 0.7895261 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Egg_68224885", + "position": { + "x": -1.91256809, + "y": 0.721769869, + "z": 0.3387658 + }, + "rotation": { + "x": 1.40334191e-14, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_61785f6c", + "position": { + "x": -2.844005, + "y": 0.921779454, + "z": 1.23169553 + }, + "rotation": { + "x": 0.0, + "y": 89.99987, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_d1baac51", + "position": { + "x": -2.4939487, + "y": 0.812210739, + "z": 0.476511866 + }, + "rotation": { + "x": 0.0, + "y": 50.7348976, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_b2f1312c", + "position": { + "x": -2.84096551, + "y": 0.9075473, + "z": 0.20387885 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_407d7c3b", + "position": { + "x": -2.41683149, + "y": 1.43102276, + "z": 0.0595619529 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_eb848da8", + "position": { + "x": -2.05799365, + "y": 0.124872386, + "z": 0.440719754 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_db4f73f8", + "position": { + "x": -0.979999542, + "y": 0.8554756, + "z": 0.24999997 + }, + "rotation": { + "x": -7.853774e-06, + "y": 29.9999084, + "z": -3.53421e-06 + } + }, + { + "objectName": "Spoon_df0734fa", + "position": { + "x": -0.94386, + "y": 0.7123168, + "z": 0.378874362 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_57da2f86", + "position": { + "x": -0.646999955, + "y": 0.8882107, + "z": 0.3674 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_4c742e05", + "position": { + "x": -0.397978365, + "y": 0.115337931, + "z": 0.9141403 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 870493165, + "scene_num": 25 + }, + "task_id": "trial_T20190909_024035_050796", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1HKHM4NVAO98H_32AT8R96GO0DLNA2RMS8JQBHJGUUS6", + "high_descs": [ + "move forwards to the kitchen counter ahead, then turn left and face the kitchen sink", + "grab a fork out of the right side sink there", + "move to the left just a bit and face the kitchen sink again", + "place the fork on a plate inside of the cabinet below the left side kitchen sink", + "pick up the plate with the fork on it and close the cabinet door", + "turn around to back up just a bit and then face the kitchen sink again", + "place the plate inside the left side kitchen sink" + ], + "task_desc": "place a plate with a fork on it inside the left side kitchen sink", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2RVDEU138ZF9P_3IX2EGZR7EAS6SZV0YOPMEXAGX2JRY", + "high_descs": [ + "Walk forwards to the microwave then turn left to face the kitchen sink.", + "Pick up the fork that is inside the sink.", + "Turn left then turn right towards the adjacent sink. ", + "Open the brown cabinet underneath the sink and place the fork on top of the plate.", + "Pick up the plate from inside the cabinet.", + "Close the cabinet door and face the sink.", + "Place the plate with the fork on top inside the kitchen sink." + ], + "task_desc": "Place the fork and plate inside the kitchen sink. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_3QECW5O0KKSXF8X2FLPQLJFNMH35TA", + "high_descs": [ + "Walk towards the microwave, then hang a left and walk up to the sink.", + "Pick up the metal fork out of the right sink basin.", + "Turn left and walk towards the counter, then turn right to face the sink.", + "Open the cabinet door directly below the leftmost sink basin and put the fork on the plate that is inside.", + "Pick up the plate with the fork on it out of the cabinet below the sink and close the cabinet.", + "Turn around and take a step forward, then turn back around to face the sink.", + "Put the plate with the fork on it in the leftmost sink basin." + ], + "task_desc": "Put a plate with a fork on it in the sink.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Fork-Plate-SinkBasin-25/trial_T20190909_024219_288384/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Fork-Plate-SinkBasin-25/trial_T20190909_024219_288384/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..faccf453074dd8b53263c5ae81d8616f6048d757 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Fork-Plate-SinkBasin-25/trial_T20190909_024219_288384/initial_state.pddl @@ -0,0 +1,878 @@ + +(define (problem plan_trial_T20190909_024219_288384) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__minus_01_dot_86_bar__plus_00_dot_77_bar__plus_00_dot_34 - object + Bowl_bar__minus_00_dot_40_bar__plus_00_dot_82_bar__plus_01_dot_10 - object + Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25 - object + ButterKnife_bar__minus_02_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_48 - object + Chair_bar__minus_00_dot_91_bar__plus_00_dot_01_bar__plus_02_dot_12 - object + Cup_bar__minus_01_dot_41_bar__plus_00_dot_13_bar__plus_00_dot_36 - object + DishSponge_bar__minus_00_dot_33_bar__plus_00_dot_06_bar__plus_02_dot_61 - object + DishSponge_bar__minus_01_dot_64_bar__plus_00_dot_12_bar__plus_00_dot_40 - object + DishSponge_bar__minus_02_dot_76_bar__plus_01_dot_43_bar__plus_00_dot_38 - object + Egg_bar__minus_00_dot_48_bar__plus_00_dot_85_bar__plus_01_dot_33 - object + Faucet_bar__minus_01_dot_69_bar__plus_00_dot_95_bar__plus_00_dot_18 - object + Fork_bar__minus_02_dot_49_bar__plus_00_dot_82_bar__plus_00_dot_13 - object + Fork_bar__minus_02_dot_60_bar__plus_00_dot_69_bar__plus_01_dot_47 - object + Fork_bar__minus_02_dot_72_bar__plus_00_dot_82_bar__plus_00_dot_13 - object + Knife_bar__minus_01_dot_37_bar__plus_00_dot_85_bar__plus_00_dot_53 - object + Knife_bar__minus_02_dot_66_bar__plus_00_dot_85_bar__plus_00_dot_63 - object + Ladle_bar__minus_02_dot_61_bar__plus_00_dot_17_bar__plus_01_dot_55 - object + Lettuce_bar__minus_02_dot_84_bar__plus_01_dot_53_bar__plus_02_dot_22 - object + LightSwitch_bar__minus_00_dot_62_bar__plus_01_dot_38_bar__plus_03_dot_00 - object + Mug_bar__minus_02_dot_54_bar__plus_01_dot_84_bar__plus_02_dot_32 - object + Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_01_dot_68 - object + Pan_bar__minus_02_dot_78_bar__plus_00_dot_82_bar__plus_02_dot_05 - object + PepperShaker_bar__minus_02_dot_49_bar__plus_00_dot_82_bar__plus_00_dot_28 - object + Plate_bar__minus_02_dot_06_bar__plus_00_dot_13_bar__plus_00_dot_44 - object + Potato_bar__minus_02_dot_78_bar__plus_00_dot_96_bar__plus_01_dot_18 - object + Potato_bar__minus_02_dot_88_bar__plus_00_dot_96_bar__plus_01_dot_34 - object + Pot_bar__minus_00_dot_53_bar__plus_00_dot_82_bar__plus_02_dot_10 - object + SaltShaker_bar__minus_02_dot_87_bar__plus_01_dot_43_bar__plus_00_dot_27 - object + Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34 - object + SoapBottle_bar__minus_00_dot_82_bar__plus_00_dot_82_bar__plus_00_dot_50 - object + Spatula_bar__minus_00_dot_34_bar__plus_00_dot_70_bar__plus_01_dot_19 - object + Spoon_bar__minus_02_dot_21_bar__plus_00_dot_82_bar__plus_00_dot_53 - object + StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_01_dot_61 - object + StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_01_dot_77 - object + StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_02_dot_02 - object + StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_02_dot_17 - object + Tomato_bar__minus_02_dot_84_bar__plus_00_dot_87_bar__plus_00_dot_28 - object + Window_bar__minus_01_dot_72_bar__plus_01_dot_34_bar__minus_00_dot_21 - object + Cabinet_bar__minus_00_dot_55_bar__plus_00_dot_39_bar__plus_00_dot_75 - receptacle + Cabinet_bar__minus_00_dot_55_bar__plus_00_dot_39_bar__plus_01_dot_41 - receptacle + Cabinet_bar__minus_00_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_57 - receptacle + Cabinet_bar__minus_01_dot_26_bar__plus_00_dot_39_bar__plus_00_dot_57 - receptacle + Cabinet_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_56 - receptacle + Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_39_bar__plus_00_dot_56 - receptacle + Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_58 - receptacle + Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_02_bar__plus_01_dot_72 - receptacle + Cabinet_bar__minus_02_dot_44_bar__plus_00_dot_39_bar__plus_01_dot_67 - receptacle + Cabinet_bar__minus_02_dot_46_bar__plus_01_dot_80_bar__plus_00_dot_23 - receptacle + Cabinet_bar__minus_02_dot_77_bar__plus_01_dot_80_bar__plus_00_dot_51 - receptacle + Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_82 - receptacle + Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_83 - receptacle + CoffeeMachine_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_19 - receptacle + CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28 - receptacle + Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_00_dot_91 - receptacle + Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_01_dot_25 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_71_bar__plus_00_dot_42 - receptacle + Drawer_bar__minus_01_dot_13_bar__plus_00_dot_71_bar__plus_00_dot_42 - receptacle + Drawer_bar__minus_02_dot_59_bar__plus_00_dot_70_bar__plus_01_dot_51 - receptacle + Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22 - receptacle + GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_61 - receptacle + Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35 - receptacle + Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34_bar_SinkBasin - receptacle + StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_01_dot_68 - receptacle + 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loc_bar__minus_7_bar_9_bar_3_bar_60 - location + loc_bar__minus_5_bar_4_bar_1_bar_45 - location + loc_bar__minus_6_bar_6_bar_2_bar_60 - location + loc_bar__minus_7_bar_4_bar_2_bar_60 - location + loc_bar__minus_4_bar_6_bar_2_bar_60 - location + loc_bar__minus_7_bar_7_bar_3_bar__minus_30 - location + loc_bar__minus_4_bar_10_bar_1_bar_60 - location + loc_bar__minus_8_bar_4_bar_3_bar__minus_15 - location + loc_bar__minus_6_bar_4_bar_3_bar_60 - location + loc_bar__minus_4_bar_6_bar_1_bar_30 - location + loc_bar__minus_4_bar_4_bar_2_bar_45 - location + loc_bar__minus_7_bar_9_bar_3_bar__minus_30 - location + loc_bar__minus_4_bar_6_bar_1_bar_60 - location + loc_bar__minus_8_bar_5_bar_3_bar_45 - location + loc_bar__minus_4_bar_4_bar_2_bar_60 - location + loc_bar__minus_4_bar_4_bar_1_bar_45 - location + loc_bar__minus_4_bar_6_bar_1_bar_45 - location + loc_bar__minus_4_bar_10_bar_1_bar_30 - location + loc_bar__minus_6_bar_5_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType 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Fork_bar__minus_02_dot_49_bar__plus_00_dot_82_bar__plus_00_dot_13) + (pickupable PepperShaker_bar__minus_02_dot_49_bar__plus_00_dot_82_bar__plus_00_dot_28) + (pickupable SoapBottle_bar__minus_00_dot_82_bar__plus_00_dot_82_bar__plus_00_dot_50) + (pickupable Lettuce_bar__minus_02_dot_84_bar__plus_01_dot_53_bar__plus_02_dot_22) + (pickupable Potato_bar__minus_02_dot_78_bar__plus_00_dot_96_bar__plus_01_dot_18) + (pickupable Spoon_bar__minus_02_dot_21_bar__plus_00_dot_82_bar__plus_00_dot_53) + (pickupable Ladle_bar__minus_02_dot_61_bar__plus_00_dot_17_bar__plus_01_dot_55) + (pickupable ButterKnife_bar__minus_02_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_48) + (pickupable Egg_bar__minus_00_dot_48_bar__plus_00_dot_85_bar__plus_01_dot_33) + (pickupable Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25) + (pickupable Plate_bar__minus_02_dot_06_bar__plus_00_dot_13_bar__plus_00_dot_44) + (pickupable Mug_bar__minus_02_dot_54_bar__plus_01_dot_84_bar__plus_02_dot_32) + (pickupable Bowl_bar__minus_00_dot_40_bar__plus_00_dot_82_bar__plus_01_dot_10) + (pickupable Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_01_dot_68) + (pickupable Potato_bar__minus_02_dot_88_bar__plus_00_dot_96_bar__plus_01_dot_34) + (pickupable Pot_bar__minus_00_dot_53_bar__plus_00_dot_82_bar__plus_02_dot_10) + (pickupable Knife_bar__minus_01_dot_37_bar__plus_00_dot_85_bar__plus_00_dot_53) + (pickupable Tomato_bar__minus_02_dot_84_bar__plus_00_dot_87_bar__plus_00_dot_28) + (pickupable Knife_bar__minus_02_dot_66_bar__plus_00_dot_85_bar__plus_00_dot_63) + (isReceptacleObject Cup_bar__minus_01_dot_41_bar__plus_00_dot_13_bar__plus_00_dot_36) + (isReceptacleObject Pan_bar__minus_02_dot_78_bar__plus_00_dot_82_bar__plus_02_dot_05) + (isReceptacleObject Plate_bar__minus_02_dot_06_bar__plus_00_dot_13_bar__plus_00_dot_44) + (isReceptacleObject Mug_bar__minus_02_dot_54_bar__plus_01_dot_84_bar__plus_02_dot_32) + (isReceptacleObject Bowl_bar__minus_00_dot_40_bar__plus_00_dot_82_bar__plus_01_dot_10) + (isReceptacleObject Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_01_dot_68) + (isReceptacleObject Pot_bar__minus_00_dot_53_bar__plus_00_dot_82_bar__plus_02_dot_10) + (openable Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_00_dot_91) + (openable Cabinet_bar__minus_02_dot_77_bar__plus_01_dot_80_bar__plus_00_dot_51) + (openable Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_02_bar__plus_01_dot_72) + (openable Cabinet_bar__minus_02_dot_44_bar__plus_00_dot_39_bar__plus_01_dot_67) + (openable Drawer_bar__minus_01_dot_13_bar__plus_00_dot_71_bar__plus_00_dot_42) + (openable Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35) + (openable Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_82) + (openable Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_83) + (openable Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_01_dot_25) + (openable Drawer_bar__minus_00_dot_86_bar__plus_00_dot_71_bar__plus_00_dot_42) + (openable Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (openable Cabinet_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_56) + (openable Drawer_bar__minus_02_dot_59_bar__plus_00_dot_70_bar__plus_01_dot_51) + (openable Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_39_bar__plus_00_dot_56) + (openable Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_58) + + (atLocation agent1 loc_bar__minus_6_bar_5_bar_0_bar_30) + + (cleanable DishSponge_bar__minus_02_dot_76_bar__plus_01_dot_43_bar__plus_00_dot_38) + (cleanable Cup_bar__minus_01_dot_41_bar__plus_00_dot_13_bar__plus_00_dot_36) + (cleanable Fork_bar__minus_02_dot_72_bar__plus_00_dot_82_bar__plus_00_dot_13) + (cleanable Spatula_bar__minus_00_dot_34_bar__plus_00_dot_70_bar__plus_01_dot_19) + (cleanable Pan_bar__minus_02_dot_78_bar__plus_00_dot_82_bar__plus_02_dot_05) + (cleanable Apple_bar__minus_01_dot_86_bar__plus_00_dot_77_bar__plus_00_dot_34) + (cleanable Fork_bar__minus_02_dot_60_bar__plus_00_dot_69_bar__plus_01_dot_47) + (cleanable DishSponge_bar__minus_01_dot_64_bar__plus_00_dot_12_bar__plus_00_dot_40) + (cleanable DishSponge_bar__minus_00_dot_33_bar__plus_00_dot_06_bar__plus_02_dot_61) + (cleanable Fork_bar__minus_02_dot_49_bar__plus_00_dot_82_bar__plus_00_dot_13) + (cleanable Lettuce_bar__minus_02_dot_84_bar__plus_01_dot_53_bar__plus_02_dot_22) + (cleanable Potato_bar__minus_02_dot_78_bar__plus_00_dot_96_bar__plus_01_dot_18) + (cleanable Spoon_bar__minus_02_dot_21_bar__plus_00_dot_82_bar__plus_00_dot_53) + (cleanable Ladle_bar__minus_02_dot_61_bar__plus_00_dot_17_bar__plus_01_dot_55) + (cleanable ButterKnife_bar__minus_02_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_48) + (cleanable Egg_bar__minus_00_dot_48_bar__plus_00_dot_85_bar__plus_01_dot_33) + (cleanable Plate_bar__minus_02_dot_06_bar__plus_00_dot_13_bar__plus_00_dot_44) + (cleanable Mug_bar__minus_02_dot_54_bar__plus_01_dot_84_bar__plus_02_dot_32) + (cleanable Bowl_bar__minus_00_dot_40_bar__plus_00_dot_82_bar__plus_01_dot_10) + (cleanable Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_01_dot_68) + (cleanable Potato_bar__minus_02_dot_88_bar__plus_00_dot_96_bar__plus_01_dot_34) + (cleanable Pot_bar__minus_00_dot_53_bar__plus_00_dot_82_bar__plus_02_dot_10) + (cleanable Knife_bar__minus_01_dot_37_bar__plus_00_dot_85_bar__plus_00_dot_53) + (cleanable Tomato_bar__minus_02_dot_84_bar__plus_00_dot_87_bar__plus_00_dot_28) + (cleanable Knife_bar__minus_02_dot_66_bar__plus_00_dot_85_bar__plus_00_dot_63) + + (heatable Cup_bar__minus_01_dot_41_bar__plus_00_dot_13_bar__plus_00_dot_36) + (heatable Apple_bar__minus_01_dot_86_bar__plus_00_dot_77_bar__plus_00_dot_34) + (heatable Potato_bar__minus_02_dot_78_bar__plus_00_dot_96_bar__plus_01_dot_18) + (heatable Egg_bar__minus_00_dot_48_bar__plus_00_dot_85_bar__plus_01_dot_33) + (heatable Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25) + (heatable Plate_bar__minus_02_dot_06_bar__plus_00_dot_13_bar__plus_00_dot_44) + (heatable Mug_bar__minus_02_dot_54_bar__plus_01_dot_84_bar__plus_02_dot_32) + (heatable Potato_bar__minus_02_dot_88_bar__plus_00_dot_96_bar__plus_01_dot_34) + (heatable Tomato_bar__minus_02_dot_84_bar__plus_00_dot_87_bar__plus_00_dot_28) + (coolable Cup_bar__minus_01_dot_41_bar__plus_00_dot_13_bar__plus_00_dot_36) + (coolable Pan_bar__minus_02_dot_78_bar__plus_00_dot_82_bar__plus_02_dot_05) + (coolable Apple_bar__minus_01_dot_86_bar__plus_00_dot_77_bar__plus_00_dot_34) + (coolable Lettuce_bar__minus_02_dot_84_bar__plus_01_dot_53_bar__plus_02_dot_22) + (coolable Potato_bar__minus_02_dot_78_bar__plus_00_dot_96_bar__plus_01_dot_18) + (coolable Egg_bar__minus_00_dot_48_bar__plus_00_dot_85_bar__plus_01_dot_33) + (coolable Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25) + (coolable Plate_bar__minus_02_dot_06_bar__plus_00_dot_13_bar__plus_00_dot_44) + (coolable Mug_bar__minus_02_dot_54_bar__plus_01_dot_84_bar__plus_02_dot_32) + (coolable Bowl_bar__minus_00_dot_40_bar__plus_00_dot_82_bar__plus_01_dot_10) + (coolable Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_01_dot_68) + (coolable Potato_bar__minus_02_dot_88_bar__plus_00_dot_96_bar__plus_01_dot_34) + (coolable Pot_bar__minus_00_dot_53_bar__plus_00_dot_82_bar__plus_02_dot_10) + (coolable Tomato_bar__minus_02_dot_84_bar__plus_00_dot_87_bar__plus_00_dot_28) + + + + + + (sliceable Apple_bar__minus_01_dot_86_bar__plus_00_dot_77_bar__plus_00_dot_34) + (sliceable Lettuce_bar__minus_02_dot_84_bar__plus_01_dot_53_bar__plus_02_dot_22) + (sliceable Potato_bar__minus_02_dot_78_bar__plus_00_dot_96_bar__plus_01_dot_18) + (sliceable Egg_bar__minus_00_dot_48_bar__plus_00_dot_85_bar__plus_01_dot_33) + (sliceable Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25) + (sliceable Potato_bar__minus_02_dot_88_bar__plus_00_dot_96_bar__plus_01_dot_34) + (sliceable Tomato_bar__minus_02_dot_84_bar__plus_00_dot_87_bar__plus_00_dot_28) + + (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 Fork_bar__minus_02_dot_49_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 Knife_bar__minus_01_dot_37_bar__plus_00_dot_85_bar__plus_00_dot_53 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Spoon_bar__minus_02_dot_21_bar__plus_00_dot_82_bar__plus_00_dot_53 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Tomato_bar__minus_02_dot_84_bar__plus_00_dot_87_bar__plus_00_dot_28 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_85_bar__plus_00_dot_63 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle PepperShaker_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 Fork_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 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 Egg_bar__minus_00_dot_48_bar__plus_00_dot_85_bar__plus_01_dot_33 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle SoapBottle_bar__minus_00_dot_82_bar__plus_00_dot_82_bar__plus_00_dot_50 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 Bowl_bar__minus_00_dot_40_bar__plus_00_dot_82_bar__plus_01_dot_10 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 Fork_bar__minus_02_dot_60_bar__plus_00_dot_69_bar__plus_01_dot_47 Drawer_bar__minus_02_dot_59_bar__plus_00_dot_70_bar__plus_01_dot_51) + (inReceptacle DishSponge_bar__minus_02_dot_76_bar__plus_01_dot_43_bar__plus_00_dot_38 Cabinet_bar__minus_02_dot_77_bar__plus_01_dot_80_bar__plus_00_dot_51) + (inReceptacle SaltShaker_bar__minus_02_dot_87_bar__plus_01_dot_43_bar__plus_00_dot_27 Cabinet_bar__minus_02_dot_77_bar__plus_01_dot_80_bar__plus_00_dot_51) + (inReceptacle Mug_bar__minus_02_dot_54_bar__plus_01_dot_84_bar__plus_02_dot_32 Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_58) + (inReceptacle Ladle_bar__minus_02_dot_61_bar__plus_00_dot_17_bar__plus_01_dot_55 Cabinet_bar__minus_02_dot_44_bar__plus_00_dot_39_bar__plus_01_dot_67) + (inReceptacle Plate_bar__minus_02_dot_06_bar__plus_00_dot_13_bar__plus_00_dot_44 Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_39_bar__plus_00_dot_56) + (inReceptacle DishSponge_bar__minus_01_dot_64_bar__plus_00_dot_12_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_01_dot_41_bar__plus_00_dot_13_bar__plus_00_dot_36 Cabinet_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_56) + (inReceptacle Lettuce_bar__minus_02_dot_84_bar__plus_01_dot_53_bar__plus_02_dot_22 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Pan_bar__minus_02_dot_78_bar__plus_00_dot_82_bar__plus_02_dot_05 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Potato_bar__minus_02_dot_88_bar__plus_00_dot_96_bar__plus_01_dot_34 Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35) + (inReceptacle Potato_bar__minus_02_dot_78_bar__plus_00_dot_96_bar__plus_01_dot_18 Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35) + (inReceptacle DishSponge_bar__minus_00_dot_33_bar__plus_00_dot_06_bar__plus_02_dot_61 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 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"random_seed": 2687394351, + "scene_num": 25 + }, + "task_id": "trial_T20190909_024219_288384", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3PPLDHC3CG0YN_3OLF68YTNCSK29RIFXBICQG8NN9AFS", + "high_descs": [ + "turn and walk to the right side of the sink. ", + "Pick up the fork behind the pepper mill on the counter. ", + "Look down at the cabinet below the sink. ", + "Open the cabinet door and place the fork on the plate. ", + "Pick up the plate from the cabinet. ", + "Walk over to the left side of the sink. ", + "Put the plate down in the sink. " + ], + "task_desc": "To put a fork on a plate and put the plate in the sink. ", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AM2KK02JXXW48_3VHHR074H68OJZ3GU52WXCJ2JBXL7P", + "high_descs": [ + "Turn around, move to the sink.", + "Pick up the fork on the counter, right of the sink. ", + "Bring the fork near the right cabinet under the sink.", + "Put the fork in the plate sitting in the right cabinet under the sink. ", + "Pick up the plate with fork in the cabinet. ", + "Bring the the plate left, to the left sink.", + "Put the plate with fork in the left sink. " + ], + "task_desc": "Put a plate with fork on it, in the left sink. ", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2871R3LEPWMMK_3WAKVUDHUZ7R2PQA3JUXOZFLW1W7U9", + "high_descs": [ + "Turn left, hang a left at the microwave and walk to the sink.", + "Pick up the fork behind the gold pepper grinder on the right side of the counter.", + "Look down at the cabinets under the sink.", + "Open the right lower cabinet under the sink and put the fork inside the pan in the cabinet.", + "Pick up the pan with the fork inside and close the door.", + "Turn around, walk towards the fridge and turn around to face the sink.", + "Put the pan with the fork inside the left side of the sink." + ], + "task_desc": "Put a pan with a fork in a sink.", + "votes": [ + 0, + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Fork-Plate-SinkBasin-25/trial_T20190913_154657_955499/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Fork-Plate-SinkBasin-25/trial_T20190913_154657_955499/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..66b2702d3c0a54c08212611208982b5da7b4e554 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Fork-Plate-SinkBasin-25/trial_T20190913_154657_955499/initial_state.pddl @@ -0,0 +1,939 @@ + +(define (problem plan_trial_T20190913_154657_955499) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + 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otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - 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location + loc_bar__minus_6_bar_5_bar_2_bar_45 - location + loc_bar__minus_5_bar_4_bar_2_bar_60 - location + loc_bar__minus_8_bar_5_bar_3_bar__minus_15 - location + loc_bar__minus_5_bar_5_bar_1_bar_45 - location + loc_bar__minus_4_bar_11_bar_1_bar_30 - location + loc_bar__minus_7_bar_4_bar_2_bar_15 - location + loc_bar__minus_4_bar_10_bar_2_bar_60 - location + loc_bar__minus_6_bar_4_bar_3_bar_0 - location + loc_bar__minus_4_bar_4_bar_1_bar_60 - location + loc_bar__minus_7_bar_9_bar_3_bar_60 - location + loc_bar__minus_5_bar_4_bar_1_bar_45 - location + loc_bar__minus_6_bar_6_bar_2_bar_60 - location + loc_bar__minus_7_bar_4_bar_2_bar_60 - location + loc_bar__minus_4_bar_6_bar_2_bar_60 - location + loc_bar__minus_7_bar_7_bar_3_bar__minus_30 - location + loc_bar__minus_4_bar_10_bar_1_bar_60 - location + loc_bar__minus_8_bar_4_bar_3_bar__minus_15 - location + loc_bar__minus_6_bar_4_bar_3_bar_60 - location + loc_bar__minus_4_bar_6_bar_1_bar_30 - location + loc_bar__minus_4_bar_4_bar_2_bar_45 - location + loc_bar__minus_7_bar_9_bar_3_bar__minus_30 - location + loc_bar__minus_4_bar_6_bar_1_bar_60 - location + loc_bar__minus_8_bar_5_bar_3_bar_45 - location + loc_bar__minus_4_bar_4_bar_2_bar_60 - location + loc_bar__minus_4_bar_4_bar_1_bar_45 - location + loc_bar__minus_4_bar_6_bar_1_bar_45 - location + loc_bar__minus_4_bar_10_bar_1_bar_30 - location + loc_bar__minus_8_bar_9_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_00_dot_91 DrawerType) + (receptacleType Cabinet_bar__minus_02_dot_77_bar__plus_01_dot_80_bar__plus_00_dot_51 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_46_bar__plus_01_dot_80_bar__plus_00_dot_23 CabinetType) + (receptacleType StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_01_dot_68 StoveBurnerType) + (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_02_bar__plus_01_dot_72 CabinetType) + (receptacleType 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(receptacleType Cabinet_bar__minus_00_dot_55_bar__plus_00_dot_39_bar__plus_01_dot_41 CabinetType) + (receptacleType GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_61 GarbageCanType) + (receptacleType CoffeeMachine_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_19 CoffeeMachineType) + (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_71_bar__plus_00_dot_42 DrawerType) + (receptacleType Cabinet_bar__minus_00_dot_55_bar__plus_00_dot_39_bar__plus_00_dot_75 CabinetType) + (receptacleType CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28 CounterTopType) + (receptacleType Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22 FridgeType) + (receptacleType Cabinet_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_56 CabinetType) + (receptacleType Drawer_bar__minus_02_dot_59_bar__plus_00_dot_70_bar__plus_01_dot_51 DrawerType) + (receptacleType 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Ladle_bar__minus_02_dot_58_bar__plus_00_dot_87_bar__plus_00_dot_87 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle ButterKnife_bar__minus_00_dot_15_bar__plus_00_dot_82_bar__plus_00_dot_43 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Egg_bar__minus_02_dot_49_bar__plus_00_dot_85_bar__plus_00_dot_35 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 ButterKnife_bar__minus_01_dot_37_bar__plus_00_dot_82_bar__plus_00_dot_51 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_49_bar__plus_00_dot_82_bar__plus_00_dot_43 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle SoapBottle_bar__minus_00_dot_48_bar__plus_00_dot_82_bar__plus_00_dot_77 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Ladle_bar__minus_00_dot_37_bar__plus_00_dot_74_bar__plus_00_dot_88 Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_00_dot_91) + (inReceptacle Spoon_bar__minus_01_dot_13_bar__plus_00_dot_70_bar__plus_00_dot_38 Drawer_bar__minus_01_dot_13_bar__plus_00_dot_71_bar__plus_00_dot_42) + (inReceptacle Spoon_bar__minus_02_dot_56_bar__plus_00_dot_69_bar__plus_01_dot_47 Drawer_bar__minus_02_dot_59_bar__plus_00_dot_70_bar__plus_01_dot_51) + (inReceptacle Mug_bar__minus_02_dot_87_bar__plus_01_dot_43_bar__plus_00_dot_27 Cabinet_bar__minus_02_dot_77_bar__plus_01_dot_80_bar__plus_00_dot_51) + (inReceptacle Bowl_bar__minus_02_dot_54_bar__plus_01_dot_85_bar__plus_02_dot_42 Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_58) + (inReceptacle Cup_bar__minus_02_dot_53_bar__plus_00_dot_12_bar__plus_01_dot_47 Cabinet_bar__minus_02_dot_44_bar__plus_00_dot_39_bar__plus_01_dot_67) + (inReceptacle SaltShaker_bar__minus_02_dot_17_bar__plus_00_dot_12_bar__plus_00_dot_36 Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_39_bar__plus_00_dot_56) + (inReceptacle Plate_bar__minus_02_dot_00_bar__plus_00_dot_13_bar__plus_00_dot_44 Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_39_bar__plus_00_dot_56) + (inReceptacle SaltShaker_bar__minus_01_dot_35_bar__plus_00_dot_12_bar__plus_00_dot_40 Cabinet_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_56) + (inReceptacle DishSponge_bar__minus_01_dot_52_bar__plus_00_dot_12_bar__plus_00_dot_48 Cabinet_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_56) + (inReceptacle Apple_bar__minus_02_dot_89_bar__plus_01_dot_22_bar__plus_02_dot_49 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) 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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_44_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_84_bar__plus_00_dot_92_bar__plus_01_dot_23 Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35) + (inReceptacle Potato_bar__minus_00_dot_30_bar__plus_00_dot_10_bar__plus_02_dot_57 GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_61) + (inReceptacle Potato_bar__minus_01_dot_80_bar__plus_00_dot_74_bar__plus_00_dot_38 Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34_bar_SinkBasin) + (inReceptacle Lettuce_bar__minus_01_dot_84_bar__plus_00_dot_74_bar__plus_00_dot_24 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) + 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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 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Mug_bar__minus_02_dot_84_bar__plus_00_dot_92_bar__plus_01_dot_23 loc_bar__minus_8_bar_5_bar_3_bar_45) + (objectAtLocation Spoon_bar__minus_01_dot_13_bar__plus_00_dot_70_bar__plus_00_dot_38 loc_bar__minus_6_bar_5_bar_2_bar_45) + (objectAtLocation ButterKnife_bar__minus_01_dot_37_bar__plus_00_dot_82_bar__plus_00_dot_51 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Cup_bar__minus_02_dot_53_bar__plus_00_dot_12_bar__plus_01_dot_47 loc_bar__minus_6_bar_4_bar_3_bar_60) + (objectAtLocation Plate_bar__minus_02_dot_67_bar__plus_01_dot_15_bar__plus_02_dot_05 loc_bar__minus_7_bar_9_bar_3_bar_60) + (objectAtLocation SaltShaker_bar__minus_02_dot_17_bar__plus_00_dot_12_bar__plus_00_dot_36 loc_bar__minus_6_bar_6_bar_2_bar_60) + (objectAtLocation Potato_bar__minus_02_dot_89_bar__plus_00_dot_86_bar__plus_02_dot_22 loc_bar__minus_7_bar_9_bar_3_bar_60) + (objectAtLocation Ladle_bar__minus_00_dot_37_bar__plus_00_dot_74_bar__plus_00_dot_88 loc_bar__minus_5_bar_5_bar_1_bar_45) + (objectAtLocation Fork_bar__minus_02_dot_49_bar__plus_00_dot_82_bar__plus_00_dot_13 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Apple_bar__minus_02_dot_84_bar__plus_01_dot_52_bar__plus_02_dot_40 loc_bar__minus_7_bar_9_bar_3_bar_60) + (objectAtLocation Mug_bar__minus_02_dot_73_bar__plus_00_dot_82_bar__plus_02_dot_22 loc_bar__minus_7_bar_9_bar_3_bar_60) + (objectAtLocation Cup_bar__minus_02_dot_84_bar__plus_00_dot_83_bar__plus_01_dot_96 loc_bar__minus_7_bar_9_bar_3_bar_60) + (objectAtLocation Potato_bar__minus_00_dot_30_bar__plus_00_dot_10_bar__plus_02_dot_57 loc_bar__minus_4_bar_10_bar_1_bar_60) + (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 Chair_bar__minus_00_dot_91_bar__plus_00_dot_01_bar__plus_02_dot_12 loc_bar__minus_4_bar_10_bar_2_bar_60) + (objectAtLocation Apple_bar__minus_02_dot_89_bar__plus_01_dot_22_bar__plus_02_dot_49 loc_bar__minus_7_bar_9_bar_3_bar_60) + (objectAtLocation StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_01_dot_77 loc_bar__minus_4_bar_6_bar_1_bar_30) + (objectAtLocation StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_01_dot_61 loc_bar__minus_4_bar_6_bar_1_bar_30) + (objectAtLocation StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_02_dot_17 loc_bar__minus_4_bar_10_bar_1_bar_30) + (objectAtLocation StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_02_dot_02 loc_bar__minus_4_bar_10_bar_1_bar_30) + (objectAtLocation Fork_bar__minus_00_dot_43_bar__plus_00_dot_70_bar__plus_01_dot_22 loc_bar__minus_5_bar_4_bar_1_bar_45) + (objectAtLocation Ladle_bar__minus_02_dot_58_bar__plus_00_dot_87_bar__plus_00_dot_87 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08 loc_bar__minus_4_bar_10_bar_1_bar_45) + (objectAtLocation SoapBottle_bar__minus_00_dot_48_bar__plus_00_dot_82_bar__plus_00_dot_77 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Pot_bar__minus_00_dot_53_bar__plus_00_dot_82_bar__plus_02_dot_10 loc_bar__minus_4_bar_10_bar_1_bar_60) + (objectAtLocation Tomato_bar__minus_02_dot_67_bar__plus_01_dot_18_bar__plus_02_dot_37 loc_bar__minus_7_bar_9_bar_3_bar_60) + (objectAtLocation Potato_bar__minus_01_dot_80_bar__plus_00_dot_74_bar__plus_00_dot_38 loc_bar__minus_6_bar_5_bar_2_bar_45) + (objectAtLocation SaltShaker_bar__minus_01_dot_35_bar__plus_00_dot_12_bar__plus_00_dot_40 loc_bar__minus_4_bar_6_bar_2_bar_60) + (objectAtLocation Plate_bar__minus_02_dot_00_bar__plus_00_dot_13_bar__plus_00_dot_44 loc_bar__minus_6_bar_6_bar_2_bar_60) + (objectAtLocation Window_bar__minus_01_dot_72_bar__plus_01_dot_34_bar__minus_00_dot_21 loc_bar__minus_7_bar_4_bar_2_bar_15) + (objectAtLocation Spatula_bar__minus_00_dot_15_bar__plus_00_dot_84_bar__plus_00_dot_35 loc_bar__minus_4_bar_4_bar_2_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) 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loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Spoon_bar__minus_02_dot_56_bar__plus_00_dot_69_bar__plus_01_dot_47 loc_bar__minus_7_bar_7_bar_3_bar_45) + (objectAtLocation Mug_bar__minus_02_dot_87_bar__plus_01_dot_43_bar__plus_00_dot_27 loc_bar__minus_6_bar_4_bar_3_bar_0) + (objectAtLocation Bowl_bar__minus_02_dot_54_bar__plus_01_dot_85_bar__plus_02_dot_42 loc_bar__minus_7_bar_9_bar_3_bar__minus_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (and + (receptacleType ?r SinkBasinType) + (exists (?o - object) + (and + (objectType ?o ForkType) + (exists (?mo - object) + (and + (objectType ?mo PlateType) + (isReceptacleObject ?mo) + (inReceptacleObject ?o ?mo) + (inReceptacle ?mo ?r) + ) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Fork-Plate-SinkBasin-25/trial_T20190913_154657_955499/traj_data.json 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"objectName": "Plate_29dab58d", + "position": { + "x": -2.67158461, + "y": 1.14841223, + "z": 2.04581046 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Spatula_77ce7117", + "position": { + "x": -0.1476208, + "y": 0.8385998, + "z": 0.352121234 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_298dd93a", + "position": { + "x": -2.66281223, + "y": 0.819159746, + "z": 0.557993948 + }, + "rotation": { + "x": 89.960434, + "y": 300.034515, + "z": 0.0 + } + }, + { + "objectName": "Egg_68224885", + "position": { + "x": -2.49167442, + "y": 0.8478783, + "z": 0.352121145 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_61785f6c", + "position": { + "x": -2.53052735, + "y": 0.121867537, + "z": 1.4713465 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_d1baac51", + "position": { + "x": -1.37479818, + "y": 0.823642, + "z": 0.5084426 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_b2f1312c", + "position": { + "x": -1.8365, + "y": 0.7415, + "z": 0.238453716 + }, + "rotation": { + "x": 0.0, + "y": 55.91092, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_407d7c3b", + "position": { + "x": -2.49167442, + "y": 0.818599939, + "z": 0.4262423 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_eb848da8", + "position": { + "x": -1.52280354, + "y": 0.124872386, + "z": 0.479743481 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_db4f73f8", + "position": { + "x": -0.979999542, + "y": 0.855475545, + "z": 0.249999925 + }, + "rotation": { + "x": -1.38762762e-05, + "y": 29.9999161, + "z": 4.06328145e-05 + } + }, + { + "objectName": "Spoon_df0734fa", + "position": { + "x": -1.13348758, + "y": 0.6996034, + "z": 0.37735492 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_57da2f86", + "position": { + "x": -2.844005, + "y": 0.916441262, + "z": 1.23169553 + }, + "rotation": { + "x": 0.0, + "y": 89.99987, + "z": 0.0 + } + }, + { + "objectName": "Bowl_4c742e05", + "position": { + "x": -2.78199959, + "y": 1.44222367, + "z": 2.04581 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3223583552, + "scene_num": 25 + }, + "task_id": "trial_T20190913_154657_955499", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1ELPYAFO7MANS_36TFCYNS471GCIQHLXRWZJ3J4M9XHT", + "high_descs": [ + "Walk ahead to the sink.", + "Take the fork out of the sink.", + "Look down.", + "Place the fork in the plate under the sink, in the right cabinet.", + "Pick up the plate.", + "Take a step left.", + "Place the plate in the left sink basin." + ], + "task_desc": "Place a plate with a fork on it in a sink.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1MKCTVKE7J0ZP_39GAF6DQWURD4I08JTNTJBQR7ME1V4", + "high_descs": [ + "Go forward to the sink ahead.", + "Pick up the fork from the right sink basin.", + "Look down at the cabinet beneath the right sink basin.", + "Open the cabinet and put the fork on the plate in the cabinet.", + "Pick up a plate with a fork on it.", + "Go to the left sink basin, on your left.", + "Put the plate in the left sink basin." + ], + "task_desc": "Put a plate with a fork on it in the left sink basin.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AFPMG8TLP1TND_3EFVCAY5L60MONKZ1PIPVX25Q51J89", + "high_descs": [ + "walk straight towards the sink", + "pick up the fork on the counter near the sink", + "look down below the sink", + "open the cabinet door below the sink", + "put the fork onto the pan in the cabinet and then remove both items and close the door", + "turn around and walk straight then turn right and walk straight then turn right and walk straight towards the sink", + "put the pan and the fork together inside the sink" + ], + "task_desc": "clean up a fork and a pan and put them into the sink", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Knife-Mug-SideTable-3/trial_T20190906_181901_796422/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Knife-Mug-SideTable-3/trial_T20190906_181901_796422/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..3caa5804cb715b7f92e118fb55ce9c4f90e86757 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Knife-Mug-SideTable-3/trial_T20190906_181901_796422/initial_state.pddl @@ -0,0 +1,879 @@ + +(define (problem plan_trial_T20190906_181901_796422) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__plus_00_dot_56_bar__plus_01_dot_37_bar__minus_02_dot_79 - object + Bowl_bar__plus_01_dot_15_bar__plus_01_dot_31_bar__plus_00_dot_91 - object + Bowl_bar__minus_01_dot_53_bar__plus_01_dot_32_bar__minus_02_dot_46 - object + Bread_bar__minus_01_dot_51_bar__plus_01_dot_38_bar__plus_00_dot_66 - object + Chair_bar__plus_00_dot_60_bar__plus_00_dot_95_bar__minus_01_dot_09 - object + Cup_bar__plus_01_dot_06_bar__plus_01_dot_67_bar__plus_01_dot_72 - object + Cup_bar__minus_01_dot_92_bar__plus_01_dot_33_bar__minus_01_dot_12 - object + Cup_bar__minus_01_dot_95_bar__plus_01_dot_05_bar__minus_00_dot_54 - object + DishSponge_bar__plus_01_dot_03_bar__plus_00_dot_74_bar__plus_00_dot_71 - object + Egg_bar__minus_01_dot_59_bar__plus_00_dot_32_bar__plus_02_dot_07 - object + Egg_bar__minus_01_dot_89_bar__plus_01_dot_09_bar__minus_00_dot_63 - object + Egg_bar__minus_02_dot_00_bar__plus_01_dot_38_bar__minus_01_dot_26 - object + Faucet_bar__minus_02_dot_06_bar__plus_01_dot_36_bar__minus_00_dot_73 - object + Fork_bar__minus_01_dot_24_bar__plus_01_dot_32_bar__minus_03_dot_09 - object + Fork_bar__minus_01_dot_56_bar__plus_00_dot_42_bar__minus_00_dot_30 - object + HousePlant_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__minus_00_dot_03 - object + Kettle_bar__minus_01_dot_61_bar__plus_00_dot_34_bar__plus_01_dot_52 - object + Knife_bar__minus_01_dot_56_bar__plus_01_dot_36_bar__minus_01_dot_05 - object + Lettuce_bar__minus_01_dot_38_bar__plus_01_dot_40_bar__minus_03_dot_31 - object + Lettuce_bar__minus_01_dot_53_bar__plus_01_dot_40_bar__minus_02_dot_72 - object + Lettuce_bar__minus_01_dot_79_bar__plus_01_dot_40_bar__plus_01_dot_09 - object + LightSwitch_bar__plus_01_dot_39_bar__plus_01_dot_57_bar__minus_00_dot_66 - object + Mug_bar__plus_00_dot_98_bar__plus_01_dot_75_bar__plus_02_dot_23 - object + Mug_bar__minus_01_dot_89_bar__plus_00_dot_34_bar__plus_01_dot_32 - object + Pan_bar__minus_01_dot_68_bar__plus_00_dot_34_bar__plus_00_dot_21 - object + PaperTowelRoll_bar__plus_01_dot_19_bar__plus_01_dot_31_bar__plus_01_dot_25 - object + PepperShaker_bar__plus_00_dot_86_bar__plus_01_dot_20_bar__plus_01_dot_25 - object + PepperShaker_bar__minus_01_dot_09_bar__plus_01_dot_32_bar__minus_02_dot_98 - object + Plate_bar__minus_01_dot_73_bar__plus_00_dot_34_bar__minus_02_dot_06 - object + Potato_bar__plus_00_dot_94_bar__plus_01_dot_80_bar__plus_01_dot_99 - object + Potato_bar__minus_01_dot_92_bar__plus_01_dot_36_bar__minus_01_dot_94 - object + Pot_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 - object + Pot_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 - object + Pot_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 - object + SaltShaker_bar__minus_01_dot_79_bar__plus_00_dot_34_bar__minus_01_dot_76 - object + Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98 - object + SoapBottle_bar__minus_01_dot_52_bar__plus_01_dot_32_bar__minus_02_dot_98 - object + Spatula_bar__minus_01_dot_77_bar__plus_00_dot_44_bar__minus_01_dot_28 - object + Spoon_bar__plus_00_dot_94_bar__plus_00_dot_74_bar__plus_01_dot_05 - object + Spoon_bar__plus_00_dot_94_bar__plus_00_dot_95_bar__plus_01_dot_05 - 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__minus_01_dot_92_bar__plus_01_dot_36_bar__minus_01_dot_68 - 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_28_bar__plus_02_dot_23 - object + WineBottle_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_01_dot_32 - 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__minus_3_bar_2_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__plus_00_dot_71_bar__plus_01_dot_06_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 SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87 SideTableType) + (receptacleType Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47 CabinetType) + (receptacleType Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05 CabinetType) + (receptacleType GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19 GarbageCanType) + (receptacleType StoveBurner_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 StoveBurnerType) + (receptacleType StoveBurner_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 StoveBurnerType) + (receptacleType Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85 MicrowaveType) + (receptacleType StoveBurner_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 StoveBurnerType) + (receptacleType Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_22 DrawerType) + (receptacleType Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92 FridgeType) + (receptacleType Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_00_dot_43 DrawerType) + (receptacleType Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00 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Pot_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30) + (cleanable Tomato_bar__minus_01_dot_92_bar__plus_01_dot_36_bar__minus_01_dot_68) + (cleanable Cup_bar__minus_01_dot_95_bar__plus_01_dot_05_bar__minus_00_dot_54) + + (heatable Cup_bar__minus_01_dot_92_bar__plus_01_dot_33_bar__minus_01_dot_12) + (heatable Bread_bar__minus_01_dot_51_bar__plus_01_dot_38_bar__plus_00_dot_66) + (heatable Mug_bar__minus_01_dot_89_bar__plus_00_dot_34_bar__plus_01_dot_32) + (heatable Apple_bar__plus_00_dot_56_bar__plus_01_dot_37_bar__minus_02_dot_79) + (heatable Egg_bar__minus_01_dot_89_bar__plus_01_dot_09_bar__minus_00_dot_63) + (heatable Egg_bar__minus_02_dot_00_bar__plus_01_dot_38_bar__minus_01_dot_26) + (heatable Egg_bar__minus_01_dot_59_bar__plus_00_dot_32_bar__plus_02_dot_07) + (heatable Potato_bar__minus_01_dot_92_bar__plus_01_dot_36_bar__minus_01_dot_94) + (heatable Potato_bar__plus_00_dot_94_bar__plus_01_dot_80_bar__plus_01_dot_99) + (heatable 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Bowl_bar__plus_01_dot_15_bar__plus_01_dot_31_bar__plus_00_dot_91) + (coolable Egg_bar__minus_01_dot_89_bar__plus_01_dot_09_bar__minus_00_dot_63) + (coolable Egg_bar__minus_02_dot_00_bar__plus_01_dot_38_bar__minus_01_dot_26) + (coolable Egg_bar__minus_01_dot_59_bar__plus_00_dot_32_bar__plus_02_dot_07) + (coolable Bowl_bar__minus_01_dot_53_bar__plus_01_dot_32_bar__minus_02_dot_46) + (coolable Potato_bar__minus_01_dot_92_bar__plus_01_dot_36_bar__minus_01_dot_94) + (coolable Potato_bar__plus_00_dot_94_bar__plus_01_dot_80_bar__plus_01_dot_99) + (coolable Plate_bar__minus_01_dot_73_bar__plus_00_dot_34_bar__minus_02_dot_06) + (coolable WineBottle_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_01_dot_32) + (coolable Lettuce_bar__minus_01_dot_79_bar__plus_01_dot_40_bar__plus_01_dot_09) + (coolable Mug_bar__plus_00_dot_98_bar__plus_01_dot_75_bar__plus_02_dot_23) + (coolable Cup_bar__plus_01_dot_06_bar__plus_01_dot_67_bar__plus_01_dot_72) + (coolable Pot_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97) + (coolable Lettuce_bar__minus_01_dot_53_bar__plus_01_dot_40_bar__minus_02_dot_72) + (coolable Pot_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30) + (coolable Tomato_bar__minus_01_dot_92_bar__plus_01_dot_36_bar__minus_01_dot_68) + (coolable WineBottle_bar__minus_01_dot_61_bar__plus_00_dot_28_bar__plus_02_dot_23) + (coolable Cup_bar__minus_01_dot_95_bar__plus_01_dot_05_bar__minus_00_dot_54) + + + + + + (sliceable Bread_bar__minus_01_dot_51_bar__plus_01_dot_38_bar__plus_00_dot_66) + (sliceable Apple_bar__plus_00_dot_56_bar__plus_01_dot_37_bar__minus_02_dot_79) + (sliceable Lettuce_bar__minus_01_dot_38_bar__plus_01_dot_40_bar__minus_03_dot_31) + (sliceable Egg_bar__minus_01_dot_89_bar__plus_01_dot_09_bar__minus_00_dot_63) + (sliceable Egg_bar__minus_02_dot_00_bar__plus_01_dot_38_bar__minus_01_dot_26) + (sliceable Egg_bar__minus_01_dot_59_bar__plus_00_dot_32_bar__plus_02_dot_07) + (sliceable Potato_bar__minus_01_dot_92_bar__plus_01_dot_36_bar__minus_01_dot_94) + (sliceable Potato_bar__plus_00_dot_94_bar__plus_01_dot_80_bar__plus_01_dot_99) + (sliceable Lettuce_bar__minus_01_dot_79_bar__plus_01_dot_40_bar__plus_01_dot_09) + (sliceable Lettuce_bar__minus_01_dot_53_bar__plus_01_dot_40_bar__minus_02_dot_72) + (sliceable Tomato_bar__minus_01_dot_92_bar__plus_01_dot_36_bar__minus_01_dot_68) + + (inReceptacle Pot_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 StoveBurner_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30) + (inReceptacle Plate_bar__minus_01_dot_73_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 SaltShaker_bar__minus_01_dot_79_bar__plus_00_dot_34_bar__minus_01_dot_76 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00) + (inReceptacle Pot_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 DishSponge_bar__plus_01_dot_03_bar__plus_00_dot_74_bar__plus_00_dot_71 Drawer_bar__plus_00_dot_72_bar__plus_00_dot_84_bar__plus_00_dot_68) + (inReceptacle Pan_bar__minus_01_dot_68_bar__plus_00_dot_34_bar__plus_00_dot_21 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47) + (inReceptacle Spoon_bar__plus_00_dot_94_bar__plus_00_dot_95_bar__plus_01_dot_05 Drawer_bar__plus_00_dot_71_bar__plus_01_dot_06_bar__plus_01_dot_02) + (inReceptacle Bowl_bar__minus_01_dot_53_bar__plus_01_dot_32_bar__minus_02_dot_46 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Apple_bar__plus_00_dot_56_bar__plus_01_dot_37_bar__minus_02_dot_79 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Lettuce_bar__minus_01_dot_38_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 Lettuce_bar__minus_01_dot_53_bar__plus_01_dot_40_bar__minus_02_dot_72 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Potato_bar__minus_01_dot_92_bar__plus_01_dot_36_bar__minus_01_dot_94 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Bread_bar__minus_01_dot_51_bar__plus_01_dot_38_bar__plus_00_dot_66 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Tomato_bar__minus_01_dot_92_bar__plus_01_dot_36_bar__minus_01_dot_68 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle PepperShaker_bar__minus_01_dot_09_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) + (inReceptacle Lettuce_bar__minus_01_dot_79_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 SoapBottle_bar__minus_01_dot_52_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) + (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 Fork_bar__minus_01_dot_24_bar__plus_01_dot_32_bar__minus_03_dot_09 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Kettle_bar__minus_01_dot_61_bar__plus_00_dot_34_bar__plus_01_dot_52 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31) + (inReceptacle WineBottle_bar__minus_01_dot_75_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 Mug_bar__minus_01_dot_89_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 Spoon_bar__plus_00_dot_94_bar__plus_00_dot_74_bar__plus_01_dot_05 Drawer_bar__plus_00_dot_71_bar__plus_00_dot_85_bar__plus_01_dot_02) + (inReceptacle Pot_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 StoveBurner_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97) + (inReceptacle Fork_bar__minus_01_dot_56_bar__plus_00_dot_42_bar__minus_00_dot_30 Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_00_dot_43) + (inReceptacle Spatula_bar__minus_01_dot_77_bar__plus_00_dot_44_bar__minus_01_dot_28 Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_22) + (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 PepperShaker_bar__plus_00_dot_86_bar__plus_01_dot_20_bar__plus_01_dot_25 SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87) + (inReceptacle Potato_bar__plus_00_dot_94_bar__plus_01_dot_80_bar__plus_01_dot_99 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92) + (inReceptacle Mug_bar__plus_00_dot_98_bar__plus_01_dot_75_bar__plus_02_dot_23 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92) + (inReceptacle Cup_bar__plus_01_dot_06_bar__plus_01_dot_67_bar__plus_01_dot_72 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92) + (inReceptacle Bowl_bar__plus_01_dot_15_bar__plus_01_dot_31_bar__plus_00_dot_91 Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85) + (inReceptacle WineBottle_bar__minus_01_dot_61_bar__plus_00_dot_28_bar__plus_02_dot_23 GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19) + (inReceptacle Egg_bar__minus_01_dot_59_bar__plus_00_dot_32_bar__plus_02_dot_07 GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19) + (inReceptacle Egg_bar__minus_01_dot_89_bar__plus_01_dot_09_bar__minus_00_dot_63 Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98_bar_SinkBasin) + (inReceptacle Cup_bar__minus_01_dot_95_bar__plus_01_dot_05_bar__minus_00_dot_54 Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98_bar_SinkBasin) + + + (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) + (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) + (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) + (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) + (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) + 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loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (objectAtLocation Mug_bar__minus_01_dot_89_bar__plus_00_dot_34_bar__plus_01_dot_32 loc_bar__minus_2_bar_7_bar_3_bar_45) + (objectAtLocation Spoon_bar__plus_00_dot_94_bar__plus_00_dot_74_bar__plus_01_dot_05 loc_bar_0_bar_6_bar_1_bar_60) + (objectAtLocation PepperShaker_bar__minus_01_dot_09_bar__plus_01_dot_32_bar__minus_02_dot_98 loc_bar__minus_4_bar_5_bar_3_bar_30) + (objectAtLocation Lettuce_bar__minus_01_dot_38_bar__plus_01_dot_40_bar__minus_03_dot_31 loc_bar__minus_4_bar_5_bar_3_bar_30) + (objectAtLocation WineBottle_bar__minus_01_dot_61_bar__plus_00_dot_28_bar__plus_02_dot_23 loc_bar__minus_4_bar_5_bar_0_bar_60) + (objectAtLocation Egg_bar__minus_02_dot_00_bar__plus_01_dot_38_bar__minus_01_dot_26 loc_bar__minus_4_bar__minus_3_bar_3_bar_45) + (objectAtLocation Cup_bar__plus_01_dot_06_bar__plus_01_dot_67_bar__plus_01_dot_72 loc_bar_0_bar_8_bar_1_bar_60) + (objectAtLocation Fork_bar__minus_01_dot_24_bar__plus_01_dot_32_bar__minus_03_dot_09 loc_bar__minus_4_bar_5_bar_3_bar_30) + (objectAtLocation Potato_bar__plus_00_dot_94_bar__plus_01_dot_80_bar__plus_01_dot_99 loc_bar_0_bar_8_bar_1_bar_60) + (objectAtLocation Bowl_bar__minus_01_dot_53_bar__plus_01_dot_32_bar__minus_02_dot_46 loc_bar__minus_4_bar_5_bar_3_bar_30) + (objectAtLocation Pot_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) + (objectAtLocation Lettuce_bar__minus_01_dot_53_bar__plus_01_dot_40_bar__minus_02_dot_72 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loc_bar__minus_3_bar__minus_9_bar_2_bar_45) + (objectAtLocation Fork_bar__minus_01_dot_56_bar__plus_00_dot_42_bar__minus_00_dot_30 loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (objectAtLocation Cup_bar__minus_01_dot_95_bar__plus_01_dot_05_bar__minus_00_dot_54 loc_bar__minus_4_bar__minus_3_bar_3_bar_45) + (objectAtLocation Kettle_bar__minus_01_dot_61_bar__plus_00_dot_34_bar__plus_01_dot_52 loc_bar__minus_2_bar_7_bar_3_bar_45) + (objectAtLocation Egg_bar__minus_01_dot_59_bar__plus_00_dot_32_bar__plus_02_dot_07 loc_bar__minus_4_bar_5_bar_0_bar_60) + (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) + (objectAtLocation Pan_bar__minus_01_dot_68_bar__plus_00_dot_34_bar__plus_00_dot_21 loc_bar__minus_2_bar_0_bar_3_bar_45) + (objectAtLocation SaltShaker_bar__minus_01_dot_79_bar__plus_00_dot_34_bar__minus_01_dot_76 loc_bar__minus_2_bar__minus_6_bar_3_bar_45) + (objectAtLocation 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", + "Place the mug and knife on the microwave cart directly in front of the roll of paper towels." + ], + "task_desc": "Move a knife in a mug to the microwave cart.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A20FCMWP43CVIU_3FQ5JJ512O5UHPRNT4I3DN8B010KNO", + "high_descs": [ + "turn around, walk to face kitchen sink", + "pick up sharp knife with gold handle from drying area left of the sink", + "turn right, walk to face the fridge", + "open the fridge door, put the knife in the white mug on the top left shelf of fridge", + "pick up mug from fridge shelf, close the fridge door", + "walk to the right to face the microwave", + "put the mug on the counter to the left of the microwave between the salt and paper towels" + ], + "task_desc": "put a chilled mug and knife near the microwave", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A36DK84J5YJ942_3KV0LJBBH52AMBJI7NC01K5PQ3ORMS", + "high_descs": [ + "move to the sink to the right of you", + "pick up a knife from the sink", + "move to the fridge to the right", + "put the knife in a cup", + "pick up the cup from the fridge", + "move to the counter to the right of the fridge", + "put the cup on the counter" + ], + "task_desc": "Put a cup on a counter with a knife.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3HL2LL0LEPZT8_3AMYWKA6YE350V6ASFOFIT3XMKBO6V", + "high_descs": [ + "Turn right, go to the sink on the left.", + "Pick up the knife on the rack to the left of the sink.", + "Turn right, go towards the refrigerator on the right.", + "Open the refrigerator, put the knife in the white mug on the left.", + "Take the mug from the refrigerator, close the refrigerator.", + "Go in front of the counter with the microwave to the right.", + "Put the mug behind the pepper grinder and in front of the paper towel roll on the counter." + ], + "task_desc": "Put a mug with a knife on a counter.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1RLO9LNUJIW5S_3P1L2B7AD46NJG9HFJUH7CLUCEOOLP", + "high_descs": [ + "Turn to your right and walk until you are facing the left side of the sink", + "Pick up the knife with the yellow handle.", + "Turn to your right and walk until you hit the wall then turn right again and stand in front of the fridge so you are facing it.", + "Open the fridge and put the knife in the white mug to the left of the green cup.", + "Retrieve the cup and knife on the shelf and close the door.", + "Turn to your right and walk a couple steps so your are by the microwave and then face it.", + "Put down the mug to the left of the microwave between the pepper grinder and paper towels." + ], + "task_desc": "Place a cup with a knife in it beside the microwave.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1GVTH5YS3WOK0_3R0T90IZ1VT6OZYDENOAZKM5RJHGCC", + "high_descs": [ + "Turn right and walk towards the oven but make a right at the kitchen sink.", + "Pick up the knife next to the sink.", + "Turn right, walk towards the wall, and turn left towards the fridge.", + "Open the fridge and put the knife in the white cup.", + "Remove the white cup with the knife from the fridge.", + "Turn right and walk towards the microwave on the left.", + "Place the cup behind the pepper shaker." + ], + "task_desc": "Place the white cup with a knife behind the pepper shaker.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Knife-Mug-SideTable-3/trial_T20190906_182048_218219/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Knife-Mug-SideTable-3/trial_T20190906_182048_218219/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..b42cbeb916b3b7437a8089e4434fbec3c5611846 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Knife-Mug-SideTable-3/trial_T20190906_182048_218219/initial_state.pddl @@ -0,0 +1,927 @@ + +(define (problem plan_trial_T20190906_182048_218219) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__plus_01_dot_10_bar__plus_01_dot_72_bar__plus_01_dot_60 - object + Apple_bar__minus_01_dot_66_bar__plus_00_dot_33_bar__plus_02_dot_19 - object + Apple_bar__minus_01_dot_70_bar__plus_01_dot_10_bar__minus_00_dot_59 - object + Bowl_bar__minus_01_dot_60_bar__plus_00_dot_34_bar__minus_01_dot_86 - object + Bowl_bar__minus_02_dot_18_bar__plus_01_dot_32_bar__plus_02_dot_07 - object + Bread_bar__minus_01_dot_53_bar__plus_01_dot_40_bar__plus_02_dot_07 - object + Bread_bar__minus_01_dot_79_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__plus_01_dot_21_bar__plus_01_dot_31_bar__plus_00_dot_81 - object + Cup_bar__minus_01_dot_89_bar__plus_00_dot_34_bar__plus_01_dot_11 - object + Cup_bar__minus_01_dot_95_bar__plus_00_dot_34_bar__plus_00_dot_11 - object + DishSponge_bar__plus_00_dot_64_bar__plus_01_dot_32_bar__minus_02_dot_42 - object + DishSponge_bar__plus_01_dot_03_bar__plus_00_dot_46_bar__plus_01_dot_05 - object + DishSponge_bar__minus_01_dot_61_bar__plus_00_dot_34_bar__plus_00_dot_41 - object + Egg_bar__plus_00_dot_90_bar__plus_01_dot_36_bar__minus_03_dot_16 - object + Egg_bar__plus_01_dot_12_bar__plus_01_dot_35_bar__plus_00_dot_97 - object + Egg_bar__minus_01_dot_36_bar__plus_01_dot_36_bar__minus_00_dot_10 - object + Faucet_bar__minus_02_dot_06_bar__plus_01_dot_36_bar__minus_00_dot_73 - object + Fork_bar__plus_00_dot_81_bar__plus_00_dot_95_bar__plus_01_dot_05 - object + HousePlant_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__minus_00_dot_03 - object + Kettle_bar__plus_00_dot_82_bar__plus_00_dot_35_bar__minus_01_dot_96 - object + Knife_bar__plus_00_dot_77_bar__plus_01_dot_35_bar__minus_01_dot_31 - object + Knife_bar__minus_01_dot_79_bar__plus_01_dot_35_bar__plus_01_dot_09 - object + Knife_bar__minus_01_dot_83_bar__plus_01_dot_36_bar__minus_01_dot_12 - object + Lettuce_bar__plus_01_dot_16_bar__plus_01_dot_40_bar__minus_02_dot_42 - object + Lettuce_bar__minus_01_dot_40_bar__plus_01_dot_40_bar__plus_01_dot_74 - object + LightSwitch_bar__plus_01_dot_39_bar__plus_01_dot_57_bar__minus_00_dot_66 - object + Mug_bar__plus_00_dot_93_bar__plus_01_dot_94_bar__plus_01_dot_79 - object + Mug_bar__minus_01_dot_40_bar__plus_01_dot_32_bar__minus_03_dot_24 - object + Pan_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 - object + PaperTowelRoll_bar__minus_01_dot_61_bar__plus_00_dot_38_bar__plus_02_dot_32 - object + PepperShaker_bar__minus_01_dot_09_bar__plus_01_dot_32_bar__minus_03_dot_43 - object + PepperShaker_bar__minus_01_dot_36_bar__plus_01_dot_32_bar__minus_01_dot_04 - object + PepperShaker_bar__minus_01_dot_52_bar__plus_01_dot_32_bar__minus_03_dot_09 - object + Plate_bar__minus_01_dot_53_bar__plus_01_dot_32_bar__minus_02_dot_72 - object + Plate_bar__minus_01_dot_79_bar__plus_01_dot_32_bar__plus_00_dot_45 - object + Potato_bar__minus_02_dot_09_bar__plus_01_dot_37_bar__minus_01_dot_19 - object + Pot_bar__minus_01_dot_82_bar__plus_00_dot_35_bar__plus_00_dot_41 - object + SaltShaker_bar__plus_01_dot_13_bar__plus_00_dot_34_bar__minus_02_dot_16 - object + SaltShaker_bar__minus_01_dot_65_bar__plus_00_dot_42_bar__minus_00_dot_36 - object + SaltShaker_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_00_dot_61 - object + Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98 - object + SoapBottle_bar__minus_01_dot_83_bar__plus_01_dot_33_bar__minus_01_dot_19 - object + Spatula_bar__plus_00_dot_49_bar__plus_01_dot_34_bar__minus_02_dot_68 - object + Spatula_bar__minus_01_dot_56_bar__plus_01_dot_34_bar__minus_00_dot_98 - object + Spoon_bar__plus_00_dot_94_bar__plus_00_dot_74_bar__plus_00_dot_68 - object + Spoon_bar__minus_02_dot_00_bar__plus_01_dot_34_bar__minus_01_dot_26 - object + Spoon_bar__minus_02_dot_05_bar__plus_01_dot_32_bar__minus_02_dot_46 - 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_91_bar__plus_02_dot_06_bar__plus_02_dot_17 - object + Tomato_bar__minus_01_dot_92_bar__plus_01_dot_37_bar__minus_00_dot_91 - object + Window_bar__minus_02_dot_57_bar__plus_01_dot_80_bar__minus_00_dot_82 - object + WineBottle_bar__plus_00_dot_63_bar__plus_01_dot_32_bar__minus_03_dot_23 - 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_7_bar_1_bar_0 - 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_2_bar_1_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__plus_00_dot_71_bar__plus_01_dot_06_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 SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87 SideTableType) + (receptacleType Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47 CabinetType) + (receptacleType Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05 CabinetType) + (receptacleType GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19 GarbageCanType) + (receptacleType StoveBurner_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 StoveBurnerType) + (receptacleType StoveBurner_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 StoveBurnerType) + (receptacleType Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85 MicrowaveType) + (receptacleType StoveBurner_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 StoveBurnerType) + (receptacleType Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_22 DrawerType) + (receptacleType Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92 FridgeType) + (receptacleType Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_00_dot_43 DrawerType) + (receptacleType Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00 CabinetType) + (receptacleType Drawer_bar__plus_00_dot_71_bar__plus_00_dot_85_bar__plus_01_dot_02 DrawerType) + (receptacleType Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31 CabinetType) + (receptacleType Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_00_dot_68 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_01_dot_02 DrawerType) + (receptacleType CoffeeMachine_bar__plus_01_dot_13_bar__plus_01_dot_31_bar__minus_01_dot_43 CoffeeMachineType) + (receptacleType StoveBurner_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 StoveBurnerType) + (receptacleType CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18 CounterTopType) + (receptacleType Drawer_bar__plus_00_dot_72_bar__plus_00_dot_84_bar__plus_00_dot_68 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_72_bar__plus_01_dot_06_bar__plus_00_dot_68 DrawerType) + (receptacleType Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98_bar_SinkBasin SinkBasinType) + (objectType StoveKnob_bar__minus_00_dot_57_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType) + (objectType Egg_bar__plus_00_dot_90_bar__plus_01_dot_36_bar__minus_03_dot_16 EggType) + (objectType Knife_bar__plus_00_dot_77_bar__plus_01_dot_35_bar__minus_01_dot_31 KnifeType) + (objectType Bread_bar__minus_01_dot_79_bar__plus_01_dot_40_bar__plus_02_dot_07 BreadType) + (objectType Pan_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 PanType) + (objectType Spoon_bar__minus_02_dot_00_bar__plus_01_dot_34_bar__minus_01_dot_26 SpoonType) + (objectType Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98 SinkType) + (objectType Plate_bar__minus_01_dot_79_bar__plus_01_dot_32_bar__plus_00_dot_45 PlateType) + (objectType Window_bar__minus_02_dot_57_bar__plus_01_dot_80_bar__minus_00_dot_82 WindowType) + (objectType StoveKnob_bar__minus_00_dot_71_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType) + (objectType StoveKnob_bar__minus_00_dot_34_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType) + (objectType 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stove.", + "Place the knife in the white cup on the counter.", + "Pick up the cup from the counter.", + "Turn around, walk towards the lettuce on the counter, turn right, walk towards the microwave.", + "Place the cup in front of the microwave on the left side." + ], + "task_desc": "Place a cup with a knife on microwave table.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1RLO9LNUJIW5S_3BF51CHDTYR0U3Y8MDD8PJW60QVH0E", + "high_descs": [ + "Take a step to your right then walk to the coffee maker that's on your left and face it.", + "Pick up the yellow handled knife that's in front of you.", + "Turn around and walk to the counter then turn left and walk to the stove.", + "Put the knife in the mug that's to the right of the stove.", + "Pick up the mug that has a knife in it.", + "Turn around and walk until you're even with the microwave on your right then turn right and walk to it.", + "Put the mug near the bottom left corner of the table the microwave is on." + ], + "task_desc": "Put a mug with a knife in it on the table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_3EKVH9QME1LQEXWKF4YWHMAN5WWD2V", + "high_descs": [ + "Turn right and walk towards the counter, then hang a left and walk up to the counter where the coffee machine is.", + "Pick up the large metal knife with a golden handle off of the counter in front of you.", + "Turn around and walk over to the counter, then turn left and walk up to the oven.", + "Put the large metal knife in the mug that is on the counter to the right of the stove.", + "Pick up the mug with the knife in it off of the counter.", + "Turn around and walk over to the microwave.", + "Open the fridge and put the mug with the knife in it on the counter in front and to the left of the microwave." + ], + "task_desc": "Put a mug with a knife in it on the counter.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AM2KK02JXXW48_3OWEPKL08CT6MAK3AATU9I3PUHP7NU", + "high_descs": [ + "Move to the counter to the left and face the coffee machine.", + "Pick up the knife on the counter. ", + "Turn around, bring the knife to the sink, turn left and bring the knife to the counter right of the stove.", + "Put the knife in the mug on the counter.", + "Pick up the mug with knife on the counter. ", + "Turn around, bring the mug with knife to the microwave on the black table on the right.", + "Put the mug with knife on the black table next to the microwave." + ], + "task_desc": "Put a mug with knife on the black table. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A24RGLS3BRZ60J_33FBRBDW6RGRVKSVVPCM775731W8CI", + "high_descs": [ + "Turn to the right and left to find the coffee machine on the counter.", + "Pick up the knife from the counter.", + "Turn around and go to the stove.", + "Put the knife in the coffee mug.", + "Pick up the coffee mug and the knife from the counter.", + "Turn around, and then go to the right to find the microwave.", + "Put the coffee mug and knife down on the microwave cart." + ], + "task_desc": "Take a mug with a knife to the microwave.", + "votes": [ + 1, + 1, + 0 + ] + }, + { + "assignment_id": "A320QA9HJFUOZO_3VNL7UK1XI0HWG4TPPDI69MXERZFTF", + "high_descs": [ + "Walk forward then turn left to face the counter just left of the coffee maker", + "Pick up the knife from the counter", + "Turn right and walk to the counter just right of the oven", + "Put the knife into the white mug on the counter", + "Pick up the mug from the counter", + "Turn around and walk across the room to the counter right of the fridge", + "Put the mug down on the front left edge of the counter" + ], + "task_desc": "Put the mug with knife on the counter", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Knife-Mug-SideTable-3/trial_T20190906_182114_677622/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Knife-Mug-SideTable-3/trial_T20190906_182114_677622/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..85983778eba1083e0e0aae649214c293c1461524 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Knife-Mug-SideTable-3/trial_T20190906_182114_677622/initial_state.pddl @@ -0,0 +1,931 @@ + +(define (problem plan_trial_T20190906_182114_677622) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - 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Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47) + (inReceptacle PepperShaker_bar__minus_01_dot_88_bar__plus_00_dot_34_bar__plus_00_dot_31 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47) + (inReceptacle DishSponge_bar__plus_00_dot_90_bar__plus_00_dot_95_bar__plus_00_dot_65 Drawer_bar__plus_00_dot_72_bar__plus_01_dot_06_bar__plus_00_dot_68) + (inReceptacle Cup_bar__plus_01_dot_13_bar__plus_00_dot_34_bar__minus_01_dot_75 Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05) + (inReceptacle PepperShaker_bar__plus_00_dot_82_bar__plus_00_dot_34_bar__minus_02_dot_16 Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05) + (inReceptacle Bowl_bar__plus_00_dot_98_bar__plus_00_dot_34_bar__minus_02_dot_37 Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05) + (inReceptacle Potato_bar__minus_01_dot_52_bar__plus_01_dot_36_bar__minus_02_dot_98 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle PaperTowelRoll_bar__minus_01_dot_79_bar__plus_01_dot_43_bar__plus_01_dot_74 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Fork_bar__plus_00_dot_90_bar__plus_01_dot_32_bar__minus_02_dot_42 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle SaltShaker_bar__minus_01_dot_66_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) + (inReceptacle Kettle_bar__minus_01_dot_66_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) + (inReceptacle SoapBottle_bar__minus_02_dot_05_bar__plus_01_dot_32_bar__plus_02_dot_07 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Potato_bar__minus_01_dot_79_bar__plus_01_dot_36_bar__minus_01_dot_68 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Lettuce_bar__minus_01_dot_40_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) + (inReceptacle WineBottle_bar__plus_00_dot_56_bar__plus_01_dot_32_bar__minus_02_dot_68 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Plate_bar__minus_01_dot_47_bar__plus_01_dot_31_bar__plus_00_dot_24 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Egg_bar__minus_01_dot_09_bar__plus_01_dot_36_bar__minus_02_dot_98 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 Kettle_bar__plus_00_dot_49_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) + (inReceptacle Fork_bar__minus_01_dot_79_bar__plus_01_dot_32_bar__minus_01_dot_94 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Fork_bar__plus_00_dot_64_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 Bread_bar__minus_01_dot_53_bar__plus_01_dot_40_bar__minus_01_dot_68 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Potato_bar__minus_01_dot_92_bar__plus_01_dot_36_bar__minus_02_dot_20 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (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) + (inReceptacle Tomato_bar__plus_01_dot_29_bar__plus_01_dot_36_bar__minus_03_dot_16 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Mug_bar__minus_01_dot_40_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) + (inReceptacle Knife_bar__plus_00_dot_64_bar__plus_01_dot_35_bar__minus_01_dot_31 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle SoapBottle_bar__minus_01_dot_95_bar__plus_00_dot_34_bar__plus_01_dot_52 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31) + (inReceptacle PepperShaker_bar__minus_01_dot_61_bar__plus_00_dot_34_bar__plus_01_dot_11 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31) + (inReceptacle Spoon_bar__plus_00_dot_90_bar__plus_00_dot_46_bar__plus_00_dot_68 Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_00_dot_68) + (inReceptacle Apple_bar__plus_00_dot_94_bar__plus_01_dot_72_bar__plus_01_dot_78 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92) + (inReceptacle Tomato_bar__plus_01_dot_01_bar__plus_01_dot_98_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_01_dot_07_bar__plus_01_dot_52_bar__plus_01_dot_72 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92) + (inReceptacle Bowl_bar__plus_00_dot_96_bar__plus_01_dot_94_bar__plus_01_dot_79 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92) + (inReceptacle Egg_bar__plus_01_dot_15_bar__plus_01_dot_35_bar__plus_00_dot_86 Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85) + (inReceptacle SoapBottle_bar__minus_01_dot_63_bar__plus_00_dot_28_bar__plus_02_dot_11 GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19) + (inReceptacle Apple_bar__minus_01_dot_61_bar__plus_00_dot_33_bar__plus_02_dot_23 GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19) + (inReceptacle 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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) + (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) + (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) + (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) + (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) + (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) + (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) + (receptacleAtLocation 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", + "Pick up knife from counter", + "Take the knife to the kitchen sink. ", + "Remove coffee mug from sink", + "Put knife inside of the coffee mug", + "Take the coffee mug to the microwave. ", + "Put the mug down to the left of the microwave. " + ], + "task_desc": "Put a knife in a cup and place it next to the microwave. 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"Go to the table with the microwave on it.", + "Set the cup and knife down on the table in front of the microwave." + ], + "task_desc": "Put a coffee cup with a knife in it onto the microwave stand.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pencil-Bowl-Desk-305/trial_T20190907_012236_121985/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pencil-Bowl-Desk-305/trial_T20190907_012236_121985/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..9b242d59c8ceb875cf0a74e2953939ecdaf49687 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pencil-Bowl-Desk-305/trial_T20190907_012236_121985/initial_state.pddl @@ -0,0 +1,528 @@ + +(define (problem plan_trial_T20190907_012236_121985) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + AlarmClock_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_00_dot_96 - object + BaseballBat_bar__minus_01_dot_72_bar__plus_00_dot_71_bar__minus_00_dot_68 - object + BasketBall_bar__minus_01_dot_64_bar__plus_00_dot_13_bar__minus_01_dot_65 - object + Blinds_bar__minus_00_dot_15_bar__plus_01_dot_68_bar__minus_01_dot_99 - object + Book_bar__plus_00_dot_70_bar__plus_00_dot_78_bar__minus_01_dot_26 - object + Book_bar__plus_01_dot_15_bar__plus_00_dot_72_bar__plus_01_dot_81 - object + Bowl_bar__plus_00_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_66 - object + Box_bar__minus_01_dot_23_bar__plus_00_dot_26_bar__minus_01_dot_44 - object + CD_bar__plus_01_dot_17_bar__plus_00_dot_08_bar__plus_00_dot_56 - object + CD_bar__plus_01_dot_28_bar__plus_01_dot_14_bar__plus_01_dot_25 - object + CellPhone_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_00_dot_99 - object + CellPhone_bar__plus_00_dot_70_bar__plus_00_dot_78_bar__minus_00_dot_17 - object + Chair_bar__plus_01_dot_13_bar__plus_00_dot_00_bar__plus_01_dot_05 - object + CreditCard_bar__plus_01_dot_28_bar__plus_01_dot_14_bar__plus_01_dot_56 - object + DeskLamp_bar__minus_00_dot_40_bar__plus_00_dot_69_bar__minus_01_dot_67 - object + KeyChain_bar__minus_00_dot_21_bar__plus_00_dot_69_bar__minus_01_dot_66 - object + Laptop_bar__plus_01_dot_22_bar__plus_00_dot_72_bar__plus_01_dot_34 - object + LaundryHamperLid_bar__minus_01_dot_60_bar__plus_00_dot_48_bar__plus_01_dot_84 - object + LightSwitch_bar__plus_00_dot_55_bar__plus_01_dot_16_bar__plus_02_dot_08 - object + Mirror_bar__minus_00_dot_88_bar__plus_01_dot_35_bar__plus_02_dot_09 - object + Mug_bar__plus_00_dot_16_bar__plus_00_dot_69_bar__minus_01_dot_81 - object + Pencil_bar__plus_01_dot_15_bar__plus_00_dot_73_bar__plus_00_dot_90 - object + Pencil_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_09 - object + Pencil_bar__plus_01_dot_41_bar__plus_01_dot_14_bar__plus_01_dot_25 - object + Pen_bar__minus_00_dot_21_bar__plus_00_dot_70_bar__minus_01_dot_62 - object + Pen_bar__minus_00_dot_21_bar__plus_00_dot_70_bar__minus_01_dot_79 - object + Pillow_bar__plus_00_dot_96_bar__plus_00_dot_85_bar__minus_00_dot_17 - object + Pillow_bar__plus_00_dot_96_bar__plus_00_dot_85_bar__minus_00_dot_71 - object + Poster_bar__plus_00_dot_98_bar__plus_01_dot_97_bar__minus_01_dot_87 - object + Poster_bar__plus_01_dot_48_bar__plus_01_dot_50_bar__minus_00_dot_13 - object + Poster_bar__plus_01_dot_48_bar__plus_01_dot_98_bar__minus_01_dot_21 - object + Poster_bar__plus_01_dot_48_bar__plus_02_dot_14_bar__minus_00_dot_13 - object + Window_bar__minus_00_dot_18_bar__plus_01_dot_01_bar__minus_02_dot_01 - object + Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72 - receptacle + Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30 - receptacle + Drawer_bar__plus_01_dot_13_bar__plus_00_dot_16_bar__plus_01_dot_74 - receptacle + Drawer_bar__plus_01_dot_13_bar__plus_00_dot_40_bar__plus_01_dot_74 - receptacle + Drawer_bar__plus_01_dot_13_bar__plus_00_dot_62_bar__plus_01_dot_74 - receptacle + Drawer_bar__minus_00_dot_09_bar__plus_00_dot_19_bar__minus_01_dot_63 - receptacle + Drawer_bar__minus_00_dot_09_bar__plus_00_dot_48_bar__minus_01_dot_63 - receptacle + Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72 - receptacle + GarbageCan_bar__plus_01_dot_13_bar__plus_00_dot_03_bar__plus_00_dot_59 - receptacle + LaundryHamper_bar__minus_01_dot_60_bar__plus_00_dot_01_bar__plus_01_dot_84 - receptacle + Shelf_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_01_dot_38 - receptacle + loc_bar_2_bar_3_bar_1_bar_60 - location + loc_bar_0_bar__minus_2_bar_1_bar_60 - location + loc_bar__minus_5_bar__minus_4_bar_2_bar_60 - location + loc_bar_0_bar_5_bar_1_bar_60 - location + loc_bar_1_bar__minus_5_bar_1_bar__minus_15 - location + loc_bar_1_bar_6_bar_1_bar_45 - location + loc_bar_0_bar__minus_4_bar_2_bar_60 - location + loc_bar_2_bar_5_bar_1_bar_60 - location + loc_bar_1_bar__minus_5_bar_1_bar__minus_30 - location + loc_bar_1_bar__minus_1_bar_1_bar_0 - location + loc_bar__minus_1_bar__minus_5_bar_2_bar_45 - location + loc_bar__minus_5_bar_6_bar_3_bar_60 - location + loc_bar_2_bar_4_bar_1_bar_60 - location + loc_bar_0_bar__minus_5_bar_2_bar_60 - location + loc_bar__minus_1_bar__minus_5_bar_2_bar_0 - location + loc_bar_2_bar_6_bar_0_bar_45 - location + loc_bar_1_bar__minus_1_bar_1_bar__minus_15 - location + loc_bar__minus_4_bar_6_bar_0_bar_30 - location + loc_bar_0_bar_5_bar_1_bar_45 - location + loc_bar_2_bar_6_bar_1_bar_30 - location + loc_bar_2_bar_4_bar_1_bar_30 - location + loc_bar__minus_5_bar__minus_3_bar_3_bar_60 - location + loc_bar__minus_1_bar_4_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72 DresserType) + (receptacleType Drawer_bar__minus_00_dot_09_bar__plus_00_dot_48_bar__minus_01_dot_63 DrawerType) + (receptacleType Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30 DeskType) + (receptacleType Shelf_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_01_dot_38 ShelfType) + (receptacleType Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72 BedType) + (receptacleType Drawer_bar__plus_01_dot_13_bar__plus_00_dot_40_bar__plus_01_dot_74 DrawerType) + (receptacleType LaundryHamper_bar__minus_01_dot_60_bar__plus_00_dot_01_bar__plus_01_dot_84 LaundryHamperType) + (receptacleType Drawer_bar__plus_01_dot_13_bar__plus_00_dot_62_bar__plus_01_dot_74 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_09_bar__plus_00_dot_19_bar__minus_01_dot_63 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_13_bar__plus_00_dot_16_bar__plus_01_dot_74 DrawerType) + (receptacleType GarbageCan_bar__plus_01_dot_13_bar__plus_00_dot_03_bar__plus_00_dot_59 GarbageCanType) + (objectType CD_bar__plus_01_dot_17_bar__plus_00_dot_08_bar__plus_00_dot_56 CDType) + (objectType Laptop_bar__plus_01_dot_22_bar__plus_00_dot_72_bar__plus_01_dot_34 LaptopType) + (objectType Book_bar__plus_01_dot_15_bar__plus_00_dot_72_bar__plus_01_dot_81 BookType) + (objectType Pillow_bar__plus_00_dot_96_bar__plus_00_dot_85_bar__minus_00_dot_71 PillowType) + (objectType Mirror_bar__minus_00_dot_88_bar__plus_01_dot_35_bar__plus_02_dot_09 MirrorType) + (objectType LaundryHamperLid_bar__minus_01_dot_60_bar__plus_00_dot_48_bar__plus_01_dot_84 LaundryHamperLidType) + (objectType Pencil_bar__plus_01_dot_41_bar__plus_01_dot_14_bar__plus_01_dot_25 PencilType) + (objectType Chair_bar__plus_01_dot_13_bar__plus_00_dot_00_bar__plus_01_dot_05 ChairType) + (objectType Poster_bar__plus_01_dot_48_bar__plus_02_dot_14_bar__minus_00_dot_13 PosterType) + (objectType CD_bar__plus_01_dot_28_bar__plus_01_dot_14_bar__plus_01_dot_25 CDType) + (objectType BaseballBat_bar__minus_01_dot_72_bar__plus_00_dot_71_bar__minus_00_dot_68 BaseballBatType) + (objectType Poster_bar__plus_01_dot_48_bar__plus_01_dot_50_bar__minus_00_dot_13 PosterType) + (objectType Box_bar__minus_01_dot_23_bar__plus_00_dot_26_bar__minus_01_dot_44 BoxType) + (objectType CellPhone_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_00_dot_99 CellPhoneType) + (objectType CreditCard_bar__plus_01_dot_28_bar__plus_01_dot_14_bar__plus_01_dot_56 CreditCardType) + (objectType BasketBall_bar__minus_01_dot_64_bar__plus_00_dot_13_bar__minus_01_dot_65 BasketBallType) + (objectType AlarmClock_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_00_dot_96 AlarmClockType) + (objectType Poster_bar__plus_00_dot_98_bar__plus_01_dot_97_bar__minus_01_dot_87 PosterType) + (objectType Blinds_bar__minus_00_dot_15_bar__plus_01_dot_68_bar__minus_01_dot_99 BlindsType) + (objectType Window_bar__minus_00_dot_18_bar__plus_01_dot_01_bar__minus_02_dot_01 WindowType) + (objectType Book_bar__plus_00_dot_70_bar__plus_00_dot_78_bar__minus_01_dot_26 BookType) + (objectType Pencil_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_09 PencilType) + (objectType Pillow_bar__plus_00_dot_96_bar__plus_00_dot_85_bar__minus_00_dot_17 PillowType) + (objectType Poster_bar__plus_01_dot_48_bar__plus_01_dot_98_bar__minus_01_dot_21 PosterType) + (objectType LightSwitch_bar__plus_00_dot_55_bar__plus_01_dot_16_bar__plus_02_dot_08 LightSwitchType) + (objectType Bowl_bar__plus_00_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_66 BowlType) + (objectType Pencil_bar__plus_01_dot_15_bar__plus_00_dot_73_bar__plus_00_dot_90 PencilType) + (objectType CellPhone_bar__plus_00_dot_70_bar__plus_00_dot_78_bar__minus_00_dot_17 CellPhoneType) + (objectType DeskLamp_bar__minus_00_dot_40_bar__plus_00_dot_69_bar__minus_01_dot_67 DeskLampType) + (objectType Pen_bar__minus_00_dot_21_bar__plus_00_dot_70_bar__minus_01_dot_79 PenType) + (objectType KeyChain_bar__minus_00_dot_21_bar__plus_00_dot_69_bar__minus_01_dot_66 KeyChainType) + (objectType Pen_bar__minus_00_dot_21_bar__plus_00_dot_70_bar__minus_01_dot_62 PenType) + (objectType Mug_bar__plus_00_dot_16_bar__plus_00_dot_69_bar__minus_01_dot_81 MugType) + (canContain DresserType PenType) + (canContain DresserType BookType) + (canContain DresserType BowlType) + (canContain DresserType CDType) + (canContain DresserType MugType) + (canContain DresserType BoxType) + (canContain DresserType CellPhoneType) + (canContain DresserType KeyChainType) + (canContain DresserType CreditCardType) + (canContain DresserType BasketBallType) + (canContain DresserType LaptopType) + (canContain DresserType PencilType) + (canContain DresserType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DeskType PenType) + (canContain DeskType BookType) + (canContain DeskType BowlType) + (canContain DeskType CDType) + (canContain DeskType MugType) + (canContain DeskType BoxType) + (canContain DeskType CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (canContain DeskType BasketBallType) + (canContain DeskType LaptopType) + (canContain DeskType PencilType) + (canContain DeskType AlarmClockType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType BowlType) + (canContain ShelfType CDType) + (canContain ShelfType MugType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType AlarmClockType) + (canContain BedType BasketBallType) + (canContain BedType BaseballBatType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType CDType) + (canContain GarbageCanType PencilType) + (pickupable CD_bar__plus_01_dot_17_bar__plus_00_dot_08_bar__plus_00_dot_56) + (pickupable Laptop_bar__plus_01_dot_22_bar__plus_00_dot_72_bar__plus_01_dot_34) + (pickupable Book_bar__plus_01_dot_15_bar__plus_00_dot_72_bar__plus_01_dot_81) + (pickupable Pillow_bar__plus_00_dot_96_bar__plus_00_dot_85_bar__minus_00_dot_71) + (pickupable Pencil_bar__plus_01_dot_41_bar__plus_01_dot_14_bar__plus_01_dot_25) + (pickupable CD_bar__plus_01_dot_28_bar__plus_01_dot_14_bar__plus_01_dot_25) + (pickupable BaseballBat_bar__minus_01_dot_72_bar__plus_00_dot_71_bar__minus_00_dot_68) + (pickupable Box_bar__minus_01_dot_23_bar__plus_00_dot_26_bar__minus_01_dot_44) + (pickupable CellPhone_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_00_dot_99) + (pickupable CreditCard_bar__plus_01_dot_28_bar__plus_01_dot_14_bar__plus_01_dot_56) + (pickupable BasketBall_bar__minus_01_dot_64_bar__plus_00_dot_13_bar__minus_01_dot_65) + (pickupable AlarmClock_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_00_dot_96) + (pickupable Book_bar__plus_00_dot_70_bar__plus_00_dot_78_bar__minus_01_dot_26) + (pickupable Pencil_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_09) + (pickupable Pillow_bar__plus_00_dot_96_bar__plus_00_dot_85_bar__minus_00_dot_17) + (pickupable Bowl_bar__plus_00_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_66) + (pickupable Pencil_bar__plus_01_dot_15_bar__plus_00_dot_73_bar__plus_00_dot_90) + (pickupable CellPhone_bar__plus_00_dot_70_bar__plus_00_dot_78_bar__minus_00_dot_17) + (pickupable Pen_bar__minus_00_dot_21_bar__plus_00_dot_70_bar__minus_01_dot_79) + (pickupable KeyChain_bar__minus_00_dot_21_bar__plus_00_dot_69_bar__minus_01_dot_66) + (pickupable Pen_bar__minus_00_dot_21_bar__plus_00_dot_70_bar__minus_01_dot_62) + (pickupable Mug_bar__plus_00_dot_16_bar__plus_00_dot_69_bar__minus_01_dot_81) + (isReceptacleObject Box_bar__minus_01_dot_23_bar__plus_00_dot_26_bar__minus_01_dot_44) + (isReceptacleObject Bowl_bar__plus_00_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_66) + (isReceptacleObject Mug_bar__plus_00_dot_16_bar__plus_00_dot_69_bar__minus_01_dot_81) + (openable Drawer_bar__plus_01_dot_13_bar__plus_00_dot_40_bar__plus_01_dot_74) + (openable Drawer_bar__plus_01_dot_13_bar__plus_00_dot_62_bar__plus_01_dot_74) + (openable Drawer_bar__plus_01_dot_13_bar__plus_00_dot_16_bar__plus_01_dot_74) + + (atLocation agent1 loc_bar__minus_1_bar_4_bar_1_bar_30) + + (cleanable Bowl_bar__plus_00_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_66) + (cleanable Mug_bar__plus_00_dot_16_bar__plus_00_dot_69_bar__minus_01_dot_81) + + (heatable Mug_bar__plus_00_dot_16_bar__plus_00_dot_69_bar__minus_01_dot_81) + (coolable Bowl_bar__plus_00_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_66) + (coolable Mug_bar__plus_00_dot_16_bar__plus_00_dot_69_bar__minus_01_dot_81) + + + (toggleable DeskLamp_bar__minus_00_dot_40_bar__plus_00_dot_69_bar__minus_01_dot_67) + + + + + (inReceptacle Book_bar__plus_01_dot_15_bar__plus_00_dot_72_bar__plus_01_dot_81 Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30) + (inReceptacle Laptop_bar__plus_01_dot_22_bar__plus_00_dot_72_bar__plus_01_dot_34 Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30) + (inReceptacle Pencil_bar__plus_01_dot_15_bar__plus_00_dot_73_bar__plus_00_dot_90 Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30) + (inReceptacle Book_bar__plus_00_dot_70_bar__plus_00_dot_78_bar__minus_01_dot_26 Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72) + (inReceptacle CellPhone_bar__plus_00_dot_70_bar__plus_00_dot_78_bar__minus_00_dot_17 Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72) + (inReceptacle Pillow_bar__plus_00_dot_96_bar__plus_00_dot_85_bar__minus_00_dot_17 Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72) + (inReceptacle Pillow_bar__plus_00_dot_96_bar__plus_00_dot_85_bar__minus_00_dot_71 Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72) + (inReceptacle CellPhone_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_00_dot_99 Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72) + (inReceptacle DeskLamp_bar__minus_00_dot_40_bar__plus_00_dot_69_bar__minus_01_dot_67 Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72) + (inReceptacle Pen_bar__minus_00_dot_21_bar__plus_00_dot_70_bar__minus_01_dot_79 Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72) + (inReceptacle KeyChain_bar__minus_00_dot_21_bar__plus_00_dot_69_bar__minus_01_dot_66 Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72) + (inReceptacle Pen_bar__minus_00_dot_21_bar__plus_00_dot_70_bar__minus_01_dot_62 Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72) + (inReceptacle Mug_bar__plus_00_dot_16_bar__plus_00_dot_69_bar__minus_01_dot_81 Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72) + (inReceptacle Bowl_bar__plus_00_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_66 Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72) + (inReceptacle Pencil_bar__plus_01_dot_41_bar__plus_01_dot_14_bar__plus_01_dot_25 Shelf_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_01_dot_38) + (inReceptacle CreditCard_bar__plus_01_dot_28_bar__plus_01_dot_14_bar__plus_01_dot_56 Shelf_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_01_dot_38) + (inReceptacle CD_bar__plus_01_dot_28_bar__plus_01_dot_14_bar__plus_01_dot_25 Shelf_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_01_dot_38) + (inReceptacle Pencil_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_09 Shelf_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_01_dot_38) + + + (receptacleAtLocation Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72 loc_bar_0_bar__minus_2_bar_1_bar_60) + (receptacleAtLocation Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30 loc_bar_2_bar_5_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_13_bar__plus_00_dot_16_bar__plus_01_dot_74 loc_bar_0_bar_5_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_13_bar__plus_00_dot_40_bar__plus_01_dot_74 loc_bar_0_bar_5_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_13_bar__plus_00_dot_62_bar__plus_01_dot_74 loc_bar_1_bar_6_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_09_bar__plus_00_dot_19_bar__minus_01_dot_63 loc_bar_0_bar__minus_5_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_09_bar__plus_00_dot_48_bar__minus_01_dot_63 loc_bar_0_bar__minus_5_bar_2_bar_60) + (receptacleAtLocation Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72 loc_bar_0_bar__minus_4_bar_2_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_01_dot_13_bar__plus_00_dot_03_bar__plus_00_dot_59 loc_bar_2_bar_3_bar_1_bar_60) + (receptacleAtLocation LaundryHamper_bar__minus_01_dot_60_bar__plus_00_dot_01_bar__plus_01_dot_84 loc_bar__minus_5_bar_6_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_01_dot_38 loc_bar_2_bar_6_bar_1_bar_30) + (objectAtLocation Pen_bar__minus_00_dot_21_bar__plus_00_dot_70_bar__minus_01_dot_62 loc_bar_0_bar__minus_4_bar_2_bar_60) + (objectAtLocation CD_bar__plus_01_dot_17_bar__plus_00_dot_08_bar__plus_00_dot_56 loc_bar_2_bar_3_bar_1_bar_60) + (objectAtLocation Pillow_bar__plus_00_dot_96_bar__plus_00_dot_85_bar__minus_00_dot_71 loc_bar_0_bar__minus_2_bar_1_bar_60) + (objectAtLocation Pencil_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_09 loc_bar_2_bar_6_bar_1_bar_30) + (objectAtLocation CellPhone_bar__plus_00_dot_70_bar__plus_00_dot_78_bar__minus_00_dot_17 loc_bar_0_bar__minus_2_bar_1_bar_60) + (objectAtLocation Book_bar__plus_01_dot_15_bar__plus_00_dot_72_bar__plus_01_dot_81 loc_bar_2_bar_5_bar_1_bar_60) + (objectAtLocation Pencil_bar__plus_01_dot_15_bar__plus_00_dot_73_bar__plus_00_dot_90 loc_bar_2_bar_5_bar_1_bar_60) + (objectAtLocation Poster_bar__plus_00_dot_98_bar__plus_01_dot_97_bar__minus_01_dot_87 loc_bar_1_bar__minus_5_bar_1_bar__minus_30) + (objectAtLocation Chair_bar__plus_01_dot_13_bar__plus_00_dot_00_bar__plus_01_dot_05 loc_bar_2_bar_4_bar_1_bar_60) + (objectAtLocation Mirror_bar__minus_00_dot_88_bar__plus_01_dot_35_bar__plus_02_dot_09 loc_bar__minus_4_bar_6_bar_0_bar_30) + (objectAtLocation Book_bar__plus_00_dot_70_bar__plus_00_dot_78_bar__minus_01_dot_26 loc_bar_0_bar__minus_2_bar_1_bar_60) + (objectAtLocation Poster_bar__plus_01_dot_48_bar__plus_01_dot_98_bar__minus_01_dot_21 loc_bar_1_bar__minus_5_bar_1_bar__minus_15) + (objectAtLocation Poster_bar__plus_01_dot_48_bar__plus_01_dot_50_bar__minus_00_dot_13 loc_bar_1_bar__minus_1_bar_1_bar_0) + (objectAtLocation Poster_bar__plus_01_dot_48_bar__plus_02_dot_14_bar__minus_00_dot_13 loc_bar_1_bar__minus_1_bar_1_bar__minus_15) + (objectAtLocation LaundryHamperLid_bar__minus_01_dot_60_bar__plus_00_dot_48_bar__plus_01_dot_84 loc_bar__minus_5_bar_6_bar_3_bar_60) + (objectAtLocation Box_bar__minus_01_dot_23_bar__plus_00_dot_26_bar__minus_01_dot_44 loc_bar__minus_5_bar__minus_4_bar_2_bar_60) + (objectAtLocation CellPhone_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_00_dot_99 loc_bar_0_bar__minus_2_bar_1_bar_60) + (objectAtLocation BaseballBat_bar__minus_01_dot_72_bar__plus_00_dot_71_bar__minus_00_dot_68 loc_bar__minus_5_bar__minus_3_bar_3_bar_60) + (objectAtLocation Bowl_bar__plus_00_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_66 loc_bar_0_bar__minus_4_bar_2_bar_60) + (objectAtLocation BasketBall_bar__minus_01_dot_64_bar__plus_00_dot_13_bar__minus_01_dot_65 loc_bar__minus_5_bar__minus_4_bar_2_bar_60) + (objectAtLocation Laptop_bar__plus_01_dot_22_bar__plus_00_dot_72_bar__plus_01_dot_34 loc_bar_2_bar_5_bar_1_bar_60) + (objectAtLocation CreditCard_bar__plus_01_dot_28_bar__plus_01_dot_14_bar__plus_01_dot_56 loc_bar_2_bar_6_bar_1_bar_30) + (objectAtLocation DeskLamp_bar__minus_00_dot_40_bar__plus_00_dot_69_bar__minus_01_dot_67 loc_bar_0_bar__minus_4_bar_2_bar_60) + (objectAtLocation KeyChain_bar__minus_00_dot_21_bar__plus_00_dot_69_bar__minus_01_dot_66 loc_bar_0_bar__minus_4_bar_2_bar_60) + (objectAtLocation AlarmClock_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_00_dot_96 loc_bar_2_bar_4_bar_1_bar_30) + (objectAtLocation LightSwitch_bar__plus_00_dot_55_bar__plus_01_dot_16_bar__plus_02_dot_08 loc_bar_2_bar_6_bar_0_bar_45) + (objectAtLocation Pencil_bar__plus_01_dot_41_bar__plus_01_dot_14_bar__plus_01_dot_25 loc_bar_2_bar_6_bar_1_bar_30) + (objectAtLocation Pillow_bar__plus_00_dot_96_bar__plus_00_dot_85_bar__minus_00_dot_17 loc_bar_0_bar__minus_2_bar_1_bar_60) + (objectAtLocation CD_bar__plus_01_dot_28_bar__plus_01_dot_14_bar__plus_01_dot_25 loc_bar_2_bar_6_bar_1_bar_30) + (objectAtLocation Pen_bar__minus_00_dot_21_bar__plus_00_dot_70_bar__minus_01_dot_79 loc_bar_0_bar__minus_4_bar_2_bar_60) + (objectAtLocation Window_bar__minus_00_dot_18_bar__plus_01_dot_01_bar__minus_02_dot_01 loc_bar__minus_1_bar__minus_5_bar_2_bar_45) + (objectAtLocation Mug_bar__plus_00_dot_16_bar__plus_00_dot_69_bar__minus_01_dot_81 loc_bar_0_bar__minus_4_bar_2_bar_60) + (objectAtLocation Blinds_bar__minus_00_dot_15_bar__plus_01_dot_68_bar__minus_01_dot_99 loc_bar__minus_1_bar__minus_5_bar_2_bar_0) + ) + + + (:goal + (and + (exists (?r - receptacle) + (and + (receptacleType ?r DeskType) + (exists (?o - object) + (and + (objectType ?o PencilType) + (exists (?mo - object) + (and + (objectType ?mo BowlType) + (isReceptacleObject ?mo) + (inReceptacleObject ?o ?mo) + (inReceptacle ?mo ?r) + ) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pencil-Bowl-Desk-305/trial_T20190907_012236_121985/traj_data.json 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"rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_fa34f539", + "position": { + "x": 0.164759338, + "y": 0.686316252, + "z": -1.80548751 + }, + "rotation": { + "x": 0.000191475527, + "y": 348.7159, + "z": -2.87019648e-05 + } + } + ], + "object_toggles": [], + "random_seed": 4264101715, + "scene_num": 305 + }, + "task_id": "trial_T20190907_012236_121985", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1HKHM4NVAO98H_308Q0PEVBBUIMSX5SREMI6YE2WTI9M", + "high_descs": [ + "turn to face the computer desk", + "grab a pencil off the top of the computer desk", + "turn and walk over to the night stand", + "place the pencil on the clear bowl on the night stand", + "pick up the clear bowl off of the night stand", + "turn around and walk back over to the computer desk", + "place the clear bowl on the computer desk to the right of the laptop" + ], + "task_desc": "place a bowl with a pencil in it on the computer desk", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1CY7IOJ9YH136_3L2IS5HSFDZ8KLWZNIM5JAH91HZNU2", + "high_descs": [ + "Go to desk with laptop", + "Pick up pencil to right of laptop", + "go to bedside table to the right", + "place pencil in glass bowl on bedside table", + "pick up glass bowl from bedside table", + "go to desk with laptop", + "place bowl on desk to right of laptop" + ], + "task_desc": "move bowl with pencil to desk", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AJNQ2PBD07FKE_3S0TNUHWKWZ10CY9VL7XRDNQQOZD8S", + "high_descs": [ + "Turn left and then back right to face the desk. ", + "Pick up a pencil from behind the lap top.", + "Turn right and then left, go towards the night stand.", + "Put the pencil in the clear cup.", + "Pick up the cup that has the pencil in it.", + "Turn around and go back to the desk with the lap top on it.", + "Place the clear cup on the desk to the right of the lap top." + ], + "task_desc": "Moving a cup with a pencil around.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pencil-Bowl-Desk-305/trial_T20190910_150857_717050/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pencil-Bowl-Desk-305/trial_T20190910_150857_717050/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..ee01dda109749509b5ef7fc056c5648b491f6be9 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pencil-Bowl-Desk-305/trial_T20190910_150857_717050/initial_state.pddl @@ -0,0 +1,538 @@ + +(define (problem plan_trial_T20190910_150857_717050) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + AlarmClock_bar__plus_01_dot_28_bar__plus_01_dot_14_bar__plus_01_dot_25 - object + AlarmClock_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_00_dot_96 - object + BaseballBat_bar__minus_01_dot_72_bar__plus_00_dot_71_bar__minus_00_dot_68 - object + BasketBall_bar__minus_01_dot_64_bar__plus_00_dot_13_bar__minus_01_dot_65 - object + Blinds_bar__minus_00_dot_15_bar__plus_01_dot_68_bar__minus_01_dot_99 - object + Book_bar__plus_00_dot_96_bar__plus_00_dot_78_bar__minus_00_dot_99 - object + Bowl_bar__plus_00_dot_26_bar__plus_00_dot_69_bar__minus_01_dot_75 - object + Box_bar__minus_01_dot_23_bar__plus_00_dot_26_bar__minus_01_dot_44 - object + CD_bar__plus_00_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_62 - object + CD_bar__plus_00_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_79 - object + CellPhone_bar__plus_01_dot_08_bar__plus_00_dot_78_bar__minus_00_dot_17 - object + CellPhone_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_01_dot_07 - object + Chair_bar__plus_01_dot_13_bar__plus_00_dot_00_bar__plus_01_dot_05 - object + CreditCard_bar__plus_00_dot_08_bar__plus_00_dot_39_bar__minus_01_dot_62 - object + CreditCard_bar__plus_01_dot_08_bar__plus_00_dot_73_bar__plus_00_dot_90 - object + CreditCard_bar__plus_01_dot_37_bar__plus_01_dot_14_bar__plus_01_dot_09 - object + DeskLamp_bar__minus_00_dot_40_bar__plus_00_dot_69_bar__minus_01_dot_67 - object + KeyChain_bar__plus_01_dot_17_bar__plus_00_dot_08_bar__plus_01_dot_60 - object + KeyChain_bar__plus_01_dot_41_bar__plus_01_dot_14_bar__plus_01_dot_25 - object + Laptop_bar__plus_00_dot_83_bar__plus_00_dot_78_bar__minus_00_dot_44 - object + Laptop_bar__plus_01_dot_22_bar__plus_00_dot_72_bar__plus_01_dot_34 - object + LaundryHamperLid_bar__minus_01_dot_60_bar__plus_00_dot_48_bar__plus_01_dot_84 - object + LightSwitch_bar__plus_00_dot_55_bar__plus_01_dot_16_bar__plus_02_dot_08 - object + Mirror_bar__minus_00_dot_88_bar__plus_01_dot_35_bar__plus_02_dot_09 - object + Mug_bar__plus_01_dot_28_bar__plus_01_dot_14_bar__plus_01_dot_40 - object + Mug_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_56 - object + Pencil_bar__plus_01_dot_25_bar__plus_01_dot_14_bar__plus_01_dot_09 - object + Pen_bar__plus_01_dot_17_bar__plus_00_dot_56_bar__plus_01_dot_67 - object + Pillow_bar__plus_01_dot_08_bar__plus_00_dot_85_bar__plus_00_dot_11 - object + Poster_bar__plus_00_dot_98_bar__plus_01_dot_97_bar__minus_01_dot_87 - object + Poster_bar__plus_01_dot_48_bar__plus_01_dot_50_bar__minus_00_dot_13 - object + Poster_bar__plus_01_dot_48_bar__plus_01_dot_98_bar__minus_01_dot_21 - object + Poster_bar__plus_01_dot_48_bar__plus_02_dot_14_bar__minus_00_dot_13 - object + Window_bar__minus_00_dot_18_bar__plus_01_dot_01_bar__minus_02_dot_01 - object + Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72 - receptacle + Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30 - receptacle + Drawer_bar__plus_01_dot_13_bar__plus_00_dot_16_bar__plus_01_dot_74 - receptacle + Drawer_bar__plus_01_dot_13_bar__plus_00_dot_40_bar__plus_01_dot_74 - receptacle + Drawer_bar__plus_01_dot_13_bar__plus_00_dot_62_bar__plus_01_dot_74 - receptacle + Drawer_bar__minus_00_dot_09_bar__plus_00_dot_19_bar__minus_01_dot_63 - receptacle + Drawer_bar__minus_00_dot_09_bar__plus_00_dot_48_bar__minus_01_dot_63 - receptacle + Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72 - receptacle + GarbageCan_bar__plus_01_dot_13_bar__plus_00_dot_03_bar__plus_00_dot_59 - receptacle + LaundryHamper_bar__minus_01_dot_60_bar__plus_00_dot_01_bar__plus_01_dot_84 - receptacle + Shelf_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_01_dot_38 - receptacle + loc_bar_2_bar_3_bar_1_bar_60 - location + loc_bar_0_bar__minus_2_bar_1_bar_60 - location + loc_bar__minus_5_bar__minus_4_bar_2_bar_60 - location + loc_bar_0_bar_5_bar_1_bar_60 - location + loc_bar_1_bar__minus_5_bar_1_bar__minus_15 - location + loc_bar_1_bar_6_bar_1_bar_45 - location + loc_bar_0_bar__minus_4_bar_2_bar_60 - location + loc_bar_2_bar_5_bar_1_bar_60 - location + loc_bar_1_bar__minus_5_bar_1_bar__minus_30 - location + loc_bar_1_bar__minus_1_bar_1_bar_0 - location + loc_bar__minus_1_bar__minus_5_bar_2_bar_45 - location + loc_bar__minus_5_bar_6_bar_3_bar_60 - location + loc_bar_2_bar_4_bar_1_bar_60 - location + loc_bar_0_bar__minus_5_bar_2_bar_60 - location + loc_bar__minus_1_bar__minus_5_bar_2_bar_0 - location + loc_bar_2_bar_6_bar_0_bar_45 - location + loc_bar_1_bar__minus_1_bar_1_bar__minus_15 - location + loc_bar__minus_4_bar_6_bar_0_bar_30 - location + loc_bar_0_bar_5_bar_1_bar_45 - location + loc_bar_2_bar_6_bar_1_bar_30 - location + loc_bar__minus_5_bar__minus_3_bar_3_bar_60 - location + loc_bar__minus_1_bar_0_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72 DresserType) + (receptacleType Drawer_bar__minus_00_dot_09_bar__plus_00_dot_48_bar__minus_01_dot_63 DrawerType) + (receptacleType Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30 DeskType) + (receptacleType Shelf_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_01_dot_38 ShelfType) + (receptacleType Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72 BedType) + (receptacleType Drawer_bar__plus_01_dot_13_bar__plus_00_dot_40_bar__plus_01_dot_74 DrawerType) + (receptacleType LaundryHamper_bar__minus_01_dot_60_bar__plus_00_dot_01_bar__plus_01_dot_84 LaundryHamperType) + (receptacleType Drawer_bar__plus_01_dot_13_bar__plus_00_dot_62_bar__plus_01_dot_74 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_09_bar__plus_00_dot_19_bar__minus_01_dot_63 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_13_bar__plus_00_dot_16_bar__plus_01_dot_74 DrawerType) + (receptacleType GarbageCan_bar__plus_01_dot_13_bar__plus_00_dot_03_bar__plus_00_dot_59 GarbageCanType) + (objectType CreditCard_bar__plus_01_dot_08_bar__plus_00_dot_73_bar__plus_00_dot_90 CreditCardType) + (objectType Laptop_bar__plus_01_dot_22_bar__plus_00_dot_72_bar__plus_01_dot_34 LaptopType) + (objectType KeyChain_bar__plus_01_dot_17_bar__plus_00_dot_08_bar__plus_01_dot_60 KeyChainType) + (objectType Mirror_bar__minus_00_dot_88_bar__plus_01_dot_35_bar__plus_02_dot_09 MirrorType) + (objectType LaundryHamperLid_bar__minus_01_dot_60_bar__plus_00_dot_48_bar__plus_01_dot_84 LaundryHamperLidType) + (objectType Laptop_bar__plus_00_dot_83_bar__plus_00_dot_78_bar__minus_00_dot_44 LaptopType) + (objectType Chair_bar__plus_01_dot_13_bar__plus_00_dot_00_bar__plus_01_dot_05 ChairType) + (objectType Mug_bar__plus_01_dot_28_bar__plus_01_dot_14_bar__plus_01_dot_40 MugType) + (objectType Poster_bar__plus_01_dot_48_bar__plus_02_dot_14_bar__minus_00_dot_13 PosterType) + (objectType CD_bar__plus_00_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_62 CDType) + (objectType BaseballBat_bar__minus_01_dot_72_bar__plus_00_dot_71_bar__minus_00_dot_68 BaseballBatType) + (objectType Poster_bar__plus_01_dot_48_bar__plus_01_dot_50_bar__minus_00_dot_13 PosterType) + (objectType Bowl_bar__plus_00_dot_26_bar__plus_00_dot_69_bar__minus_01_dot_75 BowlType) + (objectType Box_bar__minus_01_dot_23_bar__plus_00_dot_26_bar__minus_01_dot_44 BoxType) + (objectType AlarmClock_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_00_dot_96 AlarmClockType) + (objectType BasketBall_bar__minus_01_dot_64_bar__plus_00_dot_13_bar__minus_01_dot_65 BasketBallType) + (objectType Pillow_bar__plus_01_dot_08_bar__plus_00_dot_85_bar__plus_00_dot_11 PillowType) + (objectType Poster_bar__plus_00_dot_98_bar__plus_01_dot_97_bar__minus_01_dot_87 PosterType) + (objectType KeyChain_bar__plus_01_dot_41_bar__plus_01_dot_14_bar__plus_01_dot_25 KeyChainType) + (objectType Blinds_bar__minus_00_dot_15_bar__plus_01_dot_68_bar__minus_01_dot_99 BlindsType) + (objectType Pen_bar__plus_01_dot_17_bar__plus_00_dot_56_bar__plus_01_dot_67 PenType) + (objectType Mug_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_56 MugType) + (objectType Book_bar__plus_00_dot_96_bar__plus_00_dot_78_bar__minus_00_dot_99 BookType) + (objectType Window_bar__minus_00_dot_18_bar__plus_01_dot_01_bar__minus_02_dot_01 WindowType) + (objectType Poster_bar__plus_01_dot_48_bar__plus_01_dot_98_bar__minus_01_dot_21 PosterType) + (objectType AlarmClock_bar__plus_01_dot_28_bar__plus_01_dot_14_bar__plus_01_dot_25 AlarmClockType) + (objectType LightSwitch_bar__plus_00_dot_55_bar__plus_01_dot_16_bar__plus_02_dot_08 LightSwitchType) + (objectType CellPhone_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_01_dot_07 CellPhoneType) + (objectType CD_bar__plus_00_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_79 CDType) + (objectType CreditCard_bar__plus_00_dot_08_bar__plus_00_dot_39_bar__minus_01_dot_62 CreditCardType) + (objectType CellPhone_bar__plus_01_dot_08_bar__plus_00_dot_78_bar__minus_00_dot_17 CellPhoneType) + (objectType Pencil_bar__plus_01_dot_25_bar__plus_01_dot_14_bar__plus_01_dot_09 PencilType) + (objectType DeskLamp_bar__minus_00_dot_40_bar__plus_00_dot_69_bar__minus_01_dot_67 DeskLampType) + (objectType CreditCard_bar__plus_01_dot_37_bar__plus_01_dot_14_bar__plus_01_dot_09 CreditCardType) + (canContain DresserType PenType) + (canContain DresserType BookType) + (canContain DresserType BowlType) + (canContain DresserType CDType) + (canContain DresserType MugType) + (canContain DresserType BoxType) + (canContain DresserType CellPhoneType) + (canContain DresserType KeyChainType) + (canContain DresserType CreditCardType) + (canContain DresserType BasketBallType) + (canContain DresserType LaptopType) + (canContain DresserType PencilType) + (canContain DresserType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DeskType PenType) + (canContain DeskType BookType) + (canContain DeskType BowlType) + (canContain DeskType CDType) + (canContain DeskType MugType) + (canContain DeskType BoxType) + (canContain DeskType CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (canContain DeskType BasketBallType) + (canContain DeskType LaptopType) + (canContain DeskType PencilType) + (canContain DeskType AlarmClockType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType BowlType) + (canContain ShelfType CDType) + (canContain ShelfType MugType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType AlarmClockType) + (canContain BedType BasketBallType) + (canContain BedType BaseballBatType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType CDType) + (canContain GarbageCanType PencilType) + (pickupable CreditCard_bar__plus_01_dot_08_bar__plus_00_dot_73_bar__plus_00_dot_90) + (pickupable Laptop_bar__plus_01_dot_22_bar__plus_00_dot_72_bar__plus_01_dot_34) + (pickupable KeyChain_bar__plus_01_dot_17_bar__plus_00_dot_08_bar__plus_01_dot_60) + (pickupable Laptop_bar__plus_00_dot_83_bar__plus_00_dot_78_bar__minus_00_dot_44) + (pickupable Mug_bar__plus_01_dot_28_bar__plus_01_dot_14_bar__plus_01_dot_40) + (pickupable CD_bar__plus_00_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_62) + (pickupable BaseballBat_bar__minus_01_dot_72_bar__plus_00_dot_71_bar__minus_00_dot_68) + (pickupable Bowl_bar__plus_00_dot_26_bar__plus_00_dot_69_bar__minus_01_dot_75) + (pickupable Box_bar__minus_01_dot_23_bar__plus_00_dot_26_bar__minus_01_dot_44) + (pickupable AlarmClock_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_00_dot_96) + (pickupable BasketBall_bar__minus_01_dot_64_bar__plus_00_dot_13_bar__minus_01_dot_65) + (pickupable Pillow_bar__plus_01_dot_08_bar__plus_00_dot_85_bar__plus_00_dot_11) + (pickupable KeyChain_bar__plus_01_dot_41_bar__plus_01_dot_14_bar__plus_01_dot_25) + (pickupable Pen_bar__plus_01_dot_17_bar__plus_00_dot_56_bar__plus_01_dot_67) + (pickupable Mug_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_56) + (pickupable Book_bar__plus_00_dot_96_bar__plus_00_dot_78_bar__minus_00_dot_99) + (pickupable AlarmClock_bar__plus_01_dot_28_bar__plus_01_dot_14_bar__plus_01_dot_25) + (pickupable CellPhone_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_01_dot_07) + (pickupable CD_bar__plus_00_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_79) + (pickupable CreditCard_bar__plus_00_dot_08_bar__plus_00_dot_39_bar__minus_01_dot_62) + (pickupable CellPhone_bar__plus_01_dot_08_bar__plus_00_dot_78_bar__minus_00_dot_17) + (pickupable Pencil_bar__plus_01_dot_25_bar__plus_01_dot_14_bar__plus_01_dot_09) + (pickupable CreditCard_bar__plus_01_dot_37_bar__plus_01_dot_14_bar__plus_01_dot_09) + (isReceptacleObject Mug_bar__plus_01_dot_28_bar__plus_01_dot_14_bar__plus_01_dot_40) + (isReceptacleObject Bowl_bar__plus_00_dot_26_bar__plus_00_dot_69_bar__minus_01_dot_75) + (isReceptacleObject Box_bar__minus_01_dot_23_bar__plus_00_dot_26_bar__minus_01_dot_44) + (isReceptacleObject Mug_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_56) + (openable Drawer_bar__plus_01_dot_13_bar__plus_00_dot_40_bar__plus_01_dot_74) + (openable Drawer_bar__plus_01_dot_13_bar__plus_00_dot_62_bar__plus_01_dot_74) + (openable Drawer_bar__plus_01_dot_13_bar__plus_00_dot_16_bar__plus_01_dot_74) + + (atLocation agent1 loc_bar__minus_1_bar_0_bar_1_bar_30) + + (cleanable Mug_bar__plus_01_dot_28_bar__plus_01_dot_14_bar__plus_01_dot_40) + (cleanable Bowl_bar__plus_00_dot_26_bar__plus_00_dot_69_bar__minus_01_dot_75) + (cleanable Mug_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_56) + + (heatable Mug_bar__plus_01_dot_28_bar__plus_01_dot_14_bar__plus_01_dot_40) + (heatable Mug_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_56) + (coolable Mug_bar__plus_01_dot_28_bar__plus_01_dot_14_bar__plus_01_dot_40) + (coolable Bowl_bar__plus_00_dot_26_bar__plus_00_dot_69_bar__minus_01_dot_75) + (coolable Mug_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_56) + + + (toggleable DeskLamp_bar__minus_00_dot_40_bar__plus_00_dot_69_bar__minus_01_dot_67) + + + + + (inReceptacle CreditCard_bar__plus_00_dot_08_bar__plus_00_dot_39_bar__minus_01_dot_62 Drawer_bar__minus_00_dot_09_bar__plus_00_dot_48_bar__minus_01_dot_63) + (inReceptacle CellPhone_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_01_dot_07 Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30) + (inReceptacle CreditCard_bar__plus_01_dot_08_bar__plus_00_dot_73_bar__plus_00_dot_90 Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30) + (inReceptacle Laptop_bar__plus_01_dot_22_bar__plus_00_dot_72_bar__plus_01_dot_34 Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30) + (inReceptacle KeyChain_bar__plus_01_dot_17_bar__plus_00_dot_08_bar__plus_01_dot_60 Drawer_bar__plus_01_dot_13_bar__plus_00_dot_16_bar__plus_01_dot_74) + (inReceptacle Pen_bar__plus_01_dot_17_bar__plus_00_dot_56_bar__plus_01_dot_67 Drawer_bar__plus_01_dot_13_bar__plus_00_dot_62_bar__plus_01_dot_74) + (inReceptacle CellPhone_bar__plus_01_dot_08_bar__plus_00_dot_78_bar__minus_00_dot_17 Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72) + (inReceptacle Laptop_bar__plus_00_dot_83_bar__plus_00_dot_78_bar__minus_00_dot_44 Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72) + (inReceptacle Book_bar__plus_00_dot_96_bar__plus_00_dot_78_bar__minus_00_dot_99 Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72) + (inReceptacle Pillow_bar__plus_01_dot_08_bar__plus_00_dot_85_bar__plus_00_dot_11 Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72) + (inReceptacle CD_bar__plus_00_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_62 Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72) + (inReceptacle CD_bar__plus_00_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_79 Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72) + (inReceptacle DeskLamp_bar__minus_00_dot_40_bar__plus_00_dot_69_bar__minus_01_dot_67 Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72) + (inReceptacle Bowl_bar__plus_00_dot_26_bar__plus_00_dot_69_bar__minus_01_dot_75 Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72) + (inReceptacle KeyChain_bar__plus_01_dot_41_bar__plus_01_dot_14_bar__plus_01_dot_25 Shelf_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_01_dot_38) + (inReceptacle Mug_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_56 Shelf_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_01_dot_38) + (inReceptacle Pencil_bar__plus_01_dot_25_bar__plus_01_dot_14_bar__plus_01_dot_09 Shelf_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_01_dot_38) + (inReceptacle AlarmClock_bar__plus_01_dot_28_bar__plus_01_dot_14_bar__plus_01_dot_25 Shelf_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_01_dot_38) + (inReceptacle CreditCard_bar__plus_01_dot_37_bar__plus_01_dot_14_bar__plus_01_dot_09 Shelf_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_01_dot_38) + (inReceptacle AlarmClock_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_00_dot_96 Shelf_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_01_dot_38) + (inReceptacle Mug_bar__plus_01_dot_28_bar__plus_01_dot_14_bar__plus_01_dot_40 Shelf_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_01_dot_38) + + + (receptacleAtLocation Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72 loc_bar_0_bar__minus_2_bar_1_bar_60) + (receptacleAtLocation Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30 loc_bar_2_bar_5_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_13_bar__plus_00_dot_16_bar__plus_01_dot_74 loc_bar_0_bar_5_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_13_bar__plus_00_dot_40_bar__plus_01_dot_74 loc_bar_0_bar_5_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_13_bar__plus_00_dot_62_bar__plus_01_dot_74 loc_bar_1_bar_6_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_09_bar__plus_00_dot_19_bar__minus_01_dot_63 loc_bar_0_bar__minus_5_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_09_bar__plus_00_dot_48_bar__minus_01_dot_63 loc_bar_0_bar__minus_5_bar_2_bar_60) + (receptacleAtLocation Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72 loc_bar_0_bar__minus_4_bar_2_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_01_dot_13_bar__plus_00_dot_03_bar__plus_00_dot_59 loc_bar_2_bar_3_bar_1_bar_60) + (receptacleAtLocation LaundryHamper_bar__minus_01_dot_60_bar__plus_00_dot_01_bar__plus_01_dot_84 loc_bar__minus_5_bar_6_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_01_dot_38 loc_bar_2_bar_6_bar_1_bar_30) + (objectAtLocation Mug_bar__plus_01_dot_28_bar__plus_01_dot_14_bar__plus_01_dot_40 loc_bar_2_bar_6_bar_1_bar_30) + (objectAtLocation CD_bar__plus_00_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_79 loc_bar_0_bar__minus_4_bar_2_bar_60) + (objectAtLocation 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Mirror_bar__minus_00_dot_88_bar__plus_01_dot_35_bar__plus_02_dot_09 loc_bar__minus_4_bar_6_bar_0_bar_30) + (objectAtLocation Book_bar__plus_00_dot_96_bar__plus_00_dot_78_bar__minus_00_dot_99 loc_bar_0_bar__minus_2_bar_1_bar_60) + (objectAtLocation Poster_bar__plus_01_dot_48_bar__plus_01_dot_98_bar__minus_01_dot_21 loc_bar_1_bar__minus_5_bar_1_bar__minus_15) + (objectAtLocation Poster_bar__plus_01_dot_48_bar__plus_01_dot_50_bar__minus_00_dot_13 loc_bar_1_bar__minus_1_bar_1_bar_0) + (objectAtLocation Poster_bar__plus_01_dot_48_bar__plus_02_dot_14_bar__minus_00_dot_13 loc_bar_1_bar__minus_1_bar_1_bar__minus_15) + (objectAtLocation LaundryHamperLid_bar__minus_01_dot_60_bar__plus_00_dot_48_bar__plus_01_dot_84 loc_bar__minus_5_bar_6_bar_3_bar_60) + (objectAtLocation Box_bar__minus_01_dot_23_bar__plus_00_dot_26_bar__minus_01_dot_44 loc_bar__minus_5_bar__minus_4_bar_2_bar_60) + (objectAtLocation CellPhone_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_01_dot_07 loc_bar_2_bar_5_bar_1_bar_60) 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1.139661, + "z": 1.2462163 + }, + "rotation": { + "x": 0.0, + "y": 269.999939, + "z": 0.0 + } + }, + { + "objectName": "AlarmClock_e9abe4e3", + "position": { + "x": 1.34200013, + "y": 1.13117754, + "z": 0.961 + }, + "rotation": { + "x": 0.00025537613, + "y": 270.000183, + "z": 1.27926648e-06 + } + }, + { + "objectName": "Pencil_a35ce977", + "position": { + "x": 1.24713063, + "y": 1.14211643, + "z": 1.08992648 + }, + "rotation": { + "x": 0.0, + "y": 269.999939, + "z": 0.0 + } + }, + { + "objectName": "Pillow_1574a200", + "position": { + "x": 1.08003473, + "y": 0.8492504, + "z": 0.107696474 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CD_15fd1764", + "position": { + "x": 0.0213174969, + "y": 0.6898067, + "z": -1.794143 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pen_93147e8a", + "position": { + "x": 1.17351043, + "y": 0.5581766, + "z": 1.66630054 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_fa34f539", + "position": { + "x": 1.27875352, + "y": 1.1368252, + "z": 1.40250552 + }, + "rotation": { + "x": 0.0, + "y": 89.99997, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 1996312009, + "scene_num": 305 + }, + "task_id": "trial_T20190910_150857_717050", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1CMWA0L8FTSXA_317HQ483IA93BU1ZT1XR07TY7QMIN7", + "high_descs": [ + "Back away from the bed, turn left toward the door, then turn right in front of the desk.", + "Grab a pencil off the top shelf of the desk.", + "Turn right facing the wall, take a step, then turn left toward the bed, go along the bed to the drawer.", + "At the drawer place the pencil on the bowl next to the discs.", + "Remove the bowl with the pencil from the drawers.", + "Turn back around and walk down the bed toward the door, turn right at the door to the desk.", + "Place the bowl with pencil inside on the desk to the left of the laptop." + ], + "task_desc": "Place a pencil from the desk into a bowl, return the pencil in the bowl back to the desk.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1HKHM4NVAO98H_3300DTYQT5YCYMC5DAZHJMQBK4IEQP", + "high_descs": [ + "walk over to the computer desk", + "grab a pencil off the top of the computer desk", + "walk over to the night stand next to the bed on the right", + "place the pencil inside of a glass bowl on top of the night stand", + "pick up the glass bowl off of the night stand", + "bring the bowl over to the computer desk", + "place the bowl down next to the laptop on the computer desk" + ], + "task_desc": "put a bowl with a pencil in it on the computer desk", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1RLO9LNUJIW5S_333U7HK6ICWQKTUSMP4OG3W46ZJJD8", + "high_descs": [ + "Turn left and walk past the bed then turn right and walk to the desk and face it.", + "Pick up the pencil that's between two clock on top of the desk.", + "Now walk to the night stand that's by the head of the bed and stand so the bed is on your left and you're facing the night stand.", + "Put the pencil in the clear bowl.", + "Pick up the bowl with the pencil in it.", + "Now walk back to the desk and stand in front of the chair and face the desk.", + "Put the bowl on the edge of the desk to the left of the laptop." + ], + "task_desc": "Put a clear bowl with a pencil in it on the desk.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pencil-Bowl-Desk-305/trial_T20190911_175623_605587/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pencil-Bowl-Desk-305/trial_T20190911_175623_605587/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..e169f579d9bcfc5a1efcebbae27c285b0792406b --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pencil-Bowl-Desk-305/trial_T20190911_175623_605587/initial_state.pddl @@ -0,0 +1,547 @@ + +(define (problem plan_trial_T20190911_175623_605587) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + AlarmClock_bar__plus_01_dot_08_bar__plus_00_dot_73_bar__plus_01_dot_07 - object + AlarmClock_bar__plus_01_dot_29_bar__plus_00_dot_73_bar__plus_01_dot_23 - object + AlarmClock_bar__plus_01_dot_36_bar__plus_00_dot_73_bar__plus_01_dot_40 - object + BaseballBat_bar__minus_01_dot_72_bar__plus_00_dot_71_bar__minus_00_dot_68 - object + BasketBall_bar__minus_01_dot_64_bar__plus_00_dot_13_bar__minus_01_dot_65 - object + Blinds_bar__minus_00_dot_15_bar__plus_01_dot_68_bar__minus_01_dot_99 - object + Book_bar__plus_00_dot_96_bar__plus_00_dot_78_bar__minus_00_dot_17 - object + Bowl_bar__plus_00_dot_26_bar__plus_00_dot_69_bar__minus_01_dot_71 - object + Box_bar__minus_01_dot_23_bar__plus_00_dot_26_bar__minus_01_dot_44 - object + CD_bar__plus_01_dot_08_bar__plus_00_dot_73_bar__plus_00_dot_90 - object + CD_bar__plus_01_dot_10_bar__plus_00_dot_08_bar__plus_00_dot_56 - object + CD_bar__plus_01_dot_10_bar__plus_00_dot_55_bar__plus_01_dot_67 - object + CellPhone_bar__plus_01_dot_17_bar__plus_00_dot_56_bar__plus_01_dot_74 - object + CellPhone_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_09 - object + CellPhone_bar__plus_01_dot_34_bar__plus_01_dot_14_bar__plus_00_dot_93 - object + Chair_bar__plus_01_dot_13_bar__plus_00_dot_00_bar__plus_01_dot_05 - object + CreditCard_bar__plus_00_dot_14_bar__plus_00_dot_69_bar__minus_01_dot_71 - object + DeskLamp_bar__minus_00_dot_40_bar__plus_00_dot_69_bar__minus_01_dot_67 - object + KeyChain_bar__minus_00_dot_21_bar__plus_00_dot_69_bar__minus_01_dot_75 - object + Laptop_bar__plus_01_dot_08_bar__plus_00_dot_78_bar__minus_00_dot_71 - object + LaundryHamperLid_bar__minus_01_dot_60_bar__plus_00_dot_48_bar__plus_01_dot_84 - object + LightSwitch_bar__plus_00_dot_55_bar__plus_01_dot_16_bar__plus_02_dot_08 - object + Mirror_bar__minus_00_dot_88_bar__plus_01_dot_35_bar__plus_02_dot_09 - object + Mug_bar__plus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_56 - object + Mug_bar__plus_01_dot_28_bar__plus_01_dot_14_bar__plus_01_dot_40 - object + Pencil_bar__plus_01_dot_36_bar__plus_00_dot_73_bar__plus_01_dot_56 - object + Pen_bar__plus_00_dot_02_bar__plus_00_dot_70_bar__minus_01_dot_57 - object + Pen_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_56 - object + Pen_bar__plus_01_dot_36_bar__plus_00_dot_73_bar__plus_01_dot_07 - object + Pillow_bar__plus_00_dot_70_bar__plus_00_dot_85_bar__minus_00_dot_99 - object + Pillow_bar__plus_00_dot_87_bar__plus_00_dot_82_bar__minus_01_dot_51 - object + Poster_bar__plus_00_dot_98_bar__plus_01_dot_97_bar__minus_01_dot_87 - object + Poster_bar__plus_01_dot_48_bar__plus_01_dot_50_bar__minus_00_dot_13 - object + Poster_bar__plus_01_dot_48_bar__plus_01_dot_98_bar__minus_01_dot_21 - object + Poster_bar__plus_01_dot_48_bar__plus_02_dot_14_bar__minus_00_dot_13 - object + Window_bar__minus_00_dot_18_bar__plus_01_dot_01_bar__minus_02_dot_01 - object + Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72 - receptacle + Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30 - receptacle + Drawer_bar__plus_01_dot_13_bar__plus_00_dot_16_bar__plus_01_dot_74 - receptacle + Drawer_bar__plus_01_dot_13_bar__plus_00_dot_40_bar__plus_01_dot_74 - receptacle + Drawer_bar__plus_01_dot_13_bar__plus_00_dot_62_bar__plus_01_dot_74 - receptacle + Drawer_bar__minus_00_dot_09_bar__plus_00_dot_19_bar__minus_01_dot_63 - receptacle + Drawer_bar__minus_00_dot_09_bar__plus_00_dot_48_bar__minus_01_dot_63 - receptacle + Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72 - receptacle + GarbageCan_bar__plus_01_dot_13_bar__plus_00_dot_03_bar__plus_00_dot_59 - receptacle + LaundryHamper_bar__minus_01_dot_60_bar__plus_00_dot_01_bar__plus_01_dot_84 - receptacle + Shelf_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_01_dot_38 - receptacle + loc_bar_2_bar_3_bar_1_bar_60 - location + loc_bar_0_bar__minus_2_bar_1_bar_60 - location + loc_bar__minus_5_bar__minus_4_bar_2_bar_60 - location + loc_bar_0_bar_5_bar_1_bar_60 - location + loc_bar_1_bar__minus_5_bar_1_bar__minus_15 - location + loc_bar_1_bar_6_bar_1_bar_45 - location + loc_bar_0_bar__minus_4_bar_2_bar_60 - location + loc_bar_2_bar_5_bar_1_bar_60 - location + loc_bar_1_bar__minus_5_bar_1_bar__minus_30 - location + loc_bar_1_bar__minus_1_bar_1_bar_0 - location + loc_bar__minus_1_bar__minus_5_bar_2_bar_45 - location + loc_bar__minus_5_bar_6_bar_3_bar_60 - location + loc_bar_2_bar_4_bar_1_bar_60 - location + loc_bar_0_bar__minus_5_bar_2_bar_60 - location + loc_bar__minus_1_bar__minus_5_bar_2_bar_0 - location + loc_bar_2_bar_6_bar_0_bar_45 - location + loc_bar_1_bar__minus_1_bar_1_bar__minus_15 - location + loc_bar__minus_4_bar_6_bar_0_bar_30 - location + loc_bar_0_bar_5_bar_1_bar_45 - location + loc_bar_2_bar_6_bar_1_bar_30 - location + loc_bar__minus_5_bar__minus_3_bar_3_bar_60 - location + loc_bar__minus_4_bar_0_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72 DresserType) + (receptacleType Drawer_bar__minus_00_dot_09_bar__plus_00_dot_48_bar__minus_01_dot_63 DrawerType) + (receptacleType Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30 DeskType) + (receptacleType Shelf_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_01_dot_38 ShelfType) + (receptacleType Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72 BedType) + (receptacleType Drawer_bar__plus_01_dot_13_bar__plus_00_dot_40_bar__plus_01_dot_74 DrawerType) + (receptacleType LaundryHamper_bar__minus_01_dot_60_bar__plus_00_dot_01_bar__plus_01_dot_84 LaundryHamperType) + (receptacleType Drawer_bar__plus_01_dot_13_bar__plus_00_dot_62_bar__plus_01_dot_74 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_09_bar__plus_00_dot_19_bar__minus_01_dot_63 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_13_bar__plus_00_dot_16_bar__plus_01_dot_74 DrawerType) + (receptacleType GarbageCan_bar__plus_01_dot_13_bar__plus_00_dot_03_bar__plus_00_dot_59 GarbageCanType) + (objectType CellPhone_bar__plus_01_dot_34_bar__plus_01_dot_14_bar__plus_00_dot_93 CellPhoneType) + (objectType Pen_bar__plus_01_dot_36_bar__plus_00_dot_73_bar__plus_01_dot_07 PenType) + (objectType Book_bar__plus_00_dot_96_bar__plus_00_dot_78_bar__minus_00_dot_17 BookType) + (objectType Mirror_bar__minus_00_dot_88_bar__plus_01_dot_35_bar__plus_02_dot_09 MirrorType) + (objectType CD_bar__plus_01_dot_10_bar__plus_00_dot_08_bar__plus_00_dot_56 CDType) + (objectType LaundryHamperLid_bar__minus_01_dot_60_bar__plus_00_dot_48_bar__plus_01_dot_84 LaundryHamperLidType) + (objectType Chair_bar__plus_01_dot_13_bar__plus_00_dot_00_bar__plus_01_dot_05 ChairType) + (objectType Pillow_bar__plus_00_dot_70_bar__plus_00_dot_85_bar__minus_00_dot_99 PillowType) + (objectType Mug_bar__plus_01_dot_28_bar__plus_01_dot_14_bar__plus_01_dot_40 MugType) + (objectType Laptop_bar__plus_01_dot_08_bar__plus_00_dot_78_bar__minus_00_dot_71 LaptopType) + (objectType Pillow_bar__plus_00_dot_87_bar__plus_00_dot_82_bar__minus_01_dot_51 PillowType) + (objectType Poster_bar__plus_01_dot_48_bar__plus_02_dot_14_bar__minus_00_dot_13 PosterType) + (objectType CreditCard_bar__plus_00_dot_14_bar__plus_00_dot_69_bar__minus_01_dot_71 CreditCardType) + (objectType CellPhone_bar__plus_01_dot_17_bar__plus_00_dot_56_bar__plus_01_dot_74 CellPhoneType) + (objectType BaseballBat_bar__minus_01_dot_72_bar__plus_00_dot_71_bar__minus_00_dot_68 BaseballBatType) + (objectType Poster_bar__plus_01_dot_48_bar__plus_01_dot_50_bar__minus_00_dot_13 PosterType) + (objectType Box_bar__minus_01_dot_23_bar__plus_00_dot_26_bar__minus_01_dot_44 BoxType) + (objectType BasketBall_bar__minus_01_dot_64_bar__plus_00_dot_13_bar__minus_01_dot_65 BasketBallType) + (objectType Poster_bar__plus_00_dot_98_bar__plus_01_dot_97_bar__minus_01_dot_87 PosterType) + (objectType Pen_bar__plus_00_dot_02_bar__plus_00_dot_70_bar__minus_01_dot_57 PenType) + (objectType Blinds_bar__minus_00_dot_15_bar__plus_01_dot_68_bar__minus_01_dot_99 BlindsType) + (objectType Pen_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_56 PenType) + (objectType Window_bar__minus_00_dot_18_bar__plus_01_dot_01_bar__minus_02_dot_01 WindowType) + (objectType AlarmClock_bar__plus_01_dot_29_bar__plus_00_dot_73_bar__plus_01_dot_23 AlarmClockType) + (objectType AlarmClock_bar__plus_01_dot_36_bar__plus_00_dot_73_bar__plus_01_dot_40 AlarmClockType) + (objectType Poster_bar__plus_01_dot_48_bar__plus_01_dot_98_bar__minus_01_dot_21 PosterType) + (objectType CD_bar__plus_01_dot_08_bar__plus_00_dot_73_bar__plus_00_dot_90 CDType) + (objectType Bowl_bar__plus_00_dot_26_bar__plus_00_dot_69_bar__minus_01_dot_71 BowlType) + (objectType LightSwitch_bar__plus_00_dot_55_bar__plus_01_dot_16_bar__plus_02_dot_08 LightSwitchType) + (objectType KeyChain_bar__minus_00_dot_21_bar__plus_00_dot_69_bar__minus_01_dot_75 KeyChainType) + (objectType Mug_bar__plus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_56 MugType) + (objectType AlarmClock_bar__plus_01_dot_08_bar__plus_00_dot_73_bar__plus_01_dot_07 AlarmClockType) + (objectType CD_bar__plus_01_dot_10_bar__plus_00_dot_55_bar__plus_01_dot_67 CDType) + (objectType CellPhone_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_09 CellPhoneType) + (objectType DeskLamp_bar__minus_00_dot_40_bar__plus_00_dot_69_bar__minus_01_dot_67 DeskLampType) + (objectType Pencil_bar__plus_01_dot_36_bar__plus_00_dot_73_bar__plus_01_dot_56 PencilType) + (canContain DresserType PenType) + (canContain DresserType BookType) + (canContain DresserType BowlType) + (canContain DresserType CDType) + (canContain DresserType MugType) + (canContain DresserType BoxType) + (canContain DresserType CellPhoneType) + (canContain DresserType KeyChainType) + (canContain DresserType CreditCardType) + (canContain DresserType BasketBallType) + (canContain DresserType LaptopType) + (canContain DresserType PencilType) + (canContain DresserType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DeskType PenType) + (canContain DeskType BookType) + (canContain DeskType BowlType) + (canContain DeskType CDType) + (canContain DeskType MugType) + (canContain DeskType BoxType) + (canContain DeskType CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (canContain DeskType BasketBallType) + (canContain DeskType LaptopType) + (canContain DeskType PencilType) + (canContain DeskType AlarmClockType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType BowlType) + (canContain ShelfType CDType) + (canContain ShelfType MugType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType AlarmClockType) + (canContain BedType BasketBallType) + (canContain BedType BaseballBatType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType 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Mug_bar__plus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_56) + + (heatable Mug_bar__plus_01_dot_28_bar__plus_01_dot_14_bar__plus_01_dot_40) + (heatable Mug_bar__plus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_56) + (coolable Mug_bar__plus_01_dot_28_bar__plus_01_dot_14_bar__plus_01_dot_40) + (coolable Bowl_bar__plus_00_dot_26_bar__plus_00_dot_69_bar__minus_01_dot_71) + (coolable Mug_bar__plus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_56) + + + (toggleable DeskLamp_bar__minus_00_dot_40_bar__plus_00_dot_69_bar__minus_01_dot_67) + + + + + (inReceptacle Mug_bar__plus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_56 Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30) + (inReceptacle AlarmClock_bar__plus_01_dot_08_bar__plus_00_dot_73_bar__plus_01_dot_07 Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30) + (inReceptacle Pen_bar__plus_01_dot_36_bar__plus_00_dot_73_bar__plus_01_dot_07 Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30) + 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DeskLamp_bar__minus_00_dot_40_bar__plus_00_dot_69_bar__minus_01_dot_67 Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72) + (inReceptacle Bowl_bar__plus_00_dot_26_bar__plus_00_dot_69_bar__minus_01_dot_71 Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72) + (inReceptacle Pen_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_56 Shelf_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_01_dot_38) + (inReceptacle CellPhone_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_09 Shelf_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_01_dot_38) + (inReceptacle Mug_bar__plus_01_dot_28_bar__plus_01_dot_14_bar__plus_01_dot_40 Shelf_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_01_dot_38) + (inReceptacle CellPhone_bar__plus_01_dot_34_bar__plus_01_dot_14_bar__plus_00_dot_93 Shelf_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_01_dot_38) + + + (receptacleAtLocation Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72 loc_bar_0_bar__minus_2_bar_1_bar_60) + (receptacleAtLocation Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30 loc_bar_2_bar_5_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_13_bar__plus_00_dot_16_bar__plus_01_dot_74 loc_bar_0_bar_5_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_13_bar__plus_00_dot_40_bar__plus_01_dot_74 loc_bar_0_bar_5_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_13_bar__plus_00_dot_62_bar__plus_01_dot_74 loc_bar_1_bar_6_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_09_bar__plus_00_dot_19_bar__minus_01_dot_63 loc_bar_0_bar__minus_5_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_09_bar__plus_00_dot_48_bar__minus_01_dot_63 loc_bar_0_bar__minus_5_bar_2_bar_60) + (receptacleAtLocation Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72 loc_bar_0_bar__minus_4_bar_2_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_01_dot_13_bar__plus_00_dot_03_bar__plus_00_dot_59 loc_bar_2_bar_3_bar_1_bar_60) + (receptacleAtLocation LaundryHamper_bar__minus_01_dot_60_bar__plus_00_dot_01_bar__plus_01_dot_84 loc_bar__minus_5_bar_6_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_01_dot_38 loc_bar_2_bar_6_bar_1_bar_30) + (objectAtLocation Mug_bar__plus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_56 loc_bar_2_bar_5_bar_1_bar_60) + (objectAtLocation Pen_bar__plus_00_dot_02_bar__plus_00_dot_70_bar__minus_01_dot_57 loc_bar_0_bar__minus_4_bar_2_bar_60) + (objectAtLocation CD_bar__plus_01_dot_10_bar__plus_00_dot_08_bar__plus_00_dot_56 loc_bar_2_bar_3_bar_1_bar_60) + (objectAtLocation Pillow_bar__plus_00_dot_87_bar__plus_00_dot_82_bar__minus_01_dot_51 loc_bar_0_bar__minus_2_bar_1_bar_60) + (objectAtLocation AlarmClock_bar__plus_01_dot_08_bar__plus_00_dot_73_bar__plus_01_dot_07 loc_bar_2_bar_5_bar_1_bar_60) + (objectAtLocation 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Book_bar__plus_00_dot_96_bar__plus_00_dot_78_bar__minus_00_dot_17 loc_bar_0_bar__minus_2_bar_1_bar_60) + (objectAtLocation Poster_bar__plus_01_dot_48_bar__plus_01_dot_98_bar__minus_01_dot_21 loc_bar_1_bar__minus_5_bar_1_bar__minus_15) + (objectAtLocation Poster_bar__plus_01_dot_48_bar__plus_01_dot_50_bar__minus_00_dot_13 loc_bar_1_bar__minus_1_bar_1_bar_0) + (objectAtLocation Poster_bar__plus_01_dot_48_bar__plus_02_dot_14_bar__minus_00_dot_13 loc_bar_1_bar__minus_1_bar_1_bar__minus_15) + (objectAtLocation LaundryHamperLid_bar__minus_01_dot_60_bar__plus_00_dot_48_bar__plus_01_dot_84 loc_bar__minus_5_bar_6_bar_3_bar_60) + (objectAtLocation Box_bar__minus_01_dot_23_bar__plus_00_dot_26_bar__minus_01_dot_44 loc_bar__minus_5_bar__minus_4_bar_2_bar_60) + (objectAtLocation CellPhone_bar__plus_01_dot_17_bar__plus_00_dot_56_bar__plus_01_dot_74 loc_bar_1_bar_6_bar_1_bar_45) + (objectAtLocation BaseballBat_bar__minus_01_dot_72_bar__plus_00_dot_71_bar__minus_00_dot_68 loc_bar__minus_5_bar__minus_3_bar_3_bar_60) + (objectAtLocation Bowl_bar__plus_00_dot_26_bar__plus_00_dot_69_bar__minus_01_dot_71 loc_bar_0_bar__minus_4_bar_2_bar_60) + (objectAtLocation BasketBall_bar__minus_01_dot_64_bar__plus_00_dot_13_bar__minus_01_dot_65 loc_bar__minus_5_bar__minus_4_bar_2_bar_60) + (objectAtLocation Laptop_bar__plus_01_dot_08_bar__plus_00_dot_78_bar__minus_00_dot_71 loc_bar_0_bar__minus_2_bar_1_bar_60) + (objectAtLocation CreditCard_bar__plus_00_dot_14_bar__plus_00_dot_69_bar__minus_01_dot_71 loc_bar_0_bar__minus_4_bar_2_bar_60) + (objectAtLocation DeskLamp_bar__minus_00_dot_40_bar__plus_00_dot_69_bar__minus_01_dot_67 loc_bar_0_bar__minus_4_bar_2_bar_60) + (objectAtLocation KeyChain_bar__minus_00_dot_21_bar__plus_00_dot_69_bar__minus_01_dot_75 loc_bar_0_bar__minus_4_bar_2_bar_60) + (objectAtLocation AlarmClock_bar__plus_01_dot_29_bar__plus_00_dot_73_bar__plus_01_dot_23 loc_bar_2_bar_5_bar_1_bar_60) + (objectAtLocation 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receptacle) + (and + (receptacleType ?r DeskType) + (exists (?o - object) + (and + (objectType ?o PencilType) + (exists (?mo - object) + (and + (objectType ?mo BowlType) + (isReceptacleObject ?mo) + (inReceptacleObject ?o ?mo) + (inReceptacle ?mo ?r) + ) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pencil-Bowl-Desk-305/trial_T20190911_175623_605587/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pencil-Bowl-Desk-305/trial_T20190911_175623_605587/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..c221715410f8faab00aa30ad97d8d6831958dcbf --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pencil-Bowl-Desk-305/trial_T20190911_175623_605587/traj_data.json @@ -0,0 +1,5090 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + 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0.0 + } + }, + { + "objectName": "CreditCard_d7eb5187", + "position": { + "x": 0.138623625, + "y": 0.690196, + "z": -1.70533371 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_d0be3ae7", + "position": { + "x": -0.213294759, + "y": 0.694151, + "z": -1.74973834 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "AlarmClock_e9abe4e3", + "position": { + "x": 1.08474612, + "y": 0.7294924, + "z": 1.066412 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pencil_a35ce977", + "position": { + "x": 1.35601091, + "y": 0.732291162, + "z": 1.56216073 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pillow_1574a200", + "position": { + "x": 0.8728, + "y": 0.816, + "z": -1.513 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CD_15fd1764", + "position": { + "x": 1.10214949, + "y": 0.07714022, + "z": 0.564614058 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pen_93147e8a", + "position": { + "x": 0.0213174969, + "y": 0.6958528, + "z": -1.57212 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_fa34f539", + "position": { + "x": 1.01692986, + "y": 0.727, + "z": 1.56216073 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2017930277, + "scene_num": 305 + }, + "task_id": "trial_T20190911_175623_605587", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1HKHM4NVAO98H_35GMH2SV3HY9DAZPYX7DUHVB57IEO7", + "high_descs": [ + "turn around and walk to the mirror on the wall, then turn right and walk to the desk ahead", + "grab a pencil off of the desktop", + "turn around, walk forwards a bit then turn left and walk over to the desk next to the right of the bed", + "place the pencil inside a cup on the desk there", + "pick the cup up from the desk", + "turn around and walk back over to the desk and the foot of the bed", + "place the cup down on the desk there" + ], + "task_desc": "place a cup with a pencil in it down on the desk at the foot of the bed", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AKVQTFH16ICGZ_374TNBHA8ECA4RTWDBBBQPIR2JPQYO", + "high_descs": [ + "Turn to your left, and go over to the desk that's in the left corner of the room", + "Pick up the pencil that's on the desk", + "Turn to your right and take the pencil over to the dress on the right of the bed", + "Put the pencil down into the glass bowl", + "Pick up the glass bowl from the dresser", + "Turn around and go back over to the desk", + "Place down the bowl onto the desk, to the right of the mug" + ], + "task_desc": "Pick up a pencil, bowl, place it onto the desk", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "ACSS93E03ZUGX_3HMVI3QICM9MNN9FSWLWPOAJU8ZY15", + "high_descs": [ + "Turn towards the left of the room and face the desk in corner.", + "Pick up the pen off of the desk.", + "Go to the right and stand in front of the night stand next to the bed.", + "Place the pencil on the dish on the night stand.", + "Pick up the dish with the pencil.", + "Turn around, go straight and then right to in front of the desk. ", + "Place the dish with the pencil on it on the desk." + ], + "task_desc": "Move the dish with the pencil from the night table to the desk.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pencil-Bowl-Desk-327/trial_T20190908_031004_339280/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pencil-Bowl-Desk-327/trial_T20190908_031004_339280/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..bb6139ad5a0b05d25cd33e6f060396147b1095ae --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pencil-Bowl-Desk-327/trial_T20190908_031004_339280/initial_state.pddl @@ -0,0 +1,611 @@ + +(define (problem plan_trial_T20190908_031004_339280) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + AlarmClock_bar__plus_01_dot_23_bar__plus_01_dot_41_bar__minus_00_dot_09 - object + AlarmClock_bar__plus_01_dot_26_bar__plus_00_dot_91_bar__minus_00_dot_10 - object + AlarmClock_bar__minus_01_dot_46_bar__plus_00_dot_70_bar__minus_02_dot_05 - object + BaseballBat_bar__plus_01_dot_44_bar__plus_00_dot_64_bar__plus_01_dot_99 - object + BasketBall_bar__plus_01_dot_27_bar__plus_00_dot_12_bar__minus_01_dot_29 - object + Blinds_bar__plus_00_dot_25_bar__plus_02_dot_19_bar__minus_02_dot_69 - object + Blinds_bar__minus_00_dot_35_bar__plus_02_dot_19_bar__minus_02_dot_69 - object + Blinds_bar__minus_00_dot_95_bar__plus_02_dot_19_bar__minus_02_dot_69 - object + Book_bar__plus_00_dot_62_bar__plus_00_dot_57_bar__minus_02_dot_47 - object + Book_bar__minus_01_dot_20_bar__plus_00_dot_61_bar__minus_01_dot_07 - object + Boots_bar__plus_01_dot_29_bar__plus_00_dot_00_bar__minus_00_dot_96 - object + Bowl_bar__minus_01_dot_54_bar__plus_01_dot_52_bar__minus_02_dot_44 - object + CD_bar__plus_01_dot_26_bar__plus_00_dot_38_bar__minus_00_dot_10 - object + CD_bar__minus_01_dot_33_bar__plus_00_dot_70_bar__minus_01_dot_61 - object + CD_bar__minus_01_dot_65_bar__plus_00_dot_70_bar__minus_02_dot_05 - object + CellPhone_bar__plus_01_dot_12_bar__plus_00_dot_11_bar__minus_01_dot_96 - object + CellPhone_bar__minus_01_dot_52_bar__plus_00_dot_70_bar__minus_02_dot_19 - object + Chair_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__minus_02_dot_26 - object + CreditCard_bar__plus_01_dot_26_bar__plus_00_dot_91_bar__minus_00_dot_25 - object + CreditCard_bar__minus_01_dot_58_bar__plus_01_dot_52_bar__minus_02_dot_15 - object + DeskLamp_bar__minus_01_dot_49_bar__plus_00_dot_69_bar__minus_02_dot_42 - object + KeyChain_bar__plus_01_dot_26_bar__plus_01_dot_41_bar__minus_00_dot_67 - object + KeyChain_bar__plus_01_dot_27_bar__plus_00_dot_51_bar__minus_01_dot_76 - object + KeyChain_bar__minus_01_dot_27_bar__plus_00_dot_70_bar__minus_02_dot_19 - object + Laptop_bar__plus_00_dot_08_bar__plus_00_dot_57_bar__minus_02_dot_46 - object + LightSwitch_bar__minus_00_dot_76_bar__plus_01_dot_18_bar__plus_02_dot_10 - object + Mirror_bar__plus_00_dot_74_bar__plus_01_dot_49_bar__plus_02_dot_10 - object + Pencil_bar__minus_01_dot_46_bar__plus_00_dot_70_bar__minus_01_dot_76 - object + Pencil_bar__minus_01_dot_58_bar__plus_00_dot_70_bar__minus_01_dot_61 - object + Pen_bar__plus_01_dot_22_bar__plus_00_dot_51_bar__minus_02_dot_04 - object + Pillow_bar__minus_01_dot_32_bar__plus_00_dot_71_bar__plus_00_dot_34 - object + Window_bar__plus_00_dot_24_bar__plus_00_dot_96_bar__minus_02_dot_68 - object + Window_bar__minus_00_dot_36_bar__plus_00_dot_96_bar__minus_02_dot_68 - object + Window_bar__minus_00_dot_96_bar__plus_00_dot_96_bar__minus_02_dot_68 - object + Bed_bar__minus_01_dot_21_bar__plus_00_dot_02_bar__minus_00_dot_27 - receptacle + Desk_bar__plus_00_dot_45_bar_00_dot_00_bar__minus_02_dot_53 - receptacle + Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_64 - receptacle + Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_96 - receptacle + Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_64 - receptacle + Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_96 - receptacle + Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_64 - receptacle + Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_96 - receptacle + Drawer_bar__minus_01_dot_35_bar__plus_00_dot_19_bar__minus_02_dot_05 - receptacle + Drawer_bar__minus_01_dot_35_bar__plus_00_dot_48_bar__minus_02_dot_05 - receptacle + Dresser_bar__minus_01_dot_47_bar__plus_00_dot_03_bar__minus_02_dot_05 - receptacle + GarbageCan_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_94 - receptacle + Shelf_bar__plus_01_dot_22_bar__plus_00_dot_86_bar__minus_01_dot_80 - receptacle + Shelf_bar__plus_01_dot_26_bar__plus_00_dot_38_bar__minus_00_dot_26 - receptacle + Shelf_bar__plus_01_dot_26_bar__plus_00_dot_90_bar__minus_00_dot_27 - receptacle + Shelf_bar__plus_01_dot_26_bar__plus_01_dot_40_bar__minus_00_dot_26 - receptacle + Shelf_bar__minus_01_dot_58_bar__plus_01_dot_51_bar__minus_02_dot_03 - receptacle + loc_bar_0_bar_0_bar_3_bar_60 - location + loc_bar_0_bar__minus_6_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_9_bar_2_bar__minus_30 - location + loc_bar__minus_2_bar__minus_9_bar_2_bar_60 - location + loc_bar_1_bar__minus_6_bar_1_bar_60 - location + loc_bar_2_bar__minus_1_bar_1_bar_45 - location + loc_bar_1_bar__minus_5_bar_1_bar_60 - location + loc_bar__minus_2_bar_5_bar_3_bar_60 - location + loc_bar_3_bar_6_bar_0_bar_15 - location + loc_bar_2_bar__minus_6_bar_2_bar_60 - location + loc_bar_2_bar__minus_6_bar_1_bar_45 - location + loc_bar_4_bar_6_bar_0_bar_60 - location + loc_bar__minus_2_bar__minus_9_bar_1_bar_45 - location + loc_bar__minus_3_bar__minus_8_bar_3_bar_60 - location + loc_bar__minus_1_bar__minus_7_bar_3_bar_60 - location + loc_bar__minus_3_bar__minus_9_bar_2_bar__minus_30 - location + loc_bar__minus_3_bar_6_bar_0_bar_45 - location + loc_bar_2_bar_0_bar_1_bar_60 - location + loc_bar__minus_3_bar__minus_9_bar_2_bar_60 - location + loc_bar_2_bar__minus_1_bar_1_bar_60 - location + loc_bar_2_bar__minus_5_bar_1_bar_60 - location + loc_bar_2_bar__minus_1_bar_1_bar_15 - location + loc_bar__minus_1_bar__minus_5_bar_1_bar_45 - location + loc_bar__minus_2_bar__minus_9_bar_1_bar_60 - location + loc_bar_0_bar__minus_5_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_9_bar_1_bar__minus_30 - location + loc_bar__minus_3_bar__minus_8_bar_3_bar_15 - location + loc_bar_3_bar__minus_4_bar_1_bar_60 - location + loc_bar__minus_1_bar__minus_8_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_64 DrawerType) + (receptacleType Shelf_bar__minus_01_dot_58_bar__plus_01_dot_51_bar__minus_02_dot_03 ShelfType) + (receptacleType Dresser_bar__minus_01_dot_47_bar__plus_00_dot_03_bar__minus_02_dot_05 DresserType) + (receptacleType Drawer_bar__minus_01_dot_35_bar__plus_00_dot_19_bar__minus_02_dot_05 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_64 DrawerType) + (receptacleType Shelf_bar__plus_01_dot_26_bar__plus_01_dot_40_bar__minus_00_dot_26 ShelfType) + (receptacleType Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_96 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_64 DrawerType) + (receptacleType Shelf_bar__plus_01_dot_26_bar__plus_00_dot_38_bar__minus_00_dot_26 ShelfType) + (receptacleType GarbageCan_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_94 GarbageCanType) + (receptacleType Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_96 DrawerType) + (receptacleType Shelf_bar__plus_01_dot_22_bar__plus_00_dot_86_bar__minus_01_dot_80 ShelfType) + (receptacleType Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_96 DrawerType) + (receptacleType Shelf_bar__plus_01_dot_26_bar__plus_00_dot_90_bar__minus_00_dot_27 ShelfType) + (receptacleType Desk_bar__plus_00_dot_45_bar_00_dot_00_bar__minus_02_dot_53 DeskType) + (receptacleType Bed_bar__minus_01_dot_21_bar__plus_00_dot_02_bar__minus_00_dot_27 BedType) + (receptacleType Drawer_bar__minus_01_dot_35_bar__plus_00_dot_48_bar__minus_02_dot_05 DrawerType) + (objectType KeyChain_bar__minus_01_dot_27_bar__plus_00_dot_70_bar__minus_02_dot_19 KeyChainType) + (objectType KeyChain_bar__plus_01_dot_27_bar__plus_00_dot_51_bar__minus_01_dot_76 KeyChainType) + (objectType Bowl_bar__minus_01_dot_54_bar__plus_01_dot_52_bar__minus_02_dot_44 BowlType) + (objectType Pen_bar__plus_01_dot_22_bar__plus_00_dot_51_bar__minus_02_dot_04 PenType) + (objectType KeyChain_bar__plus_01_dot_26_bar__plus_01_dot_41_bar__minus_00_dot_67 KeyChainType) + (objectType Window_bar__minus_00_dot_96_bar__plus_00_dot_96_bar__minus_02_dot_68 WindowType) + (objectType Book_bar__minus_01_dot_20_bar__plus_00_dot_61_bar__minus_01_dot_07 BookType) + (objectType Blinds_bar__minus_00_dot_35_bar__plus_02_dot_19_bar__minus_02_dot_69 BlindsType) + (objectType Laptop_bar__plus_00_dot_08_bar__plus_00_dot_57_bar__minus_02_dot_46 LaptopType) + (objectType AlarmClock_bar__minus_01_dot_46_bar__plus_00_dot_70_bar__minus_02_dot_05 AlarmClockType) + (objectType Boots_bar__plus_01_dot_29_bar__plus_00_dot_00_bar__minus_00_dot_96 BootsType) + (objectType Blinds_bar__plus_00_dot_25_bar__plus_02_dot_19_bar__minus_02_dot_69 BlindsType) + (objectType Blinds_bar__minus_00_dot_95_bar__plus_02_dot_19_bar__minus_02_dot_69 BlindsType) + (objectType DeskLamp_bar__minus_01_dot_49_bar__plus_00_dot_69_bar__minus_02_dot_42 DeskLampType) + (objectType Chair_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__minus_02_dot_26 ChairType) + (objectType CD_bar__plus_01_dot_26_bar__plus_00_dot_38_bar__minus_00_dot_10 CDType) + (objectType CreditCard_bar__plus_01_dot_26_bar__plus_00_dot_91_bar__minus_00_dot_25 CreditCardType) + (objectType Book_bar__plus_00_dot_62_bar__plus_00_dot_57_bar__minus_02_dot_47 BookType) + (objectType Pencil_bar__minus_01_dot_58_bar__plus_00_dot_70_bar__minus_01_dot_61 PencilType) + (objectType CD_bar__minus_01_dot_65_bar__plus_00_dot_70_bar__minus_02_dot_05 CDType) + (objectType Window_bar__plus_00_dot_24_bar__plus_00_dot_96_bar__minus_02_dot_68 WindowType) + (objectType BasketBall_bar__plus_01_dot_27_bar__plus_00_dot_12_bar__minus_01_dot_29 BasketBallType) + (objectType AlarmClock_bar__plus_01_dot_26_bar__plus_00_dot_91_bar__minus_00_dot_10 AlarmClockType) + (objectType CD_bar__minus_01_dot_33_bar__plus_00_dot_70_bar__minus_01_dot_61 CDType) + (objectType BaseballBat_bar__plus_01_dot_44_bar__plus_00_dot_64_bar__plus_01_dot_99 BaseballBatType) + (objectType CellPhone_bar__plus_01_dot_12_bar__plus_00_dot_11_bar__minus_01_dot_96 CellPhoneType) + (objectType Window_bar__minus_00_dot_36_bar__plus_00_dot_96_bar__minus_02_dot_68 WindowType) + (objectType Pillow_bar__minus_01_dot_32_bar__plus_00_dot_71_bar__plus_00_dot_34 PillowType) + (objectType Mirror_bar__plus_00_dot_74_bar__plus_01_dot_49_bar__plus_02_dot_10 MirrorType) + (objectType Pencil_bar__minus_01_dot_46_bar__plus_00_dot_70_bar__minus_01_dot_76 PencilType) + (objectType CreditCard_bar__minus_01_dot_58_bar__plus_01_dot_52_bar__minus_02_dot_15 CreditCardType) + (objectType CellPhone_bar__minus_01_dot_52_bar__plus_00_dot_70_bar__minus_02_dot_19 CellPhoneType) + (objectType LightSwitch_bar__minus_00_dot_76_bar__plus_01_dot_18_bar__plus_02_dot_10 LightSwitchType) + (objectType AlarmClock_bar__plus_01_dot_23_bar__plus_01_dot_41_bar__minus_00_dot_09 AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType 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loc_bar__minus_2_bar__minus_9_bar_1_bar_45) + (objectAtLocation Window_bar__minus_00_dot_36_bar__plus_00_dot_96_bar__minus_02_dot_68 loc_bar__minus_2_bar__minus_9_bar_2_bar_60) + (objectAtLocation Window_bar__minus_00_dot_96_bar__plus_00_dot_96_bar__minus_02_dot_68 loc_bar__minus_3_bar__minus_9_bar_2_bar_60) + (objectAtLocation Bowl_bar__minus_01_dot_54_bar__plus_01_dot_52_bar__minus_02_dot_44 loc_bar__minus_3_bar__minus_8_bar_3_bar_15) + (objectAtLocation Blinds_bar__minus_00_dot_35_bar__plus_02_dot_19_bar__minus_02_dot_69 loc_bar__minus_2_bar__minus_9_bar_2_bar__minus_30) + (objectAtLocation Blinds_bar__plus_00_dot_25_bar__plus_02_dot_19_bar__minus_02_dot_69 loc_bar__minus_2_bar__minus_9_bar_1_bar__minus_30) + (objectAtLocation Blinds_bar__minus_00_dot_95_bar__plus_02_dot_19_bar__minus_02_dot_69 loc_bar__minus_3_bar__minus_9_bar_2_bar__minus_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (and + (receptacleType ?r DeskType) + (exists (?o - object) + (and + (objectType ?o PencilType) + (exists (?mo - object) + (and + (objectType ?mo BowlType) + (isReceptacleObject ?mo) + (inReceptacleObject ?o ?mo) + (inReceptacle ?mo ?r) + ) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pencil-Bowl-Desk-327/trial_T20190908_031004_339280/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pencil-Bowl-Desk-327/trial_T20190908_031004_339280/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..4ac185c89f5fae73fcb8aafd51e827402b1102b7 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pencil-Bowl-Desk-327/trial_T20190908_031004_339280/traj_data.json @@ -0,0 +1,3698 @@ +{ + "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", + 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"Place the pencil in the bowl on the shelf.", + "Pick up the bowl with a pencil in it.", + "Turn around and walk forward and then face the table on the right.", + "Place the bowl with a pencil in it on the left side of the table." + ], + "task_desc": "To put a pencil in a bowl as well as move it to the left side of the computer table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1GVTH5YS3WOK0_3GGAI1SQEYF6G9UZPQM5CP63Q1JMCD", + "high_descs": [ + "Turn left and walk towards the dresser.", + "Pick up the pencil closest to the alarm clock.", + "Take step to the left to face the bowl on the shelf above the lamp.", + "Place the pencil in the bowl.", + "Pick up the bowl with the pencil.", + "Turn around and head towards the computer desk.", + "Place the bowl to the left of the book on the desk." + ], + "task_desc": "Place the bowl with a pencil next to the book on the white desk.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A24RGLS3BRZ60J_3HMVI3QICM9MNN9FSWLWPOAJVED1YZ", + "high_descs": [ + "Turn to the left to see the dresser.", + "Pick up the pencil from the of the dresser, closer to the middle.", + "Move a few steps the the left to stay looking at the dresser.", + "Look above the desk and place the pencil in the bowl.", + "Take down the bowl from the shelf.", + "Carry the bowl and turn around, then face the white desk on the right.", + "Place the bowl on the left side of the white desk." + ], + "task_desc": "Move a pencil and bowl to a different desk.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pencil-Bowl-Desk-327/trial_T20190908_224017_303977/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pencil-Bowl-Desk-327/trial_T20190908_224017_303977/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..dad40a9655eedd9dd2c17ea82bc345413c40be12 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pencil-Bowl-Desk-327/trial_T20190908_224017_303977/initial_state.pddl @@ -0,0 +1,584 @@ + +(define (problem plan_trial_T20190908_224017_303977) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + AlarmClock_bar__plus_01_dot_19_bar__plus_01_dot_41_bar__minus_00_dot_09 - object + BaseballBat_bar__plus_01_dot_44_bar__plus_00_dot_64_bar__plus_01_dot_99 - object + BasketBall_bar__plus_01_dot_27_bar__plus_00_dot_12_bar__minus_01_dot_29 - object + Blinds_bar__plus_00_dot_25_bar__plus_02_dot_19_bar__minus_02_dot_69 - object + Blinds_bar__minus_00_dot_35_bar__plus_02_dot_19_bar__minus_02_dot_69 - object + Blinds_bar__minus_00_dot_95_bar__plus_02_dot_19_bar__minus_02_dot_69 - object + Book_bar__minus_00_dot_96_bar__plus_00_dot_61_bar__minus_00_dot_22 - object + Boots_bar__plus_01_dot_29_bar__plus_00_dot_00_bar__minus_00_dot_96 - object + Bowl_bar__plus_01_dot_27_bar__plus_00_dot_50_bar__minus_01_dot_87 - object + Bowl_bar__minus_01_dot_33_bar__plus_00_dot_70_bar__minus_02_dot_19 - object + CD_bar__plus_01_dot_17_bar__plus_00_dot_24_bar__minus_02_dot_00 - object + CellPhone_bar__plus_01_dot_26_bar__plus_00_dot_91_bar__minus_00_dot_54 - object + Chair_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__minus_02_dot_26 - object + CreditCard_bar__minus_01_dot_33_bar__plus_00_dot_70_bar__minus_02_dot_48 - object + DeskLamp_bar__minus_01_dot_49_bar__plus_00_dot_69_bar__minus_02_dot_42 - object + KeyChain_bar__plus_01_dot_07_bar__plus_00_dot_37_bar__minus_02_dot_00 - object + KeyChain_bar__plus_01_dot_26_bar__plus_00_dot_38_bar__minus_00_dot_68 - object + KeyChain_bar__minus_01_dot_33_bar__plus_00_dot_10_bar__minus_02_dot_26 - object + Laptop_bar__plus_00_dot_08_bar__plus_00_dot_57_bar__minus_02_dot_46 - object + LightSwitch_bar__minus_00_dot_76_bar__plus_01_dot_18_bar__plus_02_dot_10 - object + Mirror_bar__plus_00_dot_74_bar__plus_01_dot_49_bar__plus_02_dot_10 - object + Pencil_bar__plus_00_dot_62_bar__plus_00_dot_58_bar__minus_02_dot_37 - object + Pen_bar__plus_01_dot_16_bar__plus_00_dot_39_bar__plus_00_dot_19 - object + Pen_bar__minus_01_dot_58_bar__plus_00_dot_71_bar__minus_01_dot_76 - object + Pillow_bar__minus_01_dot_17_bar__plus_00_dot_68_bar__minus_00_dot_99 - object + Window_bar__plus_00_dot_24_bar__plus_00_dot_96_bar__minus_02_dot_68 - object + Window_bar__minus_00_dot_36_bar__plus_00_dot_96_bar__minus_02_dot_68 - object + Window_bar__minus_00_dot_96_bar__plus_00_dot_96_bar__minus_02_dot_68 - object + Bed_bar__minus_01_dot_21_bar__plus_00_dot_02_bar__minus_00_dot_27 - receptacle + Desk_bar__plus_00_dot_45_bar_00_dot_00_bar__minus_02_dot_53 - receptacle + Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_64 - receptacle + Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_96 - receptacle + Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_64 - receptacle + Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_96 - receptacle + Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_64 - receptacle + Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_96 - receptacle + Drawer_bar__minus_01_dot_35_bar__plus_00_dot_19_bar__minus_02_dot_05 - receptacle + Drawer_bar__minus_01_dot_35_bar__plus_00_dot_48_bar__minus_02_dot_05 - receptacle + Dresser_bar__minus_01_dot_47_bar__plus_00_dot_03_bar__minus_02_dot_05 - receptacle + GarbageCan_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_94 - receptacle + Shelf_bar__plus_01_dot_22_bar__plus_00_dot_86_bar__minus_01_dot_80 - receptacle + Shelf_bar__plus_01_dot_26_bar__plus_00_dot_38_bar__minus_00_dot_26 - receptacle + Shelf_bar__plus_01_dot_26_bar__plus_00_dot_90_bar__minus_00_dot_27 - receptacle + Shelf_bar__plus_01_dot_26_bar__plus_01_dot_40_bar__minus_00_dot_26 - receptacle + Shelf_bar__minus_01_dot_58_bar__plus_01_dot_51_bar__minus_02_dot_03 - receptacle + loc_bar_0_bar_0_bar_3_bar_60 - location + loc_bar_0_bar__minus_6_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_9_bar_2_bar__minus_30 - location + loc_bar__minus_2_bar__minus_9_bar_2_bar_60 - location + loc_bar_1_bar__minus_6_bar_1_bar_60 - location + loc_bar_2_bar__minus_1_bar_1_bar_45 - location + loc_bar_1_bar__minus_5_bar_1_bar_60 - location + loc_bar__minus_2_bar_5_bar_3_bar_60 - location + loc_bar_3_bar_6_bar_0_bar_15 - location + loc_bar_2_bar__minus_6_bar_2_bar_60 - location + loc_bar_2_bar__minus_6_bar_1_bar_45 - location + loc_bar_4_bar_6_bar_0_bar_60 - location + loc_bar__minus_2_bar__minus_9_bar_1_bar_45 - location + loc_bar__minus_3_bar__minus_8_bar_3_bar_60 - location + loc_bar__minus_1_bar__minus_7_bar_3_bar_60 - location + loc_bar__minus_3_bar__minus_9_bar_2_bar__minus_30 - location + loc_bar__minus_3_bar_6_bar_0_bar_45 - location + loc_bar__minus_3_bar__minus_9_bar_2_bar_60 - location + loc_bar_2_bar__minus_1_bar_1_bar_60 - location + loc_bar_2_bar__minus_5_bar_1_bar_60 - location + loc_bar_2_bar__minus_1_bar_1_bar_15 - location + loc_bar__minus_1_bar__minus_5_bar_1_bar_45 - location + loc_bar__minus_2_bar__minus_9_bar_1_bar_60 - location + loc_bar_0_bar__minus_5_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_9_bar_1_bar__minus_30 - location + loc_bar__minus_3_bar__minus_8_bar_3_bar_15 - location + loc_bar_3_bar__minus_4_bar_1_bar_60 - location + loc_bar_2_bar__minus_6_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_64 DrawerType) + (receptacleType Shelf_bar__minus_01_dot_58_bar__plus_01_dot_51_bar__minus_02_dot_03 ShelfType) + (receptacleType Dresser_bar__minus_01_dot_47_bar__plus_00_dot_03_bar__minus_02_dot_05 DresserType) + (receptacleType Drawer_bar__minus_01_dot_35_bar__plus_00_dot_19_bar__minus_02_dot_05 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_64 DrawerType) + (receptacleType Shelf_bar__plus_01_dot_26_bar__plus_01_dot_40_bar__minus_00_dot_26 ShelfType) + (receptacleType Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_96 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_64 DrawerType) + (receptacleType Shelf_bar__plus_01_dot_26_bar__plus_00_dot_38_bar__minus_00_dot_26 ShelfType) + (receptacleType GarbageCan_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_94 GarbageCanType) + (receptacleType Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_96 DrawerType) + (receptacleType Shelf_bar__plus_01_dot_22_bar__plus_00_dot_86_bar__minus_01_dot_80 ShelfType) + (receptacleType Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_96 DrawerType) + (receptacleType Shelf_bar__plus_01_dot_26_bar__plus_00_dot_90_bar__minus_00_dot_27 ShelfType) + (receptacleType Desk_bar__plus_00_dot_45_bar_00_dot_00_bar__minus_02_dot_53 DeskType) + (receptacleType Bed_bar__minus_01_dot_21_bar__plus_00_dot_02_bar__minus_00_dot_27 BedType) + (receptacleType Drawer_bar__minus_01_dot_35_bar__plus_00_dot_48_bar__minus_02_dot_05 DrawerType) + (objectType Bowl_bar__minus_01_dot_33_bar__plus_00_dot_70_bar__minus_02_dot_19 BowlType) + (objectType Window_bar__minus_00_dot_96_bar__plus_00_dot_96_bar__minus_02_dot_68 WindowType) + (objectType Blinds_bar__minus_00_dot_35_bar__plus_02_dot_19_bar__minus_02_dot_69 BlindsType) + (objectType KeyChain_bar__plus_01_dot_07_bar__plus_00_dot_37_bar__minus_02_dot_00 KeyChainType) + (objectType Laptop_bar__plus_00_dot_08_bar__plus_00_dot_57_bar__minus_02_dot_46 LaptopType) + (objectType Pencil_bar__plus_00_dot_62_bar__plus_00_dot_58_bar__minus_02_dot_37 PencilType) + (objectType KeyChain_bar__plus_01_dot_26_bar__plus_00_dot_38_bar__minus_00_dot_68 KeyChainType) + (objectType Boots_bar__plus_01_dot_29_bar__plus_00_dot_00_bar__minus_00_dot_96 BootsType) + (objectType Blinds_bar__plus_00_dot_25_bar__plus_02_dot_19_bar__minus_02_dot_69 BlindsType) + (objectType Blinds_bar__minus_00_dot_95_bar__plus_02_dot_19_bar__minus_02_dot_69 BlindsType) + (objectType Pen_bar__plus_01_dot_16_bar__plus_00_dot_39_bar__plus_00_dot_19 PenType) + (objectType AlarmClock_bar__plus_01_dot_19_bar__plus_01_dot_41_bar__minus_00_dot_09 AlarmClockType) + (objectType DeskLamp_bar__minus_01_dot_49_bar__plus_00_dot_69_bar__minus_02_dot_42 DeskLampType) + (objectType Chair_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__minus_02_dot_26 ChairType) + (objectType CD_bar__plus_01_dot_17_bar__plus_00_dot_24_bar__minus_02_dot_00 CDType) + (objectType CellPhone_bar__plus_01_dot_26_bar__plus_00_dot_91_bar__minus_00_dot_54 CellPhoneType) + (objectType Bowl_bar__plus_01_dot_27_bar__plus_00_dot_50_bar__minus_01_dot_87 BowlType) + (objectType KeyChain_bar__minus_01_dot_33_bar__plus_00_dot_10_bar__minus_02_dot_26 KeyChainType) + (objectType Window_bar__plus_00_dot_24_bar__plus_00_dot_96_bar__minus_02_dot_68 WindowType) + (objectType BasketBall_bar__plus_01_dot_27_bar__plus_00_dot_12_bar__minus_01_dot_29 BasketBallType) + (objectType CreditCard_bar__minus_01_dot_33_bar__plus_00_dot_70_bar__minus_02_dot_48 CreditCardType) + (objectType Pillow_bar__minus_01_dot_17_bar__plus_00_dot_68_bar__minus_00_dot_99 PillowType) + (objectType BaseballBat_bar__plus_01_dot_44_bar__plus_00_dot_64_bar__plus_01_dot_99 BaseballBatType) + (objectType Window_bar__minus_00_dot_36_bar__plus_00_dot_96_bar__minus_02_dot_68 WindowType) + (objectType Mirror_bar__plus_00_dot_74_bar__plus_01_dot_49_bar__plus_02_dot_10 MirrorType) + (objectType Book_bar__minus_00_dot_96_bar__plus_00_dot_61_bar__minus_00_dot_22 BookType) + (objectType LightSwitch_bar__minus_00_dot_76_bar__plus_01_dot_18_bar__plus_02_dot_10 LightSwitchType) + (objectType Pen_bar__minus_01_dot_58_bar__plus_00_dot_71_bar__minus_01_dot_76 PenType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType BowlType) + (canContain ShelfType CDType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType AlarmClockType) + (canContain DresserType PenType) + (canContain DresserType BookType) + (canContain DresserType BowlType) + (canContain DresserType CDType) + (canContain DresserType CellPhoneType) + (canContain DresserType KeyChainType) + (canContain DresserType CreditCardType) + (canContain DresserType BasketBallType) + (canContain DresserType LaptopType) + (canContain DresserType PencilType) + (canContain DresserType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType BowlType) + (canContain ShelfType CDType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType BowlType) + (canContain ShelfType CDType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType AlarmClockType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType CDType) + (canContain GarbageCanType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType BowlType) + (canContain ShelfType CDType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType BowlType) + (canContain ShelfType CDType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType AlarmClockType) + (canContain DeskType PenType) + (canContain DeskType BookType) + (canContain DeskType BowlType) + (canContain DeskType CDType) + (canContain DeskType CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (canContain DeskType BasketBallType) + (canContain DeskType LaptopType) + (canContain DeskType PencilType) + (canContain DeskType AlarmClockType) + (canContain BedType BasketBallType) + (canContain BedType BaseballBatType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (pickupable Bowl_bar__minus_01_dot_33_bar__plus_00_dot_70_bar__minus_02_dot_19) + (pickupable KeyChain_bar__plus_01_dot_07_bar__plus_00_dot_37_bar__minus_02_dot_00) + (pickupable Laptop_bar__plus_00_dot_08_bar__plus_00_dot_57_bar__minus_02_dot_46) + (pickupable Pencil_bar__plus_00_dot_62_bar__plus_00_dot_58_bar__minus_02_dot_37) + (pickupable KeyChain_bar__plus_01_dot_26_bar__plus_00_dot_38_bar__minus_00_dot_68) + (pickupable Boots_bar__plus_01_dot_29_bar__plus_00_dot_00_bar__minus_00_dot_96) + (pickupable Pen_bar__plus_01_dot_16_bar__plus_00_dot_39_bar__plus_00_dot_19) + (pickupable AlarmClock_bar__plus_01_dot_19_bar__plus_01_dot_41_bar__minus_00_dot_09) + (pickupable CD_bar__plus_01_dot_17_bar__plus_00_dot_24_bar__minus_02_dot_00) + (pickupable CellPhone_bar__plus_01_dot_26_bar__plus_00_dot_91_bar__minus_00_dot_54) + (pickupable Bowl_bar__plus_01_dot_27_bar__plus_00_dot_50_bar__minus_01_dot_87) + (pickupable KeyChain_bar__minus_01_dot_33_bar__plus_00_dot_10_bar__minus_02_dot_26) + (pickupable BasketBall_bar__plus_01_dot_27_bar__plus_00_dot_12_bar__minus_01_dot_29) + (pickupable CreditCard_bar__minus_01_dot_33_bar__plus_00_dot_70_bar__minus_02_dot_48) + (pickupable Pillow_bar__minus_01_dot_17_bar__plus_00_dot_68_bar__minus_00_dot_99) + (pickupable BaseballBat_bar__plus_01_dot_44_bar__plus_00_dot_64_bar__plus_01_dot_99) + (pickupable Book_bar__minus_00_dot_96_bar__plus_00_dot_61_bar__minus_00_dot_22) + (pickupable Pen_bar__minus_01_dot_58_bar__plus_00_dot_71_bar__minus_01_dot_76) + (isReceptacleObject Bowl_bar__minus_01_dot_33_bar__plus_00_dot_70_bar__minus_02_dot_19) + (isReceptacleObject Bowl_bar__plus_01_dot_27_bar__plus_00_dot_50_bar__minus_01_dot_87) + (openable Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_64) + (openable Drawer_bar__minus_01_dot_35_bar__plus_00_dot_19_bar__minus_02_dot_05) + (openable Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_64) + (openable Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_96) + (openable Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_64) + (openable Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_96) + (openable Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_96) + + (atLocation agent1 loc_bar_2_bar__minus_6_bar_1_bar_30) + + (cleanable Bowl_bar__minus_01_dot_33_bar__plus_00_dot_70_bar__minus_02_dot_19) + (cleanable Bowl_bar__plus_01_dot_27_bar__plus_00_dot_50_bar__minus_01_dot_87) + + + (coolable Bowl_bar__minus_01_dot_33_bar__plus_00_dot_70_bar__minus_02_dot_19) + (coolable Bowl_bar__plus_01_dot_27_bar__plus_00_dot_50_bar__minus_01_dot_87) + + + (toggleable DeskLamp_bar__minus_01_dot_49_bar__plus_00_dot_69_bar__minus_02_dot_42) + + + + + (inReceptacle CD_bar__plus_01_dot_17_bar__plus_00_dot_24_bar__minus_02_dot_00 Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_96) + (inReceptacle Laptop_bar__plus_00_dot_08_bar__plus_00_dot_57_bar__minus_02_dot_46 Desk_bar__plus_00_dot_45_bar_00_dot_00_bar__minus_02_dot_53) + (inReceptacle Pencil_bar__plus_00_dot_62_bar__plus_00_dot_58_bar__minus_02_dot_37 Desk_bar__plus_00_dot_45_bar_00_dot_00_bar__minus_02_dot_53) + (inReceptacle Pen_bar__minus_01_dot_58_bar__plus_00_dot_71_bar__minus_01_dot_76 Dresser_bar__minus_01_dot_47_bar__plus_00_dot_03_bar__minus_02_dot_05) + (inReceptacle DeskLamp_bar__minus_01_dot_49_bar__plus_00_dot_69_bar__minus_02_dot_42 Dresser_bar__minus_01_dot_47_bar__plus_00_dot_03_bar__minus_02_dot_05) + (inReceptacle CreditCard_bar__minus_01_dot_33_bar__plus_00_dot_70_bar__minus_02_dot_48 Dresser_bar__minus_01_dot_47_bar__plus_00_dot_03_bar__minus_02_dot_05) + (inReceptacle Bowl_bar__minus_01_dot_33_bar__plus_00_dot_70_bar__minus_02_dot_19 Dresser_bar__minus_01_dot_47_bar__plus_00_dot_03_bar__minus_02_dot_05) + (inReceptacle Book_bar__minus_00_dot_96_bar__plus_00_dot_61_bar__minus_00_dot_22 Bed_bar__minus_01_dot_21_bar__plus_00_dot_02_bar__minus_00_dot_27) + (inReceptacle Pillow_bar__minus_01_dot_17_bar__plus_00_dot_68_bar__minus_00_dot_99 Bed_bar__minus_01_dot_21_bar__plus_00_dot_02_bar__minus_00_dot_27) + (inReceptacle KeyChain_bar__minus_01_dot_33_bar__plus_00_dot_10_bar__minus_02_dot_26 Drawer_bar__minus_01_dot_35_bar__plus_00_dot_19_bar__minus_02_dot_05) + (inReceptacle Bowl_bar__plus_01_dot_27_bar__plus_00_dot_50_bar__minus_01_dot_87 Shelf_bar__plus_01_dot_22_bar__plus_00_dot_86_bar__minus_01_dot_80) + (inReceptacle KeyChain_bar__plus_01_dot_07_bar__plus_00_dot_37_bar__minus_02_dot_00 Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_96) + (inReceptacle CellPhone_bar__plus_01_dot_26_bar__plus_00_dot_91_bar__minus_00_dot_54 Shelf_bar__plus_01_dot_26_bar__plus_00_dot_90_bar__minus_00_dot_27) + (inReceptacle Pen_bar__plus_01_dot_16_bar__plus_00_dot_39_bar__plus_00_dot_19 Shelf_bar__plus_01_dot_26_bar__plus_00_dot_38_bar__minus_00_dot_26) + (inReceptacle KeyChain_bar__plus_01_dot_26_bar__plus_00_dot_38_bar__minus_00_dot_68 Shelf_bar__plus_01_dot_26_bar__plus_00_dot_38_bar__minus_00_dot_26) + (inReceptacle AlarmClock_bar__plus_01_dot_19_bar__plus_01_dot_41_bar__minus_00_dot_09 Shelf_bar__plus_01_dot_26_bar__plus_01_dot_40_bar__minus_00_dot_26) + + + (receptacleAtLocation Bed_bar__minus_01_dot_21_bar__plus_00_dot_02_bar__minus_00_dot_27 loc_bar_0_bar_0_bar_3_bar_60) + (receptacleAtLocation Desk_bar__plus_00_dot_45_bar_00_dot_00_bar__minus_02_dot_53 loc_bar_2_bar__minus_6_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_64 loc_bar_0_bar__minus_5_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_96 loc_bar_0_bar__minus_6_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_64 loc_bar__minus_1_bar__minus_5_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_96 loc_bar_0_bar__minus_6_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_64 loc_bar_1_bar__minus_5_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_96 loc_bar_1_bar__minus_6_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_35_bar__plus_00_dot_19_bar__minus_02_dot_05 loc_bar__minus_1_bar__minus_7_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_35_bar__plus_00_dot_48_bar__minus_02_dot_05 loc_bar__minus_3_bar__minus_8_bar_3_bar_60) + (receptacleAtLocation Dresser_bar__minus_01_dot_47_bar__plus_00_dot_03_bar__minus_02_dot_05 loc_bar__minus_3_bar__minus_8_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_94 loc_bar__minus_2_bar_5_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__plus_01_dot_22_bar__plus_00_dot_86_bar__minus_01_dot_80 loc_bar_2_bar__minus_6_bar_1_bar_45) + (receptacleAtLocation Shelf_bar__plus_01_dot_26_bar__plus_00_dot_38_bar__minus_00_dot_26 loc_bar_2_bar__minus_1_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__plus_01_dot_26_bar__plus_00_dot_90_bar__minus_00_dot_27 loc_bar_2_bar__minus_1_bar_1_bar_45) + (receptacleAtLocation Shelf_bar__plus_01_dot_26_bar__plus_01_dot_40_bar__minus_00_dot_26 loc_bar_2_bar__minus_1_bar_1_bar_15) + (receptacleAtLocation Shelf_bar__minus_01_dot_58_bar__plus_01_dot_51_bar__minus_02_dot_03 loc_bar__minus_3_bar__minus_8_bar_3_bar_15) + (objectAtLocation Bowl_bar__plus_01_dot_27_bar__plus_00_dot_50_bar__minus_01_dot_87 loc_bar_2_bar__minus_6_bar_1_bar_45) + (objectAtLocation Pen_bar__plus_01_dot_16_bar__plus_00_dot_39_bar__plus_00_dot_19 loc_bar_2_bar__minus_1_bar_1_bar_60) + (objectAtLocation KeyChain_bar__plus_01_dot_26_bar__plus_00_dot_38_bar__minus_00_dot_68 loc_bar_2_bar__minus_1_bar_1_bar_60) + (objectAtLocation KeyChain_bar__minus_01_dot_33_bar__plus_00_dot_10_bar__minus_02_dot_26 loc_bar__minus_1_bar__minus_7_bar_3_bar_60) + (objectAtLocation Book_bar__minus_00_dot_96_bar__plus_00_dot_61_bar__minus_00_dot_22 loc_bar_0_bar_0_bar_3_bar_60) + (objectAtLocation Mirror_bar__plus_00_dot_74_bar__plus_01_dot_49_bar__plus_02_dot_10 loc_bar_3_bar_6_bar_0_bar_15) + (objectAtLocation Chair_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__minus_02_dot_26 loc_bar__minus_2_bar__minus_9_bar_1_bar_60) + (objectAtLocation KeyChain_bar__plus_01_dot_07_bar__plus_00_dot_37_bar__minus_02_dot_00 loc_bar_1_bar__minus_6_bar_1_bar_60) + (objectAtLocation BaseballBat_bar__plus_01_dot_44_bar__plus_00_dot_64_bar__plus_01_dot_99 loc_bar_4_bar_6_bar_0_bar_60) + (objectAtLocation BasketBall_bar__plus_01_dot_27_bar__plus_00_dot_12_bar__minus_01_dot_29 loc_bar_2_bar__minus_5_bar_1_bar_60) + (objectAtLocation Pencil_bar__plus_00_dot_62_bar__plus_00_dot_58_bar__minus_02_dot_37 loc_bar_2_bar__minus_6_bar_2_bar_60) + (objectAtLocation CellPhone_bar__plus_01_dot_26_bar__plus_00_dot_91_bar__minus_00_dot_54 loc_bar_2_bar__minus_1_bar_1_bar_45) + (objectAtLocation CreditCard_bar__minus_01_dot_33_bar__plus_00_dot_70_bar__minus_02_dot_48 loc_bar__minus_3_bar__minus_8_bar_3_bar_60) + (objectAtLocation Laptop_bar__plus_00_dot_08_bar__plus_00_dot_57_bar__minus_02_dot_46 loc_bar_2_bar__minus_6_bar_2_bar_60) + (objectAtLocation Pillow_bar__minus_01_dot_17_bar__plus_00_dot_68_bar__minus_00_dot_99 loc_bar_0_bar_0_bar_3_bar_60) + (objectAtLocation LightSwitch_bar__minus_00_dot_76_bar__plus_01_dot_18_bar__plus_02_dot_10 loc_bar__minus_3_bar_6_bar_0_bar_45) + (objectAtLocation Boots_bar__plus_01_dot_29_bar__plus_00_dot_00_bar__minus_00_dot_96 loc_bar_3_bar__minus_4_bar_1_bar_60) + (objectAtLocation Pen_bar__minus_01_dot_58_bar__plus_00_dot_71_bar__minus_01_dot_76 loc_bar__minus_3_bar__minus_8_bar_3_bar_60) + (objectAtLocation DeskLamp_bar__minus_01_dot_49_bar__plus_00_dot_69_bar__minus_02_dot_42 loc_bar__minus_3_bar__minus_8_bar_3_bar_60) + (objectAtLocation AlarmClock_bar__plus_01_dot_19_bar__plus_01_dot_41_bar__minus_00_dot_09 loc_bar_2_bar__minus_1_bar_1_bar_15) + (objectAtLocation CD_bar__plus_01_dot_17_bar__plus_00_dot_24_bar__minus_02_dot_00 loc_bar_0_bar__minus_6_bar_1_bar_60) + (objectAtLocation Window_bar__plus_00_dot_24_bar__plus_00_dot_96_bar__minus_02_dot_68 loc_bar__minus_2_bar__minus_9_bar_1_bar_45) + (objectAtLocation Window_bar__minus_00_dot_36_bar__plus_00_dot_96_bar__minus_02_dot_68 loc_bar__minus_2_bar__minus_9_bar_2_bar_60) + (objectAtLocation Window_bar__minus_00_dot_96_bar__plus_00_dot_96_bar__minus_02_dot_68 loc_bar__minus_3_bar__minus_9_bar_2_bar_60) + (objectAtLocation Bowl_bar__minus_01_dot_33_bar__plus_00_dot_70_bar__minus_02_dot_19 loc_bar__minus_3_bar__minus_8_bar_3_bar_60) + (objectAtLocation Blinds_bar__minus_00_dot_35_bar__plus_02_dot_19_bar__minus_02_dot_69 loc_bar__minus_2_bar__minus_9_bar_2_bar__minus_30) + (objectAtLocation Blinds_bar__plus_00_dot_25_bar__plus_02_dot_19_bar__minus_02_dot_69 loc_bar__minus_2_bar__minus_9_bar_1_bar__minus_30) + (objectAtLocation Blinds_bar__minus_00_dot_95_bar__plus_02_dot_19_bar__minus_02_dot_69 loc_bar__minus_3_bar__minus_9_bar_2_bar__minus_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (and + (receptacleType ?r DeskType) + (exists (?o - object) + (and + (objectType ?o PencilType) + (exists (?mo - object) + (and + (objectType ?mo BowlType) + (isReceptacleObject ?mo) + (inReceptacleObject ?o ?mo) + (inReceptacle ?mo ?r) + ) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pencil-Bowl-Desk-327/trial_T20190908_224017_303977/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pencil-Bowl-Desk-327/trial_T20190908_224017_303977/traj_data.json new file mode 100644 index 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+ }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CellPhone_7274698b", + "position": { + "x": 1.25999916, + "y": 0.912007749, + "z": -0.537962556 + }, + "rotation": { + "x": 0.0, + "y": 270.000153, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_40e73bd4", + "position": { + "x": -1.33205307, + "y": 0.6993906, + "z": -2.481344 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Laptop_cdb35848", + "position": { + "x": 0.076, + "y": 0.5697099, + "z": -2.456 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pillow_6257ee32", + "position": { + "x": -1.17090464, + "y": 0.684, + "z": -0.990774751 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Boots_d4663af8", + "position": { + "x": 1.28801286, + "y": 0.0006439388, + "z": -0.9610129 + }, + "rotation": { + "x": 0.0101616178, + "y": 177.9129, + "z": 359.993683 + } + }, + { + "objectName": "Pen_5b90d568", + "position": { + "x": 1.1593436, + "y": 0.3889489, + "z": 0.191088766 + }, + "rotation": { + "x": 0.0, + "y": 270.000153, + "z": 0.0 + } + }, + { + "objectName": "AlarmClock_f169cd1d", + "position": { + "x": 1.19289541, + "y": 1.410973, + "z": -0.0937717855 + }, + "rotation": { + "x": 0.0, + "y": 270.000153, + "z": 0.0 + } + }, + { + "objectName": "CD_20bef21f", + "position": { + "x": 1.17267191, + "y": 0.237578034, + "z": -1.99862838 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_a179d6ba", + "position": { + "x": 1.26934385, + "y": 0.5047848, + "z": -1.87440872 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3607476799, + "scene_num": 327 + }, + "task_id": "trial_T20190908_224017_303977", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A2A028LRDJB7ZB_3LO69W1SU6UZR3SJR0H923CTOPEGLA", + "high_descs": [ + "Turn to your right then face the desk ", + "Pick up the pencil on the desk", + "Turn to your left face the cabinet with cup on top", + "Put the pencil in the cup", + "Pick up the cup with pencil", + "Turn all the way to your left then face the desk", + "Put the cup with pencil on top of the desk beside the laptop" + ], + "task_desc": "Pu the cup with pencil on the desk", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1RLO9LNUJIW5S_3TS1AR6UQTVUYI7MCMAH1DUGSQK7F4", + "high_descs": [ + "Take a step forward then turn right and take a step.", + "Pick up the pencil that's in front of you.", + "Turn left.", + "Put the pencil in the bowl that's in front of you.", + "Pick up the bowl.", + "Back up half a step and take a half step to your right.", + "Put the bowl on the desk." + ], + "task_desc": "Put a bowl with a pencil in it on the desk.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1ELPYAFO7MANS_354GIDR5ZENPJ3SCO56NJRXPEAD00H", + "high_descs": [ + "Turn right and walk to the desk.", + "Pick up the pencil on the left side of the desk.", + "Turn left.", + "Place the pencil in the bowl on the counter.", + "Pick up the bowl.", + "Turn right to the desk.", + "Place the bowl on the desk to the left of the laptop." + ], + "task_desc": "Place a bowl on a desk.", + "votes": [ + 1, + 1, + 0 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pencil-Mug-Shelf-313/trial_T20190907_150131_101097/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pencil-Mug-Shelf-313/trial_T20190907_150131_101097/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..f5b7c50e3d44a23ac3d4ed26d7c9280ec1724225 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pencil-Mug-Shelf-313/trial_T20190907_150131_101097/initial_state.pddl @@ -0,0 +1,594 @@ + +(define (problem plan_trial_T20190907_150131_101097) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + AlarmClock_bar__plus_00_dot_49_bar__plus_00_dot_70_bar__minus_01_dot_42 - object + AlarmClock_bar__plus_01_dot_23_bar__plus_00_dot_70_bar__minus_01_dot_42 - object + AlarmClock_bar__plus_01_dot_60_bar__plus_00_dot_71_bar__minus_00_dot_62 - object + BaseballBat_bar__minus_02_dot_20_bar__plus_00_dot_04_bar__minus_01_dot_34 - object + Blinds_bar__plus_00_dot_01_bar__plus_02_dot_15_bar__minus_02_dot_01 - object + Book_bar__plus_00_dot_00_bar__plus_00_dot_70_bar__minus_01_dot_52 - object + Book_bar__minus_00_dot_03_bar__plus_00_dot_29_bar__minus_01_dot_43 - object + Box_bar__plus_01_dot_54_bar__plus_01_dot_65_bar__plus_00_dot_69 - object + CD_bar__minus_00_dot_03_bar__plus_00_dot_50_bar__minus_01_dot_53 - object + CellPhone_bar__plus_00_dot_25_bar__plus_00_dot_71_bar__minus_01_dot_52 - object + CellPhone_bar__plus_00_dot_74_bar__plus_00_dot_70_bar__minus_01_dot_33 - object + CellPhone_bar__minus_02_dot_07_bar__plus_00_dot_53_bar__minus_00_dot_33 - object + Chair_bar__plus_00_dot_95_bar__plus_00_dot_00_bar__minus_01_dot_23 - object + CreditCard_bar__plus_00_dot_06_bar__plus_00_dot_08_bar__minus_01_dot_32 - object + CreditCard_bar__plus_01_dot_48_bar__plus_00_dot_70_bar__minus_01_dot_52 - object + CreditCard_bar__plus_01_dot_60_bar__plus_00_dot_49_bar__minus_00_dot_46 - object + HousePlant_bar__plus_01_dot_49_bar__plus_01_dot_40_bar__plus_00_dot_04 - object + KeyChain_bar__plus_00_dot_99_bar__plus_00_dot_70_bar__minus_01_dot_52 - object + Lamp_bar__plus_01_dot_30_bar__plus_00_dot_69_bar__minus_01_dot_72 - object + Laptop_bar__minus_01_dot_48_bar__plus_00_dot_53_bar__minus_00_dot_57 - object + Laptop_bar__minus_01_dot_92_bar__plus_00_dot_53_bar__minus_00_dot_57 - object + LightSwitch_bar__plus_00_dot_23_bar__plus_01_dot_29_bar__plus_00_dot_96 - object + Mirror_bar__minus_00_dot_69_bar__plus_01_dot_50_bar__plus_00_dot_96 - object + Mug_bar__plus_00_dot_49_bar__plus_00_dot_70_bar__minus_01_dot_72 - object + Mug_bar__plus_00_dot_74_bar__plus_00_dot_70_bar__minus_01_dot_62 - object + Mug_bar__plus_00_dot_99_bar__plus_00_dot_70_bar__minus_01_dot_42 - object + Painting_bar__minus_02_dot_40_bar__plus_01_dot_70_bar__minus_00_dot_86 - object + Pencil_bar__plus_01_dot_45_bar__plus_00_dot_49_bar__minus_00_dot_39 - object + Pencil_bar__plus_01_dot_54_bar__plus_00_dot_49_bar__minus_00_dot_53 - object + Pencil_bar__minus_00_dot_03_bar__plus_00_dot_09_bar__minus_01_dot_59 - object + Pen_bar__plus_01_dot_43_bar__plus_01_dot_42_bar__plus_00_dot_14 - object + Pen_bar__plus_01_dot_52_bar__plus_00_dot_71_bar__minus_00_dot_70 - object + Pillow_bar__minus_02_dot_04_bar__plus_00_dot_55_bar__plus_00_dot_68 - object + TeddyBear_bar__minus_02_dot_20_bar__plus_00_dot_50_bar__plus_00_dot_18 - object + TennisRacket_bar__minus_02_dot_25_bar__plus_00_dot_32_bar__minus_01_dot_81 - object + TissueBox_bar__plus_01_dot_53_bar__plus_00_dot_70_bar__minus_01_dot_64 - object + TissueBox_bar__plus_01_dot_63_bar__plus_01_dot_41_bar__plus_00_dot_39 - object + Window_bar__plus_00_dot_05_bar__plus_01_dot_56_bar__minus_02_dot_08 - object + Bed_bar__minus_01_dot_78_bar_00_dot_00_bar__minus_00_dot_03 - receptacle + Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63 - receptacle + Drawer_bar__plus_00_dot_39_bar__plus_00_dot_13_bar__minus_01_dot_46 - receptacle + Drawer_bar__plus_00_dot_39_bar__plus_00_dot_33_bar__minus_01_dot_46 - receptacle + Drawer_bar__plus_00_dot_39_bar__plus_00_dot_54_bar__minus_01_dot_46 - receptacle + Drawer_bar__minus_00_dot_03_bar__plus_00_dot_13_bar__minus_01_dot_46 - receptacle + Drawer_bar__minus_00_dot_03_bar__plus_00_dot_33_bar__minus_01_dot_46 - receptacle + Drawer_bar__minus_00_dot_03_bar__plus_00_dot_54_bar__minus_01_dot_46 - receptacle + GarbageCan_bar__minus_00_dot_61_bar__plus_00_dot_00_bar__plus_00_dot_80 - receptacle + Shelf_bar__plus_01_dot_54_bar__plus_00_dot_48_bar__minus_00_dot_47 - receptacle + Shelf_bar__plus_01_dot_55_bar__plus_01_dot_40_bar__plus_00_dot_38 - receptacle + SideTable_bar__plus_01_dot_56_bar__minus_00_dot_01_bar__minus_00_dot_47 - receptacle + loc_bar_0_bar_2_bar_1_bar_15 - location + loc_bar_0_bar__minus_4_bar_2_bar_0 - location + loc_bar__minus_3_bar__minus_5_bar_3_bar_45 - location + loc_bar_3_bar__minus_1_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_2_bar_2_bar_45 - location + loc_bar__minus_2_bar_1_bar_0_bar_60 - location + loc_bar_4_bar__minus_1_bar_2_bar_45 - location + loc_bar__minus_3_bar__minus_6_bar_3_bar_45 - location + loc_bar_1_bar_2_bar_0_bar_45 - location + loc_bar__minus_3_bar_1_bar_0_bar_15 - location + loc_bar_0_bar__minus_4_bar_2_bar__minus_30 - location + loc_bar__minus_3_bar__minus_3_bar_3_bar_0 - location + loc_bar_4_bar__minus_2_bar_2_bar_60 - location + loc_bar__minus_2_bar_0_bar_3_bar_45 - location + loc_bar__minus_2_bar__minus_2_bar_2_bar_60 - location + loc_bar_2_bar__minus_1_bar_1_bar_60 - location + loc_bar_0_bar__minus_2_bar_2_bar_45 - location + loc_bar_3_bar__minus_2_bar_2_bar_60 - location + loc_bar_2_bar__minus_1_bar_2_bar_45 - location + loc_bar__minus_2_bar__minus_2_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Shelf_bar__plus_01_dot_55_bar__plus_01_dot_40_bar__plus_00_dot_38 ShelfType) + (receptacleType GarbageCan_bar__minus_00_dot_61_bar__plus_00_dot_00_bar__plus_00_dot_80 GarbageCanType) + (receptacleType Bed_bar__minus_01_dot_78_bar_00_dot_00_bar__minus_00_dot_03 BedType) + (receptacleType Drawer_bar__plus_00_dot_39_bar__plus_00_dot_54_bar__minus_01_dot_46 DrawerType) + (receptacleType Shelf_bar__plus_01_dot_54_bar__plus_00_dot_48_bar__minus_00_dot_47 ShelfType) + (receptacleType Drawer_bar__plus_00_dot_39_bar__plus_00_dot_13_bar__minus_01_dot_46 DrawerType) + (receptacleType Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63 DeskType) + (receptacleType Drawer_bar__minus_00_dot_03_bar__plus_00_dot_13_bar__minus_01_dot_46 DrawerType) + (receptacleType SideTable_bar__plus_01_dot_56_bar__minus_00_dot_01_bar__minus_00_dot_47 SideTableType) + (receptacleType Drawer_bar__minus_00_dot_03_bar__plus_00_dot_54_bar__minus_01_dot_46 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_03_bar__plus_00_dot_33_bar__minus_01_dot_46 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_39_bar__plus_00_dot_33_bar__minus_01_dot_46 DrawerType) + (objectType BaseballBat_bar__minus_02_dot_20_bar__plus_00_dot_04_bar__minus_01_dot_34 BaseballBatType) + (objectType HousePlant_bar__plus_01_dot_49_bar__plus_01_dot_40_bar__plus_00_dot_04 HousePlantType) + (objectType Pen_bar__plus_01_dot_52_bar__plus_00_dot_71_bar__minus_00_dot_70 PenType) + (objectType Mug_bar__plus_00_dot_99_bar__plus_00_dot_70_bar__minus_01_dot_42 MugType) + (objectType CreditCard_bar__plus_01_dot_60_bar__plus_00_dot_49_bar__minus_00_dot_46 CreditCardType) + (objectType Pencil_bar__plus_01_dot_54_bar__plus_00_dot_49_bar__minus_00_dot_53 PencilType) + (objectType Laptop_bar__minus_01_dot_48_bar__plus_00_dot_53_bar__minus_00_dot_57 LaptopType) + (objectType Mug_bar__plus_00_dot_74_bar__plus_00_dot_70_bar__minus_01_dot_62 MugType) + (objectType Book_bar__plus_00_dot_00_bar__plus_00_dot_70_bar__minus_01_dot_52 BookType) + (objectType TeddyBear_bar__minus_02_dot_20_bar__plus_00_dot_50_bar__plus_00_dot_18 TeddyBearType) + (objectType Chair_bar__plus_00_dot_95_bar__plus_00_dot_00_bar__minus_01_dot_23 ChairType) + (objectType LightSwitch_bar__plus_00_dot_23_bar__plus_01_dot_29_bar__plus_00_dot_96 LightSwitchType) + (objectType Pencil_bar__minus_00_dot_03_bar__plus_00_dot_09_bar__minus_01_dot_59 PencilType) + (objectType CD_bar__minus_00_dot_03_bar__plus_00_dot_50_bar__minus_01_dot_53 CDType) + (objectType 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loc_bar__minus_2_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_03_bar__plus_00_dot_54_bar__minus_01_dot_46 loc_bar__minus_2_bar__minus_2_bar_2_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_61_bar__plus_00_dot_00_bar__plus_00_dot_80 loc_bar__minus_2_bar_1_bar_0_bar_60) + (receptacleAtLocation Shelf_bar__plus_01_dot_54_bar__plus_00_dot_48_bar__minus_00_dot_47 loc_bar_3_bar__minus_1_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__plus_01_dot_55_bar__plus_01_dot_40_bar__plus_00_dot_38 loc_bar_0_bar_2_bar_1_bar_15) + (receptacleAtLocation SideTable_bar__plus_01_dot_56_bar__minus_00_dot_01_bar__minus_00_dot_47 loc_bar_2_bar__minus_1_bar_1_bar_60) + (objectAtLocation Mug_bar__plus_00_dot_74_bar__plus_00_dot_70_bar__minus_01_dot_62 loc_bar_4_bar__minus_2_bar_2_bar_60) + (objectAtLocation Pencil_bar__plus_01_dot_45_bar__plus_00_dot_49_bar__minus_00_dot_39 loc_bar_3_bar__minus_1_bar_1_bar_60) + (objectAtLocation Pen_bar__plus_01_dot_52_bar__plus_00_dot_71_bar__minus_00_dot_70 loc_bar_2_bar__minus_1_bar_1_bar_60) + (objectAtLocation Laptop_bar__minus_01_dot_92_bar__plus_00_dot_53_bar__minus_00_dot_57 loc_bar__minus_2_bar_0_bar_3_bar_45) + (objectAtLocation CreditCard_bar__plus_01_dot_48_bar__plus_00_dot_70_bar__minus_01_dot_52 loc_bar_4_bar__minus_2_bar_2_bar_60) + (objectAtLocation TissueBox_bar__plus_01_dot_53_bar__plus_00_dot_70_bar__minus_01_dot_64 loc_bar_4_bar__minus_2_bar_2_bar_60) + (objectAtLocation CellPhone_bar__minus_02_dot_07_bar__plus_00_dot_53_bar__minus_00_dot_33 loc_bar__minus_2_bar_0_bar_3_bar_45) + (objectAtLocation AlarmClock_bar__plus_01_dot_23_bar__plus_00_dot_70_bar__minus_01_dot_42 loc_bar_4_bar__minus_2_bar_2_bar_60) + (objectAtLocation Book_bar__plus_00_dot_00_bar__plus_00_dot_70_bar__minus_01_dot_52 loc_bar_4_bar__minus_2_bar_2_bar_60) + (objectAtLocation AlarmClock_bar__plus_00_dot_49_bar__plus_00_dot_70_bar__minus_01_dot_42 loc_bar_4_bar__minus_2_bar_2_bar_60) + (objectAtLocation CreditCard_bar__plus_00_dot_06_bar__plus_00_dot_08_bar__minus_01_dot_32 loc_bar_2_bar__minus_1_bar_2_bar_45) + (objectAtLocation Pencil_bar__plus_01_dot_54_bar__plus_00_dot_49_bar__minus_00_dot_53 loc_bar_3_bar__minus_1_bar_1_bar_60) + (objectAtLocation CellPhone_bar__plus_00_dot_25_bar__plus_00_dot_71_bar__minus_01_dot_52 loc_bar_4_bar__minus_2_bar_2_bar_60) + (objectAtLocation Mug_bar__plus_00_dot_49_bar__plus_00_dot_70_bar__minus_01_dot_72 loc_bar_4_bar__minus_2_bar_2_bar_60) + (objectAtLocation Box_bar__plus_01_dot_54_bar__plus_01_dot_65_bar__plus_00_dot_69 loc_bar_0_bar_2_bar_1_bar_15) + (objectAtLocation Chair_bar__plus_00_dot_95_bar__plus_00_dot_00_bar__minus_01_dot_23 loc_bar_4_bar__minus_2_bar_2_bar_60) + (objectAtLocation Mirror_bar__minus_00_dot_69_bar__plus_01_dot_50_bar__plus_00_dot_96 loc_bar__minus_3_bar_1_bar_0_bar_15) + (objectAtLocation Book_bar__minus_00_dot_03_bar__plus_00_dot_29_bar__minus_01_dot_43 loc_bar__minus_2_bar__minus_2_bar_2_bar_60) + (objectAtLocation AlarmClock_bar__plus_01_dot_60_bar__plus_00_dot_71_bar__minus_00_dot_62 loc_bar_2_bar__minus_1_bar_1_bar_60) + (objectAtLocation CellPhone_bar__plus_00_dot_74_bar__plus_00_dot_70_bar__minus_01_dot_33 loc_bar_4_bar__minus_2_bar_2_bar_60) + (objectAtLocation TissueBox_bar__plus_01_dot_63_bar__plus_01_dot_41_bar__plus_00_dot_39 loc_bar_0_bar_2_bar_1_bar_15) + (objectAtLocation TeddyBear_bar__minus_02_dot_20_bar__plus_00_dot_50_bar__plus_00_dot_18 loc_bar__minus_2_bar_0_bar_3_bar_45) + (objectAtLocation CreditCard_bar__plus_01_dot_60_bar__plus_00_dot_49_bar__minus_00_dot_46 loc_bar_3_bar__minus_1_bar_1_bar_60) + (objectAtLocation KeyChain_bar__plus_00_dot_99_bar__plus_00_dot_70_bar__minus_01_dot_52 loc_bar_4_bar__minus_2_bar_2_bar_60) + (objectAtLocation BaseballBat_bar__minus_02_dot_20_bar__plus_00_dot_04_bar__minus_01_dot_34 loc_bar__minus_3_bar__minus_5_bar_3_bar_45) + (objectAtLocation TennisRacket_bar__minus_02_dot_25_bar__plus_00_dot_32_bar__minus_01_dot_81 loc_bar__minus_3_bar__minus_6_bar_3_bar_45) + (objectAtLocation Painting_bar__minus_02_dot_40_bar__plus_01_dot_70_bar__minus_00_dot_86 loc_bar__minus_3_bar__minus_3_bar_3_bar_0) + (objectAtLocation Pillow_bar__minus_02_dot_04_bar__plus_00_dot_55_bar__plus_00_dot_68 loc_bar__minus_2_bar_0_bar_3_bar_45) + (objectAtLocation LightSwitch_bar__plus_00_dot_23_bar__plus_01_dot_29_bar__plus_00_dot_96 loc_bar_1_bar_2_bar_0_bar_45) + (objectAtLocation Laptop_bar__minus_01_dot_48_bar__plus_00_dot_53_bar__minus_00_dot_57 loc_bar__minus_2_bar_0_bar_3_bar_45) + (objectAtLocation CD_bar__minus_00_dot_03_bar__plus_00_dot_50_bar__minus_01_dot_53 loc_bar__minus_2_bar__minus_2_bar_2_bar_45) + (objectAtLocation Pen_bar__plus_01_dot_43_bar__plus_01_dot_42_bar__plus_00_dot_14 loc_bar_0_bar_2_bar_1_bar_15) + (objectAtLocation HousePlant_bar__plus_01_dot_49_bar__plus_01_dot_40_bar__plus_00_dot_04 loc_bar_0_bar_2_bar_1_bar_15) + (objectAtLocation Window_bar__plus_00_dot_05_bar__plus_01_dot_56_bar__minus_02_dot_08 loc_bar_0_bar__minus_4_bar_2_bar_0) + (objectAtLocation Pencil_bar__minus_00_dot_03_bar__plus_00_dot_09_bar__minus_01_dot_59 loc_bar_2_bar__minus_1_bar_2_bar_45) + (objectAtLocation Mug_bar__plus_00_dot_99_bar__plus_00_dot_70_bar__minus_01_dot_42 loc_bar_4_bar__minus_2_bar_2_bar_60) + (objectAtLocation Blinds_bar__plus_00_dot_01_bar__plus_02_dot_15_bar__minus_02_dot_01 loc_bar_0_bar__minus_4_bar_2_bar__minus_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (and + (receptacleType ?r ShelfType) + (exists (?o - object) + (and + (objectType ?o PencilType) + (exists (?mo - object) + (and + (objectType ?mo MugType) + (isReceptacleObject ?mo) + (inReceptacleObject ?o ?mo) + (inReceptacle ?mo ?r) + ) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pencil-Mug-Shelf-313/trial_T20190907_150131_101097/traj_data.json 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"random_seed": 922984426, + "scene_num": 313 + }, + "task_id": "trial_T20190907_150131_101097", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1MKCTVKE7J0ZP_3570Y55XZS0JR2ZIAF6ZWBEPXO9GYX", + "high_descs": [ + "Turn left to go to the shelf, to the right of the book case.", + "Pick up the pencil on the lower shelf.", + "Turn right, to face the desk.", + "Put the pencil in the mug that is nearest to the chair.", + "Pick up the mug with the pencil in it.", + "Turn around to return to the shelf, to the right of the book case.", + "Place the mug on the bottom shelf, to the left." + ], + "task_desc": "Put a mug with a pencil in it on the shelf.", + "votes": [ + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2BLQ1GVEHJR8T_3GU1KF0O4LITR7Z636I2I9UGD69BPC", + "high_descs": [ + "Turn left and go to the low cabinet to the right of the bookshelf.", + "Pick up the pencil from the opening in the cabinet.", + "Turn right to face the desk.", + "Drop the pencil, sharpened end up, into the mug nearest the desk chair.", + "Pick up the mug with the pencil in it.", + "Return to the low cabinet to the right of the bookshelf.", + "Put the mug holding the pencil into the left end of the opening in the cabinet, near the edge." + ], + "task_desc": "Put a mug holding a pencil into an open cabinet.", + "votes": [ + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2A028LRDJB7ZB_34V1S5K3GVI2T824QQ5XL389U9D967", + "high_descs": [ + "Turn to your left and move towards the drawer beside the book shelf", + "Pick up the pencil on the drawer", + "Turn to your right face the desk", + "Put the pencil in the mug closer to the lamp", + "Pick up the mug with pencil ", + "Turn around to your right and face the drawer beside the book shelf", + "Put the mug with pencil on drawer" + ], + "task_desc": "Put the mug with pencil on the drawer", + "votes": [ + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1ZE52NWZPN85P_3NVC2EB65TGIXQNUF0ZFDHPGTSD3Y3", + "high_descs": [ + "Turn to your left and walk to the small table", + "Pick up a pencil off of the table", + "Turn directly to your right", + "Put the pencil in the mug that is sitting on the desk", + "Pick up the mug with the pencil in it", + "Head back to the small table you originally got the pencil from", + "Put the mug with the pencil on it on the shelf" + ], + "task_desc": "Put a mug with the pencil on it on a shelf", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2KAGFQU28JY43_3ZAZR5XV04Z6FGTI4FCZKR2C5ZUZCO", + "high_descs": [ + "Turn to your left and walk to the small black end table that is between the tall book shelf and the desk. ", + "Pick up the pencil that is on the shelf, below the top of the black end table.", + "Turn to your right so that you are facing the desk. ", + "Place the pencil in the coffee cup that is directly in front of the office chair. ", + "Pick up the coffee cup on the desk, containing the pencil. ", + "Turn back to your left so that you are facing the end table again. ", + "Place the coffee cup containing the pencil, on the shelf of the end table, between the top and the base. " + ], + "task_desc": "Place a coffee cup containing a pencil on the shelf of the end table, to the left of the desk. ", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pencil-Mug-Shelf-313/trial_T20190907_185153_487214/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pencil-Mug-Shelf-313/trial_T20190907_185153_487214/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..3150ec1270cbb7d3c360661aa81abd5006b3c8ec --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pencil-Mug-Shelf-313/trial_T20190907_185153_487214/initial_state.pddl @@ -0,0 +1,593 @@ + +(define (problem plan_trial_T20190907_185153_487214) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + AlarmClock_bar__plus_01_dot_48_bar__plus_00_dot_70_bar__minus_01_dot_81 - object + BaseballBat_bar__minus_02_dot_20_bar__plus_00_dot_04_bar__minus_01_dot_34 - object + Blinds_bar__plus_00_dot_01_bar__plus_02_dot_15_bar__minus_02_dot_01 - object + Book_bar__minus_00_dot_03_bar__plus_00_dot_50_bar__minus_01_dot_43 - object + Book_bar__minus_01_dot_34_bar__plus_00_dot_53_bar__minus_00_dot_08 - object + Box_bar__plus_01_dot_54_bar__plus_01_dot_65_bar__plus_00_dot_69 - object + CD_bar__plus_01_dot_47_bar__plus_01_dot_41_bar__plus_00_dot_01 - object + CD_bar__plus_01_dot_54_bar__plus_00_dot_49_bar__minus_00_dot_60 - object + CD_bar__plus_01_dot_60_bar__plus_00_dot_49_bar__minus_00_dot_46 - object + CellPhone_bar__plus_00_dot_43_bar__plus_00_dot_09_bar__minus_01_dot_48 - object + CellPhone_bar__plus_00_dot_99_bar__plus_00_dot_71_bar__minus_01_dot_62 - object + CellPhone_bar__minus_01_dot_92_bar__plus_00_dot_53_bar__minus_00_dot_57 - object + Chair_bar__plus_00_dot_95_bar__plus_00_dot_00_bar__minus_01_dot_23 - object + CreditCard_bar__plus_00_dot_99_bar__plus_00_dot_70_bar__minus_01_dot_33 - object + HousePlant_bar__plus_01_dot_49_bar__plus_01_dot_40_bar__plus_00_dot_04 - object + KeyChain_bar__plus_01_dot_59_bar__plus_01_dot_41_bar__plus_00_dot_39 - object + KeyChain_bar__plus_01_dot_68_bar__plus_00_dot_71_bar__minus_00_dot_39 - object + Lamp_bar__plus_01_dot_30_bar__plus_00_dot_69_bar__minus_01_dot_72 - object + Laptop_bar__plus_00_dot_04_bar__plus_00_dot_69_bar__minus_01_dot_46 - object + LightSwitch_bar__plus_00_dot_23_bar__plus_01_dot_29_bar__plus_00_dot_96 - object + Mirror_bar__minus_00_dot_69_bar__plus_01_dot_50_bar__plus_00_dot_96 - object + Mug_bar__plus_00_dot_00_bar__plus_00_dot_70_bar__minus_01_dot_81 - object + Mug_bar__plus_01_dot_48_bar__plus_00_dot_70_bar__minus_01_dot_33 - object + Mug_bar__plus_01_dot_52_bar__plus_00_dot_71_bar__minus_00_dot_62 - object + Painting_bar__minus_02_dot_40_bar__plus_01_dot_70_bar__minus_00_dot_86 - object + Pencil_bar__plus_00_dot_25_bar__plus_00_dot_71_bar__minus_01_dot_72 - object + Pencil_bar__plus_01_dot_45_bar__plus_00_dot_49_bar__minus_00_dot_60 - object + Pencil_bar__minus_00_dot_61_bar__plus_00_dot_06_bar__plus_00_dot_80 - object + Pen_bar__plus_00_dot_99_bar__plus_00_dot_71_bar__minus_01_dot_52 - object + Pen_bar__plus_01_dot_23_bar__plus_00_dot_71_bar__minus_01_dot_52 - object + Pen_bar__plus_01_dot_54_bar__plus_00_dot_49_bar__minus_00_dot_32 - object + Pillow_bar__minus_01_dot_48_bar__plus_00_dot_60_bar__minus_00_dot_57 - object + TeddyBear_bar__minus_02_dot_20_bar__plus_00_dot_50_bar__plus_00_dot_18 - object + TennisRacket_bar__minus_02_dot_25_bar__plus_00_dot_32_bar__minus_01_dot_81 - object + TissueBox_bar__plus_00_dot_49_bar__plus_00_dot_70_bar__minus_01_dot_42 - object + TissueBox_bar__plus_00_dot_74_bar__plus_00_dot_70_bar__minus_01_dot_42 - object + TissueBox_bar__plus_00_dot_74_bar__plus_00_dot_71_bar__minus_01_dot_62 - object + Window_bar__plus_00_dot_05_bar__plus_01_dot_56_bar__minus_02_dot_08 - object + Bed_bar__minus_01_dot_78_bar_00_dot_00_bar__minus_00_dot_03 - receptacle + Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63 - receptacle + Drawer_bar__plus_00_dot_39_bar__plus_00_dot_13_bar__minus_01_dot_46 - receptacle + Drawer_bar__plus_00_dot_39_bar__plus_00_dot_33_bar__minus_01_dot_46 - receptacle + Drawer_bar__plus_00_dot_39_bar__plus_00_dot_54_bar__minus_01_dot_46 - receptacle + Drawer_bar__minus_00_dot_03_bar__plus_00_dot_13_bar__minus_01_dot_46 - receptacle + Drawer_bar__minus_00_dot_03_bar__plus_00_dot_33_bar__minus_01_dot_46 - receptacle + Drawer_bar__minus_00_dot_03_bar__plus_00_dot_54_bar__minus_01_dot_46 - receptacle + GarbageCan_bar__minus_00_dot_61_bar__plus_00_dot_00_bar__plus_00_dot_80 - receptacle + Shelf_bar__plus_01_dot_54_bar__plus_00_dot_48_bar__minus_00_dot_47 - receptacle + Shelf_bar__plus_01_dot_55_bar__plus_01_dot_40_bar__plus_00_dot_38 - receptacle + SideTable_bar__plus_01_dot_56_bar__minus_00_dot_01_bar__minus_00_dot_47 - receptacle + loc_bar_0_bar_2_bar_1_bar_15 - location + loc_bar_0_bar__minus_4_bar_2_bar_0 - location + loc_bar__minus_3_bar__minus_5_bar_3_bar_45 - location + loc_bar_3_bar__minus_1_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_2_bar_2_bar_45 - location + loc_bar__minus_2_bar_1_bar_0_bar_60 - location + loc_bar_4_bar__minus_1_bar_2_bar_45 - location + loc_bar__minus_3_bar__minus_6_bar_3_bar_45 - location + loc_bar_1_bar_2_bar_0_bar_45 - location + loc_bar__minus_3_bar_1_bar_0_bar_15 - location + loc_bar_0_bar__minus_4_bar_2_bar__minus_30 - location + loc_bar__minus_3_bar__minus_3_bar_3_bar_0 - location + loc_bar_4_bar__minus_2_bar_2_bar_60 - location + loc_bar__minus_2_bar_0_bar_3_bar_45 - location + loc_bar_4_bar__minus_2_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_2_bar_2_bar_60 - location + loc_bar_2_bar__minus_1_bar_1_bar_60 - location + loc_bar_0_bar__minus_2_bar_2_bar_45 - location + loc_bar_3_bar__minus_2_bar_2_bar_60 - location + loc_bar_2_bar__minus_1_bar_2_bar_45 - location + loc_bar_1_bar_0_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Shelf_bar__plus_01_dot_55_bar__plus_01_dot_40_bar__plus_00_dot_38 ShelfType) + (receptacleType GarbageCan_bar__minus_00_dot_61_bar__plus_00_dot_00_bar__plus_00_dot_80 GarbageCanType) + (receptacleType Bed_bar__minus_01_dot_78_bar_00_dot_00_bar__minus_00_dot_03 BedType) + (receptacleType Drawer_bar__plus_00_dot_39_bar__plus_00_dot_54_bar__minus_01_dot_46 DrawerType) + (receptacleType Shelf_bar__plus_01_dot_54_bar__plus_00_dot_48_bar__minus_00_dot_47 ShelfType) + (receptacleType Drawer_bar__plus_00_dot_39_bar__plus_00_dot_13_bar__minus_01_dot_46 DrawerType) + (receptacleType Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63 DeskType) + (receptacleType Drawer_bar__minus_00_dot_03_bar__plus_00_dot_13_bar__minus_01_dot_46 DrawerType) + (receptacleType SideTable_bar__plus_01_dot_56_bar__minus_00_dot_01_bar__minus_00_dot_47 SideTableType) + (receptacleType Drawer_bar__minus_00_dot_03_bar__plus_00_dot_54_bar__minus_01_dot_46 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_03_bar__plus_00_dot_33_bar__minus_01_dot_46 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_39_bar__plus_00_dot_33_bar__minus_01_dot_46 DrawerType) + (objectType CellPhone_bar__minus_01_dot_92_bar__plus_00_dot_53_bar__minus_00_dot_57 CellPhoneType) + (objectType BaseballBat_bar__minus_02_dot_20_bar__plus_00_dot_04_bar__minus_01_dot_34 BaseballBatType) + (objectType Pencil_bar__plus_00_dot_25_bar__plus_00_dot_71_bar__minus_01_dot_72 PencilType) + (objectType HousePlant_bar__plus_01_dot_49_bar__plus_01_dot_40_bar__plus_00_dot_04 HousePlantType) + (objectType CD_bar__plus_01_dot_47_bar__plus_01_dot_41_bar__plus_00_dot_01 CDType) + (objectType CreditCard_bar__plus_00_dot_99_bar__plus_00_dot_70_bar__minus_01_dot_33 CreditCardType) + (objectType TissueBox_bar__plus_00_dot_49_bar__plus_00_dot_70_bar__minus_01_dot_42 TissueBoxType) + (objectType Mug_bar__plus_00_dot_00_bar__plus_00_dot_70_bar__minus_01_dot_81 MugType) + (objectType TeddyBear_bar__minus_02_dot_20_bar__plus_00_dot_50_bar__plus_00_dot_18 TeddyBearType) + (objectType Chair_bar__plus_00_dot_95_bar__plus_00_dot_00_bar__minus_01_dot_23 ChairType) + (objectType LightSwitch_bar__plus_00_dot_23_bar__plus_01_dot_29_bar__plus_00_dot_96 LightSwitchType) + (objectType Laptop_bar__plus_00_dot_04_bar__plus_00_dot_69_bar__minus_01_dot_46 LaptopType) + (objectType Pencil_bar__minus_00_dot_61_bar__plus_00_dot_06_bar__plus_00_dot_80 PencilType) + (objectType Mug_bar__plus_01_dot_52_bar__plus_00_dot_71_bar__minus_00_dot_62 MugType) + (objectType Mirror_bar__minus_00_dot_69_bar__plus_01_dot_50_bar__plus_00_dot_96 MirrorType) + (objectType Painting_bar__minus_02_dot_40_bar__plus_01_dot_70_bar__minus_00_dot_86 PaintingType) + (objectType AlarmClock_bar__plus_01_dot_48_bar__plus_00_dot_70_bar__minus_01_dot_81 AlarmClockType) + (objectType KeyChain_bar__plus_01_dot_68_bar__plus_00_dot_71_bar__minus_00_dot_39 KeyChainType) + (objectType CellPhone_bar__plus_00_dot_43_bar__plus_00_dot_09_bar__minus_01_dot_48 CellPhoneType) + (objectType KeyChain_bar__plus_01_dot_59_bar__plus_01_dot_41_bar__plus_00_dot_39 KeyChainType) + (objectType Book_bar__minus_01_dot_34_bar__plus_00_dot_53_bar__minus_00_dot_08 BookType) + (objectType Pencil_bar__plus_01_dot_45_bar__plus_00_dot_49_bar__minus_00_dot_60 PencilType) + (objectType Box_bar__plus_01_dot_54_bar__plus_01_dot_65_bar__plus_00_dot_69 BoxType) + (objectType Mug_bar__plus_01_dot_48_bar__plus_00_dot_70_bar__minus_01_dot_33 MugType) + (objectType Pen_bar__plus_01_dot_23_bar__plus_00_dot_71_bar__minus_01_dot_52 PenType) + (objectType TissueBox_bar__plus_00_dot_74_bar__plus_00_dot_70_bar__minus_01_dot_42 TissueBoxType) + (objectType Pillow_bar__minus_01_dot_48_bar__plus_00_dot_60_bar__minus_00_dot_57 PillowType) + (objectType CellPhone_bar__plus_00_dot_99_bar__plus_00_dot_71_bar__minus_01_dot_62 CellPhoneType) + (objectType Blinds_bar__plus_00_dot_01_bar__plus_02_dot_15_bar__minus_02_dot_01 BlindsType) + (objectType Pen_bar__plus_01_dot_54_bar__plus_00_dot_49_bar__minus_00_dot_32 PenType) + (objectType CD_bar__plus_01_dot_60_bar__plus_00_dot_49_bar__minus_00_dot_46 CDType) + (objectType TissueBox_bar__plus_00_dot_74_bar__plus_00_dot_71_bar__minus_01_dot_62 TissueBoxType) + (objectType CD_bar__plus_01_dot_54_bar__plus_00_dot_49_bar__minus_00_dot_60 CDType) + (objectType TennisRacket_bar__minus_02_dot_25_bar__plus_00_dot_32_bar__minus_01_dot_81 TennisRacketType) + (objectType Window_bar__plus_00_dot_05_bar__plus_01_dot_56_bar__minus_02_dot_08 WindowType) + (objectType Pen_bar__plus_00_dot_99_bar__plus_00_dot_71_bar__minus_01_dot_52 PenType) + (objectType Book_bar__minus_00_dot_03_bar__plus_00_dot_50_bar__minus_01_dot_43 BookType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType CDType) + (canContain ShelfType MugType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType AlarmClockType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType CDType) + (canContain GarbageCanType PencilType) + (canContain GarbageCanType TissueBoxType) + (canContain BedType BaseballBatType) + (canContain BedType TennisRacketType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType TissueBoxType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType CDType) + (canContain ShelfType MugType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType TissueBoxType) + (canContain DeskType PenType) + (canContain DeskType BookType) + (canContain DeskType CDType) + (canContain DeskType MugType) + (canContain DeskType BoxType) + (canContain DeskType CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (canContain DeskType TennisRacketType) + (canContain DeskType LaptopType) + (canContain DeskType PencilType) + (canContain DeskType TissueBoxType) + (canContain DeskType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType TissueBoxType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType CDType) + (canContain SideTableType MugType) + (canContain SideTableType BoxType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType BaseballBatType) + (canContain SideTableType TennisRacketType) + (canContain SideTableType LaptopType) + (canContain SideTableType PencilType) + (canContain SideTableType TissueBoxType) + (canContain SideTableType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType TissueBoxType) + (pickupable CellPhone_bar__minus_01_dot_92_bar__plus_00_dot_53_bar__minus_00_dot_57) + (pickupable BaseballBat_bar__minus_02_dot_20_bar__plus_00_dot_04_bar__minus_01_dot_34) + (pickupable Pencil_bar__plus_00_dot_25_bar__plus_00_dot_71_bar__minus_01_dot_72) + (pickupable CD_bar__plus_01_dot_47_bar__plus_01_dot_41_bar__plus_00_dot_01) + (pickupable CreditCard_bar__plus_00_dot_99_bar__plus_00_dot_70_bar__minus_01_dot_33) + (pickupable TissueBox_bar__plus_00_dot_49_bar__plus_00_dot_70_bar__minus_01_dot_42) + (pickupable Mug_bar__plus_00_dot_00_bar__plus_00_dot_70_bar__minus_01_dot_81) + (pickupable TeddyBear_bar__minus_02_dot_20_bar__plus_00_dot_50_bar__plus_00_dot_18) + (pickupable Laptop_bar__plus_00_dot_04_bar__plus_00_dot_69_bar__minus_01_dot_46) + (pickupable Pencil_bar__minus_00_dot_61_bar__plus_00_dot_06_bar__plus_00_dot_80) + (pickupable Mug_bar__plus_01_dot_52_bar__plus_00_dot_71_bar__minus_00_dot_62) + (pickupable AlarmClock_bar__plus_01_dot_48_bar__plus_00_dot_70_bar__minus_01_dot_81) + (pickupable KeyChain_bar__plus_01_dot_68_bar__plus_00_dot_71_bar__minus_00_dot_39) + (pickupable CellPhone_bar__plus_00_dot_43_bar__plus_00_dot_09_bar__minus_01_dot_48) + (pickupable KeyChain_bar__plus_01_dot_59_bar__plus_01_dot_41_bar__plus_00_dot_39) + (pickupable Book_bar__minus_01_dot_34_bar__plus_00_dot_53_bar__minus_00_dot_08) + (pickupable Pencil_bar__plus_01_dot_45_bar__plus_00_dot_49_bar__minus_00_dot_60) + (pickupable Box_bar__plus_01_dot_54_bar__plus_01_dot_65_bar__plus_00_dot_69) + (pickupable Mug_bar__plus_01_dot_48_bar__plus_00_dot_70_bar__minus_01_dot_33) + (pickupable Pen_bar__plus_01_dot_23_bar__plus_00_dot_71_bar__minus_01_dot_52) + (pickupable TissueBox_bar__plus_00_dot_74_bar__plus_00_dot_70_bar__minus_01_dot_42) + (pickupable Pillow_bar__minus_01_dot_48_bar__plus_00_dot_60_bar__minus_00_dot_57) + (pickupable CellPhone_bar__plus_00_dot_99_bar__plus_00_dot_71_bar__minus_01_dot_62) + (pickupable Pen_bar__plus_01_dot_54_bar__plus_00_dot_49_bar__minus_00_dot_32) + (pickupable CD_bar__plus_01_dot_60_bar__plus_00_dot_49_bar__minus_00_dot_46) + (pickupable TissueBox_bar__plus_00_dot_74_bar__plus_00_dot_71_bar__minus_01_dot_62) + (pickupable CD_bar__plus_01_dot_54_bar__plus_00_dot_49_bar__minus_00_dot_60) + (pickupable TennisRacket_bar__minus_02_dot_25_bar__plus_00_dot_32_bar__minus_01_dot_81) + (pickupable Pen_bar__plus_00_dot_99_bar__plus_00_dot_71_bar__minus_01_dot_52) + (pickupable Book_bar__minus_00_dot_03_bar__plus_00_dot_50_bar__minus_01_dot_43) + (isReceptacleObject Mug_bar__plus_00_dot_00_bar__plus_00_dot_70_bar__minus_01_dot_81) + (isReceptacleObject Mug_bar__plus_01_dot_52_bar__plus_00_dot_71_bar__minus_00_dot_62) + (isReceptacleObject Box_bar__plus_01_dot_54_bar__plus_01_dot_65_bar__plus_00_dot_69) + (isReceptacleObject Mug_bar__plus_01_dot_48_bar__plus_00_dot_70_bar__minus_01_dot_33) + (openable Drawer_bar__plus_00_dot_39_bar__plus_00_dot_54_bar__minus_01_dot_46) + (openable Drawer_bar__plus_00_dot_39_bar__plus_00_dot_13_bar__minus_01_dot_46) + (openable Drawer_bar__minus_00_dot_03_bar__plus_00_dot_13_bar__minus_01_dot_46) + (openable Drawer_bar__minus_00_dot_03_bar__plus_00_dot_54_bar__minus_01_dot_46) + (openable Drawer_bar__minus_00_dot_03_bar__plus_00_dot_33_bar__minus_01_dot_46) + (openable Drawer_bar__plus_00_dot_39_bar__plus_00_dot_33_bar__minus_01_dot_46) + + (atLocation agent1 loc_bar_1_bar_0_bar_3_bar_30) + + (cleanable Mug_bar__plus_00_dot_00_bar__plus_00_dot_70_bar__minus_01_dot_81) + (cleanable Mug_bar__plus_01_dot_52_bar__plus_00_dot_71_bar__minus_00_dot_62) + (cleanable Mug_bar__plus_01_dot_48_bar__plus_00_dot_70_bar__minus_01_dot_33) + + (heatable Mug_bar__plus_00_dot_00_bar__plus_00_dot_70_bar__minus_01_dot_81) + (heatable Mug_bar__plus_01_dot_52_bar__plus_00_dot_71_bar__minus_00_dot_62) + (heatable Mug_bar__plus_01_dot_48_bar__plus_00_dot_70_bar__minus_01_dot_33) + (coolable 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loc_bar_0_bar__minus_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_03_bar__plus_00_dot_13_bar__minus_01_dot_46 loc_bar_2_bar__minus_1_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_03_bar__plus_00_dot_33_bar__minus_01_dot_46 loc_bar__minus_2_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_03_bar__plus_00_dot_54_bar__minus_01_dot_46 loc_bar__minus_2_bar__minus_2_bar_2_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_61_bar__plus_00_dot_00_bar__plus_00_dot_80 loc_bar__minus_2_bar_1_bar_0_bar_60) + (receptacleAtLocation Shelf_bar__plus_01_dot_54_bar__plus_00_dot_48_bar__minus_00_dot_47 loc_bar_3_bar__minus_1_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__plus_01_dot_55_bar__plus_01_dot_40_bar__plus_00_dot_38 loc_bar_0_bar_2_bar_1_bar_15) + (receptacleAtLocation SideTable_bar__plus_01_dot_56_bar__minus_00_dot_01_bar__minus_00_dot_47 loc_bar_2_bar__minus_1_bar_1_bar_60) + (objectAtLocation 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Mirror_bar__minus_00_dot_69_bar__plus_01_dot_50_bar__plus_00_dot_96 loc_bar__minus_3_bar_1_bar_0_bar_15) + (objectAtLocation Book_bar__minus_01_dot_34_bar__plus_00_dot_53_bar__minus_00_dot_08 loc_bar__minus_2_bar_0_bar_3_bar_45) + (objectAtLocation AlarmClock_bar__plus_01_dot_48_bar__plus_00_dot_70_bar__minus_01_dot_81 loc_bar_4_bar__minus_2_bar_2_bar_60) + (objectAtLocation CellPhone_bar__plus_00_dot_43_bar__plus_00_dot_09_bar__minus_01_dot_48 loc_bar_4_bar__minus_1_bar_2_bar_45) + (objectAtLocation TissueBox_bar__plus_00_dot_74_bar__plus_00_dot_70_bar__minus_01_dot_42 loc_bar_4_bar__minus_2_bar_2_bar_60) + (objectAtLocation TeddyBear_bar__minus_02_dot_20_bar__plus_00_dot_50_bar__plus_00_dot_18 loc_bar__minus_2_bar_0_bar_3_bar_45) + (objectAtLocation CreditCard_bar__plus_00_dot_99_bar__plus_00_dot_70_bar__minus_01_dot_33 loc_bar_4_bar__minus_2_bar_2_bar_60) + (objectAtLocation KeyChain_bar__plus_01_dot_68_bar__plus_00_dot_71_bar__minus_00_dot_39 loc_bar_2_bar__minus_1_bar_1_bar_60) + (objectAtLocation BaseballBat_bar__minus_02_dot_20_bar__plus_00_dot_04_bar__minus_01_dot_34 loc_bar__minus_3_bar__minus_5_bar_3_bar_45) + (objectAtLocation TennisRacket_bar__minus_02_dot_25_bar__plus_00_dot_32_bar__minus_01_dot_81 loc_bar__minus_3_bar__minus_6_bar_3_bar_45) + (objectAtLocation Painting_bar__minus_02_dot_40_bar__plus_01_dot_70_bar__minus_00_dot_86 loc_bar__minus_3_bar__minus_3_bar_3_bar_0) + (objectAtLocation Pillow_bar__minus_01_dot_48_bar__plus_00_dot_60_bar__minus_00_dot_57 loc_bar__minus_2_bar_0_bar_3_bar_45) + (objectAtLocation LightSwitch_bar__plus_00_dot_23_bar__plus_01_dot_29_bar__plus_00_dot_96 loc_bar_1_bar_2_bar_0_bar_45) + (objectAtLocation Laptop_bar__plus_00_dot_04_bar__plus_00_dot_69_bar__minus_01_dot_46 loc_bar_4_bar__minus_2_bar_2_bar_60) + (objectAtLocation CD_bar__plus_01_dot_60_bar__plus_00_dot_49_bar__minus_00_dot_46 loc_bar_4_bar__minus_2_bar_1_bar_60) + (objectAtLocation Pen_bar__plus_01_dot_54_bar__plus_00_dot_49_bar__minus_00_dot_32 loc_bar_3_bar__minus_1_bar_1_bar_60) + (objectAtLocation HousePlant_bar__plus_01_dot_49_bar__plus_01_dot_40_bar__plus_00_dot_04 loc_bar_0_bar_2_bar_1_bar_15) + (objectAtLocation Window_bar__plus_00_dot_05_bar__plus_01_dot_56_bar__minus_02_dot_08 loc_bar_0_bar__minus_4_bar_2_bar_0) + (objectAtLocation Pencil_bar__plus_01_dot_45_bar__plus_00_dot_49_bar__minus_00_dot_60 loc_bar_3_bar__minus_1_bar_1_bar_60) + (objectAtLocation Mug_bar__plus_01_dot_48_bar__plus_00_dot_70_bar__minus_01_dot_33 loc_bar_4_bar__minus_2_bar_2_bar_60) + (objectAtLocation Blinds_bar__plus_00_dot_01_bar__plus_02_dot_15_bar__minus_02_dot_01 loc_bar_0_bar__minus_4_bar_2_bar__minus_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (and + (receptacleType ?r ShelfType) + (exists (?o - object) + (and + (objectType ?o PencilType) + (exists (?mo - object) + (and + (objectType ?mo MugType) + (isReceptacleObject ?mo) + (inReceptacleObject ?o ?mo) + (inReceptacle ?mo ?r) + ) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pencil-Mug-Shelf-313/trial_T20190907_185153_487214/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pencil-Mug-Shelf-313/trial_T20190907_185153_487214/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..f25fe6f783bc456b862ffdb2eeb3536b7a55ebe5 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pencil-Mug-Shelf-313/trial_T20190907_185153_487214/traj_data.json @@ -0,0 +1,2392 @@ +{ + "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": "000000004.png", + "low_idx": 0 + }, + { + "high_idx": 0, + 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", + "Pick up the pencil on the edge of the shelf, under the top of the black table.", + "Place the pencil in the coffee mug, to the right of the keys, on the top of the black table.", + "Pick up the coffee mug with the pencil inside it. ", + "Move over to the left so that your are standing in front of the left most corner of the small, black table.", + "Place the coffee mug with the pencil inside, to the left of the CD, on the shelf directly under the top of the table." + ], + "task_desc": "Place a coffee cup containing a pencil on the shelf of a small table.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pencil-Mug-Shelf-313/trial_T20190907_205839_093009/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pencil-Mug-Shelf-313/trial_T20190907_205839_093009/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..a921f8ababa20873fbdbc452b874de2ef8e6b79c --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pencil-Mug-Shelf-313/trial_T20190907_205839_093009/initial_state.pddl @@ -0,0 +1,551 @@ + +(define (problem plan_trial_T20190907_205839_093009) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + AlarmClock_bar__plus_01_dot_56_bar__plus_00_dot_71_bar__minus_00_dot_23 - object + BaseballBat_bar__minus_02_dot_20_bar__plus_00_dot_04_bar__minus_01_dot_34 - object + Blinds_bar__plus_00_dot_01_bar__plus_02_dot_15_bar__minus_02_dot_01 - object + Book_bar__plus_00_dot_39_bar__plus_00_dot_29_bar__minus_01_dot_43 - object + Book_bar__minus_01_dot_48_bar__plus_00_dot_53_bar__minus_00_dot_81 - object + Book_bar__minus_01_dot_63_bar__plus_00_dot_53_bar__minus_00_dot_08 - object + Box_bar__plus_01_dot_54_bar__plus_01_dot_65_bar__plus_00_dot_69 - object + CD_bar__plus_01_dot_48_bar__plus_00_dot_70_bar__minus_01_dot_62 - object + CellPhone_bar__plus_01_dot_48_bar__plus_00_dot_71_bar__minus_01_dot_72 - object + Chair_bar__plus_00_dot_95_bar__plus_00_dot_00_bar__minus_01_dot_23 - object + CreditCard_bar__plus_00_dot_53_bar__plus_00_dot_29_bar__minus_01_dot_53 - object + HousePlant_bar__plus_01_dot_49_bar__plus_01_dot_40_bar__plus_00_dot_04 - object + KeyChain_bar__plus_00_dot_43_bar__plus_00_dot_29_bar__minus_01_dot_64 - object + KeyChain_bar__plus_00_dot_49_bar__plus_00_dot_70_bar__minus_01_dot_33 - object + KeyChain_bar__plus_01_dot_48_bar__plus_00_dot_49_bar__minus_00_dot_53 - object + Lamp_bar__plus_01_dot_30_bar__plus_00_dot_69_bar__minus_01_dot_72 - object + Laptop_bar__plus_00_dot_04_bar__plus_00_dot_69_bar__minus_01_dot_46 - object + LightSwitch_bar__plus_00_dot_23_bar__plus_01_dot_29_bar__plus_00_dot_96 - object + Mirror_bar__minus_00_dot_69_bar__plus_01_dot_50_bar__plus_00_dot_96 - object + Mug_bar__plus_00_dot_74_bar__plus_00_dot_70_bar__minus_01_dot_81 - object + Painting_bar__minus_02_dot_40_bar__plus_01_dot_70_bar__minus_00_dot_86 - object + Pencil_bar__plus_00_dot_99_bar__plus_00_dot_71_bar__minus_01_dot_42 - object + Pencil_bar__plus_01_dot_43_bar__plus_01_dot_42_bar__plus_00_dot_26 - object + Pen_bar__minus_00_dot_03_bar__plus_00_dot_09_bar__minus_01_dot_53 - object + Pillow_bar__minus_02_dot_07_bar__plus_00_dot_60_bar__minus_00_dot_57 - object + TeddyBear_bar__minus_02_dot_20_bar__plus_00_dot_50_bar__plus_00_dot_18 - object + TennisRacket_bar__minus_02_dot_25_bar__plus_00_dot_32_bar__minus_01_dot_81 - object + TissueBox_bar__plus_00_dot_99_bar__plus_00_dot_71_bar__minus_01_dot_62 - object + TissueBox_bar__plus_01_dot_23_bar__plus_00_dot_70_bar__minus_01_dot_42 - object + TissueBox_bar__plus_01_dot_60_bar__plus_00_dot_71_bar__minus_00_dot_70 - object + Window_bar__plus_00_dot_05_bar__plus_01_dot_56_bar__minus_02_dot_08 - object + Bed_bar__minus_01_dot_78_bar_00_dot_00_bar__minus_00_dot_03 - receptacle + Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63 - receptacle + Drawer_bar__plus_00_dot_39_bar__plus_00_dot_13_bar__minus_01_dot_46 - receptacle + Drawer_bar__plus_00_dot_39_bar__plus_00_dot_33_bar__minus_01_dot_46 - receptacle + Drawer_bar__plus_00_dot_39_bar__plus_00_dot_54_bar__minus_01_dot_46 - receptacle + Drawer_bar__minus_00_dot_03_bar__plus_00_dot_13_bar__minus_01_dot_46 - receptacle + Drawer_bar__minus_00_dot_03_bar__plus_00_dot_33_bar__minus_01_dot_46 - receptacle + Drawer_bar__minus_00_dot_03_bar__plus_00_dot_54_bar__minus_01_dot_46 - receptacle + GarbageCan_bar__minus_00_dot_61_bar__plus_00_dot_00_bar__plus_00_dot_80 - receptacle + Shelf_bar__plus_01_dot_54_bar__plus_00_dot_48_bar__minus_00_dot_47 - receptacle + Shelf_bar__plus_01_dot_55_bar__plus_01_dot_40_bar__plus_00_dot_38 - receptacle + SideTable_bar__plus_01_dot_56_bar__minus_00_dot_01_bar__minus_00_dot_47 - receptacle + loc_bar_0_bar_2_bar_1_bar_15 - location + loc_bar_0_bar__minus_4_bar_2_bar_0 - location + loc_bar__minus_3_bar__minus_5_bar_3_bar_45 - location + loc_bar_3_bar__minus_1_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_2_bar_2_bar_45 - location + loc_bar__minus_2_bar_1_bar_0_bar_60 - location + loc_bar_4_bar__minus_1_bar_2_bar_45 - location + loc_bar__minus_3_bar__minus_6_bar_3_bar_45 - location + loc_bar_1_bar_2_bar_0_bar_45 - location + loc_bar__minus_3_bar_1_bar_0_bar_15 - location + loc_bar_0_bar__minus_4_bar_2_bar__minus_30 - location + loc_bar__minus_3_bar__minus_3_bar_3_bar_0 - location + loc_bar_4_bar__minus_2_bar_2_bar_60 - location + loc_bar__minus_2_bar_0_bar_3_bar_45 - location + loc_bar_4_bar__minus_2_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_2_bar_2_bar_60 - location + loc_bar_2_bar__minus_1_bar_1_bar_60 - location + loc_bar_0_bar__minus_2_bar_2_bar_45 - location + loc_bar_3_bar__minus_2_bar_2_bar_60 - location + loc_bar_2_bar__minus_1_bar_2_bar_45 - location + loc_bar_3_bar_2_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Shelf_bar__plus_01_dot_55_bar__plus_01_dot_40_bar__plus_00_dot_38 ShelfType) + (receptacleType GarbageCan_bar__minus_00_dot_61_bar__plus_00_dot_00_bar__plus_00_dot_80 GarbageCanType) + (receptacleType Bed_bar__minus_01_dot_78_bar_00_dot_00_bar__minus_00_dot_03 BedType) + (receptacleType Drawer_bar__plus_00_dot_39_bar__plus_00_dot_54_bar__minus_01_dot_46 DrawerType) + (receptacleType Shelf_bar__plus_01_dot_54_bar__plus_00_dot_48_bar__minus_00_dot_47 ShelfType) + (receptacleType Drawer_bar__plus_00_dot_39_bar__plus_00_dot_13_bar__minus_01_dot_46 DrawerType) + (receptacleType Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63 DeskType) + (receptacleType Drawer_bar__minus_00_dot_03_bar__plus_00_dot_13_bar__minus_01_dot_46 DrawerType) + (receptacleType SideTable_bar__plus_01_dot_56_bar__minus_00_dot_01_bar__minus_00_dot_47 SideTableType) + (receptacleType Drawer_bar__minus_00_dot_03_bar__plus_00_dot_54_bar__minus_01_dot_46 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_03_bar__plus_00_dot_33_bar__minus_01_dot_46 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_39_bar__plus_00_dot_33_bar__minus_01_dot_46 DrawerType) + (objectType CD_bar__plus_01_dot_48_bar__plus_00_dot_70_bar__minus_01_dot_62 CDType) + (objectType TissueBox_bar__plus_00_dot_99_bar__plus_00_dot_71_bar__minus_01_dot_62 TissueBoxType) + (objectType BaseballBat_bar__minus_02_dot_20_bar__plus_00_dot_04_bar__minus_01_dot_34 BaseballBatType) + (objectType HousePlant_bar__plus_01_dot_49_bar__plus_01_dot_40_bar__plus_00_dot_04 HousePlantType) + (objectType Book_bar__plus_00_dot_39_bar__plus_00_dot_29_bar__minus_01_dot_43 BookType) + (objectType AlarmClock_bar__plus_01_dot_56_bar__plus_00_dot_71_bar__minus_00_dot_23 AlarmClockType) + (objectType CreditCard_bar__plus_00_dot_53_bar__plus_00_dot_29_bar__minus_01_dot_53 CreditCardType) + (objectType TeddyBear_bar__minus_02_dot_20_bar__plus_00_dot_50_bar__plus_00_dot_18 TeddyBearType) + (objectType Pillow_bar__minus_02_dot_07_bar__plus_00_dot_60_bar__minus_00_dot_57 PillowType) + (objectType Chair_bar__plus_00_dot_95_bar__plus_00_dot_00_bar__minus_01_dot_23 ChairType) + (objectType LightSwitch_bar__plus_00_dot_23_bar__plus_01_dot_29_bar__plus_00_dot_96 LightSwitchType) + (objectType Laptop_bar__plus_00_dot_04_bar__plus_00_dot_69_bar__minus_01_dot_46 LaptopType) + (objectType Mirror_bar__minus_00_dot_69_bar__plus_01_dot_50_bar__plus_00_dot_96 MirrorType) + (objectType Painting_bar__minus_02_dot_40_bar__plus_01_dot_70_bar__minus_00_dot_86 PaintingType) + (objectType Pen_bar__minus_00_dot_03_bar__plus_00_dot_09_bar__minus_01_dot_53 PenType) + (objectType Mug_bar__plus_00_dot_74_bar__plus_00_dot_70_bar__minus_01_dot_81 MugType) + (objectType Box_bar__plus_01_dot_54_bar__plus_01_dot_65_bar__plus_00_dot_69 BoxType) + (objectType Blinds_bar__plus_00_dot_01_bar__plus_02_dot_15_bar__minus_02_dot_01 BlindsType) + (objectType KeyChain_bar__plus_00_dot_49_bar__plus_00_dot_70_bar__minus_01_dot_33 KeyChainType) + (objectType TissueBox_bar__plus_01_dot_60_bar__plus_00_dot_71_bar__minus_00_dot_70 TissueBoxType) + (objectType TissueBox_bar__plus_01_dot_23_bar__plus_00_dot_70_bar__minus_01_dot_42 TissueBoxType) + (objectType KeyChain_bar__plus_00_dot_43_bar__plus_00_dot_29_bar__minus_01_dot_64 KeyChainType) + (objectType Pencil_bar__plus_00_dot_99_bar__plus_00_dot_71_bar__minus_01_dot_42 PencilType) + (objectType Book_bar__minus_01_dot_63_bar__plus_00_dot_53_bar__minus_00_dot_08 BookType) + (objectType TennisRacket_bar__minus_02_dot_25_bar__plus_00_dot_32_bar__minus_01_dot_81 TennisRacketType) + (objectType Window_bar__plus_00_dot_05_bar__plus_01_dot_56_bar__minus_02_dot_08 WindowType) + (objectType CellPhone_bar__plus_01_dot_48_bar__plus_00_dot_71_bar__minus_01_dot_72 CellPhoneType) + (objectType Book_bar__minus_01_dot_48_bar__plus_00_dot_53_bar__minus_00_dot_81 BookType) + (objectType KeyChain_bar__plus_01_dot_48_bar__plus_00_dot_49_bar__minus_00_dot_53 KeyChainType) + (objectType Pencil_bar__plus_01_dot_43_bar__plus_01_dot_42_bar__plus_00_dot_26 PencilType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType CDType) + (canContain ShelfType MugType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType AlarmClockType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType CDType) + (canContain GarbageCanType PencilType) + (canContain GarbageCanType TissueBoxType) + (canContain BedType BaseballBatType) + (canContain BedType TennisRacketType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType TissueBoxType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType CDType) + (canContain ShelfType MugType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType TissueBoxType) + (canContain DeskType PenType) + (canContain DeskType BookType) + (canContain DeskType CDType) + (canContain DeskType MugType) + (canContain DeskType BoxType) + (canContain DeskType CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (canContain DeskType TennisRacketType) + (canContain DeskType LaptopType) + (canContain DeskType PencilType) + (canContain DeskType TissueBoxType) + (canContain DeskType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType TissueBoxType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType CDType) + (canContain SideTableType MugType) + (canContain SideTableType BoxType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType BaseballBatType) + (canContain SideTableType TennisRacketType) + (canContain SideTableType LaptopType) + (canContain SideTableType PencilType) + (canContain SideTableType TissueBoxType) + (canContain SideTableType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType TissueBoxType) + (pickupable CD_bar__plus_01_dot_48_bar__plus_00_dot_70_bar__minus_01_dot_62) + (pickupable TissueBox_bar__plus_00_dot_99_bar__plus_00_dot_71_bar__minus_01_dot_62) + (pickupable BaseballBat_bar__minus_02_dot_20_bar__plus_00_dot_04_bar__minus_01_dot_34) + (pickupable Book_bar__plus_00_dot_39_bar__plus_00_dot_29_bar__minus_01_dot_43) + (pickupable AlarmClock_bar__plus_01_dot_56_bar__plus_00_dot_71_bar__minus_00_dot_23) + (pickupable CreditCard_bar__plus_00_dot_53_bar__plus_00_dot_29_bar__minus_01_dot_53) + (pickupable TeddyBear_bar__minus_02_dot_20_bar__plus_00_dot_50_bar__plus_00_dot_18) + (pickupable Pillow_bar__minus_02_dot_07_bar__plus_00_dot_60_bar__minus_00_dot_57) + (pickupable Laptop_bar__plus_00_dot_04_bar__plus_00_dot_69_bar__minus_01_dot_46) + (pickupable Pen_bar__minus_00_dot_03_bar__plus_00_dot_09_bar__minus_01_dot_53) + (pickupable Mug_bar__plus_00_dot_74_bar__plus_00_dot_70_bar__minus_01_dot_81) + (pickupable Box_bar__plus_01_dot_54_bar__plus_01_dot_65_bar__plus_00_dot_69) + (pickupable KeyChain_bar__plus_00_dot_49_bar__plus_00_dot_70_bar__minus_01_dot_33) + (pickupable TissueBox_bar__plus_01_dot_60_bar__plus_00_dot_71_bar__minus_00_dot_70) + (pickupable TissueBox_bar__plus_01_dot_23_bar__plus_00_dot_70_bar__minus_01_dot_42) + (pickupable KeyChain_bar__plus_00_dot_43_bar__plus_00_dot_29_bar__minus_01_dot_64) + (pickupable Pencil_bar__plus_00_dot_99_bar__plus_00_dot_71_bar__minus_01_dot_42) + (pickupable Book_bar__minus_01_dot_63_bar__plus_00_dot_53_bar__minus_00_dot_08) + (pickupable TennisRacket_bar__minus_02_dot_25_bar__plus_00_dot_32_bar__minus_01_dot_81) + (pickupable CellPhone_bar__plus_01_dot_48_bar__plus_00_dot_71_bar__minus_01_dot_72) + (pickupable Book_bar__minus_01_dot_48_bar__plus_00_dot_53_bar__minus_00_dot_81) + (pickupable KeyChain_bar__plus_01_dot_48_bar__plus_00_dot_49_bar__minus_00_dot_53) + (pickupable Pencil_bar__plus_01_dot_43_bar__plus_01_dot_42_bar__plus_00_dot_26) + (isReceptacleObject Mug_bar__plus_00_dot_74_bar__plus_00_dot_70_bar__minus_01_dot_81) + (isReceptacleObject Box_bar__plus_01_dot_54_bar__plus_01_dot_65_bar__plus_00_dot_69) + (openable Drawer_bar__plus_00_dot_39_bar__plus_00_dot_54_bar__minus_01_dot_46) + (openable Drawer_bar__plus_00_dot_39_bar__plus_00_dot_13_bar__minus_01_dot_46) + (openable Drawer_bar__minus_00_dot_03_bar__plus_00_dot_13_bar__minus_01_dot_46) + (openable Drawer_bar__minus_00_dot_03_bar__plus_00_dot_54_bar__minus_01_dot_46) + (openable Drawer_bar__minus_00_dot_03_bar__plus_00_dot_33_bar__minus_01_dot_46) + (openable Drawer_bar__plus_00_dot_39_bar__plus_00_dot_33_bar__minus_01_dot_46) + + (atLocation agent1 loc_bar_3_bar_2_bar_3_bar_30) + + (cleanable Mug_bar__plus_00_dot_74_bar__plus_00_dot_70_bar__minus_01_dot_81) + + (heatable Mug_bar__plus_00_dot_74_bar__plus_00_dot_70_bar__minus_01_dot_81) + (coolable Mug_bar__plus_00_dot_74_bar__plus_00_dot_70_bar__minus_01_dot_81) + + + + + + + + (inReceptacle CD_bar__plus_01_dot_48_bar__plus_00_dot_70_bar__minus_01_dot_62 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63) + (inReceptacle Mug_bar__plus_00_dot_74_bar__plus_00_dot_70_bar__minus_01_dot_81 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63) + (inReceptacle KeyChain_bar__plus_00_dot_49_bar__plus_00_dot_70_bar__minus_01_dot_33 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63) + (inReceptacle TissueBox_bar__plus_00_dot_99_bar__plus_00_dot_71_bar__minus_01_dot_62 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63) + (inReceptacle Laptop_bar__plus_00_dot_04_bar__plus_00_dot_69_bar__minus_01_dot_46 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63) + (inReceptacle TissueBox_bar__plus_01_dot_23_bar__plus_00_dot_70_bar__minus_01_dot_42 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63) + (inReceptacle Pencil_bar__plus_00_dot_99_bar__plus_00_dot_71_bar__minus_01_dot_42 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63) + (inReceptacle CellPhone_bar__plus_01_dot_48_bar__plus_00_dot_71_bar__minus_01_dot_72 Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63) + (inReceptacle Book_bar__plus_00_dot_39_bar__plus_00_dot_29_bar__minus_01_dot_43 Drawer_bar__plus_00_dot_39_bar__plus_00_dot_33_bar__minus_01_dot_46) + (inReceptacle KeyChain_bar__plus_00_dot_43_bar__plus_00_dot_29_bar__minus_01_dot_64 Drawer_bar__plus_00_dot_39_bar__plus_00_dot_33_bar__minus_01_dot_46) + (inReceptacle CreditCard_bar__plus_00_dot_53_bar__plus_00_dot_29_bar__minus_01_dot_53 Drawer_bar__plus_00_dot_39_bar__plus_00_dot_33_bar__minus_01_dot_46) + (inReceptacle AlarmClock_bar__plus_01_dot_56_bar__plus_00_dot_71_bar__minus_00_dot_23 SideTable_bar__plus_01_dot_56_bar__minus_00_dot_01_bar__minus_00_dot_47) + (inReceptacle TissueBox_bar__plus_01_dot_60_bar__plus_00_dot_71_bar__minus_00_dot_70 SideTable_bar__plus_01_dot_56_bar__minus_00_dot_01_bar__minus_00_dot_47) + (inReceptacle TeddyBear_bar__minus_02_dot_20_bar__plus_00_dot_50_bar__plus_00_dot_18 Bed_bar__minus_01_dot_78_bar_00_dot_00_bar__minus_00_dot_03) + (inReceptacle Book_bar__minus_01_dot_48_bar__plus_00_dot_53_bar__minus_00_dot_81 Bed_bar__minus_01_dot_78_bar_00_dot_00_bar__minus_00_dot_03) + (inReceptacle Pillow_bar__minus_02_dot_07_bar__plus_00_dot_60_bar__minus_00_dot_57 Bed_bar__minus_01_dot_78_bar_00_dot_00_bar__minus_00_dot_03) + (inReceptacle Book_bar__minus_01_dot_63_bar__plus_00_dot_53_bar__minus_00_dot_08 Bed_bar__minus_01_dot_78_bar_00_dot_00_bar__minus_00_dot_03) + (inReceptacle Pen_bar__minus_00_dot_03_bar__plus_00_dot_09_bar__minus_01_dot_53 Drawer_bar__minus_00_dot_03_bar__plus_00_dot_13_bar__minus_01_dot_46) + (inReceptacle Box_bar__plus_01_dot_54_bar__plus_01_dot_65_bar__plus_00_dot_69 Shelf_bar__plus_01_dot_55_bar__plus_01_dot_40_bar__plus_00_dot_38) + (inReceptacle Pencil_bar__plus_01_dot_43_bar__plus_01_dot_42_bar__plus_00_dot_26 Shelf_bar__plus_01_dot_55_bar__plus_01_dot_40_bar__plus_00_dot_38) + (inReceptacle HousePlant_bar__plus_01_dot_49_bar__plus_01_dot_40_bar__plus_00_dot_04 Shelf_bar__plus_01_dot_55_bar__plus_01_dot_40_bar__plus_00_dot_38) + + + (receptacleAtLocation Bed_bar__minus_01_dot_78_bar_00_dot_00_bar__minus_00_dot_03 loc_bar__minus_2_bar_0_bar_3_bar_45) + (receptacleAtLocation Desk_bar__plus_00_dot_63_bar__minus_00_dot_04_bar__minus_01_dot_63 loc_bar_4_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_39_bar__plus_00_dot_13_bar__minus_01_dot_46 loc_bar_4_bar__minus_1_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_39_bar__plus_00_dot_33_bar__minus_01_dot_46 loc_bar_3_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_39_bar__plus_00_dot_54_bar__minus_01_dot_46 loc_bar_0_bar__minus_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_03_bar__plus_00_dot_13_bar__minus_01_dot_46 loc_bar_2_bar__minus_1_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_03_bar__plus_00_dot_33_bar__minus_01_dot_46 loc_bar__minus_2_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_03_bar__plus_00_dot_54_bar__minus_01_dot_46 loc_bar__minus_2_bar__minus_2_bar_2_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_61_bar__plus_00_dot_00_bar__plus_00_dot_80 loc_bar__minus_2_bar_1_bar_0_bar_60) + (receptacleAtLocation Shelf_bar__plus_01_dot_54_bar__plus_00_dot_48_bar__minus_00_dot_47 loc_bar_3_bar__minus_1_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__plus_01_dot_55_bar__plus_01_dot_40_bar__plus_00_dot_38 loc_bar_0_bar_2_bar_1_bar_15) + (receptacleAtLocation SideTable_bar__plus_01_dot_56_bar__minus_00_dot_01_bar__minus_00_dot_47 loc_bar_2_bar__minus_1_bar_1_bar_60) + (objectAtLocation Pencil_bar__plus_00_dot_99_bar__plus_00_dot_71_bar__minus_01_dot_42 loc_bar_4_bar__minus_2_bar_2_bar_60) + (objectAtLocation KeyChain_bar__plus_00_dot_49_bar__plus_00_dot_70_bar__minus_01_dot_33 loc_bar_4_bar__minus_2_bar_2_bar_60) + (objectAtLocation TissueBox_bar__plus_00_dot_99_bar__plus_00_dot_71_bar__minus_01_dot_62 loc_bar_4_bar__minus_2_bar_2_bar_60) + (objectAtLocation Book_bar__minus_01_dot_48_bar__plus_00_dot_53_bar__minus_00_dot_81 loc_bar__minus_2_bar_0_bar_3_bar_45) + (objectAtLocation KeyChain_bar__plus_00_dot_43_bar__plus_00_dot_29_bar__minus_01_dot_64 loc_bar_3_bar__minus_2_bar_2_bar_60) + (objectAtLocation Book_bar__plus_00_dot_39_bar__plus_00_dot_29_bar__minus_01_dot_43 loc_bar_3_bar__minus_2_bar_2_bar_60) + (objectAtLocation TissueBox_bar__plus_01_dot_23_bar__plus_00_dot_70_bar__minus_01_dot_42 loc_bar_4_bar__minus_2_bar_2_bar_60) + (objectAtLocation Box_bar__plus_01_dot_54_bar__plus_01_dot_65_bar__plus_00_dot_69 loc_bar_0_bar_2_bar_1_bar_15) + (objectAtLocation Chair_bar__plus_00_dot_95_bar__plus_00_dot_00_bar__minus_01_dot_23 loc_bar_4_bar__minus_2_bar_2_bar_60) + (objectAtLocation Mirror_bar__minus_00_dot_69_bar__plus_01_dot_50_bar__plus_00_dot_96 loc_bar__minus_3_bar_1_bar_0_bar_15) + (objectAtLocation Book_bar__minus_01_dot_63_bar__plus_00_dot_53_bar__minus_00_dot_08 loc_bar__minus_2_bar_0_bar_3_bar_45) + (objectAtLocation AlarmClock_bar__plus_01_dot_56_bar__plus_00_dot_71_bar__minus_00_dot_23 loc_bar_2_bar__minus_1_bar_1_bar_60) + (objectAtLocation CellPhone_bar__plus_01_dot_48_bar__plus_00_dot_71_bar__minus_01_dot_72 loc_bar_4_bar__minus_2_bar_2_bar_60) + (objectAtLocation TissueBox_bar__plus_01_dot_60_bar__plus_00_dot_71_bar__minus_00_dot_70 loc_bar_2_bar__minus_1_bar_1_bar_60) + (objectAtLocation TeddyBear_bar__minus_02_dot_20_bar__plus_00_dot_50_bar__plus_00_dot_18 loc_bar__minus_2_bar_0_bar_3_bar_45) + (objectAtLocation CreditCard_bar__plus_00_dot_53_bar__plus_00_dot_29_bar__minus_01_dot_53 loc_bar_3_bar__minus_2_bar_2_bar_60) + (objectAtLocation KeyChain_bar__plus_01_dot_48_bar__plus_00_dot_49_bar__minus_00_dot_53 loc_bar_4_bar__minus_2_bar_1_bar_60) + (objectAtLocation BaseballBat_bar__minus_02_dot_20_bar__plus_00_dot_04_bar__minus_01_dot_34 loc_bar__minus_3_bar__minus_5_bar_3_bar_45) + (objectAtLocation TennisRacket_bar__minus_02_dot_25_bar__plus_00_dot_32_bar__minus_01_dot_81 loc_bar__minus_3_bar__minus_6_bar_3_bar_45) + (objectAtLocation Painting_bar__minus_02_dot_40_bar__plus_01_dot_70_bar__minus_00_dot_86 loc_bar__minus_3_bar__minus_3_bar_3_bar_0) + (objectAtLocation Pillow_bar__minus_02_dot_07_bar__plus_00_dot_60_bar__minus_00_dot_57 loc_bar__minus_2_bar_0_bar_3_bar_45) + (objectAtLocation LightSwitch_bar__plus_00_dot_23_bar__plus_01_dot_29_bar__plus_00_dot_96 loc_bar_1_bar_2_bar_0_bar_45) + (objectAtLocation Laptop_bar__plus_00_dot_04_bar__plus_00_dot_69_bar__minus_01_dot_46 loc_bar_4_bar__minus_2_bar_2_bar_60) + (objectAtLocation CD_bar__plus_01_dot_48_bar__plus_00_dot_70_bar__minus_01_dot_62 loc_bar_4_bar__minus_2_bar_2_bar_60) + (objectAtLocation Pen_bar__minus_00_dot_03_bar__plus_00_dot_09_bar__minus_01_dot_53 loc_bar_2_bar__minus_1_bar_2_bar_45) + (objectAtLocation HousePlant_bar__plus_01_dot_49_bar__plus_01_dot_40_bar__plus_00_dot_04 loc_bar_0_bar_2_bar_1_bar_15) + (objectAtLocation Window_bar__plus_00_dot_05_bar__plus_01_dot_56_bar__minus_02_dot_08 loc_bar_0_bar__minus_4_bar_2_bar_0) + (objectAtLocation Pencil_bar__plus_01_dot_43_bar__plus_01_dot_42_bar__plus_00_dot_26 loc_bar_0_bar_2_bar_1_bar_15) + (objectAtLocation Mug_bar__plus_00_dot_74_bar__plus_00_dot_70_bar__minus_01_dot_81 loc_bar_4_bar__minus_2_bar_2_bar_60) + (objectAtLocation Blinds_bar__plus_00_dot_01_bar__plus_02_dot_15_bar__minus_02_dot_01 loc_bar_0_bar__minus_4_bar_2_bar__minus_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (and + (receptacleType ?r ShelfType) + (exists (?o - object) + (and + (objectType ?o PencilType) + (exists (?mo - object) + (and + (objectType ?mo MugType) + (isReceptacleObject ?mo) + (inReceptacleObject ?o ?mo) + (inReceptacle ?mo ?r) + ) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pencil-Mug-Shelf-313/trial_T20190907_205839_093009/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pencil-Mug-Shelf-313/trial_T20190907_205839_093009/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..7123e5097b1087681a460ec3a8c54a724c7a5400 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pencil-Mug-Shelf-313/trial_T20190907_205839_093009/traj_data.json @@ -0,0 +1,2593 @@ +{ + "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", + 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counter.", + "Turn around and stand in front of the shorter shelves on the right.", + "Put the cup on the middle shelf on the left." + ], + "task_desc": "Put a cup with a pencil on a shelf.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1MKCTVKE7J0ZP_3FE2ERCCZ0PDA1OF7BNOOTUFK1YOPR", + "high_descs": [ + "Move forward then turn left again to face the book shelf.", + "Take the pencil from the top of the book shelf.", + "Turn around, then move forward, then turn left to go to the desk.", + "Place the pencil in the mug on the desk.", + "Pick up the mug on the desk.", + "Turn around, move forward, then turn right to approach the shelf to the right of the dresser.", + "Place the mug on the second shelf, toward the left." + ], + "task_desc": "Put a mug with a pencil in it on the shelf.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3A0VPWPASCO9J_3V5Q80FXI08SW5UNMFSK4DOBEWT23Y", + "high_descs": [ + "Turn to face the bookshelf.", + "Take the pencil off the top of the bookshelf next to the plant.", + "Walk across the room to the desk.", + "Set the pencil down in the coffee cup.", + "Pick up the cup with the pencil in it.", + "Walk across the room to the cabinet next to the bookshelf with the tissues on it.", + "Set the cup with the pencil in it down next to the tissues." + ], + "task_desc": "Put a coffee cup with a pencil in it next to the tissues on the cabinet.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-TomatoSliced-Plate-DiningTable-15/trial_T20190908_215345_233380/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-TomatoSliced-Plate-DiningTable-15/trial_T20190908_215345_233380/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..7b01cb24799dcb4af83e735653bf98e41b11c99f --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-TomatoSliced-Plate-DiningTable-15/trial_T20190908_215345_233380/initial_state.pddl @@ -0,0 +1,1016 @@ + +(define (problem plan_trial_T20190908_215345_233380) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + 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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_11_bar_12_bar_0_bar_45 - location + loc_bar__minus_1_bar_10_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36 CounterTopType) + (receptacleType Cabinet_bar__minus_02_dot_99_bar__plus_00_dot_39_bar__plus_02_dot_68 CabinetType) + (receptacleType Drawer_bar__minus_03_dot_12_bar__plus_00_dot_78_bar__plus_03_dot_30 DrawerType) + (receptacleType Cabinet_bar__minus_03_dot_35_bar__plus_02_dot_21_bar__plus_02_dot_65 CabinetType) + (receptacleType Cabinet_bar__minus_03_dot_35_bar__plus_02_dot_21_bar__plus_01_dot_72 CabinetType) + (receptacleType Cabinet_bar__minus_03_dot_37_bar__plus_01_dot_93_bar__plus_01_dot_06 CabinetType) + (receptacleType Cabinet_bar__minus_03_dot_37_bar__plus_01_dot_93_bar__plus_02_dot_68 CabinetType) + (receptacleType 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Potato_bar__minus_01_dot_67_bar__plus_00_dot_82_bar__plus_03_dot_77) + (heatable Egg_bar__minus_01_dot_73_bar__plus_00_dot_82_bar__plus_03_dot_59) + (coolable Tomato_bar__minus_03_dot_27_bar__plus_00_dot_98_bar__plus_03_dot_01) + (coolable Cup_bar__minus_03_dot_27_bar__plus_00_dot_92_bar__plus_01_dot_11) + (coolable Lettuce_bar__minus_03_dot_56_bar__plus_01_dot_00_bar__plus_02_dot_84) + (coolable Potato_bar__minus_00_dot_09_bar__plus_01_dot_02_bar__plus_03_dot_93) + (coolable Plate_bar__minus_03_dot_01_bar__plus_00_dot_90_bar__plus_03_dot_68) + (coolable WineBottle_bar__minus_01_dot_71_bar__plus_00_dot_08_bar__plus_03_dot_55) + (coolable Mug_bar__minus_03_dot_42_bar__plus_00_dot_95_bar__plus_03_dot_28) + (coolable Bread_bar__minus_03_dot_46_bar__plus_01_dot_00_bar__plus_01_dot_27) + (coolable Tomato_bar__minus_00_dot_56_bar__plus_01_dot_34_bar__plus_04_dot_10) + (coolable Potato_bar__minus_00_dot_67_bar__plus_01_dot_31_bar__plus_04_dot_06) + (coolable Bread_bar__minus_01_dot_19_bar__plus_00_dot_17_bar__plus_03_dot_79) + (coolable Tomato_bar__minus_01_dot_50_bar__plus_00_dot_98_bar__plus_04_dot_23) + (coolable Cup_bar__minus_03_dot_08_bar__plus_00_dot_92_bar__plus_01_dot_36) + (coolable Egg_bar__minus_02_dot_80_bar__plus_00_dot_95_bar__plus_04_dot_21) + (coolable Tomato_bar__minus_01_dot_86_bar__plus_00_dot_86_bar__plus_03_dot_63) + (coolable Apple_bar__minus_00_dot_79_bar__plus_01_dot_60_bar__plus_04_dot_17) + (coolable Bowl_bar__minus_03_dot_65_bar__plus_00_dot_91_bar__plus_01_dot_52) + (coolable Pan_bar__minus_03_dot_42_bar__plus_00_dot_97_bar__plus_01_dot_97) + (coolable Cup_bar__minus_00_dot_56_bar__plus_00_dot_72_bar__plus_03_dot_82) + (coolable Pot_bar__minus_00_dot_44_bar__plus_00_dot_99_bar__plus_03_dot_93) + (coolable Pot_bar__minus_03_dot_42_bar__plus_00_dot_97_bar__plus_02_dot_37) + (coolable Potato_bar__minus_01_dot_67_bar__plus_00_dot_82_bar__plus_03_dot_77) + (coolable Bowl_bar__minus_03_dot_51_bar__plus_01_dot_55_bar__plus_02_dot_12) + (coolable Egg_bar__minus_01_dot_73_bar__plus_00_dot_82_bar__plus_03_dot_59) + + (isCool Tomato_bar__minus_00_dot_56_bar__plus_01_dot_34_bar__plus_04_dot_10) + + + + (sliceable Tomato_bar__minus_03_dot_27_bar__plus_00_dot_98_bar__plus_03_dot_01) + (sliceable Lettuce_bar__minus_03_dot_56_bar__plus_01_dot_00_bar__plus_02_dot_84) + (sliceable Potato_bar__minus_00_dot_09_bar__plus_01_dot_02_bar__plus_03_dot_93) + (sliceable Bread_bar__minus_03_dot_46_bar__plus_01_dot_00_bar__plus_01_dot_27) + (sliceable Tomato_bar__minus_00_dot_56_bar__plus_01_dot_34_bar__plus_04_dot_10) + (sliceable Potato_bar__minus_00_dot_67_bar__plus_01_dot_31_bar__plus_04_dot_06) + (sliceable Bread_bar__minus_01_dot_19_bar__plus_00_dot_17_bar__plus_03_dot_79) + (sliceable Tomato_bar__minus_01_dot_50_bar__plus_00_dot_98_bar__plus_04_dot_23) + (sliceable Egg_bar__minus_02_dot_80_bar__plus_00_dot_95_bar__plus_04_dot_21) + (sliceable Tomato_bar__minus_01_dot_86_bar__plus_00_dot_86_bar__plus_03_dot_63) + (sliceable Apple_bar__minus_00_dot_79_bar__plus_01_dot_60_bar__plus_04_dot_17) + (sliceable Potato_bar__minus_01_dot_67_bar__plus_00_dot_82_bar__plus_03_dot_77) + (sliceable Egg_bar__minus_01_dot_73_bar__plus_00_dot_82_bar__plus_03_dot_59) + + (inReceptacle Spatula_bar__minus_02_dot_90_bar__plus_00_dot_94_bar__plus_03_dot_78 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34) + (inReceptacle Mug_bar__minus_03_dot_42_bar__plus_00_dot_95_bar__plus_03_dot_28 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34) + (inReceptacle Plate_bar__minus_03_dot_01_bar__plus_00_dot_90_bar__plus_03_dot_68 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34) + (inReceptacle Tomato_bar__minus_03_dot_27_bar__plus_00_dot_98_bar__plus_03_dot_01 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34) + (inReceptacle ButterKnife_bar__minus_02_dot_40_bar__plus_00_dot_92_bar__plus_03_dot_68 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34) + (inReceptacle Knife_bar__minus_01_dot_71_bar__plus_00_dot_94_bar__plus_04_dot_15 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34) + (inReceptacle Spoon_bar__minus_02_dot_13_bar__plus_00_dot_92_bar__plus_04_dot_10 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34) + (inReceptacle Knife_bar__minus_03_dot_37_bar__plus_00_dot_94_bar__plus_03_dot_66 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34) + (inReceptacle Lettuce_bar__minus_03_dot_56_bar__plus_01_dot_00_bar__plus_02_dot_84 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34) + (inReceptacle Tomato_bar__minus_01_dot_50_bar__plus_00_dot_98_bar__plus_04_dot_23 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34) + (inReceptacle Spatula_bar__minus_03_dot_27_bar__plus_00_dot_91_bar__plus_03_dot_83 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34) + (inReceptacle Egg_bar__minus_02_dot_80_bar__plus_00_dot_95_bar__plus_04_dot_21 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34) + (inReceptacle PepperShaker_bar__minus_02_dot_13_bar__plus_00_dot_91_bar__plus_04_dot_23 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34) + (inReceptacle Fork_bar__minus_03_dot_12_bar__plus_00_dot_74_bar__plus_02_dot_93 Drawer_bar__minus_03_dot_12_bar__plus_00_dot_78_bar__plus_02_dot_92) + (inReceptacle Pot_bar__minus_03_dot_42_bar__plus_00_dot_97_bar__plus_02_dot_37 StoveBurner_bar__minus_03_dot_15_bar__plus_00_dot_96_bar__plus_02_dot_37) + (inReceptacle SoapBottle_bar__minus_01_dot_57_bar__plus_00_dot_08_bar__plus_03_dot_55 Cabinet_bar__minus_01_dot_42_bar__plus_00_dot_39_bar__plus_03_dot_46) + (inReceptacle WineBottle_bar__minus_01_dot_71_bar__plus_00_dot_08_bar__plus_03_dot_55 Cabinet_bar__minus_01_dot_42_bar__plus_00_dot_39_bar__plus_03_dot_46) + (inReceptacle Pot_bar__minus_03_dot_42_bar__plus_00_dot_97_bar__plus_02_dot_37 StoveBurner_bar__minus_03_dot_42_bar__plus_00_dot_96_bar__plus_02_dot_37) + (inReceptacle Pan_bar__minus_03_dot_42_bar__plus_00_dot_97_bar__plus_01_dot_97 StoveBurner_bar__minus_03_dot_42_bar__plus_00_dot_96_bar__plus_01_dot_97) + (inReceptacle Knife_bar__minus_03_dot_27_bar__plus_00_dot_94_bar__plus_01_dot_44 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36) + (inReceptacle SoapBottle_bar__minus_03_dot_08_bar__plus_00_dot_92_bar__plus_01_dot_19 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36) + (inReceptacle ButterKnife_bar__minus_03_dot_18_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 SoapBottle_bar__minus_03_dot_65_bar__plus_00_dot_92_bar__plus_01_dot_19 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36) + (inReceptacle Bread_bar__minus_03_dot_46_bar__plus_01_dot_00_bar__plus_01_dot_27 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36) + (inReceptacle Fork_bar__minus_03_dot_56_bar__plus_00_dot_92_bar__plus_01_dot_36 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36) + (inReceptacle Cup_bar__minus_03_dot_27_bar__plus_00_dot_92_bar__plus_01_dot_11 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36) + (inReceptacle Bowl_bar__minus_03_dot_65_bar__plus_00_dot_91_bar__plus_01_dot_52 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36) + (inReceptacle Cup_bar__minus_03_dot_08_bar__plus_00_dot_92_bar__plus_01_dot_36 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36) + (inReceptacle PepperShaker_bar__minus_03_dot_37_bar__plus_00_dot_91_bar__plus_01_dot_11 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36) + (inReceptacle SaltShaker_bar__minus_02_dot_46_bar__plus_00_dot_08_bar__plus_03_dot_59 Cabinet_bar__minus_02_dot_21_bar__plus_00_dot_39_bar__plus_03_dot_46) + (inReceptacle DishSponge_bar__minus_02_dot_80_bar__plus_00_dot_08_bar__plus_03_dot_70 Cabinet_bar__minus_02_dot_96_bar__plus_00_dot_39_bar__plus_03_dot_46) + (inReceptacle PepperShaker_bar__minus_03_dot_54_bar__plus_01_dot_45_bar__plus_03_dot_73 Cabinet_bar__minus_03_dot_37_bar__plus_01_dot_93_bar__plus_03_dot_96) + (inReceptacle SaltShaker_bar__minus_03_dot_54_bar__plus_01_dot_46_bar__plus_01_dot_45 Cabinet_bar__minus_03_dot_37_bar__plus_01_dot_93_bar__plus_01_dot_06) + (inReceptacle Kettle_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) + (inReceptacleObject Spatula_bar__minus_02_dot_90_bar__plus_00_dot_94_bar__plus_03_dot_78 Plate_bar__minus_03_dot_01_bar__plus_00_dot_90_bar__plus_03_dot_68) + (inReceptacleObject Spatula_bar__minus_03_dot_27_bar__plus_00_dot_91_bar__plus_03_dot_83 Plate_bar__minus_03_dot_01_bar__plus_00_dot_90_bar__plus_03_dot_68) + (inReceptacle Cup_bar__minus_00_dot_56_bar__plus_00_dot_72_bar__plus_03_dot_82 Fridge_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__plus_04_dot_00) + (inReceptacle Pot_bar__minus_00_dot_44_bar__plus_00_dot_99_bar__plus_03_dot_93 Fridge_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__plus_04_dot_00) + (inReceptacle Apple_bar__minus_00_dot_79_bar__plus_01_dot_60_bar__plus_04_dot_17 Fridge_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__plus_04_dot_00) + (inReceptacle Tomato_bar__minus_00_dot_56_bar__plus_01_dot_34_bar__plus_04_dot_10 Fridge_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__plus_04_dot_00) + (inReceptacle Potato_bar__minus_00_dot_67_bar__plus_01_dot_31_bar__plus_04_dot_06 Fridge_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__plus_04_dot_00) + (inReceptacle Potato_bar__minus_00_dot_09_bar__plus_01_dot_02_bar__plus_03_dot_93 Fridge_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__plus_04_dot_00) + (inReceptacle Mug_bar__minus_03_dot_42_bar__plus_00_dot_95_bar__plus_03_dot_28 CoffeeMachine_bar__minus_03_dot_57_bar__plus_00_dot_90_bar__plus_03_dot_28) + (inReceptacle DishSponge_bar__minus_01_dot_92_bar__plus_00_dot_79_bar__plus_03_dot_77 Sink_bar__minus_01_dot_80_bar__plus_00_dot_92_bar__plus_03_dot_66_bar_SinkBasin) + (inReceptacle Egg_bar__minus_01_dot_73_bar__plus_00_dot_82_bar__plus_03_dot_59 Sink_bar__minus_01_dot_80_bar__plus_00_dot_92_bar__plus_03_dot_66_bar_SinkBasin) + (inReceptacle Potato_bar__minus_01_dot_67_bar__plus_00_dot_82_bar__plus_03_dot_77 Sink_bar__minus_01_dot_80_bar__plus_00_dot_92_bar__plus_03_dot_66_bar_SinkBasin) + (inReceptacle Tomato_bar__minus_01_dot_86_bar__plus_00_dot_86_bar__plus_03_dot_63 Sink_bar__minus_01_dot_80_bar__plus_00_dot_92_bar__plus_03_dot_66_bar_SinkBasin) + (inReceptacle Bowl_bar__minus_03_dot_51_bar__plus_01_dot_55_bar__plus_02_dot_12 Microwave_bar__minus_03_dot_49_bar__plus_01_dot_43_bar__plus_02_dot_18) + (inReceptacle Bread_bar__minus_01_dot_19_bar__plus_00_dot_17_bar__plus_03_dot_79 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) + (receptacleAtLocation Cabinet_bar__minus_02_dot_19_bar__plus_00_dot_39_bar__plus_03_dot_47 loc_bar__minus_9_bar_13_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_21_bar__plus_00_dot_39_bar__plus_03_dot_46 loc_bar__minus_7_bar_10_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_96_bar__plus_00_dot_39_bar__plus_03_dot_46 loc_bar__minus_9_bar_10_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_99_bar__plus_00_dot_39_bar__plus_01_dot_04 loc_bar__minus_8_bar_7_bar_3_bar_45) + (receptacleAtLocation Cabinet_bar__minus_02_dot_99_bar__plus_00_dot_39_bar__plus_02_dot_68 loc_bar__minus_11_bar_11_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_03_dot_35_bar__plus_02_dot_21_bar__plus_01_dot_72 loc_bar__minus_10_bar_9_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_03_dot_35_bar__plus_02_dot_21_bar__plus_02_dot_65 loc_bar__minus_11_bar_11_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_03_dot_37_bar__plus_01_dot_93_bar__plus_01_dot_06 loc_bar__minus_11_bar_6_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_03_dot_37_bar__plus_01_dot_93_bar__plus_02_dot_68 loc_bar__minus_11_bar_12_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_03_dot_37_bar__plus_01_dot_93_bar__plus_03_dot_96 loc_bar__minus_11_bar_12_bar_0_bar__minus_15) + (receptacleAtLocation CoffeeMachine_bar__minus_03_dot_57_bar__plus_00_dot_90_bar__plus_03_dot_28 loc_bar__minus_11_bar_12_bar_3_bar_45) + (receptacleAtLocation CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36 loc_bar__minus_11_bar_6_bar_3_bar_45) + (receptacleAtLocation CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34 loc_bar__minus_11_bar_12_bar_3_bar_45) + (receptacleAtLocation DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33 loc_bar__minus_2_bar_2_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_03_dot_12_bar__plus_00_dot_78_bar__plus_01_dot_36 loc_bar__minus_9_bar_6_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_03_dot_12_bar__plus_00_dot_78_bar__plus_02_dot_92 loc_bar__minus_9_bar_13_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_03_dot_12_bar__plus_00_dot_78_bar__plus_03_dot_30 loc_bar__minus_9_bar_12_bar_3_bar_45) + (receptacleAtLocation Fridge_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__plus_04_dot_00 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"objectName": "Mug_0af3d2bb", + "position": { + "x": -3.424591, + "y": 0.9451233, + "z": 3.275126 + }, + "rotation": { + "x": 359.75116, + "y": 89.87099, + "z": 0.007950361 + } + } + ], + "object_toggles": [], + "random_seed": 2210791496, + "scene_num": 15 + }, + "task_id": "trial_T20190908_215345_233380", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3C81THYYSBGVD_3LS2AMNW5IH6V2BS3WRUPK4RJ3CQOL", + "high_descs": [ + "Turn left and face the counter with the tomato in front of you.", + "Take the tomato off of the counter in front of you.", + "Turn right and face the plate on the counter in front of you.", + "Place the tomato on the plate on the counter in front of you.", + "Take the knife from the counter in front of you.", + "Slice the tomato on the counter in front of you.", + "Place the knife on the plate on the counter in front of you.", + "Take the plate off of the counter in front of you.", + "Turn right and face the white table on your right.", + "Place the plate with the knife and tomato on the table in front of you." + ], + "task_desc": "Place a tomato slice on the table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AISNLDPD2DFEG_3PJUZCGDJ97XIB7QFDRC63O2UYT984", + "high_descs": [ + "Go forward, turn left, go to the counter", + "Pick up the tomato on the counter", + "Turn right to the counter", + "Put the tomato in the plate", + "Pick up the knife on the counter", + "Slice the tomato in the plate", + "Put the knife in the plate", + "Pick up the plate from the counter", + "Turn right, go forward, turn right, go forward, turn right and face the table", + "Put the plate on the table" + ], + "task_desc": "Put the tomato in a plate, slice it, and bring the plate to the table", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3T9K2RY06UO14_3RRCEFRB7P3FN3ZL1UFVGX3NGBDB4K", + "high_descs": [ + "Turn and go to the counter by the coffee maker.", + "Pick up a tomato on the counter. ", + "Turn and go to the counter by the toaster.", + "Put the tomato on a plate on the counter. ", + "Pick up a knife on the counter. ", + "Cut the tomato on a plate on the counter. ", + "Put the knife on the plate on the counter. ", + "Pick up the plate on the counter. ", + "Turn and go to the table.", + "Put the plate on the table. " + ], + "task_desc": "Put a plate with a cut tomato on the table.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-TomatoSliced-Plate-DiningTable-15/trial_T20190908_215415_431282/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-TomatoSliced-Plate-DiningTable-15/trial_T20190908_215415_431282/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..44db90317b1929ee396852004c292e58e2995af5 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-TomatoSliced-Plate-DiningTable-15/trial_T20190908_215415_431282/initial_state.pddl @@ -0,0 +1,996 @@ + +(define (problem plan_trial_T20190908_215415_431282) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__minus_00_dot_21_bar__plus_01_dot_05_bar__plus_04_dot_11 - object + Apple_bar__minus_00_dot_67_bar__plus_01_dot_05_bar__plus_04_dot_11 - object + Apple_bar__minus_03_dot_51_bar__plus_01_dot_61_bar__plus_02_dot_22 - object + Blinds_bar__minus_01_dot_41_bar__plus_02_dot_09_bar__minus_00_dot_30 - object + Bowl_bar__minus_00_dot_79_bar__plus_00_dot_99_bar__plus_03_dot_86 - object + Bowl_bar__minus_03_dot_49_bar__plus_01_dot_99_bar__plus_02_dot_54 - object + Bowl_bar__minus_03_dot_65_bar__plus_00_dot_91_bar__plus_01_dot_36 - object + Bread_bar__minus_01_dot_19_bar__plus_00_dot_17_bar__plus_03_dot_79 - object + Bread_bar__minus_02_dot_40_bar__plus_01_dot_00_bar__plus_04_dot_00 - object + ButterKnife_bar__minus_02_dot_80_bar__plus_00_dot_92_bar__plus_04_dot_00 - object + Chair_bar__minus_01_dot_41_bar__plus_00_dot_55_bar__plus_00_dot_96 - object + Cup_bar__minus_01_dot_67_bar__plus_00_dot_79_bar__plus_03_dot_63 - object + Cup_bar__minus_02_dot_80_bar__plus_00_dot_92_bar__plus_03_dot_68 - object + 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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_9_bar_2_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36 CounterTopType) + (receptacleType Cabinet_bar__minus_02_dot_99_bar__plus_00_dot_39_bar__plus_02_dot_68 CabinetType) + (receptacleType Drawer_bar__minus_03_dot_12_bar__plus_00_dot_78_bar__plus_03_dot_30 DrawerType) + (receptacleType Cabinet_bar__minus_03_dot_35_bar__plus_02_dot_21_bar__plus_02_dot_65 CabinetType) + (receptacleType Cabinet_bar__minus_03_dot_35_bar__plus_02_dot_21_bar__plus_01_dot_72 CabinetType) + (receptacleType 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Apple_bar__minus_00_dot_67_bar__plus_01_dot_05_bar__plus_04_dot_11) + (coolable Bread_bar__minus_02_dot_40_bar__plus_01_dot_00_bar__plus_04_dot_00) + (coolable Tomato_bar__minus_00_dot_32_bar__plus_01_dot_61_bar__plus_04_dot_07) + (coolable Bread_bar__minus_01_dot_19_bar__plus_00_dot_17_bar__plus_03_dot_79) + (coolable Bowl_bar__minus_03_dot_65_bar__plus_00_dot_91_bar__plus_01_dot_36) + (coolable Apple_bar__minus_00_dot_21_bar__plus_01_dot_05_bar__plus_04_dot_11) + (coolable WineBottle_bar__minus_03_dot_23_bar__plus_00_dot_08_bar__plus_03_dot_03) + (coolable WineBottle_bar__minus_03_dot_08_bar__plus_00_dot_08_bar__plus_03_dot_03) + (coolable Apple_bar__minus_03_dot_51_bar__plus_01_dot_61_bar__plus_02_dot_22) + (coolable Bowl_bar__minus_00_dot_79_bar__plus_00_dot_99_bar__plus_03_dot_86) + (coolable Pan_bar__minus_02_dot_61_bar__plus_00_dot_90_bar__plus_03_dot_62) + (coolable Mug_bar__minus_03_dot_27_bar__plus_00_dot_91_bar__plus_01_dot_52) + (coolable Lettuce_bar__minus_03_dot_46_bar__plus_01_dot_00_bar__plus_01_dot_36) + (coolable Egg_bar__minus_02_dot_30_bar__plus_00_dot_95_bar__plus_03_dot_68) + (coolable Mug_bar__minus_01_dot_99_bar__plus_00_dot_78_bar__plus_03_dot_66) + (coolable Pot_bar__minus_03_dot_42_bar__plus_00_dot_97_bar__plus_01_dot_97) + (coolable Lettuce_bar__minus_00_dot_44_bar__plus_01_dot_07_bar__plus_04_dot_05) + (coolable Cup_bar__minus_02_dot_80_bar__plus_00_dot_92_bar__plus_03_dot_68) + (coolable Bowl_bar__minus_03_dot_49_bar__plus_01_dot_99_bar__plus_02_dot_54) + + (isCool Tomato_bar__minus_00_dot_32_bar__plus_01_dot_61_bar__plus_04_dot_07) + (isCool Tomato_bar__minus_00_dot_44_bar__plus_01_dot_34_bar__plus_04_dot_06) + + + + (sliceable Potato_bar__minus_00_dot_79_bar__plus_01_dot_31_bar__plus_04_dot_06) + (sliceable Tomato_bar__minus_00_dot_44_bar__plus_01_dot_34_bar__plus_04_dot_06) + (sliceable Tomato_bar__minus_03_dot_65_bar__plus_00_dot_98_bar__plus_01_dot_52) + (sliceable Apple_bar__minus_00_dot_67_bar__plus_01_dot_05_bar__plus_04_dot_11) + (sliceable Bread_bar__minus_02_dot_40_bar__plus_01_dot_00_bar__plus_04_dot_00) + (sliceable Tomato_bar__minus_00_dot_32_bar__plus_01_dot_61_bar__plus_04_dot_07) + (sliceable Bread_bar__minus_01_dot_19_bar__plus_00_dot_17_bar__plus_03_dot_79) + (sliceable Apple_bar__minus_00_dot_21_bar__plus_01_dot_05_bar__plus_04_dot_11) + (sliceable Apple_bar__minus_03_dot_51_bar__plus_01_dot_61_bar__plus_02_dot_22) + (sliceable Lettuce_bar__minus_03_dot_46_bar__plus_01_dot_00_bar__plus_01_dot_36) + (sliceable Egg_bar__minus_02_dot_30_bar__plus_00_dot_95_bar__plus_03_dot_68) + (sliceable Lettuce_bar__minus_00_dot_44_bar__plus_01_dot_07_bar__plus_04_dot_05) + + (inReceptacle Plate_bar__minus_03_dot_01_bar__plus_00_dot_90_bar__plus_03_dot_68 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34) + (inReceptacle Egg_bar__minus_02_dot_30_bar__plus_00_dot_95_bar__plus_03_dot_68 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34) + (inReceptacle Spatula_bar__minus_03_dot_27_bar__plus_00_dot_93_bar__plus_03_dot_34 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34) + (inReceptacle Bread_bar__minus_02_dot_40_bar__plus_01_dot_00_bar__plus_04_dot_00 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34) + (inReceptacle ButterKnife_bar__minus_02_dot_80_bar__plus_00_dot_92_bar__plus_04_dot_00 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34) + (inReceptacle Pan_bar__minus_02_dot_61_bar__plus_00_dot_90_bar__plus_03_dot_62 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34) + (inReceptacle Cup_bar__minus_02_dot_80_bar__plus_00_dot_92_bar__plus_03_dot_68 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34) + (inReceptacle Kettle_bar__minus_01_dot_82_bar__plus_00_dot_92_bar__plus_04_dot_19 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34) + (inReceptacle Fork_bar__minus_03_dot_27_bar__plus_00_dot_92_bar__plus_03_dot_01 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34) + (inReceptacle Cup_bar__minus_03_dot_27_bar__plus_00_dot_92_bar__plus_02_dot_84 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34) + (inReceptacle SaltShaker_bar__minus_03_dot_07_bar__plus_00_dot_74_bar__plus_03_dot_08 Drawer_bar__minus_03_dot_12_bar__plus_00_dot_78_bar__plus_02_dot_92) + (inReceptacle Kettle_bar__minus_03_dot_15_bar__plus_00_dot_97_bar__plus_02_dot_37 StoveBurner_bar__minus_03_dot_15_bar__plus_00_dot_96_bar__plus_02_dot_37) + (inReceptacle DishSponge_bar__minus_01_dot_71_bar__plus_00_dot_08_bar__plus_03_dot_59 Cabinet_bar__minus_01_dot_42_bar__plus_00_dot_39_bar__plus_03_dot_46) + (inReceptacle PepperShaker_bar__minus_03_dot_57_bar__plus_01_dot_46_bar__plus_02_dot_85 Cabinet_bar__minus_03_dot_37_bar__plus_01_dot_93_bar__plus_02_dot_68) + (inReceptacle Pot_bar__minus_03_dot_42_bar__plus_00_dot_97_bar__plus_01_dot_97 StoveBurner_bar__minus_03_dot_42_bar__plus_00_dot_96_bar__plus_01_dot_97) + (inReceptacle Tomato_bar__minus_03_dot_65_bar__plus_00_dot_98_bar__plus_01_dot_52 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36) + (inReceptacle Spoon_bar__minus_03_dot_37_bar__plus_00_dot_92_bar__plus_01_dot_61 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36) + (inReceptacle Bowl_bar__minus_03_dot_65_bar__plus_00_dot_91_bar__plus_01_dot_36 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36) + (inReceptacle Knife_bar__minus_03_dot_18_bar__plus_00_dot_94_bar__plus_01_dot_27 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36) + (inReceptacle SoapBottle_bar__minus_03_dot_08_bar__plus_00_dot_92_bar__plus_01_dot_36 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_11 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36) + (inReceptacle Mug_bar__minus_03_dot_27_bar__plus_00_dot_91_bar__plus_01_dot_52 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36) + (inReceptacle Fork_bar__minus_03_dot_65_bar__plus_00_dot_92_bar__plus_01_dot_19 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36) + (inReceptacle Lettuce_bar__minus_03_dot_46_bar__plus_01_dot_00_bar__plus_01_dot_36 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36) + (inReceptacle Spatula_bar__minus_03_dot_27_bar__plus_00_dot_93_bar__plus_01_dot_27 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36) + (inReceptacle SoapBottle_bar__minus_02_dot_46_bar__plus_00_dot_08_bar__plus_03_dot_55 Cabinet_bar__minus_02_dot_21_bar__plus_00_dot_39_bar__plus_03_dot_46) + (inReceptacle WineBottle_bar__minus_03_dot_08_bar__plus_00_dot_08_bar__plus_03_dot_03 Cabinet_bar__minus_02_dot_99_bar__plus_00_dot_39_bar__plus_02_dot_68) + (inReceptacle WineBottle_bar__minus_03_dot_23_bar__plus_00_dot_08_bar__plus_03_dot_03 Cabinet_bar__minus_02_dot_99_bar__plus_00_dot_39_bar__plus_02_dot_68) + (inReceptacle DishSponge_bar__minus_03_dot_49_bar__plus_01_dot_99_bar__plus_01_dot_84 Cabinet_bar__minus_03_dot_35_bar__plus_02_dot_21_bar__plus_01_dot_72) + (inReceptacle Bowl_bar__minus_03_dot_49_bar__plus_01_dot_99_bar__plus_02_dot_54 Cabinet_bar__minus_03_dot_35_bar__plus_02_dot_21_bar__plus_02_dot_65) + (inReceptacle PepperShaker_bar__minus_03_dot_23_bar__plus_00_dot_08_bar__plus_01_dot_28 Cabinet_bar__minus_02_dot_99_bar__plus_00_dot_39_bar__plus_01_dot_04) + (inReceptacle Pot_bar__minus_03_dot_42_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 Apple_bar__minus_00_dot_21_bar__plus_01_dot_05_bar__plus_04_dot_11 Fridge_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__plus_04_dot_00) + (inReceptacle Bowl_bar__minus_00_dot_79_bar__plus_00_dot_99_bar__plus_03_dot_86 Fridge_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__plus_04_dot_00) + (inReceptacle Apple_bar__minus_00_dot_67_bar__plus_01_dot_05_bar__plus_04_dot_11 Fridge_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__plus_04_dot_00) + (inReceptacle Lettuce_bar__minus_00_dot_44_bar__plus_01_dot_07_bar__plus_04_dot_05 Fridge_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__plus_04_dot_00) + (inReceptacle Tomato_bar__minus_00_dot_32_bar__plus_01_dot_61_bar__plus_04_dot_07 Fridge_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__plus_04_dot_00) + (inReceptacle Potato_bar__minus_00_dot_79_bar__plus_01_dot_31_bar__plus_04_dot_06 Fridge_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__plus_04_dot_00) + (inReceptacle Tomato_bar__minus_00_dot_44_bar__plus_01_dot_34_bar__plus_04_dot_06 Fridge_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__plus_04_dot_00) + (inReceptacle Mug_bar__minus_01_dot_99_bar__plus_00_dot_78_bar__plus_03_dot_66 Sink_bar__minus_01_dot_80_bar__plus_00_dot_92_bar__plus_03_dot_66_bar_SinkBasin) + (inReceptacle Cup_bar__minus_01_dot_67_bar__plus_00_dot_79_bar__plus_03_dot_63 Sink_bar__minus_01_dot_80_bar__plus_00_dot_92_bar__plus_03_dot_66_bar_SinkBasin) + (inReceptacle Apple_bar__minus_03_dot_51_bar__plus_01_dot_61_bar__plus_02_dot_22 Microwave_bar__minus_03_dot_49_bar__plus_01_dot_43_bar__plus_02_dot_18) + (inReceptacle Bread_bar__minus_01_dot_19_bar__plus_00_dot_17_bar__plus_03_dot_79 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) + (receptacleAtLocation Cabinet_bar__minus_02_dot_19_bar__plus_00_dot_39_bar__plus_03_dot_47 loc_bar__minus_9_bar_13_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_21_bar__plus_00_dot_39_bar__plus_03_dot_46 loc_bar__minus_7_bar_10_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_96_bar__plus_00_dot_39_bar__plus_03_dot_46 loc_bar__minus_9_bar_10_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_99_bar__plus_00_dot_39_bar__plus_01_dot_04 loc_bar__minus_8_bar_7_bar_3_bar_45) + (receptacleAtLocation Cabinet_bar__minus_02_dot_99_bar__plus_00_dot_39_bar__plus_02_dot_68 loc_bar__minus_11_bar_11_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_03_dot_35_bar__plus_02_dot_21_bar__plus_01_dot_72 loc_bar__minus_10_bar_9_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_03_dot_35_bar__plus_02_dot_21_bar__plus_02_dot_65 loc_bar__minus_11_bar_11_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_03_dot_37_bar__plus_01_dot_93_bar__plus_01_dot_06 loc_bar__minus_11_bar_6_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_03_dot_37_bar__plus_01_dot_93_bar__plus_02_dot_68 loc_bar__minus_11_bar_12_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_03_dot_37_bar__plus_01_dot_93_bar__plus_03_dot_96 loc_bar__minus_11_bar_12_bar_0_bar__minus_15) + (receptacleAtLocation CoffeeMachine_bar__minus_03_dot_57_bar__plus_00_dot_90_bar__plus_03_dot_28 loc_bar__minus_11_bar_12_bar_3_bar_45) + (receptacleAtLocation CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36 loc_bar__minus_11_bar_6_bar_3_bar_45) + (receptacleAtLocation CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34 loc_bar__minus_11_bar_12_bar_3_bar_45) + (receptacleAtLocation DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33 loc_bar__minus_2_bar_2_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_03_dot_12_bar__plus_00_dot_78_bar__plus_01_dot_36 loc_bar__minus_9_bar_6_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_03_dot_12_bar__plus_00_dot_78_bar__plus_02_dot_92 loc_bar__minus_9_bar_13_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_03_dot_12_bar__plus_00_dot_78_bar__plus_03_dot_30 loc_bar__minus_9_bar_12_bar_3_bar_45) + (receptacleAtLocation Fridge_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__plus_04_dot_00 loc_bar__minus_2_bar_12_bar_0_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_01_dot_19_bar__plus_00_dot_01_bar__plus_03_dot_79 loc_bar__minus_5_bar_13_bar_0_bar_60) + (receptacleAtLocation Microwave_bar__minus_03_dot_49_bar__plus_01_dot_43_bar__plus_02_dot_18 loc_bar__minus_10_bar_9_bar_3_bar_15) + (receptacleAtLocation Sink_bar__minus_01_dot_80_bar__plus_00_dot_92_bar__plus_03_dot_66_bar_SinkBasin loc_bar__minus_6_bar_12_bar_0_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_03_dot_14_bar__plus_00_dot_96_bar__plus_01_dot_97 loc_bar__minus_10_bar_8_bar_3_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_03_dot_15_bar__plus_00_dot_96_bar__plus_02_dot_37 loc_bar__minus_10_bar_9_bar_3_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_03_dot_42_bar__plus_00_dot_96_bar__plus_01_dot_97 loc_bar__minus_10_bar_8_bar_3_bar_30) + (receptacleAtLocation StoveBurner_bar__minus_03_dot_42_bar__plus_00_dot_96_bar__plus_02_dot_37 loc_bar__minus_10_bar_9_bar_3_bar_30) + (receptacleAtLocation Toaster_bar__minus_02_dot_65_bar__plus_00_dot_90_bar__plus_04_dot_06 loc_bar__minus_11_bar_12_bar_0_bar_30) + (objectAtLocation Mug_bar__minus_01_dot_99_bar__plus_00_dot_78_bar__plus_03_dot_66 loc_bar__minus_6_bar_12_bar_0_bar_45) + (objectAtLocation DishSponge_bar__minus_01_dot_71_bar__plus_00_dot_08_bar__plus_03_dot_59 loc_bar__minus_8_bar_10_bar_0_bar_60) + (objectAtLocation PepperShaker_bar__minus_03_dot_23_bar__plus_00_dot_08_bar__plus_01_dot_28 loc_bar__minus_8_bar_7_bar_3_bar_45) + (objectAtLocation SaltShaker_bar__minus_03_dot_37_bar__plus_00_dot_91_bar__plus_01_dot_11 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+ "position": { + "x": -3.36803436, + "y": 0.9169294, + "z": 1.60797334 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_0af3d2bb", + "position": { + "x": -1.98548973, + "y": 0.78455615, + "z": 3.662686 + }, + "rotation": { + "x": -7.58303337e-22, + "y": 90.0, + "z": 1.40334191e-14 + } + } + ], + "object_toggles": [], + "random_seed": 687469287, + "scene_num": 15 + }, + "task_id": "trial_T20190908_215415_431282", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3C81THYYSBGVD_336KAV9KYTJ1XXD978ARVT4QH87Y22", + "high_descs": [ + "Turn right and face the counter on your left.", + "Take the knife off of the counter to your left.", + "Turn right then face the tomato on top of the counter to your left.", + "Slice the tomato on the counter in front of you.", + "Turn left then face the counter on your right.", + "Place the knife on the counter in front of you.", + "Turn right then face the tomato on the counter to your left.", + "Take a tomato slice off of the counter in front of you.", + ".Turn right and face the counter with the plate and pan in front of you.", + "Place the tomato slice on the plate on the counter in front of you.", + "Take the plate off of the counter in front of you.", + "Turn right, then right again and face the table to your right.", + "Place the plate on the table in front of you." + ], + "task_desc": "Place a tomato slice on the table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A12HZGOZQD5YK7_35H6S234SDRRDAMQJ8HXA9N928B65H", + "high_descs": [ + "Go left and turn right at the counter to the left of the stove.", + "Pick up the knife from the counter.", + "Turn right, move closer to the stove and turn left to the counter.", + "Cut the tomato on the counter.", + "Turn left, move to the left and turn right towards to counter.", + "Put the knife on the counter in front of the spatula.", + "Turn right, move closer to the stove and turn left to the counter.", + "Pick up a slice of tomato from the counter.", + "Turn right and go across the room.", + "Put the tomato on the plate on the counter.", + "Pick up the plate with the tomato on it.", + "Turn right, go across the room, turn right and go to the white table.", + "Put the plate on the table." + ], + "task_desc": "Put a slice of tomato on a plate on the table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A30M9SZYJKFDS9_39GAF6DQWURD4I08JTNTJBQR7KOV14", + "high_descs": [ + "turn to the right go forward towards to the counter", + "pick up the knife that is on the counter", + "turn to the right face the counter ", + "slice the tomato on the counter", + "turn to the left", + "put the knife on the counter", + "turn to the right", + "pick one slice of the tomato", + "turn around to the right go left forward towards the counter", + "put the slice of tomato on top of a plate on the counter", + "pick up the plate with the tomato slice in it", + "turn to the right go forward go right towards the white table", + "put the table on top of the white table" + ], + "task_desc": "put a plate with a slice in it on the white table", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-TomatoSliced-Plate-DiningTable-15/trial_T20190918_195819_356289/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-TomatoSliced-Plate-DiningTable-15/trial_T20190918_195819_356289/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..dbae8219d09f3790474a186961bab381d46d59f1 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-TomatoSliced-Plate-DiningTable-15/trial_T20190918_195819_356289/initial_state.pddl @@ -0,0 +1,986 @@ + +(define (problem plan_trial_T20190918_195819_356289) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__minus_01_dot_16_bar__plus_00_dot_15_bar__plus_03_dot_79 - object + Apple_bar__minus_01_dot_92_bar__plus_00_dot_85_bar__plus_03_dot_77 - object + Blinds_bar__minus_01_dot_41_bar__plus_02_dot_09_bar__minus_00_dot_30 - object + Bowl_bar__minus_00_dot_79_bar__plus_00_dot_72_bar__plus_03_dot_84 - object + Bread_bar__minus_01_dot_92_bar__plus_01_dot_00_bar__plus_04_dot_10 - object + ButterKnife_bar__minus_03_dot_46_bar__plus_00_dot_92_bar__plus_01_dot_27 - object + Chair_bar__minus_01_dot_41_bar__plus_00_dot_55_bar__plus_00_dot_96 - object + Cup_bar__minus_02_dot_76_bar__plus_00_dot_08_bar__plus_03_dot_55 - object + Cup_bar__minus_03_dot_46_bar__plus_01_dot_99_bar__plus_02_dot_00 - object + DishSponge_bar__minus_03_dot_27_bar__plus_00_dot_92_bar__plus_01_dot_19 - object + Egg_bar__minus_00_dot_67_bar__plus_01_dot_02_bar__plus_04_dot_11 - object + Faucet_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__plus_03_dot_93 - object + Fork_bar__minus_01_dot_73_bar__plus_00_dot_79_bar__plus_03_dot_70 - object + Fork_bar__minus_02_dot_40_bar__plus_00_dot_92_bar__plus_04_dot_00 - object + Kettle_bar__minus_03_dot_15_bar__plus_00_dot_97_bar__plus_02_dot_37 - object + Knife_bar__minus_02_dot_40_bar__plus_00_dot_94_bar__plus_03_dot_78 - object + Knife_bar__minus_03_dot_37_bar__plus_00_dot_94_bar__plus_01_dot_19 - object + Lettuce_bar__minus_03_dot_18_bar__plus_01_dot_00_bar__plus_03_dot_34 - object + Lettuce_bar__minus_03_dot_56_bar__plus_01_dot_00_bar__plus_02_dot_84 - object + LightSwitch_bar__plus_00_dot_25_bar__plus_01_dot_38_bar__plus_02_dot_09 - object + Mug_bar__minus_00_dot_09_bar__plus_00_dot_98_bar__plus_04_dot_05 - object + Mug_bar__minus_00_dot_44_bar__plus_01_dot_54_bar__plus_04_dot_03 - object + Pan_bar__minus_02_dot_61_bar__plus_00_dot_90_bar__plus_03_dot_62 - object + PepperShaker_bar__minus_01_dot_71_bar__plus_00_dot_91_bar__plus_04_dot_19 - object + PepperShaker_bar__minus_03_dot_27_bar__plus_00_dot_08_bar__plus_03_dot_03 - object + PepperShaker_bar__minus_03_dot_56_bar__plus_00_dot_91_bar__plus_01_dot_19 - object + Plate_bar__minus_03_dot_01_bar__plus_00_dot_90_bar__plus_03_dot_68 - object + Potato_bar__minus_02_dot_13_bar__plus_00_dot_95_bar__plus_04_dot_23 - object + Pot_bar__minus_03_dot_42_bar__plus_00_dot_97_bar__plus_01_dot_97 - object + Pot_bar__minus_03_dot_42_bar__plus_00_dot_97_bar__plus_02_dot_37 - object + SaltShaker_bar__minus_03_dot_13_bar__plus_00_dot_74_bar__plus_03_dot_36 - object + Sink_bar__minus_01_dot_80_bar__plus_00_dot_92_bar__plus_03_dot_66 - object + SoapBottle_bar__minus_03_dot_49_bar__plus_02_dot_00_bar__plus_02_dot_48 - object + SoapBottle_bar__minus_03_dot_65_bar__plus_00_dot_92_bar__plus_01_dot_52 - object + Spatula_bar__minus_03_dot_13_bar__plus_00_dot_76_bar__plus_02_dot_81 - object + Spatula_bar__minus_03_dot_37_bar__plus_00_dot_93_bar__plus_01_dot_52 - object + Spoon_bar__minus_01_dot_82_bar__plus_00_dot_92_bar__plus_04_dot_10 - object + Spoon_bar__minus_03_dot_08_bar__plus_00_dot_92_bar__plus_01_dot_27 - object + Spoon_bar__minus_03_dot_08_bar__plus_00_dot_92_bar__plus_01_dot_61 - 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 + StoveKnob_bar__minus_03_dot_60_bar__plus_01_dot_11_bar__plus_02_dot_43 - object + Tomato_bar__minus_00_dot_44_bar__plus_01_dot_05_bar__plus_03_dot_86 - object + Tomato_bar__minus_00_dot_56_bar__plus_00_dot_79_bar__plus_03_dot_82 - object + Tomato_bar__minus_00_dot_56_bar__plus_01_dot_05_bar__plus_04_dot_05 - object + Tomato_bar__minus_03_dot_08_bar__plus_00_dot_98_bar__plus_01_dot_11 - object + Window_bar__minus_01_dot_43_bar__plus_01_dot_34_bar__minus_00_dot_35 - object + WineBottle_bar__minus_02_dot_51_bar__plus_00_dot_08_bar__plus_03_dot_63 - object + WineBottle_bar__minus_03_dot_27_bar__plus_00_dot_92_bar__plus_01_dot_61 - object + WineBottle_bar__minus_03_dot_46_bar__plus_00_dot_92_bar__plus_03_dot_83 - object + Cabinet_bar__minus_01_dot_42_bar__plus_00_dot_39_bar__plus_03_dot_46 - receptacle + Cabinet_bar__minus_02_dot_19_bar__plus_00_dot_39_bar__plus_03_dot_47 - receptacle + Cabinet_bar__minus_02_dot_21_bar__plus_00_dot_39_bar__plus_03_dot_46 - receptacle + Cabinet_bar__minus_02_dot_96_bar__plus_00_dot_39_bar__plus_03_dot_46 - receptacle + Cabinet_bar__minus_02_dot_99_bar__plus_00_dot_39_bar__plus_01_dot_04 - receptacle + Cabinet_bar__minus_02_dot_99_bar__plus_00_dot_39_bar__plus_02_dot_68 - receptacle + Cabinet_bar__minus_03_dot_35_bar__plus_02_dot_21_bar__plus_01_dot_72 - receptacle + Cabinet_bar__minus_03_dot_35_bar__plus_02_dot_21_bar__plus_02_dot_65 - receptacle + Cabinet_bar__minus_03_dot_37_bar__plus_01_dot_93_bar__plus_01_dot_06 - receptacle + Cabinet_bar__minus_03_dot_37_bar__plus_01_dot_93_bar__plus_02_dot_68 - receptacle + Cabinet_bar__minus_03_dot_37_bar__plus_01_dot_93_bar__plus_03_dot_96 - receptacle + CoffeeMachine_bar__minus_03_dot_57_bar__plus_00_dot_90_bar__plus_03_dot_28 - receptacle + CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36 - receptacle + CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34 - receptacle + DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33 - receptacle + Drawer_bar__minus_03_dot_12_bar__plus_00_dot_78_bar__plus_01_dot_36 - receptacle + Drawer_bar__minus_03_dot_12_bar__plus_00_dot_78_bar__plus_02_dot_92 - receptacle + Drawer_bar__minus_03_dot_12_bar__plus_00_dot_78_bar__plus_03_dot_30 - receptacle + Fridge_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__plus_04_dot_00 - receptacle + GarbageCan_bar__minus_01_dot_19_bar__plus_00_dot_01_bar__plus_03_dot_79 - receptacle + Microwave_bar__minus_03_dot_49_bar__plus_01_dot_43_bar__plus_02_dot_18 - receptacle + Sink_bar__minus_01_dot_80_bar__plus_00_dot_92_bar__plus_03_dot_66_bar_SinkBasin - receptacle + StoveBurner_bar__minus_03_dot_14_bar__plus_00_dot_96_bar__plus_01_dot_97 - receptacle + StoveBurner_bar__minus_03_dot_15_bar__plus_00_dot_96_bar__plus_02_dot_37 - receptacle + StoveBurner_bar__minus_03_dot_42_bar__plus_00_dot_96_bar__plus_01_dot_97 - receptacle + StoveBurner_bar__minus_03_dot_42_bar__plus_00_dot_96_bar__plus_02_dot_37 - receptacle + Toaster_bar__minus_02_dot_65_bar__plus_00_dot_90_bar__plus_04_dot_06 - receptacle + loc_bar__minus_7_bar_13_bar_0_bar_60 - location + loc_bar__minus_11_bar_11_bar_3_bar__minus_30 - location + loc_bar__minus_10_bar_10_bar_3_bar_30 - location + loc_bar__minus_10_bar_8_bar_3_bar_45 - location + 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_10_bar_11_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36 CounterTopType) + (receptacleType Cabinet_bar__minus_02_dot_99_bar__plus_00_dot_39_bar__plus_02_dot_68 CabinetType) + (receptacleType Drawer_bar__minus_03_dot_12_bar__plus_00_dot_78_bar__plus_03_dot_30 DrawerType) + (receptacleType Cabinet_bar__minus_03_dot_35_bar__plus_02_dot_21_bar__plus_02_dot_65 CabinetType) + (receptacleType Cabinet_bar__minus_03_dot_35_bar__plus_02_dot_21_bar__plus_01_dot_72 CabinetType) + (receptacleType 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CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36) + (inReceptacle ButterKnife_bar__minus_03_dot_46_bar__plus_00_dot_92_bar__plus_01_dot_27 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36) + (inReceptacle Spatula_bar__minus_03_dot_37_bar__plus_00_dot_93_bar__plus_01_dot_52 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36) + (inReceptacle Tomato_bar__minus_03_dot_08_bar__plus_00_dot_98_bar__plus_01_dot_11 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36) + (inReceptacle Knife_bar__minus_03_dot_37_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 WineBottle_bar__minus_03_dot_27_bar__plus_00_dot_92_bar__plus_01_dot_61 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36) + (inReceptacle SoapBottle_bar__minus_03_dot_65_bar__plus_00_dot_92_bar__plus_01_dot_52 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(objectAtLocation LightSwitch_bar__plus_00_dot_25_bar__plus_01_dot_38_bar__plus_02_dot_09 loc_bar__minus_1_bar_8_bar_1_bar_30) + (objectAtLocation Window_bar__minus_01_dot_43_bar__plus_01_dot_34_bar__minus_00_dot_35 loc_bar__minus_9_bar_1_bar_1_bar_15) + (objectAtLocation WineBottle_bar__minus_03_dot_27_bar__plus_00_dot_92_bar__plus_01_dot_61 loc_bar__minus_11_bar_6_bar_3_bar_45) + (objectAtLocation Bowl_bar__minus_00_dot_79_bar__plus_00_dot_72_bar__plus_03_dot_84 loc_bar__minus_2_bar_12_bar_0_bar_60) + (objectAtLocation Tomato_bar__minus_03_dot_08_bar__plus_00_dot_98_bar__plus_01_dot_11 loc_bar__minus_11_bar_6_bar_3_bar_45) + (objectAtLocation Cup_bar__minus_02_dot_76_bar__plus_00_dot_08_bar__plus_03_dot_55 loc_bar__minus_9_bar_10_bar_0_bar_60) + (objectAtLocation Spatula_bar__minus_03_dot_37_bar__plus_00_dot_93_bar__plus_01_dot_52 loc_bar__minus_11_bar_6_bar_3_bar_45) + (objectAtLocation SoapBottle_bar__minus_03_dot_49_bar__plus_02_dot_00_bar__plus_02_dot_48 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3.86383247 + }, + "rotation": { + "x": 0.0, + "y": 179.999664, + "z": 0.0 + } + }, + { + "objectName": "Cup_69fc67c7", + "position": { + "x": -3.458878, + "y": 1.99423492, + "z": 1.99977314 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spatula_fd79f50b", + "position": { + "x": -3.126937, + "y": 0.7617906, + "z": 2.80603576 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_da34a2c3", + "position": { + "x": -3.65481567, + "y": 0.9157029, + "z": 1.5243156 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_94931e65", + "position": { + "x": -3.55922174, + "y": 1.001532, + "z": 2.84426212 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pan_7e5e2cad", + "position": { + "x": -2.61477637, + "y": 0.902653933, + "z": 3.62041235 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_8bd3d3d2", + "position": { + "x": -1.16132855, + "y": 0.147764, + "z": 3.78829956 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_d1c7827d", + "position": { + "x": -3.12768912, + "y": 0.7434514, + "z": 3.356621 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_94539d9a", + "position": { + "x": -3.55922174, + "y": 0.9121062, + "z": 1.18968439 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_657c04b2", + "position": { + "x": -3.463628, + "y": 0.9158421, + "z": 1.27334213 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_73731673", + "position": { + "x": -3.27244067, + "y": 0.915364265, + "z": 1.18968439 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_58cf1806", + "position": { + "x": -3.081253, + "y": 0.9169294, + "z": 1.27334213 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_0af3d2bb", + "position": { + "x": -0.4400003, + "y": 1.5367372, + "z": 4.033449 + }, + "rotation": { + "x": 0.0, + "y": 179.999664, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 1417975957, + "scene_num": 15 + }, + "task_id": "trial_T20190918_195819_356289", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A17TKHT8FEVH0R_3S06PH7KSUVRA10MS8NZDPKK7DOD1R", + "high_descs": [ + "Turn around and go to the counter to the left of the oven", + "Grab the knife off of the counter", + "Turn around and go to the fridge", + "Cut the tomato on the second rack into slices", + "Look down at the fridge", + "Open the fridge and put the knife in", + "Look up at the fridge", + "Grab a slice of tomato from the fridge", + "Turn left and go to the counter in the corner", + "Put the tomato on the plate on the counter", + "Grab the plate off of the counter", + "Turn around and go to the left side of the white table", + "Put the pan on the table" + ], + "task_desc": "Putting a pan with a sliced tomato on it on the white table", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "ANBWJZYU2A68T_3WAKVUDHUZ7R2PQA3JUXOZFLWZCU78", + "high_descs": [ + "Turn to your left, again turn left to go to the counter to the left of the stove", + "Pick up the knife with yellow handle", + "Go to the fridge", + "Open the fridge, cut a tomato with the knife, and close the fridge", + "Take a step back from the fridge and wait for a second", + "Open the fridge again, put the knife on a tray, and close the fridge", + "Stay in front of the fridge for a second", + "Open the fridge, pick up a tomato slice from the tray, and close the fridge", + "Turn to your left carrying the tomato slice, go forward past the sink, turn right toward the counter with a toaster", + "Put the slice on the plate to the left of the pan", + "Pick up the plate with the tomato slice", + "Turn around, move across the room to the white table", + "Put the plate on the table" + ], + "task_desc": "Put a plate with a tomato slice on a table", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3UF6XXFFRR237_34QN5IT0T2IFMHJDFH8JDSN9RTP087", + "high_descs": [ + "go to the counter to the left of the stove", + "pick up the yellow handled knife from the counter", + "take the knife to the fridge", + "open the fridge then close the fridge", + "approach fridge from a few steps back", + "open the fridge put the knife inside then close the door", + "approach fridge more closely ", + "take a tomato slice from the fridge", + "take the slice to the counter where the pans are", + "put the slice in the square pan on the counter", + "pick up the pan", + "take the pan to the table", + "put the pan on the table" + ], + "task_desc": "take slice of tomato from the fridge to the square pan then take the pan to the table.", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-TomatoSliced-Plate-Fridge-4/trial_T20190907_225602_875506/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-TomatoSliced-Plate-Fridge-4/trial_T20190907_225602_875506/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..3e5ba69c41f0f9d9b1115ccde2018f75c10e4835 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-TomatoSliced-Plate-Fridge-4/trial_T20190907_225602_875506/initial_state.pddl @@ -0,0 +1,930 @@ + +(define (problem plan_trial_T20190907_225602_875506) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__minus_00_dot_91_bar__plus_01_dot_12_bar__plus_03_dot_27 - object + Apple_bar__minus_03_dot_31_bar__plus_01_dot_63_bar__plus_02_dot_99 - object + Apple_bar__minus_03_dot_80_bar__plus_00_dot_18_bar__plus_02_dot_01 - object + Bowl_bar__minus_01_dot_52_bar__plus_00_dot_05_bar__plus_00_dot_55 - object + Bowl_bar__minus_02_dot_39_bar__plus_01_dot_12_bar__plus_00_dot_28 - object + Bread_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_03_dot_04 - object + Bread_bar__minus_00_dot_91_bar__plus_01_dot_13_bar__plus_01_dot_92 - object + ButterKnife_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_02_dot_82 - object + ButterKnife_bar__minus_00_dot_77_bar__plus_01_dot_12_bar__plus_00_dot_30 - object + Cup_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_22 - object + Cup_bar__minus_01_dot_56_bar__plus_00_dot_05_bar__plus_00_dot_33 - object + DishSponge_bar__minus_00_dot_54_bar__plus_01_dot_05_bar__plus_02_dot_14 - object + DishSponge_bar__minus_01_dot_12_bar__plus_00_dot_05_bar__plus_00_dot_61 - object + DishSponge_bar__minus_03_dot_59_bar__plus_00_dot_11_bar__plus_01_dot_98 - object + Egg_bar__minus_03_dot_24_bar__plus_01_dot_59_bar__plus_03_dot_13 - object + Faucet_bar__minus_01_dot_39_bar__plus_01_dot_37_bar__plus_00_dot_17 - object + Fork_bar__minus_00_dot_42_bar__plus_01_dot_05_bar__plus_02_dot_59 - object + Fork_bar__minus_00_dot_72_bar__plus_01_dot_13_bar__plus_00_dot_48 - object + HousePlant_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__plus_00_dot_17 - object + Knife_bar__minus_01_dot_48_bar__plus_00_dot_93_bar__plus_00_dot_42 - object + Ladle_bar__minus_00_dot_42_bar__plus_01_dot_09_bar__plus_02_dot_14 - object + Ladle_bar__minus_00_dot_54_bar__plus_01_dot_09_bar__plus_02_dot_37 - object + Ladle_bar__minus_00_dot_66_bar__plus_01_dot_09_bar__plus_03_dot_04 - object + Lettuce_bar__minus_00_dot_91_bar__plus_01_dot_13_bar__plus_02_dot_14 - object + Lettuce_bar__minus_02_dot_51_bar__plus_01_dot_20_bar__plus_00_dot_57 - object + LightSwitch_bar__minus_02_dot_58_bar__plus_01_dot_30_bar__plus_03_dot_50 - object + Mug_bar__minus_00_dot_79_bar__plus_01_dot_04_bar__plus_02_dot_59 - object + Pan_bar__minus_03_dot_48_bar__plus_01_dot_13_bar__plus_00_dot_23 - object + PepperShaker_bar__minus_00_dot_79_bar__plus_01_dot_04_bar__plus_02_dot_82 - object + PepperShaker_bar__minus_02_dot_64_bar__plus_01_dot_12_bar__plus_00_dot_47 - object + Plate_bar__minus_01_dot_19_bar__plus_00_dot_92_bar__plus_00_dot_40 - object + Potato_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__plus_00_dot_57 - object + Potato_bar__minus_01_dot_89_bar__plus_01_dot_16_bar__plus_00_dot_66 - object + Potato_bar__minus_02_dot_14_bar__plus_01_dot_16_bar__plus_00_dot_38 - object + Pot_bar__minus_03_dot_00_bar__plus_01_dot_13_bar__plus_00_dot_48 - object + SaltShaker_bar__minus_02_dot_45_bar__plus_00_dot_09_bar__plus_00_dot_51 - object + SaltShaker_bar__minus_02_dot_50_bar__plus_00_dot_09_bar__plus_00_dot_61 - object + Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44 - object + SoapBottle_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_02_dot_37 - object + SoapBottle_bar__minus_02_dot_14_bar__plus_00_dot_49_bar__plus_00_dot_55 - object + SoapBottle_bar__minus_03_dot_59_bar__plus_00_dot_11_bar__plus_02_dot_07 - object + Spatula_bar__minus_00_dot_54_bar__plus_01_dot_06_bar__plus_01_dot_92 - object + Spatula_bar__minus_01_dot_64_bar__plus_00_dot_95_bar__plus_00_dot_29 - object + Spoon_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_02_dot_37 - object + Spoon_bar__minus_00_dot_91_bar__plus_01_dot_05_bar__plus_03_dot_04 - object + Spoon_bar__minus_02_dot_37_bar__plus_00_dot_90_bar__plus_00_dot_61 - object + StoveKnob_bar__minus_02_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_71 - object + StoveKnob_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_00_dot_71 - object + StoveKnob_bar__minus_03_dot_32_bar__plus_01_dot_05_bar__plus_00_dot_71 - object + StoveKnob_bar__minus_03_dot_49_bar__plus_01_dot_05_bar__plus_00_dot_71 - object + Tomato_bar__minus_00_dot_66_bar__plus_01_dot_09_bar__plus_03_dot_27 - object + Tomato_bar__minus_00_dot_72_bar__plus_01_dot_17_bar__plus_00_dot_12 - object + Tomato_bar__minus_02_dot_39_bar__plus_01_dot_17_bar__plus_00_dot_10 - object + Tomato_bar__minus_03_dot_57_bar__plus_00_dot_95_bar__plus_02_dot_92 - object + Window_bar__minus_01_dot_39_bar__plus_01_dot_93_bar__plus_00_dot_02 - object + Window_bar__minus_03_dot_27_bar__plus_01_dot_93_bar__plus_00_dot_02 - object + Cabinet_bar__minus_01_dot_00_bar__plus_00_dot_39_bar__plus_00_dot_73 - receptacle + Cabinet_bar__minus_01_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_73 - receptacle + CoffeeMachine_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__plus_03_dot_19 - receptacle + CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49 - receptacle + CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38 - receptacle + CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38 - receptacle + DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49 - receptacle + Drawer_bar__minus_02_dot_04_bar__plus_00_dot_22_bar__plus_00_dot_59 - receptacle + Drawer_bar__minus_02_dot_04_bar__plus_00_dot_61_bar__plus_00_dot_59 - receptacle + Drawer_bar__minus_02_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_60 - receptacle + Drawer_bar__minus_02_dot_50_bar__plus_00_dot_22_bar__plus_00_dot_59 - receptacle + Drawer_bar__minus_02_dot_50_bar__plus_00_dot_61_bar__plus_00_dot_59 - receptacle + Drawer_bar__minus_02_dot_51_bar__plus_00_dot_94_bar__plus_00_dot_60 - receptacle + Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72 - receptacle + GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01 - receptacle + Microwave_bar__minus_00_dot_37_bar__plus_01_dot_11_bar__plus_00_dot_43 - receptacle + Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin - receptacle + StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_23 - receptacle + StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_48 - receptacle + StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_23 - receptacle + StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_48 - receptacle + Toaster_bar__minus_00_dot_23_bar__plus_01_dot_04_bar__plus_02_dot_87 - receptacle + loc_bar__minus_7_bar_7_bar_2_bar_45 - location + loc_bar__minus_14_bar_5_bar_2_bar_45 - location + loc_bar__minus_10_bar_11_bar_3_bar_60 - location + loc_bar__minus_6_bar_4_bar_2_bar_45 - location + loc_bar__minus_8_bar_4_bar_3_bar_60 - location + loc_bar__minus_7_bar_4_bar_3_bar_60 - location + loc_bar__minus_4_bar_4_bar_3_bar_60 - location + loc_bar__minus_5_bar_12_bar_1_bar_30 - location + loc_bar__minus_13_bar_5_bar_2_bar_45 - location + loc_bar__minus_6_bar_4_bar_2_bar__minus_15 - location + loc_bar__minus_5_bar_11_bar_1_bar_30 - location + loc_bar__minus_10_bar_12_bar_0_bar_30 - location + loc_bar__minus_14_bar_5_bar_2_bar_30 - location + loc_bar__minus_12_bar_5_bar_2_bar_45 - location + loc_bar__minus_5_bar_9_bar_1_bar_60 - location + loc_bar__minus_6_bar_4_bar_3_bar_60 - location + loc_bar__minus_4_bar_4_bar_2_bar_45 - location + loc_bar__minus_14_bar_6_bar_0_bar_60 - location + loc_bar__minus_4_bar_5_bar_2_bar_45 - location + loc_bar__minus_7_bar_4_bar_2_bar_45 - location + loc_bar__minus_5_bar_4_bar_3_bar_60 - location + loc_bar__minus_13_bar_5_bar_2_bar__minus_15 - location + loc_bar__minus_12_bar_5_bar_2_bar_30 - location + loc_bar__minus_6_bar_4_bar_1_bar_30 - location + loc_bar__minus_13_bar_6_bar_2_bar_30 - location + loc_bar__minus_5_bar_9_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_48 StoveBurnerType) + (receptacleType CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38 CounterTopType) + (receptacleType StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_23 StoveBurnerType) + (receptacleType Drawer_bar__minus_02_dot_50_bar__plus_00_dot_61_bar__plus_00_dot_59 DrawerType) + (receptacleType Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72 FridgeType) + (receptacleType DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49 DiningTableType) + (receptacleType Drawer_bar__minus_02_dot_51_bar__plus_00_dot_94_bar__plus_00_dot_60 DrawerType) + (receptacleType CoffeeMachine_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__plus_03_dot_19 CoffeeMachineType) + (receptacleType CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49 CounterTopType) + (receptacleType Cabinet_bar__minus_01_dot_00_bar__plus_00_dot_39_bar__plus_00_dot_73 CabinetType) + (receptacleType GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01 GarbageCanType) + (receptacleType Toaster_bar__minus_00_dot_23_bar__plus_01_dot_04_bar__plus_02_dot_87 ToasterType) + (receptacleType StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_23 StoveBurnerType) + (receptacleType Microwave_bar__minus_00_dot_37_bar__plus_01_dot_11_bar__plus_00_dot_43 MicrowaveType) + (receptacleType CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38 CounterTopType) + (receptacleType Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin SinkBasinType) + (receptacleType Drawer_bar__minus_02_dot_50_bar__plus_00_dot_22_bar__plus_00_dot_59 DrawerType) + (receptacleType Drawer_bar__minus_02_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_60 DrawerType) + (receptacleType StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_48 StoveBurnerType) + (receptacleType Cabinet_bar__minus_01_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_73 CabinetType) + (receptacleType Drawer_bar__minus_02_dot_04_bar__plus_00_dot_22_bar__plus_00_dot_59 DrawerType) + (receptacleType Drawer_bar__minus_02_dot_04_bar__plus_00_dot_61_bar__plus_00_dot_59 DrawerType) + (objectType Cup_bar__minus_01_dot_56_bar__plus_00_dot_05_bar__plus_00_dot_33 CupType) + (objectType Ladle_bar__minus_00_dot_42_bar__plus_01_dot_09_bar__plus_02_dot_14 LadleType) + (objectType Egg_bar__minus_03_dot_24_bar__plus_01_dot_59_bar__plus_03_dot_13 EggType) + (objectType Fork_bar__minus_00_dot_42_bar__plus_01_dot_05_bar__plus_02_dot_59 ForkType) + (objectType Potato_bar__minus_01_dot_89_bar__plus_01_dot_16_bar__plus_00_dot_66 PotatoType) + (objectType SoapBottle_bar__minus_02_dot_14_bar__plus_00_dot_49_bar__plus_00_dot_55 SoapBottleType) + (objectType Pot_bar__minus_03_dot_00_bar__plus_01_dot_13_bar__plus_00_dot_48 PotType) + (objectType StoveKnob_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_00_dot_71 StoveKnobType) + (objectType PepperShaker_bar__minus_00_dot_79_bar__plus_01_dot_04_bar__plus_02_dot_82 PepperShakerType) + (objectType Ladle_bar__minus_00_dot_54_bar__plus_01_dot_09_bar__plus_02_dot_37 LadleType) + (objectType 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Bowl_bar__minus_01_dot_52_bar__plus_00_dot_05_bar__plus_00_dot_55) + (isReceptacleObject Plate_bar__minus_01_dot_19_bar__plus_00_dot_92_bar__plus_00_dot_40) + (openable Drawer_bar__minus_02_dot_50_bar__plus_00_dot_61_bar__plus_00_dot_59) + (openable Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (openable Drawer_bar__minus_02_dot_51_bar__plus_00_dot_94_bar__plus_00_dot_60) + (openable Cabinet_bar__minus_01_dot_00_bar__plus_00_dot_39_bar__plus_00_dot_73) + (openable Microwave_bar__minus_00_dot_37_bar__plus_01_dot_11_bar__plus_00_dot_43) + (openable Drawer_bar__minus_02_dot_50_bar__plus_00_dot_22_bar__plus_00_dot_59) + (openable Drawer_bar__minus_02_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_60) + (openable Cabinet_bar__minus_01_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_73) + (openable Drawer_bar__minus_02_dot_04_bar__plus_00_dot_22_bar__plus_00_dot_59) + (openable Drawer_bar__minus_02_dot_04_bar__plus_00_dot_61_bar__plus_00_dot_59) + + (atLocation agent1 loc_bar__minus_5_bar_9_bar_1_bar_30) + + (cleanable Cup_bar__minus_01_dot_56_bar__plus_00_dot_05_bar__plus_00_dot_33) + (cleanable Ladle_bar__minus_00_dot_42_bar__plus_01_dot_09_bar__plus_02_dot_14) + (cleanable Egg_bar__minus_03_dot_24_bar__plus_01_dot_59_bar__plus_03_dot_13) + (cleanable Fork_bar__minus_00_dot_42_bar__plus_01_dot_05_bar__plus_02_dot_59) + (cleanable Potato_bar__minus_01_dot_89_bar__plus_01_dot_16_bar__plus_00_dot_66) + (cleanable Pot_bar__minus_03_dot_00_bar__plus_01_dot_13_bar__plus_00_dot_48) + (cleanable Ladle_bar__minus_00_dot_54_bar__plus_01_dot_09_bar__plus_02_dot_37) + (cleanable Spoon_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_02_dot_37) + (cleanable Apple_bar__minus_00_dot_91_bar__plus_01_dot_12_bar__plus_03_dot_27) + (cleanable DishSponge_bar__minus_01_dot_12_bar__plus_00_dot_05_bar__plus_00_dot_61) + (cleanable Lettuce_bar__minus_02_dot_51_bar__plus_01_dot_20_bar__plus_00_dot_57) + (cleanable Mug_bar__minus_00_dot_79_bar__plus_01_dot_04_bar__plus_02_dot_59) + (cleanable Ladle_bar__minus_00_dot_66_bar__plus_01_dot_09_bar__plus_03_dot_04) + (cleanable Tomato_bar__minus_02_dot_39_bar__plus_01_dot_17_bar__plus_00_dot_10) + (cleanable Spoon_bar__minus_00_dot_91_bar__plus_01_dot_05_bar__plus_03_dot_04) + (cleanable Apple_bar__minus_03_dot_31_bar__plus_01_dot_63_bar__plus_02_dot_99) + (cleanable Potato_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__plus_00_dot_57) + (cleanable Tomato_bar__minus_03_dot_57_bar__plus_00_dot_95_bar__plus_02_dot_92) + (cleanable Spatula_bar__minus_01_dot_64_bar__plus_00_dot_95_bar__plus_00_dot_29) + (cleanable Spoon_bar__minus_02_dot_37_bar__plus_00_dot_90_bar__plus_00_dot_61) + (cleanable Cup_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_22) + (cleanable Knife_bar__minus_01_dot_48_bar__plus_00_dot_93_bar__plus_00_dot_42) + (cleanable DishSponge_bar__minus_00_dot_54_bar__plus_01_dot_05_bar__plus_02_dot_14) + (cleanable Bowl_bar__minus_02_dot_39_bar__plus_01_dot_12_bar__plus_00_dot_28) + (cleanable DishSponge_bar__minus_03_dot_59_bar__plus_00_dot_11_bar__plus_01_dot_98) + (cleanable Pan_bar__minus_03_dot_48_bar__plus_01_dot_13_bar__plus_00_dot_23) + (cleanable Bowl_bar__minus_01_dot_52_bar__plus_00_dot_05_bar__plus_00_dot_55) + (cleanable Spatula_bar__minus_00_dot_54_bar__plus_01_dot_06_bar__plus_01_dot_92) + (cleanable Potato_bar__minus_02_dot_14_bar__plus_01_dot_16_bar__plus_00_dot_38) + (cleanable ButterKnife_bar__minus_00_dot_77_bar__plus_01_dot_12_bar__plus_00_dot_30) + (cleanable Plate_bar__minus_01_dot_19_bar__plus_00_dot_92_bar__plus_00_dot_40) + (cleanable Apple_bar__minus_03_dot_80_bar__plus_00_dot_18_bar__plus_02_dot_01) + (cleanable Tomato_bar__minus_00_dot_66_bar__plus_01_dot_09_bar__plus_03_dot_27) + (cleanable Tomato_bar__minus_00_dot_72_bar__plus_01_dot_17_bar__plus_00_dot_12) + (cleanable ButterKnife_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_02_dot_82) + (cleanable Fork_bar__minus_00_dot_72_bar__plus_01_dot_13_bar__plus_00_dot_48) + (cleanable Lettuce_bar__minus_00_dot_91_bar__plus_01_dot_13_bar__plus_02_dot_14) + + (heatable Cup_bar__minus_01_dot_56_bar__plus_00_dot_05_bar__plus_00_dot_33) + (heatable Egg_bar__minus_03_dot_24_bar__plus_01_dot_59_bar__plus_03_dot_13) + (heatable Potato_bar__minus_01_dot_89_bar__plus_01_dot_16_bar__plus_00_dot_66) + (heatable Apple_bar__minus_00_dot_91_bar__plus_01_dot_12_bar__plus_03_dot_27) + (heatable Mug_bar__minus_00_dot_79_bar__plus_01_dot_04_bar__plus_02_dot_59) + (heatable Tomato_bar__minus_02_dot_39_bar__plus_01_dot_17_bar__plus_00_dot_10) + (heatable Apple_bar__minus_03_dot_31_bar__plus_01_dot_63_bar__plus_02_dot_99) + (heatable Potato_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__plus_00_dot_57) + (heatable Tomato_bar__minus_03_dot_57_bar__plus_00_dot_95_bar__plus_02_dot_92) + (heatable Cup_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_22) + (heatable Potato_bar__minus_02_dot_14_bar__plus_01_dot_16_bar__plus_00_dot_38) + (heatable Plate_bar__minus_01_dot_19_bar__plus_00_dot_92_bar__plus_00_dot_40) + (heatable Apple_bar__minus_03_dot_80_bar__plus_00_dot_18_bar__plus_02_dot_01) + (heatable Tomato_bar__minus_00_dot_66_bar__plus_01_dot_09_bar__plus_03_dot_27) + (heatable Tomato_bar__minus_00_dot_72_bar__plus_01_dot_17_bar__plus_00_dot_12) + (heatable Bread_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_03_dot_04) + (heatable Bread_bar__minus_00_dot_91_bar__plus_01_dot_13_bar__plus_01_dot_92) + (coolable Cup_bar__minus_01_dot_56_bar__plus_00_dot_05_bar__plus_00_dot_33) + (coolable Egg_bar__minus_03_dot_24_bar__plus_01_dot_59_bar__plus_03_dot_13) + (coolable Potato_bar__minus_01_dot_89_bar__plus_01_dot_16_bar__plus_00_dot_66) + (coolable Pot_bar__minus_03_dot_00_bar__plus_01_dot_13_bar__plus_00_dot_48) + (coolable Apple_bar__minus_00_dot_91_bar__plus_01_dot_12_bar__plus_03_dot_27) + (coolable Lettuce_bar__minus_02_dot_51_bar__plus_01_dot_20_bar__plus_00_dot_57) + (coolable Mug_bar__minus_00_dot_79_bar__plus_01_dot_04_bar__plus_02_dot_59) + (coolable Tomato_bar__minus_02_dot_39_bar__plus_01_dot_17_bar__plus_00_dot_10) + (coolable Apple_bar__minus_03_dot_31_bar__plus_01_dot_63_bar__plus_02_dot_99) + (coolable Potato_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__plus_00_dot_57) + (coolable Tomato_bar__minus_03_dot_57_bar__plus_00_dot_95_bar__plus_02_dot_92) + (coolable Cup_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_22) + (coolable Bowl_bar__minus_02_dot_39_bar__plus_01_dot_12_bar__plus_00_dot_28) + (coolable Pan_bar__minus_03_dot_48_bar__plus_01_dot_13_bar__plus_00_dot_23) + (coolable Bowl_bar__minus_01_dot_52_bar__plus_00_dot_05_bar__plus_00_dot_55) + (coolable Potato_bar__minus_02_dot_14_bar__plus_01_dot_16_bar__plus_00_dot_38) + (coolable Plate_bar__minus_01_dot_19_bar__plus_00_dot_92_bar__plus_00_dot_40) + (coolable Apple_bar__minus_03_dot_80_bar__plus_00_dot_18_bar__plus_02_dot_01) + (coolable Tomato_bar__minus_00_dot_66_bar__plus_01_dot_09_bar__plus_03_dot_27) + (coolable Tomato_bar__minus_00_dot_72_bar__plus_01_dot_17_bar__plus_00_dot_12) + (coolable Lettuce_bar__minus_00_dot_91_bar__plus_01_dot_13_bar__plus_02_dot_14) + (coolable Bread_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_03_dot_04) + (coolable Bread_bar__minus_00_dot_91_bar__plus_01_dot_13_bar__plus_01_dot_92) + + (isCool Tomato_bar__minus_03_dot_57_bar__plus_00_dot_95_bar__plus_02_dot_92) + + + + (sliceable Egg_bar__minus_03_dot_24_bar__plus_01_dot_59_bar__plus_03_dot_13) + (sliceable Potato_bar__minus_01_dot_89_bar__plus_01_dot_16_bar__plus_00_dot_66) + (sliceable Apple_bar__minus_00_dot_91_bar__plus_01_dot_12_bar__plus_03_dot_27) + (sliceable Lettuce_bar__minus_02_dot_51_bar__plus_01_dot_20_bar__plus_00_dot_57) + (sliceable Tomato_bar__minus_02_dot_39_bar__plus_01_dot_17_bar__plus_00_dot_10) + (sliceable Apple_bar__minus_03_dot_31_bar__plus_01_dot_63_bar__plus_02_dot_99) + (sliceable Potato_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__plus_00_dot_57) + (sliceable Tomato_bar__minus_03_dot_57_bar__plus_00_dot_95_bar__plus_02_dot_92) + (sliceable Potato_bar__minus_02_dot_14_bar__plus_01_dot_16_bar__plus_00_dot_38) + (sliceable Apple_bar__minus_03_dot_80_bar__plus_00_dot_18_bar__plus_02_dot_01) + (sliceable Tomato_bar__minus_00_dot_66_bar__plus_01_dot_09_bar__plus_03_dot_27) + (sliceable Tomato_bar__minus_00_dot_72_bar__plus_01_dot_17_bar__plus_00_dot_12) + (sliceable Lettuce_bar__minus_00_dot_91_bar__plus_01_dot_13_bar__plus_02_dot_14) + (sliceable Bread_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_03_dot_04) + (sliceable Bread_bar__minus_00_dot_91_bar__plus_01_dot_13_bar__plus_01_dot_92) + + (inReceptacle Pan_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 Spoon_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_02_dot_37 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Ladle_bar__minus_00_dot_42_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 SoapBottle_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_02_dot_37 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Apple_bar__minus_00_dot_91_bar__plus_01_dot_12_bar__plus_03_dot_27 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Tomato_bar__minus_00_dot_66_bar__plus_01_dot_09_bar__plus_03_dot_27 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Fork_bar__minus_00_dot_42_bar__plus_01_dot_05_bar__plus_02_dot_59 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle ButterKnife_bar__minus_00_dot_66_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 Mug_bar__minus_00_dot_79_bar__plus_01_dot_04_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_91_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 DishSponge_bar__minus_00_dot_54_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 Bread_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_03_dot_04 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_01_dot_92 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_02_dot_37 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Ladle_bar__minus_00_dot_66_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 Spoon_bar__minus_00_dot_91_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_54_bar__plus_01_dot_06_bar__plus_01_dot_92 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle PepperShaker_bar__minus_00_dot_79_bar__plus_01_dot_04_bar__plus_02_dot_82 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle SoapBottle_bar__minus_02_dot_14_bar__plus_00_dot_49_bar__plus_00_dot_55 Drawer_bar__minus_02_dot_04_bar__plus_00_dot_61_bar__plus_00_dot_59) + (inReceptacle SaltShaker_bar__minus_02_dot_45_bar__plus_00_dot_09_bar__plus_00_dot_51 Drawer_bar__minus_02_dot_50_bar__plus_00_dot_22_bar__plus_00_dot_59) + (inReceptacle SaltShaker_bar__minus_02_dot_50_bar__plus_00_dot_09_bar__plus_00_dot_61 Drawer_bar__minus_02_dot_50_bar__plus_00_dot_22_bar__plus_00_dot_59) + (inReceptacle DishSponge_bar__minus_01_dot_12_bar__plus_00_dot_05_bar__plus_00_dot_61 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 Pan_bar__minus_03_dot_48_bar__plus_01_dot_13_bar__plus_00_dot_23 CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle Spoon_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 Potato_bar__minus_01_dot_89_bar__plus_01_dot_16_bar__plus_00_dot_66 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle Lettuce_bar__minus_02_dot_51_bar__plus_01_dot_20_bar__plus_00_dot_57 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle Bowl_bar__minus_02_dot_39_bar__plus_01_dot_12_bar__plus_00_dot_28 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle Tomato_bar__minus_02_dot_39_bar__plus_01_dot_17_bar__plus_00_dot_10 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle Potato_bar__minus_02_dot_14_bar__plus_01_dot_16_bar__plus_00_dot_38 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (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_02_dot_64_bar__plus_01_dot_12_bar__plus_00_dot_47 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle Tomato_bar__minus_00_dot_72_bar__plus_01_dot_17_bar__plus_00_dot_12 CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49) + (inReceptacle ButterKnife_bar__minus_00_dot_77_bar__plus_01_dot_12_bar__plus_00_dot_30 CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49) + (inReceptacle Fork_bar__minus_00_dot_72_bar__plus_01_dot_13_bar__plus_00_dot_48 CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49) + (inReceptacle Cup_bar__minus_01_dot_56_bar__plus_00_dot_05_bar__plus_00_dot_33 Cabinet_bar__minus_01_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_73) + (inReceptacle Bowl_bar__minus_01_dot_52_bar__plus_00_dot_05_bar__plus_00_dot_55 Cabinet_bar__minus_01_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_73) + (inReceptacle Apple_bar__minus_03_dot_31_bar__plus_01_dot_63_bar__plus_02_dot_99 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_01_dot_59_bar__plus_03_dot_13 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle Tomato_bar__minus_03_dot_57_bar__plus_00_dot_95_bar__plus_02_dot_92 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle SoapBottle_bar__minus_03_dot_59_bar__plus_00_dot_11_bar__plus_02_dot_07 GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01) + (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 Apple_bar__minus_03_dot_80_bar__plus_00_dot_18_bar__plus_02_dot_01 GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01) + (inReceptacle Plate_bar__minus_01_dot_19_bar__plus_00_dot_92_bar__plus_00_dot_40 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin) + (inReceptacle Spatula_bar__minus_01_dot_64_bar__plus_00_dot_95_bar__plus_00_dot_29 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin) + (inReceptacle Knife_bar__minus_01_dot_48_bar__plus_00_dot_93_bar__plus_00_dot_42 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin) + (inReceptacle Cup_bar__minus_01_dot_55_bar__plus_00_dot_93_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_29_bar__plus_00_dot_96_bar__plus_00_dot_57 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin) + + + (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 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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 Spoon_bar__minus_02_dot_37_bar__plus_00_dot_90_bar__plus_00_dot_61 loc_bar__minus_8_bar_4_bar_3_bar_60) + (objectAtLocation DishSponge_bar__minus_00_dot_54_bar__plus_01_dot_05_bar__plus_02_dot_14 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Tomato_bar__minus_02_dot_39_bar__plus_01_dot_17_bar__plus_00_dot_10 loc_bar__minus_7_bar_4_bar_2_bar_45) + (objectAtLocation Apple_bar__minus_00_dot_91_bar__plus_01_dot_12_bar__plus_03_dot_27 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation ButterKnife_bar__minus_00_dot_77_bar__plus_01_dot_12_bar__plus_00_dot_30 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation PepperShaker_bar__minus_00_dot_79_bar__plus_01_dot_04_bar__plus_02_dot_82 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Bowl_bar__minus_02_dot_39_bar__plus_01_dot_12_bar__plus_00_dot_28 loc_bar__minus_7_bar_4_bar_2_bar_45) + (objectAtLocation SaltShaker_bar__minus_02_dot_45_bar__plus_00_dot_09_bar__plus_00_dot_51 loc_bar__minus_6_bar_4_bar_3_bar_60) + (objectAtLocation Cup_bar__minus_01_dot_56_bar__plus_00_dot_05_bar__plus_00_dot_33 loc_bar__minus_7_bar_7_bar_2_bar_45) + (objectAtLocation Spatula_bar__minus_01_dot_64_bar__plus_00_dot_95_bar__plus_00_dot_29 loc_bar__minus_4_bar_5_bar_2_bar_45) + (objectAtLocation Lettuce_bar__minus_02_dot_51_bar__plus_01_dot_20_bar__plus_00_dot_57 loc_bar__minus_7_bar_4_bar_2_bar_45) + (objectAtLocation Bread_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_03_dot_04 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Potato_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__plus_00_dot_57 loc_bar__minus_4_bar_5_bar_2_bar_45) + (objectAtLocation Ladle_bar__minus_00_dot_42_bar__plus_01_dot_09_bar__plus_02_dot_14 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation SoapBottle_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_02_dot_37 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Fork_bar__minus_00_dot_42_bar__plus_01_dot_05_bar__plus_02_dot_59 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Apple_bar__minus_03_dot_80_bar__plus_00_dot_18_bar__plus_02_dot_01 loc_bar__minus_14_bar_6_bar_0_bar_60) + (objectAtLocation Tomato_bar__minus_03_dot_57_bar__plus_00_dot_95_bar__plus_02_dot_92 loc_bar__minus_10_bar_11_bar_3_bar_60) 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loc_bar__minus_6_bar_4_bar_2_bar_45) + (objectAtLocation StoveKnob_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_00_dot_71 loc_bar__minus_13_bar_5_bar_2_bar_45) + (objectAtLocation StoveKnob_bar__minus_03_dot_49_bar__plus_01_dot_05_bar__plus_00_dot_71 loc_bar__minus_14_bar_5_bar_2_bar_45) + (objectAtLocation StoveKnob_bar__minus_02_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_71 loc_bar__minus_12_bar_5_bar_2_bar_45) + (objectAtLocation Fork_bar__minus_00_dot_72_bar__plus_01_dot_13_bar__plus_00_dot_48 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation SoapBottle_bar__minus_02_dot_14_bar__plus_00_dot_49_bar__plus_00_dot_55 loc_bar__minus_5_bar_4_bar_3_bar_60) + (objectAtLocation Pot_bar__minus_03_dot_00_bar__plus_01_dot_13_bar__plus_00_dot_48 loc_bar__minus_12_bar_5_bar_2_bar_30) + (objectAtLocation Ladle_bar__minus_00_dot_54_bar__plus_01_dot_09_bar__plus_02_dot_37 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Potato_bar__minus_02_dot_14_bar__plus_01_dot_16_bar__plus_00_dot_38 loc_bar__minus_7_bar_4_bar_2_bar_45) + (objectAtLocation Plate_bar__minus_01_dot_19_bar__plus_00_dot_92_bar__plus_00_dot_40 loc_bar__minus_4_bar_5_bar_2_bar_45) + (objectAtLocation Bread_bar__minus_00_dot_91_bar__plus_01_dot_13_bar__plus_01_dot_92 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Lettuce_bar__minus_00_dot_91_bar__plus_01_dot_13_bar__plus_02_dot_14 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Window_bar__minus_01_dot_39_bar__plus_01_dot_93_bar__plus_00_dot_02 loc_bar__minus_6_bar_4_bar_2_bar__minus_15) + (objectAtLocation Window_bar__minus_03_dot_27_bar__plus_01_dot_93_bar__plus_00_dot_02 loc_bar__minus_13_bar_5_bar_2_bar__minus_15) + (objectAtLocation Spatula_bar__minus_00_dot_54_bar__plus_01_dot_06_bar__plus_01_dot_92 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Pan_bar__minus_03_dot_48_bar__plus_01_dot_13_bar__plus_00_dot_23 loc_bar__minus_13_bar_6_bar_2_bar_30) + (objectAtLocation Egg_bar__minus_03_dot_24_bar__plus_01_dot_59_bar__plus_03_dot_13 loc_bar__minus_10_bar_11_bar_3_bar_60) + (objectAtLocation Cup_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_22 loc_bar__minus_4_bar_5_bar_2_bar_45) + (objectAtLocation SaltShaker_bar__minus_02_dot_50_bar__plus_00_dot_09_bar__plus_00_dot_61 loc_bar__minus_6_bar_4_bar_3_bar_60) + (objectAtLocation Knife_bar__minus_01_dot_48_bar__plus_00_dot_93_bar__plus_00_dot_42 loc_bar__minus_4_bar_5_bar_2_bar_45) + (objectAtLocation Bowl_bar__minus_01_dot_52_bar__plus_00_dot_05_bar__plus_00_dot_55 loc_bar__minus_7_bar_7_bar_2_bar_45) + (objectAtLocation PepperShaker_bar__minus_02_dot_64_bar__plus_01_dot_12_bar__plus_00_dot_47 loc_bar__minus_7_bar_4_bar_2_bar_45) + (objectAtLocation ButterKnife_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_02_dot_82 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Apple_bar__minus_03_dot_31_bar__plus_01_dot_63_bar__plus_02_dot_99 loc_bar__minus_10_bar_11_bar_3_bar_60) + (objectAtLocation Tomato_bar__minus_00_dot_66_bar__plus_01_dot_09_bar__plus_03_dot_27 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation DishSponge_bar__minus_01_dot_12_bar__plus_00_dot_05_bar__plus_00_dot_61 loc_bar__minus_7_bar_7_bar_2_bar_45) + (objectAtLocation HousePlant_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__plus_00_dot_17 loc_bar__minus_7_bar_4_bar_2_bar_45) + (objectAtLocation LightSwitch_bar__minus_02_dot_58_bar__plus_01_dot_30_bar__plus_03_dot_50 loc_bar__minus_10_bar_12_bar_0_bar_30) + (objectAtLocation Spoon_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_02_dot_37 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Mug_bar__minus_00_dot_79_bar__plus_01_dot_04_bar__plus_02_dot_59 loc_bar__minus_5_bar_9_bar_1_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (and + (receptacleType ?r FridgeType) + (exists (?o - object) + (and + (objectType ?o TomatoType) + (exists (?mo - object) + (and + (sliceable ?o) 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-0.000384913728, + "z": 0.00169862143 + } + }, + { + "objectName": "Bread_d5b8c410", + "position": { + "x": -0.785364747, + "y": 1.13389707, + "z": 3.04208541 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_7c6826ef", + "position": { + "x": -2.51405215, + "y": 1.20227718, + "z": 0.567671955 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spatula_0271e4d1", + "position": { + "x": -1.64217317, + "y": 0.946556032, + "z": 0.290272 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 1.40334191e-14 + } + }, + { + "objectName": "Pan_447fa38c", + "position": { + "x": -3.475, + "y": 1.1332, + "z": 0.2271 + }, + "rotation": { + "x": 0.0, + "y": 90.00039, + "z": 0.0 + } + }, + { + "objectName": "Egg_7b2f7cfb", + "position": { + "x": -3.240781, + "y": 1.59066355, + "z": 3.13280272 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_7b1a480e", + "position": { + "x": -1.562, + "y": 0.0473405719, + "z": 0.325359136 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_e61894bc", + "position": { + "x": -2.45075154, + "y": 0.0911935046, + "z": 0.5123318 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_e6e9017d", + "position": { + "x": -1.48001111, + "y": 0.9279402, + "z": 0.418991864 + }, + "rotation": { + "x": 89.9343948, + "y": 240.023819, + "z": 0.0 + } + }, + { + "objectName": "Bowl_9496ee5e", + "position": { + "x": -2.38837767, + "y": 1.12249815, + "z": 0.284664035 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_4cc43937", + "position": { + "x": -0.785364747, + "y": 1.04345369, + "z": 2.817812 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_8393cb4d", + "position": { + "x": -0.77180773, + "y": 1.12494218, + "z": 0.296814859 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_f6bdaee7", + "position": { + "x": -0.908643544, + "y": 1.11561787, + "z": 3.26635885 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_1473e57e", + "position": { + "x": -2.38837767, + "y": 1.16548562, + "z": 0.09599209 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_130c30e2", + "position": { + "x": -0.5388072, + "y": 1.0467118, + "z": 2.14499116 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_9dba57b8", + "position": { + "x": -2.370494, + "y": 0.9040679, + "z": 0.612271369 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_ff353859", + "position": { + "x": -0.785364747, + "y": 1.04214752, + "z": 2.59353828 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3281496591, + "scene_num": 4 + }, + "task_id": "trial_T20190907_225602_875506", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AKW57KYG90X61_3OVR4I9USS0U6KFCO4N4A0EK8SO4Q0", + "high_descs": [ + "turn left to the table", + "pick up a tomato from the table", + "head right to the sink", + "drop the tomato on a tray in the sink", + "move right to the sink", + "pick up a knife", + "move left the the sink", + "slice the tomato on the tray ", + "drop the knife on the tray", + "pick up the tray from the sink", + "turn around and head to the fridge", + "place the tray in the fridge" + ], + "task_desc": "place a tray with a sliced tomato with a knife on it in the fridge", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A17TKHT8FEVH0R_3QFUFYSY91WXFVP3AOCAY1A61OT4FG", + "high_descs": [ + "Go to the left of the table", + "Grab the tomato that's on the table", + "Turn right and go to the sink on the left", + "Put the tomato in the bowl in the sink", + "Move slightly to the right", + "Grab the knife out of the sink", + "Move slightly to the left", + "Cut the tomato in the sink into slices", + "Put the knife in the bowl in the sink", + "Grab the bowl out of the sink", + "Turn around and go to the fridge", + "Put the bowl in the fridge" + ], + "task_desc": "Putting a bowl with a sliced tomato and knife in it in the fridge", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3B58QWMTBXVE0_3Y5140Z9D0X3EFDC9GAJ4WYT8DBIP8", + "high_descs": [ + "Turn left and go to the end of the table by the wall.", + "Pick up a tomato from the table.", + "Turn right and walk to the sink.", + "Put the tomato on the dish in the sink.", + "Go to the right side of the sink.", + "Pick up the knife from the sink.", + "Go back to the tomato.", + "Slice the tomato in the sink.", + "Put the knife on top of the tomato.", + "Pick up the dish with the tomato and the knife from the sink.", + "Turn around and walk across the room to the refrigerator.", + "Open the refrigerator and set the dish with the slice tomato and the knife inside." + ], + "task_desc": "Put a sliced tomato in the refrigerator.", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-TomatoSliced-Plate-Fridge-4/trial_T20190907_225732_488098/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-TomatoSliced-Plate-Fridge-4/trial_T20190907_225732_488098/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..2565ce77fa184c3130e82c235e1a9e2da44adbf9 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-TomatoSliced-Plate-Fridge-4/trial_T20190907_225732_488098/initial_state.pddl @@ -0,0 +1,951 @@ + +(define (problem plan_trial_T20190907_225732_488098) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__minus_03_dot_31_bar__plus_01_dot_63_bar__plus_02_dot_92 - object + Apple_bar__minus_03_dot_57_bar__plus_01_dot_63_bar__plus_03_dot_13 - object + Apple_bar__minus_03_dot_78_bar__plus_01_dot_19_bar__plus_00_dot_66 - object + Bowl_bar__minus_00_dot_54_bar__plus_01_dot_04_bar__plus_02_dot_82 - object + Bowl_bar__minus_02_dot_51_bar__plus_01_dot_12_bar__plus_00_dot_28 - object + Bread_bar__minus_00_dot_18_bar__plus_01_dot_12_bar__plus_01_dot_89 - object + ButterKnife_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_02_dot_37 - object + ButterKnife_bar__minus_01_dot_20_bar__plus_00_dot_93_bar__plus_00_dot_50 - object + Cup_bar__minus_00_dot_54_bar__plus_01_dot_05_bar__plus_02_dot_59 - object + Cup_bar__minus_01_dot_57_bar__plus_01_dot_15_bar__plus_00_dot_10 - object + DishSponge_bar__minus_02_dot_01_bar__plus_01_dot_12_bar__plus_00_dot_57 - object + Egg_bar__minus_00_dot_20_bar__plus_01_dot_26_bar__plus_00_dot_48 - object + Egg_bar__minus_02_dot_26_bar__plus_01_dot_16_bar__plus_00_dot_57 - object + Egg_bar__minus_03_dot_44_bar__plus_01_dot_59_bar__plus_02_dot_92 - object + Faucet_bar__minus_01_dot_39_bar__plus_01_dot_37_bar__plus_00_dot_17 - object + Fork_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_02_dot_82 - object + Fork_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_03_dot_04 - object + Fork_bar__minus_01_dot_38_bar__plus_00_dot_93_bar__plus_00_dot_29 - object + HousePlant_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__plus_00_dot_17 - object + Knife_bar__minus_00_dot_66_bar__plus_01_dot_08_bar__plus_03_dot_27 - object + Knife_bar__minus_00_dot_79_bar__plus_01_dot_08_bar__plus_02_dot_14 - object + Knife_bar__minus_01_dot_64_bar__plus_00_dot_96_bar__plus_00_dot_29 - object + Ladle_bar__minus_01_dot_92_bar__plus_01_dot_14_bar__plus_00_dot_38 - object + Lettuce_bar__minus_00_dot_17_bar__plus_01_dot_11_bar__plus_02_dot_15 - object + Lettuce_bar__minus_00_dot_66_bar__plus_01_dot_13_bar__plus_02_dot_59 - object + Lettuce_bar__minus_03_dot_34_bar__plus_00_dot_97_bar__plus_03_dot_08 - object + LightSwitch_bar__minus_02_dot_58_bar__plus_01_dot_30_bar__plus_03_dot_50 - object + Mug_bar__minus_00_dot_38_bar__plus_01_dot_10_bar__plus_03_dot_19 - object + Mug_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_64 - object + Mug_bar__minus_01_dot_56_bar__plus_00_dot_04_bar__plus_00_dot_61 - object + Pan_bar__minus_00_dot_27_bar__plus_01_dot_04_bar__plus_02_dot_56 - object + PepperShaker_bar__minus_01_dot_16_bar__plus_00_dot_05_bar__plus_00_dot_66 - object + PepperShaker_bar__minus_01_dot_31_bar__plus_00_dot_05_bar__plus_00_dot_49 - object + Plate_bar__minus_00_dot_91_bar__plus_01_dot_05_bar__plus_02_dot_59 - object + Plate_bar__minus_02_dot_64_bar__plus_01_dot_12_bar__plus_00_dot_57 - object + Plate_bar__minus_03_dot_81_bar__plus_01_dot_12_bar__plus_00_dot_28 - object + Potato_bar__minus_00_dot_31_bar__plus_01_dot_24_bar__plus_00_dot_41 - object + Potato_bar__minus_00_dot_88_bar__plus_01_dot_16_bar__plus_00_dot_57 - object + Pot_bar__minus_03_dot_00_bar__plus_01_dot_13_bar__plus_00_dot_23 - object + Pot_bar__minus_03_dot_48_bar__plus_01_dot_13_bar__plus_00_dot_23 - object + SaltShaker_bar__minus_01_dot_27_bar__plus_00_dot_05_bar__plus_00_dot_38 - object + SaltShaker_bar__minus_01_dot_90_bar__plus_00_dot_48_bar__plus_00_dot_55 - object + SaltShaker_bar__minus_02_dot_09_bar__plus_00_dot_48_bar__plus_00_dot_65 - object + Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44 - object + SoapBottle_bar__minus_00_dot_91_bar__plus_01_dot_05_bar__plus_01_dot_92 - object + SoapBottle_bar__minus_00_dot_91_bar__plus_01_dot_05_bar__plus_02_dot_82 - object + Spatula_bar__minus_00_dot_88_bar__plus_01_dot_14_bar__plus_00_dot_12 - object + Spoon_bar__minus_01_dot_47_bar__plus_00_dot_93_bar__plus_00_dot_50 - object + StoveKnob_bar__minus_02_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_71 - object + StoveKnob_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_00_dot_71 - object + StoveKnob_bar__minus_03_dot_32_bar__plus_01_dot_05_bar__plus_00_dot_71 - object + StoveKnob_bar__minus_03_dot_49_bar__plus_01_dot_05_bar__plus_00_dot_71 - object + Tomato_bar__minus_00_dot_91_bar__plus_01_dot_09_bar__plus_03_dot_04 - object + Tomato_bar__minus_03_dot_37_bar__plus_01_dot_60_bar__plus_03_dot_13 - object + Tomato_bar__minus_03_dot_64_bar__plus_01_dot_60_bar__plus_02_dot_92 - object + Window_bar__minus_01_dot_39_bar__plus_01_dot_93_bar__plus_00_dot_02 - object + Window_bar__minus_03_dot_27_bar__plus_01_dot_93_bar__plus_00_dot_02 - object + Cabinet_bar__minus_01_dot_00_bar__plus_00_dot_39_bar__plus_00_dot_73 - receptacle + Cabinet_bar__minus_01_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_73 - receptacle + CoffeeMachine_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__plus_03_dot_19 - receptacle + CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49 - receptacle + CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38 - receptacle + CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38 - receptacle + DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49 - receptacle + Drawer_bar__minus_02_dot_04_bar__plus_00_dot_22_bar__plus_00_dot_59 - receptacle + Drawer_bar__minus_02_dot_04_bar__plus_00_dot_61_bar__plus_00_dot_59 - receptacle + Drawer_bar__minus_02_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_60 - receptacle + Drawer_bar__minus_02_dot_50_bar__plus_00_dot_22_bar__plus_00_dot_59 - receptacle + Drawer_bar__minus_02_dot_50_bar__plus_00_dot_61_bar__plus_00_dot_59 - receptacle + Drawer_bar__minus_02_dot_51_bar__plus_00_dot_94_bar__plus_00_dot_60 - receptacle + Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72 - receptacle + GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01 - receptacle + Microwave_bar__minus_00_dot_37_bar__plus_01_dot_11_bar__plus_00_dot_43 - receptacle + Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin - receptacle + StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_23 - receptacle + StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_48 - receptacle + StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_23 - receptacle + StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_48 - receptacle + Toaster_bar__minus_00_dot_23_bar__plus_01_dot_04_bar__plus_02_dot_87 - receptacle + loc_bar__minus_7_bar_7_bar_2_bar_45 - location + loc_bar__minus_14_bar_5_bar_2_bar_45 - location + loc_bar__minus_10_bar_11_bar_3_bar_60 - location + loc_bar__minus_6_bar_4_bar_2_bar_45 - location + loc_bar__minus_8_bar_4_bar_3_bar_60 - location + loc_bar__minus_7_bar_4_bar_3_bar_60 - location + loc_bar__minus_4_bar_4_bar_3_bar_60 - location + loc_bar__minus_5_bar_12_bar_1_bar_30 - location + loc_bar__minus_13_bar_5_bar_2_bar_45 - location + loc_bar__minus_6_bar_4_bar_2_bar__minus_15 - location + loc_bar__minus_5_bar_11_bar_1_bar_30 - location + loc_bar__minus_10_bar_12_bar_0_bar_30 - location + loc_bar__minus_14_bar_5_bar_2_bar_30 - location + loc_bar__minus_12_bar_5_bar_2_bar_45 - location + loc_bar__minus_5_bar_9_bar_1_bar_60 - location + loc_bar__minus_6_bar_4_bar_3_bar_60 - location + loc_bar__minus_4_bar_4_bar_2_bar_45 - location + loc_bar__minus_14_bar_6_bar_0_bar_60 - location + loc_bar__minus_4_bar_5_bar_2_bar_45 - location + loc_bar__minus_7_bar_4_bar_2_bar_45 - location + loc_bar__minus_5_bar_4_bar_3_bar_60 - location + loc_bar__minus_13_bar_5_bar_2_bar__minus_15 - location + loc_bar__minus_12_bar_5_bar_2_bar_30 - location + loc_bar__minus_6_bar_4_bar_1_bar_30 - location + loc_bar__minus_13_bar_6_bar_2_bar_30 - location + loc_bar__minus_10_bar_4_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_48 StoveBurnerType) + (receptacleType CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38 CounterTopType) + (receptacleType StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_23 StoveBurnerType) + (receptacleType Drawer_bar__minus_02_dot_50_bar__plus_00_dot_61_bar__plus_00_dot_59 DrawerType) + (receptacleType Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72 FridgeType) + (receptacleType DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49 DiningTableType) + (receptacleType Drawer_bar__minus_02_dot_51_bar__plus_00_dot_94_bar__plus_00_dot_60 DrawerType) + (receptacleType CoffeeMachine_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__plus_03_dot_19 CoffeeMachineType) + (receptacleType CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49 CounterTopType) + (receptacleType Cabinet_bar__minus_01_dot_00_bar__plus_00_dot_39_bar__plus_00_dot_73 CabinetType) + (receptacleType GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01 GarbageCanType) + (receptacleType Toaster_bar__minus_00_dot_23_bar__plus_01_dot_04_bar__plus_02_dot_87 ToasterType) + (receptacleType StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_23 StoveBurnerType) + (receptacleType Microwave_bar__minus_00_dot_37_bar__plus_01_dot_11_bar__plus_00_dot_43 MicrowaveType) + (receptacleType CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38 CounterTopType) + (receptacleType Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin SinkBasinType) + (receptacleType Drawer_bar__minus_02_dot_50_bar__plus_00_dot_22_bar__plus_00_dot_59 DrawerType) + (receptacleType Drawer_bar__minus_02_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_60 DrawerType) + (receptacleType StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_48 StoveBurnerType) + (receptacleType Cabinet_bar__minus_01_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_73 CabinetType) + (receptacleType Drawer_bar__minus_02_dot_04_bar__plus_00_dot_22_bar__plus_00_dot_59 DrawerType) + (receptacleType Drawer_bar__minus_02_dot_04_bar__plus_00_dot_61_bar__plus_00_dot_59 DrawerType) + (objectType PepperShaker_bar__minus_01_dot_16_bar__plus_00_dot_05_bar__plus_00_dot_66 PepperShakerType) + (objectType Potato_bar__minus_00_dot_31_bar__plus_01_dot_24_bar__plus_00_dot_41 PotatoType) + (objectType Cup_bar__minus_01_dot_57_bar__plus_01_dot_15_bar__plus_00_dot_10 CupType) + (objectType Pot_bar__minus_03_dot_48_bar__plus_01_dot_13_bar__plus_00_dot_23 PotType) + (objectType Egg_bar__minus_00_dot_20_bar__plus_01_dot_26_bar__plus_00_dot_48 EggType) + (objectType ButterKnife_bar__minus_01_dot_20_bar__plus_00_dot_93_bar__plus_00_dot_50 ButterKnifeType) + (objectType ButterKnife_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_02_dot_37 ButterKnifeType) + (objectType Plate_bar__minus_03_dot_81_bar__plus_01_dot_12_bar__plus_00_dot_28 PlateType) + (objectType Mug_bar__minus_01_dot_56_bar__plus_00_dot_04_bar__plus_00_dot_61 MugType) + (objectType Mug_bar__minus_00_dot_38_bar__plus_01_dot_10_bar__plus_03_dot_19 MugType) + (objectType Mug_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_64 MugType) + (objectType StoveKnob_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_00_dot_71 StoveKnobType) + (objectType SoapBottle_bar__minus_00_dot_91_bar__plus_01_dot_05_bar__plus_02_dot_82 SoapBottleType) + (objectType Plate_bar__minus_02_dot_64_bar__plus_01_dot_12_bar__plus_00_dot_57 PlateType) + (objectType Knife_bar__minus_00_dot_79_bar__plus_01_dot_08_bar__plus_02_dot_14 KnifeType) + (objectType HousePlant_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__plus_00_dot_17 HousePlantType) + (objectType Bowl_bar__minus_00_dot_54_bar__plus_01_dot_04_bar__plus_02_dot_82 BowlType) + (objectType Potato_bar__minus_00_dot_88_bar__plus_01_dot_16_bar__plus_00_dot_57 PotatoType) + (objectType Pot_bar__minus_03_dot_00_bar__plus_01_dot_13_bar__plus_00_dot_23 PotType) + (objectType Spoon_bar__minus_01_dot_47_bar__plus_00_dot_93_bar__plus_00_dot_50 SpoonType) + (objectType Ladle_bar__minus_01_dot_92_bar__plus_01_dot_14_bar__plus_00_dot_38 LadleType) + (objectType Tomato_bar__minus_03_dot_37_bar__plus_01_dot_60_bar__plus_03_dot_13 TomatoType) + (objectType Pan_bar__minus_00_dot_27_bar__plus_01_dot_04_bar__plus_02_dot_56 PanType) + (objectType DishSponge_bar__minus_02_dot_01_bar__plus_01_dot_12_bar__plus_00_dot_57 DishSpongeType) + (objectType Apple_bar__minus_03_dot_78_bar__plus_01_dot_19_bar__plus_00_dot_66 AppleType) + (objectType StoveKnob_bar__minus_03_dot_49_bar__plus_01_dot_05_bar__plus_00_dot_71 StoveKnobType) + (objectType StoveKnob_bar__minus_02_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_71 StoveKnobType) + (objectType SaltShaker_bar__minus_01_dot_27_bar__plus_00_dot_05_bar__plus_00_dot_38 SaltShakerType) + (objectType Fork_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_03_dot_04 ForkType) + (objectType PepperShaker_bar__minus_01_dot_31_bar__plus_00_dot_05_bar__plus_00_dot_49 PepperShakerType) + (objectType Apple_bar__minus_03_dot_31_bar__plus_01_dot_63_bar__plus_02_dot_92 AppleType) + (objectType SaltShaker_bar__minus_02_dot_09_bar__plus_00_dot_48_bar__plus_00_dot_65 SaltShakerType) + (objectType Tomato_bar__minus_03_dot_64_bar__plus_01_dot_60_bar__plus_02_dot_92 TomatoType) + (objectType LightSwitch_bar__minus_02_dot_58_bar__plus_01_dot_30_bar__plus_03_dot_50 LightSwitchType) + (objectType Knife_bar__minus_01_dot_64_bar__plus_00_dot_96_bar__plus_00_dot_29 KnifeType) + (objectType Bread_bar__minus_00_dot_18_bar__plus_01_dot_12_bar__plus_01_dot_89 BreadType) + (objectType SoapBottle_bar__minus_00_dot_91_bar__plus_01_dot_05_bar__plus_01_dot_92 SoapBottleType) + (objectType Window_bar__minus_03_dot_27_bar__plus_01_dot_93_bar__plus_00_dot_02 WindowType) + (objectType Egg_bar__minus_02_dot_26_bar__plus_01_dot_16_bar__plus_00_dot_57 EggType) + (objectType Fork_bar__minus_01_dot_38_bar__plus_00_dot_93_bar__plus_00_dot_29 ForkType) + (objectType Spatula_bar__minus_00_dot_88_bar__plus_01_dot_14_bar__plus_00_dot_12 SpatulaType) + (objectType Fork_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_02_dot_82 ForkType) + (objectType Bowl_bar__minus_02_dot_51_bar__plus_01_dot_12_bar__plus_00_dot_28 BowlType) + (objectType Egg_bar__minus_03_dot_44_bar__plus_01_dot_59_bar__plus_02_dot_92 EggType) + (objectType Cup_bar__minus_00_dot_54_bar__plus_01_dot_05_bar__plus_02_dot_59 CupType) + (objectType Lettuce_bar__minus_00_dot_66_bar__plus_01_dot_13_bar__plus_02_dot_59 LettuceType) + (objectType Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44 SinkType) + (objectType Knife_bar__minus_00_dot_66_bar__plus_01_dot_08_bar__plus_03_dot_27 KnifeType) + (objectType Lettuce_bar__minus_00_dot_17_bar__plus_01_dot_11_bar__plus_02_dot_15 LettuceType) + (objectType Tomato_bar__minus_00_dot_91_bar__plus_01_dot_09_bar__plus_03_dot_04 TomatoType) + (objectType StoveKnob_bar__minus_03_dot_32_bar__plus_01_dot_05_bar__plus_00_dot_71 StoveKnobType) + (objectType Apple_bar__minus_03_dot_57_bar__plus_01_dot_63_bar__plus_03_dot_13 AppleType) + (objectType Lettuce_bar__minus_03_dot_34_bar__plus_00_dot_97_bar__plus_03_dot_08 LettuceType) + (objectType Window_bar__minus_01_dot_39_bar__plus_01_dot_93_bar__plus_00_dot_02 WindowType) + (objectType Plate_bar__minus_00_dot_91_bar__plus_01_dot_05_bar__plus_02_dot_59 PlateType) + (objectType SaltShaker_bar__minus_01_dot_90_bar__plus_00_dot_48_bar__plus_00_dot_55 SaltShakerType) + (canContain StoveBurnerType PotType) + (canContain StoveBurnerType PanType) + (canContain CounterTopType SaltShakerType) + (canContain CounterTopType BreadType) + (canContain CounterTopType DishSpongeType) + (canContain CounterTopType 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(canContain CounterTopType SaltShakerType) + (canContain CounterTopType BreadType) + (canContain CounterTopType DishSpongeType) + (canContain CounterTopType BowlType) + (canContain CounterTopType PotType) + (canContain CounterTopType MugType) + (canContain CounterTopType EggType) + (canContain CounterTopType LadleType) + (canContain CounterTopType ForkType) + (canContain CounterTopType SpoonType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType LettuceType) + (canContain CounterTopType PotatoType) + (canContain CounterTopType ButterKnifeType) + (canContain CounterTopType CupType) + (canContain CounterTopType PlateType) + (canContain CounterTopType PepperShakerType) + (canContain CounterTopType TomatoType) + (canContain CounterTopType KnifeType) + (canContain CounterTopType AppleType) + (canContain CounterTopType PanType) + (canContain CounterTopType SpatulaType) + (canContain CabinetType SaltShakerType) + (canContain CabinetType DishSpongeType) + (canContain 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Fork_bar__minus_00_dot_66_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 Plate_bar__minus_00_dot_91_bar__plus_01_dot_05_bar__plus_02_dot_59 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Bowl_bar__minus_00_dot_54_bar__plus_01_dot_04_bar__plus_02_dot_82 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle SaltShaker_bar__minus_02_dot_09_bar__plus_00_dot_48_bar__plus_00_dot_65 Drawer_bar__minus_02_dot_04_bar__plus_00_dot_61_bar__plus_00_dot_59) + (inReceptacle SaltShaker_bar__minus_01_dot_90_bar__plus_00_dot_48_bar__plus_00_dot_55 Drawer_bar__minus_02_dot_04_bar__plus_00_dot_61_bar__plus_00_dot_59) + (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 PepperShaker_bar__minus_01_dot_31_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 SaltShaker_bar__minus_01_dot_27_bar__plus_00_dot_05_bar__plus_00_dot_38 Cabinet_bar__minus_01_dot_00_bar__plus_00_dot_39_bar__plus_00_dot_73) + (inReceptacle Plate_bar__minus_03_dot_81_bar__plus_01_dot_12_bar__plus_00_dot_28 CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle Apple_bar__minus_03_dot_78_bar__plus_01_dot_19_bar__plus_00_dot_66 CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle Ladle_bar__minus_01_dot_92_bar__plus_01_dot_14_bar__plus_00_dot_38 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle DishSponge_bar__minus_02_dot_01_bar__plus_01_dot_12_bar__plus_00_dot_57 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle Egg_bar__minus_02_dot_26_bar__plus_01_dot_16_bar__plus_00_dot_57 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle Plate_bar__minus_02_dot_64_bar__plus_01_dot_12_bar__plus_00_dot_57 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle Bowl_bar__minus_02_dot_51_bar__plus_01_dot_12_bar__plus_00_dot_28 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (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 Spatula_bar__minus_00_dot_88_bar__plus_01_dot_14_bar__plus_00_dot_12 CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49) + (inReceptacle Potato_bar__minus_00_dot_88_bar__plus_01_dot_16_bar__plus_00_dot_57 CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49) + (inReceptacle Pot_bar__minus_03_dot_00_bar__plus_01_dot_13_bar__plus_00_dot_23 StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_23) + (inReceptacle Mug_bar__minus_01_dot_56_bar__plus_00_dot_04_bar__plus_00_dot_61 Cabinet_bar__minus_01_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_73) + (inReceptacle Mug_bar__minus_00_dot_38_bar__plus_01_dot_10_bar__plus_03_dot_19 CoffeeMachine_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__plus_03_dot_19) + (inReceptacle Apple_bar__minus_03_dot_31_bar__plus_01_dot_63_bar__plus_02_dot_92 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle Tomato_bar__minus_03_dot_64_bar__plus_01_dot_60_bar__plus_02_dot_92 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle Tomato_bar__minus_03_dot_37_bar__plus_01_dot_60_bar__plus_03_dot_13 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle Apple_bar__minus_03_dot_57_bar__plus_01_dot_63_bar__plus_03_dot_13 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle Lettuce_bar__minus_03_dot_34_bar__plus_00_dot_97_bar__plus_03_dot_08 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle Egg_bar__minus_03_dot_44_bar__plus_01_dot_59_bar__plus_02_dot_92 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle ButterKnife_bar__minus_01_dot_20_bar__plus_00_dot_93_bar__plus_00_dot_50 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin) + (inReceptacle Knife_bar__minus_01_dot_64_bar__plus_00_dot_96_bar__plus_00_dot_29 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin) + (inReceptacle Mug_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_64 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin) + (inReceptacle Fork_bar__minus_01_dot_38_bar__plus_00_dot_93_bar__plus_00_dot_29 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin) + (inReceptacle Spoon_bar__minus_01_dot_47_bar__plus_00_dot_93_bar__plus_00_dot_50 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin) + (inReceptacle Potato_bar__minus_00_dot_31_bar__plus_01_dot_24_bar__plus_00_dot_41 Microwave_bar__minus_00_dot_37_bar__plus_01_dot_11_bar__plus_00_dot_43) + (inReceptacle Egg_bar__minus_00_dot_20_bar__plus_01_dot_26_bar__plus_00_dot_48 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 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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 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Egg_bar__minus_00_dot_20_bar__plus_01_dot_26_bar__plus_00_dot_48 loc_bar__minus_6_bar_4_bar_1_bar_30) + (objectAtLocation Cup_bar__minus_01_dot_57_bar__plus_01_dot_15_bar__plus_00_dot_10 loc_bar__minus_4_bar_5_bar_2_bar_45) + (objectAtLocation SaltShaker_bar__minus_01_dot_90_bar__plus_00_dot_48_bar__plus_00_dot_55 loc_bar__minus_5_bar_4_bar_3_bar_60) + (objectAtLocation Knife_bar__minus_00_dot_79_bar__plus_01_dot_08_bar__plus_02_dot_14 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Bowl_bar__minus_02_dot_51_bar__plus_01_dot_12_bar__plus_00_dot_28 loc_bar__minus_7_bar_4_bar_2_bar_45) + (objectAtLocation PepperShaker_bar__minus_01_dot_31_bar__plus_00_dot_05_bar__plus_00_dot_49 loc_bar__minus_7_bar_7_bar_2_bar_45) + (objectAtLocation ButterKnife_bar__minus_01_dot_20_bar__plus_00_dot_93_bar__plus_00_dot_50 loc_bar__minus_4_bar_5_bar_2_bar_45) + (objectAtLocation Apple_bar__minus_03_dot_57_bar__plus_01_dot_63_bar__plus_03_dot_13 loc_bar__minus_10_bar_11_bar_3_bar_60) + (objectAtLocation Tomato_bar__minus_03_dot_37_bar__plus_01_dot_60_bar__plus_03_dot_13 loc_bar__minus_10_bar_11_bar_3_bar_60) + (objectAtLocation DishSponge_bar__minus_02_dot_01_bar__plus_01_dot_12_bar__plus_00_dot_57 loc_bar__minus_7_bar_4_bar_2_bar_45) + (objectAtLocation HousePlant_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__plus_00_dot_17 loc_bar__minus_7_bar_4_bar_2_bar_45) + (objectAtLocation LightSwitch_bar__minus_02_dot_58_bar__plus_01_dot_30_bar__plus_03_dot_50 loc_bar__minus_10_bar_12_bar_0_bar_30) + (objectAtLocation Spoon_bar__minus_01_dot_47_bar__plus_00_dot_93_bar__plus_00_dot_50 loc_bar__minus_4_bar_5_bar_2_bar_45) + (objectAtLocation Mug_bar__minus_00_dot_38_bar__plus_01_dot_10_bar__plus_03_dot_19 loc_bar__minus_5_bar_12_bar_1_bar_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (and + (receptacleType ?r FridgeType) + (exists (?o - object) + (and + (objectType ?o TomatoType) + (exists (?mo - object) + (and + (sliceable ?o) + (isSliced ?o) + (objectType ?mo PlateType) + (isReceptacleObject ?mo) + (inReceptacleObject ?o ?mo) + (inReceptacle ?mo ?r) + ) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-TomatoSliced-Plate-Fridge-4/trial_T20190907_225732_488098/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-TomatoSliced-Plate-Fridge-4/trial_T20190907_225732_488098/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..623354fd3b1b5e4b11729712ae61815305ae71c2 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-TomatoSliced-Plate-Fridge-4/trial_T20190907_225732_488098/traj_data.json @@ -0,0 +1,9213 @@ +{ + "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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{ + "objectName": "Plate_ca5fe19d", + "position": { + "x": -2.63972664, + "y": 1.1234194, + "z": 0.567671955 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_d5b8c410", + "position": { + "x": -0.183985829, + "y": 1.11915088, + "z": 1.891937 + }, + "rotation": { + "x": 359.962616, + "y": 0.00294790277, + "z": -0.00283750123 + } + }, + { + "objectName": "Lettuce_7c6826ef", + "position": { + "x": -3.33989358, + "y": 0.969437838, + "z": 3.081294 + }, + "rotation": { + "x": 0.150243849, + "y": 228.2653, + "z": 312.447327 + } + }, + { + "objectName": "Spatula_0271e4d1", + "position": { + "x": -0.8837076, + "y": 1.1399, + "z": 0.115347147 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Pan_447fa38c", + "position": { + "x": -0.266, + "y": 1.038, + "z": 2.561 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Egg_7b2f7cfb", + "position": { + "x": -2.262703, + "y": 1.15510356, + "z": 0.567671955 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_7b1a480e", + "position": { + "x": -0.5388072, + "y": 1.04515457, + "z": 2.59353828 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_e61894bc", + "position": { + "x": -2.0898788, + "y": 0.4843535, + "z": 0.646863 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_e6e9017d", + "position": { + "x": -0.662086, + "y": 1.07958472, + "z": 3.26635885 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_9496ee5e", + "position": { + "x": -0.5388072, + "y": 1.04474556, + "z": 2.817812 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_4cc43937", + "position": { + "x": -1.15619731, + "y": 0.04574704, + "z": 0.6649526 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_8393cb4d", + "position": { + "x": -0.785364747, + "y": 1.04828012, + "z": 2.3692646 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_f6bdaee7", + "position": { + "x": -3.77883434, + "y": 1.19227993, + "z": 0.6620079 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_1473e57e", + "position": { + "x": -0.908643544, + "y": 1.08882356, + "z": 3.04208541 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_130c30e2", + "position": { + "x": -2.01105642, + "y": 1.11878335, + "z": 0.56931597 + }, + "rotation": { + "x": 3.05039167, + "y": 0.201382384, + "z": 359.523651 + } + }, + { + "objectName": "Spoon_9dba57b8", + "position": { + "x": -1.4651612, + "y": 0.932685435, + "z": 0.498063982 + }, + "rotation": { + "x": 1.40334191e-14, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_ff353859", + "position": { + "x": -1.55366719, + "y": 0.92655617, + "z": 0.6365919 + }, + "rotation": { + "x": 7.58303337e-22, + "y": 270.0, + "z": -1.40334191e-14 + } + } + ], + "object_toggles": [], + "random_seed": 998410357, + "scene_num": 4 + }, + "task_id": "trial_T20190907_225732_488098", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3PPLDHC3CG0YN_3QECW5O0KKIPUJB4JD09KXVLSS3T5N", + "high_descs": [ + "Turn around and face the sink. ", + "Pick up the knife from the sink. ", + "Turn around and walk to the table on the right with the tomato. ", + "Slice the tomato with the knife. ", + "Put the knife down to the left of the sliced tomato. ", + "Pick up a slice of tomato. ", + "Turn right and walk to the counter space to the right of the stove. ", + "Place the piece of tomato on the plate behind the apple. ", + "Pick up the plate with the tomato. ", + "Turn left and walk to the fridge. ", + "Put the plate with the piece of tomato on the top shelf to the left of the lettuce and close the door. " + ], + "task_desc": "Slice a tomato and put a piece on a plate in the fridge. ", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2BLQ1GVEHJR8T_3VD82FOHKT5UGCFB261I4TV8L3NOCN", + "high_descs": [ + "Turn right to go to the sink on your right.", + "Take the yellow-handled knife out of the right side of the sink.", + "Face the opposite direction and cross the room to the door, then turn right and go to the brown table.", + "Slice the tomato on the table.", + "Put the knife down on the table, to the left of the tomato.", + "Take the slice from the right end of the tomato.", + "Turn right and go over to the sink, then right again and forward to the wall, then left to face the stove.", + "Put the piece of tomato on the plate near the back of the counter to the right of the stove.", + "Pick up the plate.", + "Go to the front of the fridge behind you.", + "Put the plate on the top fridge shelf, to the left of the lettuce." + ], + "task_desc": "Put a plated slice of tomato into the fridge.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AO33H4GL9KZX9_3SITXWYCNYQY0G1XPXSJCMGJFM1BXH", + "high_descs": [ + "Turn right to go to the sink on the right. ", + "Pick up the knife in the sink.", + "Turn around and go to the table on the other side on the right.", + "Slice the tomato resting on a fork on the table. ", + "Place the knife on the table on the left of the tomato.", + "Take one slice of the tomato.", + "Turn around and go to the counter on the right side of the stove.", + "Place the tomato on the gray plate behind the apple", + "Pick up the plate with tomato on it", + "Turn around and go to the refrigerator.", + "Place the plate with tomato on it inside the refrigerator next to the lettuce. " + ], + "task_desc": "Chill a slice of tomato in the fridge ", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-TomatoSliced-Plate-Fridge-4/trial_T20190907_225813_142301/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-TomatoSliced-Plate-Fridge-4/trial_T20190907_225813_142301/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..05e8df1a40175100958b27fa07b6baacb8f2ddfd --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-TomatoSliced-Plate-Fridge-4/trial_T20190907_225813_142301/initial_state.pddl @@ -0,0 +1,933 @@ + +(define (problem plan_trial_T20190907_225813_142301) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__minus_01_dot_64_bar__plus_01_dot_00_bar__plus_00_dot_22 - object + Apple_bar__minus_03_dot_57_bar__plus_00_dot_98_bar__plus_03_dot_06 - object + Apple_bar__minus_03_dot_64_bar__plus_00_dot_98_bar__plus_02_dot_78 - object + Bowl_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_03_dot_04 - object + Bowl_bar__minus_01_dot_16_bar__plus_00_dot_05_bar__plus_00_dot_49 - object + Bread_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_02_dot_14 - object + Bread_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_02_dot_59 - object + Bread_bar__minus_03_dot_44_bar__plus_01_dot_37_bar__plus_02_dot_92 - object + ButterKnife_bar__minus_01_dot_47_bar__plus_00_dot_93_bar__plus_00_dot_43 - object + Cup_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_02_dot_37 - object + DishSponge_bar__minus_00_dot_17_bar__plus_01_dot_05_bar__plus_02_dot_14 - object + DishSponge_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_43 - object + Egg_bar__minus_02_dot_51_bar__plus_01_dot_16_bar__plus_00_dot_66 - object + Egg_bar__minus_03_dot_57_bar__plus_01_dot_59_bar__plus_03_dot_20 - object + Egg_bar__minus_03_dot_78_bar__plus_01_dot_16_bar__plus_00_dot_19 - object + Faucet_bar__minus_01_dot_39_bar__plus_01_dot_37_bar__plus_00_dot_17 - object + Fork_bar__minus_00_dot_54_bar__plus_01_dot_05_bar__plus_03_dot_04 - object + Fork_bar__minus_02_dot_50_bar__plus_00_dot_49_bar__plus_00_dot_58 - object + Fork_bar__minus_03_dot_85_bar__plus_01_dot_13_bar__plus_00_dot_38 - object + HousePlant_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__plus_00_dot_17 - object + Knife_bar__minus_00_dot_42_bar__plus_01_dot_08_bar__plus_02_dot_82 - object + Knife_bar__minus_00_dot_66_bar__plus_01_dot_08_bar__plus_03_dot_04 - object + Knife_bar__minus_00_dot_66_bar__plus_01_dot_08_bar__plus_03_dot_27 - object + Ladle_bar__minus_00_dot_54_bar__plus_01_dot_09_bar__plus_02_dot_59 - object + Ladle_bar__minus_02_dot_01_bar__plus_01_dot_16_bar__plus_00_dot_47 - object + Lettuce_bar__minus_00_dot_54_bar__plus_01_dot_12_bar__plus_02_dot_14 - object + LightSwitch_bar__minus_02_dot_58_bar__plus_01_dot_30_bar__plus_03_dot_50 - object + Mug_bar__minus_03_dot_44_bar__plus_01_dot_56_bar__plus_02_dot_85 - object + Pan_bar__minus_03_dot_00_bar__plus_01_dot_13_bar__plus_00_dot_23 - object + PepperShaker_bar__minus_00_dot_94_bar__plus_01_dot_12_bar__plus_00_dot_66 - object + Plate_bar__minus_02_dot_39_bar__plus_01_dot_12_bar__plus_00_dot_57 - object + Plate_bar__minus_02_dot_64_bar__plus_01_dot_12_bar__plus_00_dot_47 - object + Potato_bar__minus_00_dot_66_bar__plus_01_dot_08_bar__plus_02_dot_37 - object + Potato_bar__minus_00_dot_91_bar__plus_01_dot_08_bar__plus_01_dot_92 - object + Potato_bar__minus_03_dot_54_bar__plus_00_dot_14_bar__plus_01_dot_95 - object + Pot_bar__minus_01_dot_20_bar__plus_00_dot_94_bar__plus_00_dot_29 - object + Pot_bar__minus_01_dot_20_bar__plus_00_dot_94_bar__plus_00_dot_57 - object + SaltShaker_bar__minus_01_dot_31_bar__plus_00_dot_05_bar__plus_00_dot_44 - object + SaltShaker_bar__minus_01_dot_44_bar__plus_00_dot_05_bar__plus_00_dot_44 - object + Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44 - object + SoapBottle_bar__minus_00_dot_77_bar__plus_01_dot_13_bar__plus_00_dot_21 - object + SoapBottle_bar__minus_02_dot_40_bar__plus_00_dot_49_bar__plus_00_dot_61 - object + SoapBottle_bar__minus_03_dot_80_bar__plus_00_dot_11_bar__plus_02_dot_04 - object + Spatula_bar__minus_00_dot_42_bar__plus_01_dot_06_bar__plus_01_dot_92 - object + Spoon_bar__minus_00_dot_17_bar__plus_01_dot_05_bar__plus_01_dot_92 - object + StoveKnob_bar__minus_02_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_71 - object + StoveKnob_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_00_dot_71 - object + StoveKnob_bar__minus_03_dot_32_bar__plus_01_dot_05_bar__plus_00_dot_71 - object + StoveKnob_bar__minus_03_dot_49_bar__plus_01_dot_05_bar__plus_00_dot_71 - object + Tomato_bar__minus_00_dot_66_bar__plus_01_dot_17_bar__plus_00_dot_12 - object + Tomato_bar__minus_00_dot_79_bar__plus_01_dot_09_bar__plus_01_dot_92 - object + Tomato_bar__minus_00_dot_79_bar__plus_01_dot_09_bar__plus_02_dot_82 - object + Tomato_bar__minus_03_dot_31_bar__plus_00_dot_95_bar__plus_02_dot_85 - object + Window_bar__minus_01_dot_39_bar__plus_01_dot_93_bar__plus_00_dot_02 - object + Window_bar__minus_03_dot_27_bar__plus_01_dot_93_bar__plus_00_dot_02 - object + Cabinet_bar__minus_01_dot_00_bar__plus_00_dot_39_bar__plus_00_dot_73 - receptacle + Cabinet_bar__minus_01_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_73 - receptacle + CoffeeMachine_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__plus_03_dot_19 - receptacle + CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49 - receptacle + CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38 - receptacle + CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38 - receptacle + DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49 - receptacle + Drawer_bar__minus_02_dot_04_bar__plus_00_dot_22_bar__plus_00_dot_59 - receptacle + Drawer_bar__minus_02_dot_04_bar__plus_00_dot_61_bar__plus_00_dot_59 - receptacle + Drawer_bar__minus_02_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_60 - receptacle + Drawer_bar__minus_02_dot_50_bar__plus_00_dot_22_bar__plus_00_dot_59 - receptacle + Drawer_bar__minus_02_dot_50_bar__plus_00_dot_61_bar__plus_00_dot_59 - receptacle + Drawer_bar__minus_02_dot_51_bar__plus_00_dot_94_bar__plus_00_dot_60 - receptacle + Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72 - receptacle + GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01 - receptacle + Microwave_bar__minus_00_dot_37_bar__plus_01_dot_11_bar__plus_00_dot_43 - receptacle + Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin - receptacle + StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_23 - receptacle + StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_48 - receptacle + StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_23 - receptacle + StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_48 - receptacle + Toaster_bar__minus_00_dot_23_bar__plus_01_dot_04_bar__plus_02_dot_87 - receptacle + loc_bar__minus_7_bar_7_bar_2_bar_45 - location + loc_bar__minus_14_bar_5_bar_2_bar_45 - location + loc_bar__minus_10_bar_11_bar_3_bar_60 - location + loc_bar__minus_6_bar_4_bar_2_bar_45 - location + loc_bar__minus_8_bar_4_bar_3_bar_60 - location + loc_bar__minus_7_bar_4_bar_3_bar_60 - location + loc_bar__minus_4_bar_4_bar_3_bar_60 - location + loc_bar__minus_5_bar_12_bar_1_bar_30 - location + loc_bar__minus_13_bar_5_bar_2_bar_45 - location + loc_bar__minus_6_bar_4_bar_2_bar__minus_15 - location + loc_bar__minus_5_bar_11_bar_1_bar_30 - location + loc_bar__minus_10_bar_12_bar_0_bar_30 - location + loc_bar__minus_14_bar_5_bar_2_bar_30 - location + loc_bar__minus_12_bar_5_bar_2_bar_45 - location + loc_bar__minus_5_bar_9_bar_1_bar_60 - location + loc_bar__minus_6_bar_4_bar_3_bar_60 - location + loc_bar__minus_4_bar_4_bar_2_bar_45 - location + loc_bar__minus_14_bar_6_bar_0_bar_60 - location + loc_bar__minus_4_bar_5_bar_2_bar_45 - location + loc_bar__minus_7_bar_4_bar_2_bar_45 - location + loc_bar__minus_5_bar_4_bar_3_bar_60 - location + loc_bar__minus_13_bar_5_bar_2_bar__minus_15 - location + loc_bar__minus_12_bar_5_bar_2_bar_30 - location + loc_bar__minus_6_bar_4_bar_1_bar_30 - location + loc_bar__minus_13_bar_6_bar_2_bar_30 - location + loc_bar__minus_1_bar_4_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_48 StoveBurnerType) + (receptacleType CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38 CounterTopType) + (receptacleType 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Toaster_bar__minus_00_dot_23_bar__plus_01_dot_04_bar__plus_02_dot_87 ToasterType) + (receptacleType StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_23 StoveBurnerType) + (receptacleType Microwave_bar__minus_00_dot_37_bar__plus_01_dot_11_bar__plus_00_dot_43 MicrowaveType) + (receptacleType CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38 CounterTopType) + (receptacleType Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin SinkBasinType) + (receptacleType Drawer_bar__minus_02_dot_50_bar__plus_00_dot_22_bar__plus_00_dot_59 DrawerType) + (receptacleType Drawer_bar__minus_02_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_60 DrawerType) + (receptacleType StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_48 StoveBurnerType) + (receptacleType Cabinet_bar__minus_01_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_73 CabinetType) + (receptacleType Drawer_bar__minus_02_dot_04_bar__plus_00_dot_22_bar__plus_00_dot_59 DrawerType) + (receptacleType Drawer_bar__minus_02_dot_04_bar__plus_00_dot_61_bar__plus_00_dot_59 DrawerType) + (objectType Bowl_bar__minus_01_dot_16_bar__plus_00_dot_05_bar__plus_00_dot_49 BowlType) + (objectType Bread_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_02_dot_59 BreadType) + (objectType Bowl_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_03_dot_04 BowlType) + (objectType SoapBottle_bar__minus_02_dot_40_bar__plus_00_dot_49_bar__plus_00_dot_61 SoapBottleType) + (objectType Apple_bar__minus_03_dot_57_bar__plus_00_dot_98_bar__plus_03_dot_06 AppleType) + (objectType SaltShaker_bar__minus_01_dot_44_bar__plus_00_dot_05_bar__plus_00_dot_44 SaltShakerType) + (objectType Knife_bar__minus_00_dot_66_bar__plus_01_dot_08_bar__plus_03_dot_04 KnifeType) + (objectType Fork_bar__minus_00_dot_54_bar__plus_01_dot_05_bar__plus_03_dot_04 ForkType) + (objectType 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Ladle_bar__minus_02_dot_01_bar__plus_01_dot_16_bar__plus_00_dot_47) + (cleanable Egg_bar__minus_03_dot_57_bar__plus_01_dot_59_bar__plus_03_dot_20) + (cleanable Mug_bar__minus_03_dot_44_bar__plus_01_dot_56_bar__plus_02_dot_85) + (cleanable Plate_bar__minus_02_dot_39_bar__plus_01_dot_12_bar__plus_00_dot_57) + (cleanable Cup_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_02_dot_37) + (cleanable Spoon_bar__minus_00_dot_17_bar__plus_01_dot_05_bar__plus_01_dot_92) + (cleanable Fork_bar__minus_03_dot_85_bar__plus_01_dot_13_bar__plus_00_dot_38) + (cleanable Pot_bar__minus_01_dot_20_bar__plus_00_dot_94_bar__plus_00_dot_29) + (cleanable DishSponge_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_43) + (cleanable DishSponge_bar__minus_00_dot_17_bar__plus_01_dot_05_bar__plus_02_dot_14) + (cleanable Tomato_bar__minus_00_dot_66_bar__plus_01_dot_17_bar__plus_00_dot_12) + (cleanable Pan_bar__minus_03_dot_00_bar__plus_01_dot_13_bar__plus_00_dot_23) + (cleanable Egg_bar__minus_03_dot_78_bar__plus_01_dot_16_bar__plus_00_dot_19) + (cleanable Tomato_bar__minus_00_dot_79_bar__plus_01_dot_09_bar__plus_02_dot_82) + (cleanable Plate_bar__minus_02_dot_64_bar__plus_01_dot_12_bar__plus_00_dot_47) + (cleanable Potato_bar__minus_00_dot_91_bar__plus_01_dot_08_bar__plus_01_dot_92) + (cleanable Fork_bar__minus_02_dot_50_bar__plus_00_dot_49_bar__plus_00_dot_58) + (cleanable Lettuce_bar__minus_00_dot_54_bar__plus_01_dot_12_bar__plus_02_dot_14) + (cleanable Potato_bar__minus_03_dot_54_bar__plus_00_dot_14_bar__plus_01_dot_95) + (cleanable Tomato_bar__minus_00_dot_79_bar__plus_01_dot_09_bar__plus_01_dot_92) + (cleanable Knife_bar__minus_00_dot_66_bar__plus_01_dot_08_bar__plus_03_dot_27) + (cleanable Knife_bar__minus_00_dot_42_bar__plus_01_dot_08_bar__plus_02_dot_82) + (cleanable ButterKnife_bar__minus_01_dot_47_bar__plus_00_dot_93_bar__plus_00_dot_43) + (cleanable Potato_bar__minus_00_dot_66_bar__plus_01_dot_08_bar__plus_02_dot_37) + (cleanable Egg_bar__minus_02_dot_51_bar__plus_01_dot_16_bar__plus_00_dot_66) + + (heatable Bread_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_02_dot_59) + (heatable Apple_bar__minus_03_dot_57_bar__plus_00_dot_98_bar__plus_03_dot_06) + (heatable Apple_bar__minus_03_dot_64_bar__plus_00_dot_98_bar__plus_02_dot_78) + (heatable Bread_bar__minus_03_dot_44_bar__plus_01_dot_37_bar__plus_02_dot_92) + (heatable Apple_bar__minus_01_dot_64_bar__plus_01_dot_00_bar__plus_00_dot_22) + (heatable Tomato_bar__minus_03_dot_31_bar__plus_00_dot_95_bar__plus_02_dot_85) + (heatable Egg_bar__minus_03_dot_57_bar__plus_01_dot_59_bar__plus_03_dot_20) + (heatable Bread_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_02_dot_14) + (heatable Mug_bar__minus_03_dot_44_bar__plus_01_dot_56_bar__plus_02_dot_85) + (heatable Plate_bar__minus_02_dot_39_bar__plus_01_dot_12_bar__plus_00_dot_57) + (heatable Cup_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_02_dot_37) + (heatable Tomato_bar__minus_00_dot_66_bar__plus_01_dot_17_bar__plus_00_dot_12) + (heatable Egg_bar__minus_03_dot_78_bar__plus_01_dot_16_bar__plus_00_dot_19) + (heatable Tomato_bar__minus_00_dot_79_bar__plus_01_dot_09_bar__plus_02_dot_82) + (heatable Plate_bar__minus_02_dot_64_bar__plus_01_dot_12_bar__plus_00_dot_47) + (heatable Potato_bar__minus_00_dot_91_bar__plus_01_dot_08_bar__plus_01_dot_92) + (heatable Potato_bar__minus_03_dot_54_bar__plus_00_dot_14_bar__plus_01_dot_95) + (heatable Tomato_bar__minus_00_dot_79_bar__plus_01_dot_09_bar__plus_01_dot_92) + (heatable Potato_bar__minus_00_dot_66_bar__plus_01_dot_08_bar__plus_02_dot_37) + (heatable Egg_bar__minus_02_dot_51_bar__plus_01_dot_16_bar__plus_00_dot_66) + (coolable Bowl_bar__minus_01_dot_16_bar__plus_00_dot_05_bar__plus_00_dot_49) + (coolable Bread_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_02_dot_59) + (coolable Bowl_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_03_dot_04) + (coolable Apple_bar__minus_03_dot_57_bar__plus_00_dot_98_bar__plus_03_dot_06) + (coolable Apple_bar__minus_03_dot_64_bar__plus_00_dot_98_bar__plus_02_dot_78) + (coolable Bread_bar__minus_03_dot_44_bar__plus_01_dot_37_bar__plus_02_dot_92) + (coolable Apple_bar__minus_01_dot_64_bar__plus_01_dot_00_bar__plus_00_dot_22) + (coolable Pot_bar__minus_01_dot_20_bar__plus_00_dot_94_bar__plus_00_dot_57) + (coolable Tomato_bar__minus_03_dot_31_bar__plus_00_dot_95_bar__plus_02_dot_85) + (coolable Egg_bar__minus_03_dot_57_bar__plus_01_dot_59_bar__plus_03_dot_20) + (coolable Bread_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_02_dot_14) + (coolable Mug_bar__minus_03_dot_44_bar__plus_01_dot_56_bar__plus_02_dot_85) + (coolable Plate_bar__minus_02_dot_39_bar__plus_01_dot_12_bar__plus_00_dot_57) + (coolable Cup_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_02_dot_37) + (coolable Pot_bar__minus_01_dot_20_bar__plus_00_dot_94_bar__plus_00_dot_29) + (coolable Tomato_bar__minus_00_dot_66_bar__plus_01_dot_17_bar__plus_00_dot_12) + (coolable Pan_bar__minus_03_dot_00_bar__plus_01_dot_13_bar__plus_00_dot_23) + (coolable Egg_bar__minus_03_dot_78_bar__plus_01_dot_16_bar__plus_00_dot_19) + (coolable Tomato_bar__minus_00_dot_79_bar__plus_01_dot_09_bar__plus_02_dot_82) + (coolable Plate_bar__minus_02_dot_64_bar__plus_01_dot_12_bar__plus_00_dot_47) + (coolable Potato_bar__minus_00_dot_91_bar__plus_01_dot_08_bar__plus_01_dot_92) + (coolable Lettuce_bar__minus_00_dot_54_bar__plus_01_dot_12_bar__plus_02_dot_14) + (coolable Potato_bar__minus_03_dot_54_bar__plus_00_dot_14_bar__plus_01_dot_95) + (coolable Tomato_bar__minus_00_dot_79_bar__plus_01_dot_09_bar__plus_01_dot_92) + (coolable Potato_bar__minus_00_dot_66_bar__plus_01_dot_08_bar__plus_02_dot_37) + (coolable Egg_bar__minus_02_dot_51_bar__plus_01_dot_16_bar__plus_00_dot_66) + + (isCool Tomato_bar__minus_03_dot_31_bar__plus_00_dot_95_bar__plus_02_dot_85) + + + + (sliceable Bread_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_02_dot_59) + (sliceable Apple_bar__minus_03_dot_57_bar__plus_00_dot_98_bar__plus_03_dot_06) + (sliceable Apple_bar__minus_03_dot_64_bar__plus_00_dot_98_bar__plus_02_dot_78) + (sliceable Bread_bar__minus_03_dot_44_bar__plus_01_dot_37_bar__plus_02_dot_92) + (sliceable Apple_bar__minus_01_dot_64_bar__plus_01_dot_00_bar__plus_00_dot_22) + (sliceable Tomato_bar__minus_03_dot_31_bar__plus_00_dot_95_bar__plus_02_dot_85) + (sliceable Egg_bar__minus_03_dot_57_bar__plus_01_dot_59_bar__plus_03_dot_20) + (sliceable Bread_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_02_dot_14) + (sliceable Tomato_bar__minus_00_dot_66_bar__plus_01_dot_17_bar__plus_00_dot_12) + (sliceable Egg_bar__minus_03_dot_78_bar__plus_01_dot_16_bar__plus_00_dot_19) + (sliceable Tomato_bar__minus_00_dot_79_bar__plus_01_dot_09_bar__plus_02_dot_82) + (sliceable Potato_bar__minus_00_dot_91_bar__plus_01_dot_08_bar__plus_01_dot_92) + (sliceable 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DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Spatula_bar__minus_00_dot_42_bar__plus_01_dot_06_bar__plus_01_dot_92 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Bowl_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 DishSponge_bar__minus_00_dot_17_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 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 Knife_bar__minus_00_dot_66_bar__plus_01_dot_08_bar__plus_03_dot_27 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Knife_bar__minus_00_dot_66_bar__plus_01_dot_08_bar__plus_03_dot_04 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DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Cup_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_02_dot_37 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle SaltShaker_bar__minus_01_dot_31_bar__plus_00_dot_05_bar__plus_00_dot_44 Cabinet_bar__minus_01_dot_00_bar__plus_00_dot_39_bar__plus_00_dot_73) + (inReceptacle Bowl_bar__minus_01_dot_16_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 Egg_bar__minus_03_dot_78_bar__plus_01_dot_16_bar__plus_00_dot_19 CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle Fork_bar__minus_03_dot_85_bar__plus_01_dot_13_bar__plus_00_dot_38 CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle Ladle_bar__minus_02_dot_01_bar__plus_01_dot_16_bar__plus_00_dot_47 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CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49) + (inReceptacle Tomato_bar__minus_00_dot_66_bar__plus_01_dot_17_bar__plus_00_dot_12 CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49) + (inReceptacle SoapBottle_bar__minus_00_dot_77_bar__plus_01_dot_13_bar__plus_00_dot_21 CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49) + (inReceptacle Fork_bar__minus_02_dot_50_bar__plus_00_dot_49_bar__plus_00_dot_58 Drawer_bar__minus_02_dot_50_bar__plus_00_dot_61_bar__plus_00_dot_59) + (inReceptacle SoapBottle_bar__minus_02_dot_40_bar__plus_00_dot_49_bar__plus_00_dot_61 Drawer_bar__minus_02_dot_50_bar__plus_00_dot_61_bar__plus_00_dot_59) + (inReceptacle Pan_bar__minus_03_dot_00_bar__plus_01_dot_13_bar__plus_00_dot_23 StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_23) + (inReceptacle SaltShaker_bar__minus_01_dot_44_bar__plus_00_dot_05_bar__plus_00_dot_44 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loc_bar__minus_13_bar_5_bar_2_bar__minus_15) + (objectAtLocation Spatula_bar__minus_00_dot_42_bar__plus_01_dot_06_bar__plus_01_dot_92 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Pan_bar__minus_03_dot_00_bar__plus_01_dot_13_bar__plus_00_dot_23 loc_bar__minus_12_bar_5_bar_2_bar_30) + (objectAtLocation Egg_bar__minus_03_dot_78_bar__plus_01_dot_16_bar__plus_00_dot_19 loc_bar__minus_13_bar_6_bar_2_bar_30) + (objectAtLocation Cup_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_02_dot_37 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation SaltShaker_bar__minus_01_dot_44_bar__plus_00_dot_05_bar__plus_00_dot_44 loc_bar__minus_7_bar_7_bar_2_bar_45) + (objectAtLocation Knife_bar__minus_00_dot_42_bar__plus_01_dot_08_bar__plus_02_dot_82 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Bowl_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_03_dot_04 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation 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loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Mug_bar__minus_03_dot_44_bar__plus_01_dot_56_bar__plus_02_dot_85 loc_bar__minus_10_bar_11_bar_3_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (and + (receptacleType ?r FridgeType) + (exists (?o - object) + (and + (objectType ?o TomatoType) + (exists (?mo - object) + (and + (sliceable ?o) + (isSliced ?o) + (objectType ?mo PlateType) + (isReceptacleObject ?mo) + (inReceptacleObject ?o ?mo) + (inReceptacle ?mo ?r) + ) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-TomatoSliced-Plate-Fridge-4/trial_T20190907_225813_142301/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-TomatoSliced-Plate-Fridge-4/trial_T20190907_225813_142301/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..ff24d63d1855332818066c4719b3269dfa1ddf02 --- /dev/null +++ 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"assignment_id": "A1GVTH5YS3WOK0_32M8BPYGAW3X12KD6XKWANK17MYGIC", + "high_descs": [ + "Turn right and walk to the sink to your left.", + "Pick up a knife from the sink.", + "Turn around, walk straight to the door, and then turn left to the fridge.", + "Cut the tomato in the fridge into slices and close the fridge.", + "Take a step backwards, and open the fridge again.", + "Place the knife on the shelf below the tomato and close the fridge.", + "Take a step forward, and open the fridge again.", + "Take out a slice of tomato from the fridge.", + "Turn left and walk to the counter.", + "Place the slice of tomato on the left plate near the plant.", + "Pick up the plate with the tomato from the counter.", + "Turn around, walk to the door, and then turn left to the fridge.", + "Place the plate next to the cut tomato in the fridge and close the door." + ], + "task_desc": "Place a plate with a cooled slice tomato in the fridge along with a knife.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A30M9SZYJKFDS9_3E4GGUZ1TB8YS32U7LKJLZ5DP8A2KK", + "high_descs": [ + "turn to the right face the sink", + "pick up the knife from the sink", + "turn around to the right go left face the refrigerator", + "open the refrigerator door slice the tomato that is in the refrigerator", + "turn around to the left open the refrigerator door again", + "leave knife inside the refrigerator", + "open the refrigerator door back again", + "pick up a slice of tomato", + "turn around to the left face the sink area", + "put the slice of tomato on the plate that is in the counter", + "pick up the plate with the tomato in it", + "turn to the right and across the room", + "open the refrigerator door and put the plate inside the refrigerator" + ], + "task_desc": "slice a tomato put it in the refrigerator", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3MXBLYX2CDGTP_3X4MXAO0BJ56RNDWBPINAI7GO46WRQ", + "high_descs": [ + "Turn right and walk to the sink.", + "Take the knife out of the sink.", + "Turn around and walk towards the door, turn left and walk to the fridge.", + "Open the fridge and cut the tomato inside the fridge.", + "Turn around then turn back to face the refrigerator.", + "Put the knife in the refrigerator and close the door.", + "Look up at the refrigerator.", + "Open the fridge and pick up a tomato slice from inside.", + "Turn left and walk to the counter on the left side of the stove.", + "Put the tomato slice on the left plate.", + "Pick up the plate with the tomato on it.", + "Turn around and walk to the refrigerator on your left.", + "Put the plate with the tomato inside the fridge." + ], + "task_desc": "Put the plate with the tomato slice in the refrigerator.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Apple-None-DiningTable-4/trial_T20190908_104413_450768/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Apple-None-DiningTable-4/trial_T20190908_104413_450768/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..1b8beafeeab7913b71cb1e9d0a47437d6e5516ce --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Apple-None-DiningTable-4/trial_T20190908_104413_450768/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 apple 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_T20190908_104413_450768)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__minus_00_dot_42_bar__plus_01_dot_30_bar__plus_00_dot_38 - object\n Apple_bar__minus_03_dot_44_bar__plus_01_dot_63_bar__plus_03_dot_06 - object\n Apple_bar__minus_03_dot_64_bar__plus_00_dot_98_bar__plus_02_dot_85 - object\n Apple_bar__minus_03_dot_80_bar__plus_00_dot_18_bar__plus_01_dot_98 - object\n Bowl_bar__minus_01_dot_60_bar__plus_00_dot_05_bar__plus_00_dot_55 - object\n Bread_bar__minus_00_dot_18_bar__plus_01_dot_12_bar__plus_01_dot_89 - object\n ButterKnife_bar__minus_00_dot_72_bar__plus_01_dot_12_bar__plus_00_dot_57 - object\n ButterKnife_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_02_dot_14 - object\n ButterKnife_bar__minus_02_dot_51_bar__plus_01_dot_12_bar__plus_00_dot_38 - object\n Cup_bar__minus_01_dot_20_bar__plus_00_dot_93_bar__plus_00_dot_29 - object\n Cup_bar__minus_03_dot_31_bar__plus_01_dot_28_bar__plus_03_dot_06 - object\n DishSponge_bar__minus_02_dot_39_bar__plus_01_dot_12_bar__plus_00_dot_10 - object\n Egg_bar__minus_00_dot_20_bar__plus_01_dot_26_bar__plus_00_dot_41 - object\n Egg_bar__minus_03_dot_70_bar__plus_00_dot_14_bar__plus_01_dot_95 - object\n Faucet_bar__minus_01_dot_39_bar__plus_01_dot_37_bar__plus_00_dot_17 - object\n Fork_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_02_dot_59 - object\n Fork_bar__minus_02_dot_14_bar__plus_01_dot_13_bar__plus_00_dot_57 - object\n HousePlant_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__plus_00_dot_17 - object\n Knife_bar__minus_01_dot_55_bar__plus_00_dot_96_bar__plus_00_dot_57 - object\n Ladle_bar__minus_02_dot_01_bar__plus_01_dot_16_bar__plus_00_dot_28 - object\n Lettuce_bar__minus_00_dot_91_bar__plus_01_dot_13_bar__plus_03_dot_27 - object\n LightSwitch_bar__minus_02_dot_58_bar__plus_01_dot_30_bar__plus_03_dot_50 - object\n Mug_bar__minus_00_dot_54_bar__plus_01_dot_04_bar__plus_02_dot_82 - object\n Pan_bar__minus_00_dot_27_bar__plus_01_dot_04_bar__plus_02_dot_56 - object\n PepperShaker_bar__minus_02_dot_51_bar__plus_00_dot_90_bar__plus_00_dot_58 - object\n Plate_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_02_dot_82 - object\n Plate_bar__minus_00_dot_91_bar__plus_01_dot_05_bar__plus_02_dot_14 - object\n Plate_bar__minus_03_dot_57_bar__plus_01_dot_29_bar__plus_03_dot_06 - object\n Potato_bar__minus_01_dot_20_bar__plus_00_dot_96_bar__plus_00_dot_57 - object\n Pot_bar__minus_01_dot_20_bar__plus_00_dot_05_bar__plus_00_dot_44 - object\n Pot_bar__minus_03_dot_00_bar__plus_01_dot_13_bar__plus_00_dot_48 - object\n Pot_bar__minus_03_dot_37_bar__plus_01_dot_56_bar__plus_02_dot_85 - object\n SaltShaker_bar__minus_01_dot_31_bar__plus_00_dot_05_bar__plus_00_dot_66 - object\n Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44 - object\n SoapBottle_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_03_dot_04 - object\n SoapBottle_bar__minus_01_dot_66_bar__plus_01_dot_15_bar__plus_00_dot_10 - object\n Spatula_bar__minus_00_dot_66_bar__plus_01_dot_06_bar__plus_01_dot_92 - object\n Spatula_bar__minus_01_dot_11_bar__plus_00_dot_95_bar__plus_00_dot_29 - object\n Spatula_bar__minus_01_dot_47_bar__plus_00_dot_95_bar__plus_00_dot_43 - object\n Spoon_bar__minus_00_dot_83_bar__plus_01_dot_13_bar__plus_00_dot_66 - object\n Spoon_bar__minus_01_dot_29_bar__plus_00_dot_93_bar__plus_00_dot_57 - object\n StoveKnob_bar__minus_02_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_71 - object\n StoveKnob_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_00_dot_71 - object\n StoveKnob_bar__minus_03_dot_32_bar__plus_01_dot_05_bar__plus_00_dot_71 - object\n StoveKnob_bar__minus_03_dot_49_bar__plus_01_dot_05_bar__plus_00_dot_71 - object\n Tomato_bar__minus_00_dot_91_bar__plus_01_dot_09_bar__plus_02_dot_37 - object\n Window_bar__minus_01_dot_39_bar__plus_01_dot_93_bar__plus_00_dot_02 - object\n Window_bar__minus_03_dot_27_bar__plus_01_dot_93_bar__plus_00_dot_02 - object\n Cabinet_bar__minus_01_dot_00_bar__plus_00_dot_39_bar__plus_00_dot_73 - receptacle\n Cabinet_bar__minus_01_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_73 - receptacle\n CoffeeMachine_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__plus_03_dot_19 - receptacle\n CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49 - receptacle\n CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38 - receptacle\n CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38 - receptacle\n DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49 - receptacle\n Drawer_bar__minus_02_dot_04_bar__plus_00_dot_22_bar__plus_00_dot_59 - receptacle\n Drawer_bar__minus_02_dot_04_bar__plus_00_dot_61_bar__plus_00_dot_59 - receptacle\n Drawer_bar__minus_02_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_60 - receptacle\n Drawer_bar__minus_02_dot_50_bar__plus_00_dot_22_bar__plus_00_dot_59 - receptacle\n Drawer_bar__minus_02_dot_50_bar__plus_00_dot_61_bar__plus_00_dot_59 - receptacle\n Drawer_bar__minus_02_dot_51_bar__plus_00_dot_94_bar__plus_00_dot_60 - receptacle\n Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72 - receptacle\n GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01 - receptacle\n Microwave_bar__minus_00_dot_37_bar__plus_01_dot_11_bar__plus_00_dot_43 - receptacle\n Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_23 - receptacle\n StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_48 - receptacle\n StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_23 - receptacle\n StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_48 - receptacle\n Toaster_bar__minus_00_dot_23_bar__plus_01_dot_04_bar__plus_02_dot_87 - receptacle\n loc_bar__minus_7_bar_7_bar_2_bar_45 - location\n loc_bar__minus_14_bar_5_bar_2_bar_45 - location\n loc_bar__minus_10_bar_11_bar_3_bar_60 - location\n loc_bar__minus_6_bar_4_bar_2_bar_45 - location\n loc_bar__minus_8_bar_4_bar_3_bar_60 - location\n loc_bar__minus_7_bar_4_bar_3_bar_60 - location\n loc_bar__minus_4_bar_4_bar_3_bar_60 - location\n loc_bar__minus_5_bar_12_bar_1_bar_30 - location\n loc_bar__minus_13_bar_5_bar_2_bar_45 - location\n loc_bar__minus_6_bar_4_bar_2_bar__minus_15 - location\n loc_bar__minus_5_bar_11_bar_1_bar_30 - location\n loc_bar__minus_10_bar_12_bar_0_bar_30 - location\n loc_bar__minus_14_bar_5_bar_2_bar_30 - location\n loc_bar__minus_12_bar_5_bar_2_bar_45 - location\n loc_bar__minus_5_bar_9_bar_1_bar_60 - location\n loc_bar__minus_6_bar_4_bar_3_bar_60 - location\n loc_bar__minus_4_bar_4_bar_2_bar_45 - location\n loc_bar__minus_14_bar_6_bar_0_bar_60 - location\n loc_bar__minus_4_bar_5_bar_2_bar_45 - location\n loc_bar__minus_7_bar_4_bar_2_bar_45 - location\n loc_bar__minus_5_bar_4_bar_3_bar_60 - location\n loc_bar__minus_13_bar_5_bar_2_bar__minus_15 - location\n loc_bar__minus_12_bar_5_bar_2_bar_30 - location\n loc_bar__minus_6_bar_4_bar_1_bar_30 - location\n loc_bar__minus_13_bar_6_bar_2_bar_30 - location\n loc_bar__minus_1_bar_4_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_48 StoveBurnerType)\n (receptacleType CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38 CounterTopType)\n (receptacleType StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_23 StoveBurnerType)\n (receptacleType Drawer_bar__minus_02_dot_50_bar__plus_00_dot_61_bar__plus_00_dot_59 DrawerType)\n (receptacleType Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72 FridgeType)\n (receptacleType DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49 DiningTableType)\n (receptacleType Drawer_bar__minus_02_dot_51_bar__plus_00_dot_94_bar__plus_00_dot_60 DrawerType)\n (receptacleType CoffeeMachine_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__plus_03_dot_19 CoffeeMachineType)\n (receptacleType CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49 CounterTopType)\n (receptacleType Cabinet_bar__minus_01_dot_00_bar__plus_00_dot_39_bar__plus_00_dot_73 CabinetType)\n (receptacleType GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01 GarbageCanType)\n (receptacleType Toaster_bar__minus_00_dot_23_bar__plus_01_dot_04_bar__plus_02_dot_87 ToasterType)\n (receptacleType StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_23 StoveBurnerType)\n (receptacleType Microwave_bar__minus_00_dot_37_bar__plus_01_dot_11_bar__plus_00_dot_43 MicrowaveType)\n (receptacleType CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38 CounterTopType)\n (receptacleType Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin SinkBasinType)\n (receptacleType Drawer_bar__minus_02_dot_50_bar__plus_00_dot_22_bar__plus_00_dot_59 DrawerType)\n (receptacleType Drawer_bar__minus_02_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_60 DrawerType)\n (receptacleType StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_48 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_01_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_73 CabinetType)\n (receptacleType Drawer_bar__minus_02_dot_04_bar__plus_00_dot_22_bar__plus_00_dot_59 DrawerType)\n (receptacleType Drawer_bar__minus_02_dot_04_bar__plus_00_dot_61_bar__plus_00_dot_59 DrawerType)\n (objectType SoapBottle_bar__minus_01_dot_66_bar__plus_01_dot_15_bar__plus_00_dot_10 SoapBottleType)\n (objectType Apple_bar__minus_00_dot_42_bar__plus_01_dot_30_bar__plus_00_dot_38 AppleType)\n (objectType Ladle_bar__minus_02_dot_01_bar__plus_01_dot_16_bar__plus_00_dot_28 LadleType)\n (objectType Pot_bar__minus_03_dot_00_bar__plus_01_dot_13_bar__plus_00_dot_48 PotType)\n (objectType Cup_bar__minus_01_dot_20_bar__plus_00_dot_93_bar__plus_00_dot_29 CupType)\n (objectType Spatula_bar__minus_00_dot_66_bar__plus_01_dot_06_bar__plus_01_dot_92 SpatulaType)\n (objectType Plate_bar__minus_00_dot_91_bar__plus_01_dot_05_bar__plus_02_dot_14 PlateType)\n (objectType StoveKnob_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_00_dot_71 StoveKnobType)\n (objectType Bowl_bar__minus_01_dot_60_bar__plus_00_dot_05_bar__plus_00_dot_55 BowlType)\n (objectType Apple_bar__minus_03_dot_64_bar__plus_00_dot_98_bar__plus_02_dot_85 AppleType)\n (objectType Apple_bar__minus_03_dot_80_bar__plus_00_dot_18_bar__plus_01_dot_98 AppleType)\n (objectType HousePlant_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__plus_00_dot_17 HousePlantType)\n (objectType SoapBottle_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_03_dot_04 SoapBottleType)\n (objectType Cup_bar__minus_03_dot_31_bar__plus_01_dot_28_bar__plus_03_dot_06 CupType)\n (objectType Knife_bar__minus_01_dot_55_bar__plus_00_dot_96_bar__plus_00_dot_57 KnifeType)\n (objectType Mug_bar__minus_00_dot_54_bar__plus_01_dot_04_bar__plus_02_dot_82 MugType)\n (objectType Fork_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_02_dot_59 ForkType)\n (objectType ButterKnife_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_02_dot_14 ButterKnifeType)\n (objectType Potato_bar__minus_01_dot_20_bar__plus_00_dot_96_bar__plus_00_dot_57 PotatoType)\n (objectType Pan_bar__minus_00_dot_27_bar__plus_01_dot_04_bar__plus_02_dot_56 PanType)\n (objectType PepperShaker_bar__minus_02_dot_51_bar__plus_00_dot_90_bar__plus_00_dot_58 PepperShakerType)\n (objectType StoveKnob_bar__minus_03_dot_49_bar__plus_01_dot_05_bar__plus_00_dot_71 StoveKnobType)\n (objectType DishSponge_bar__minus_02_dot_39_bar__plus_01_dot_12_bar__plus_00_dot_10 DishSpongeType)\n (objectType ButterKnife_bar__minus_02_dot_51_bar__plus_01_dot_12_bar__plus_00_dot_38 ButterKnifeType)\n (objectType StoveKnob_bar__minus_02_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_71 StoveKnobType)\n (objectType Egg_bar__minus_00_dot_20_bar__plus_01_dot_26_bar__plus_00_dot_41 EggType)\n (objectType Apple_bar__minus_03_dot_44_bar__plus_01_dot_63_bar__plus_03_dot_06 AppleType)\n (objectType Spatula_bar__minus_01_dot_11_bar__plus_00_dot_95_bar__plus_00_dot_29 SpatulaType)\n (objectType LightSwitch_bar__minus_02_dot_58_bar__plus_01_dot_30_bar__plus_03_dot_50 LightSwitchType)\n (objectType Spoon_bar__minus_01_dot_29_bar__plus_00_dot_93_bar__plus_00_dot_57 SpoonType)\n (objectType Bread_bar__minus_00_dot_18_bar__plus_01_dot_12_bar__plus_01_dot_89 BreadType)\n (objectType Plate_bar__minus_03_dot_57_bar__plus_01_dot_29_bar__plus_03_dot_06 PlateType)\n (objectType ButterKnife_bar__minus_00_dot_72_bar__plus_01_dot_12_bar__plus_00_dot_57 ButterKnifeType)\n (objectType Window_bar__minus_03_dot_27_bar__plus_01_dot_93_bar__plus_00_dot_02 WindowType)\n (objectType Spoon_bar__minus_00_dot_83_bar__plus_01_dot_13_bar__plus_00_dot_66 SpoonType)\n (objectType Pot_bar__minus_01_dot_20_bar__plus_00_dot_05_bar__plus_00_dot_44 PotType)\n (objectType 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ButterKnife_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_02_dot_14 Plate_bar__minus_00_dot_91_bar__plus_01_dot_05_bar__plus_02_dot_14)\n (inReceptacle Lettuce_bar__minus_00_dot_91_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)\n (inReceptacle Fork_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_02_dot_59 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49)\n (inReceptacle ButterKnife_bar__minus_00_dot_79_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)\n (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)\n (inReceptacle Bread_bar__minus_00_dot_18_bar__plus_01_dot_12_bar__plus_01_dot_89 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49)\n (inReceptacle SoapBottle_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)\n (inReceptacle Spatula_bar__minus_00_dot_66_bar__plus_01_dot_06_bar__plus_01_dot_92 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49)\n (inReceptacle Plate_bar__minus_00_dot_91_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)\n (inReceptacle Mug_bar__minus_00_dot_54_bar__plus_01_dot_04_bar__plus_02_dot_82 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49)\n (inReceptacle Plate_bar__minus_00_dot_79_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)\n (inReceptacle Tomato_bar__minus_00_dot_91_bar__plus_01_dot_09_bar__plus_02_dot_37 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49)\n (inReceptacle Pot_bar__minus_01_dot_20_bar__plus_00_dot_05_bar__plus_00_dot_44 Cabinet_bar__minus_01_dot_00_bar__plus_00_dot_39_bar__plus_00_dot_73)\n (inReceptacle SaltShaker_bar__minus_01_dot_31_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)\n (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)\n (inReceptacle PepperShaker_bar__minus_02_dot_51_bar__plus_00_dot_90_bar__plus_00_dot_58 Drawer_bar__minus_02_dot_51_bar__plus_00_dot_94_bar__plus_00_dot_60)\n (inReceptacle Fork_bar__minus_02_dot_14_bar__plus_01_dot_13_bar__plus_00_dot_57 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38)\n (inReceptacle Ladle_bar__minus_02_dot_01_bar__plus_01_dot_16_bar__plus_00_dot_28 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38)\n (inReceptacle DishSponge_bar__minus_02_dot_39_bar__plus_01_dot_12_bar__plus_00_dot_10 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38)\n (inReceptacle ButterKnife_bar__minus_02_dot_51_bar__plus_01_dot_12_bar__plus_00_dot_38 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38)\n (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)\n (inReceptacle Spoon_bar__minus_00_dot_83_bar__plus_01_dot_13_bar__plus_00_dot_66 CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49)\n (inReceptacle ButterKnife_bar__minus_00_dot_72_bar__plus_01_dot_12_bar__plus_00_dot_57 CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49)\n (inReceptacle Bowl_bar__minus_01_dot_60_bar__plus_00_dot_05_bar__plus_00_dot_55 Cabinet_bar__minus_01_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_73)\n (inReceptacle Pot_bar__minus_03_dot_37_bar__plus_01_dot_56_bar__plus_02_dot_85 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72)\n (inReceptacle Apple_bar__minus_03_dot_44_bar__plus_01_dot_63_bar__plus_03_dot_06 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72)\n (inReceptacle Plate_bar__minus_03_dot_57_bar__plus_01_dot_29_bar__plus_03_dot_06 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72)\n (inReceptacle Apple_bar__minus_03_dot_64_bar__plus_00_dot_98_bar__plus_02_dot_85 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72)\n (inReceptacle Cup_bar__minus_03_dot_31_bar__plus_01_dot_28_bar__plus_03_dot_06 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72)\n (inReceptacle Apple_bar__minus_03_dot_80_bar__plus_00_dot_18_bar__plus_01_dot_98 GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01)\n (inReceptacle Egg_bar__minus_03_dot_70_bar__plus_00_dot_14_bar__plus_01_dot_95 GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01)\n (inReceptacle Knife_bar__minus_01_dot_55_bar__plus_00_dot_96_bar__plus_00_dot_57 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin)\n (inReceptacle Spatula_bar__minus_01_dot_11_bar__plus_00_dot_95_bar__plus_00_dot_29 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin)\n (inReceptacle Potato_bar__minus_01_dot_20_bar__plus_00_dot_96_bar__plus_00_dot_57 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin)\n (inReceptacle Spatula_bar__minus_01_dot_47_bar__plus_00_dot_95_bar__plus_00_dot_43 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin)\n (inReceptacle Spoon_bar__minus_01_dot_29_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)\n (inReceptacle Cup_bar__minus_01_dot_20_bar__plus_00_dot_93_bar__plus_00_dot_29 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin)\n (inReceptacle Egg_bar__minus_00_dot_20_bar__plus_01_dot_26_bar__plus_00_dot_41 Microwave_bar__minus_00_dot_37_bar__plus_01_dot_11_bar__plus_00_dot_43)\n (inReceptacle Apple_bar__minus_00_dot_42_bar__plus_01_dot_30_bar__plus_00_dot_38 Microwave_bar__minus_00_dot_37_bar__plus_01_dot_11_bar__plus_00_dot_43)\n \n \n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (objectAtLocation Spoon_bar__minus_01_dot_29_bar__plus_00_dot_93_bar__plus_00_dot_57 loc_bar__minus_4_bar_5_bar_2_bar_45)\n (objectAtLocation Apple_bar__minus_03_dot_44_bar__plus_01_dot_63_bar__plus_03_dot_06 loc_bar__minus_10_bar_11_bar_3_bar_60)\n (objectAtLocation ButterKnife_bar__minus_02_dot_51_bar__plus_01_dot_12_bar__plus_00_dot_38 loc_bar__minus_7_bar_4_bar_2_bar_45)\n (objectAtLocation Cup_bar__minus_01_dot_20_bar__plus_00_dot_93_bar__plus_00_dot_29 loc_bar__minus_4_bar_5_bar_2_bar_45)\n (objectAtLocation Egg_bar__minus_03_dot_70_bar__plus_00_dot_14_bar__plus_01_dot_95 loc_bar__minus_14_bar_6_bar_0_bar_60)\n (objectAtLocation Spatula_bar__minus_01_dot_47_bar__plus_00_dot_95_bar__plus_00_dot_43 loc_bar__minus_4_bar_5_bar_2_bar_45)\n (objectAtLocation Plate_bar__minus_00_dot_91_bar__plus_01_dot_05_bar__plus_02_dot_14 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation Pot_bar__minus_01_dot_20_bar__plus_00_dot_05_bar__plus_00_dot_44 loc_bar__minus_7_bar_7_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_03_dot_04 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation Fork_bar__minus_02_dot_14_bar__plus_01_dot_13_bar__plus_00_dot_57 loc_bar__minus_7_bar_4_bar_2_bar_45)\n (objectAtLocation Apple_bar__minus_03_dot_80_bar__plus_00_dot_18_bar__plus_01_dot_98 loc_bar__minus_14_bar_6_bar_0_bar_60)\n (objectAtLocation Apple_bar__minus_00_dot_42_bar__plus_01_dot_30_bar__plus_00_dot_38 loc_bar__minus_6_bar_4_bar_1_bar_30)\n (objectAtLocation Plate_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_02_dot_82 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation Spatula_bar__minus_00_dot_66_bar__plus_01_dot_06_bar__plus_01_dot_92 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation Pot_bar__minus_03_dot_37_bar__plus_01_dot_56_bar__plus_02_dot_85 loc_bar__minus_10_bar_11_bar_3_bar_60)\n (objectAtLocation ButterKnife_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_02_dot_14 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__minus_03_dot_32_bar__plus_01_dot_05_bar__plus_00_dot_71 loc_bar__minus_13_bar_5_bar_2_bar_45)\n (objectAtLocation Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44 loc_bar__minus_6_bar_4_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_00_dot_71 loc_bar__minus_13_bar_5_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__minus_03_dot_49_bar__plus_01_dot_05_bar__plus_00_dot_71 loc_bar__minus_14_bar_5_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__minus_02_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_71 loc_bar__minus_12_bar_5_bar_2_bar_45)\n (objectAtLocation Fork_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_02_dot_59 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (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)\n (objectAtLocation Pot_bar__minus_03_dot_00_bar__plus_01_dot_13_bar__plus_00_dot_48 loc_bar__minus_12_bar_5_bar_2_bar_30)\n (objectAtLocation Ladle_bar__minus_02_dot_01_bar__plus_01_dot_16_bar__plus_00_dot_28 loc_bar__minus_7_bar_4_bar_2_bar_45)\n (objectAtLocation Potato_bar__minus_01_dot_20_bar__plus_00_dot_96_bar__plus_00_dot_57 loc_bar__minus_4_bar_5_bar_2_bar_45)\n (objectAtLocation Plate_bar__minus_03_dot_57_bar__plus_01_dot_29_bar__plus_03_dot_06 loc_bar__minus_10_bar_11_bar_3_bar_60)\n (objectAtLocation Bread_bar__minus_00_dot_18_bar__plus_01_dot_12_bar__plus_01_dot_89 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation Lettuce_bar__minus_00_dot_91_bar__plus_01_dot_13_bar__plus_03_dot_27 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation Window_bar__minus_01_dot_39_bar__plus_01_dot_93_bar__plus_00_dot_02 loc_bar__minus_6_bar_4_bar_2_bar__minus_15)\n (objectAtLocation Window_bar__minus_03_dot_27_bar__plus_01_dot_93_bar__plus_00_dot_02 loc_bar__minus_13_bar_5_bar_2_bar__minus_15)\n (objectAtLocation Spatula_bar__minus_01_dot_11_bar__plus_00_dot_95_bar__plus_00_dot_29 loc_bar__minus_4_bar_5_bar_2_bar_45)\n (objectAtLocation Pan_bar__minus_00_dot_27_bar__plus_01_dot_04_bar__plus_02_dot_56 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation Egg_bar__minus_00_dot_20_bar__plus_01_dot_26_bar__plus_00_dot_41 loc_bar__minus_6_bar_4_bar_1_bar_30)\n (objectAtLocation Cup_bar__minus_03_dot_31_bar__plus_01_dot_28_bar__plus_03_dot_06 loc_bar__minus_10_bar_11_bar_3_bar_60)\n (objectAtLocation SaltShaker_bar__minus_01_dot_31_bar__plus_00_dot_05_bar__plus_00_dot_66 loc_bar__minus_7_bar_7_bar_2_bar_45)\n (objectAtLocation Knife_bar__minus_01_dot_55_bar__plus_00_dot_96_bar__plus_00_dot_57 loc_bar__minus_4_bar_5_bar_2_bar_45)\n (objectAtLocation Bowl_bar__minus_01_dot_60_bar__plus_00_dot_05_bar__plus_00_dot_55 loc_bar__minus_7_bar_7_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__minus_02_dot_51_bar__plus_00_dot_90_bar__plus_00_dot_58 loc_bar__minus_8_bar_4_bar_3_bar_60)\n (objectAtLocation ButterKnife_bar__minus_00_dot_72_bar__plus_01_dot_12_bar__plus_00_dot_57 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Apple_bar__minus_03_dot_64_bar__plus_00_dot_98_bar__plus_02_dot_85 loc_bar__minus_10_bar_11_bar_3_bar_60)\n (objectAtLocation Tomato_bar__minus_00_dot_91_bar__plus_01_dot_09_bar__plus_02_dot_37 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation DishSponge_bar__minus_02_dot_39_bar__plus_01_dot_12_bar__plus_00_dot_10 loc_bar__minus_7_bar_4_bar_2_bar_45)\n (objectAtLocation HousePlant_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__plus_00_dot_17 loc_bar__minus_7_bar_4_bar_2_bar_45)\n (objectAtLocation LightSwitch_bar__minus_02_dot_58_bar__plus_01_dot_30_bar__plus_03_dot_50 loc_bar__minus_10_bar_12_bar_0_bar_30)\n (objectAtLocation Spoon_bar__minus_00_dot_83_bar__plus_01_dot_13_bar__plus_00_dot_66 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_54_bar__plus_01_dot_04_bar__plus_02_dot_82 loc_bar__minus_5_bar_9_bar_1_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 AppleType)\n (receptacleType ?r DiningTableType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to garbagecan 1", "take apple 1 from garbagecan 1", "go to sinkbasin 1", "clean apple 1 with sinkbasin 1", "go to diningtable 1", "move apple 1 to diningtable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Apple-None-DiningTable-4/trial_T20190908_104413_450768/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Apple-None-DiningTable-4/trial_T20190908_104413_450768/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..5c5ac1f9a91c3f7fc8124f2bc32137e1ec31a65e --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Apple-None-DiningTable-4/trial_T20190908_104413_450768/initial_state.pddl @@ -0,0 +1,871 @@ + +(define (problem plan_trial_T20190908_104413_450768) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__minus_00_dot_42_bar__plus_01_dot_30_bar__plus_00_dot_38 - object + Apple_bar__minus_03_dot_44_bar__plus_01_dot_63_bar__plus_03_dot_06 - object + Apple_bar__minus_03_dot_64_bar__plus_00_dot_98_bar__plus_02_dot_85 - object + Apple_bar__minus_03_dot_80_bar__plus_00_dot_18_bar__plus_01_dot_98 - object + Bowl_bar__minus_01_dot_60_bar__plus_00_dot_05_bar__plus_00_dot_55 - object + Bread_bar__minus_00_dot_18_bar__plus_01_dot_12_bar__plus_01_dot_89 - object + ButterKnife_bar__minus_00_dot_72_bar__plus_01_dot_12_bar__plus_00_dot_57 - object + ButterKnife_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_02_dot_14 - object + ButterKnife_bar__minus_02_dot_51_bar__plus_01_dot_12_bar__plus_00_dot_38 - object + Cup_bar__minus_01_dot_20_bar__plus_00_dot_93_bar__plus_00_dot_29 - object + Cup_bar__minus_03_dot_31_bar__plus_01_dot_28_bar__plus_03_dot_06 - object + DishSponge_bar__minus_02_dot_39_bar__plus_01_dot_12_bar__plus_00_dot_10 - object + Egg_bar__minus_00_dot_20_bar__plus_01_dot_26_bar__plus_00_dot_41 - object + Egg_bar__minus_03_dot_70_bar__plus_00_dot_14_bar__plus_01_dot_95 - object + Faucet_bar__minus_01_dot_39_bar__plus_01_dot_37_bar__plus_00_dot_17 - object + Fork_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_02_dot_59 - object + Fork_bar__minus_02_dot_14_bar__plus_01_dot_13_bar__plus_00_dot_57 - object + HousePlant_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__plus_00_dot_17 - object + Knife_bar__minus_01_dot_55_bar__plus_00_dot_96_bar__plus_00_dot_57 - object + Ladle_bar__minus_02_dot_01_bar__plus_01_dot_16_bar__plus_00_dot_28 - object + Lettuce_bar__minus_00_dot_91_bar__plus_01_dot_13_bar__plus_03_dot_27 - object + LightSwitch_bar__minus_02_dot_58_bar__plus_01_dot_30_bar__plus_03_dot_50 - object + Mug_bar__minus_00_dot_54_bar__plus_01_dot_04_bar__plus_02_dot_82 - object + Pan_bar__minus_00_dot_27_bar__plus_01_dot_04_bar__plus_02_dot_56 - object + PepperShaker_bar__minus_02_dot_51_bar__plus_00_dot_90_bar__plus_00_dot_58 - object + Plate_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_02_dot_82 - object + Plate_bar__minus_00_dot_91_bar__plus_01_dot_05_bar__plus_02_dot_14 - object + Plate_bar__minus_03_dot_57_bar__plus_01_dot_29_bar__plus_03_dot_06 - object + Potato_bar__minus_01_dot_20_bar__plus_00_dot_96_bar__plus_00_dot_57 - object + Pot_bar__minus_01_dot_20_bar__plus_00_dot_05_bar__plus_00_dot_44 - object + Pot_bar__minus_03_dot_00_bar__plus_01_dot_13_bar__plus_00_dot_48 - object + Pot_bar__minus_03_dot_37_bar__plus_01_dot_56_bar__plus_02_dot_85 - object + SaltShaker_bar__minus_01_dot_31_bar__plus_00_dot_05_bar__plus_00_dot_66 - object + Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44 - object + SoapBottle_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_03_dot_04 - object + SoapBottle_bar__minus_01_dot_66_bar__plus_01_dot_15_bar__plus_00_dot_10 - object + Spatula_bar__minus_00_dot_66_bar__plus_01_dot_06_bar__plus_01_dot_92 - object + Spatula_bar__minus_01_dot_11_bar__plus_00_dot_95_bar__plus_00_dot_29 - object + Spatula_bar__minus_01_dot_47_bar__plus_00_dot_95_bar__plus_00_dot_43 - object + Spoon_bar__minus_00_dot_83_bar__plus_01_dot_13_bar__plus_00_dot_66 - object + Spoon_bar__minus_01_dot_29_bar__plus_00_dot_93_bar__plus_00_dot_57 - object + StoveKnob_bar__minus_02_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_71 - object + StoveKnob_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_00_dot_71 - object + StoveKnob_bar__minus_03_dot_32_bar__plus_01_dot_05_bar__plus_00_dot_71 - object + StoveKnob_bar__minus_03_dot_49_bar__plus_01_dot_05_bar__plus_00_dot_71 - object + Tomato_bar__minus_00_dot_91_bar__plus_01_dot_09_bar__plus_02_dot_37 - object + Window_bar__minus_01_dot_39_bar__plus_01_dot_93_bar__plus_00_dot_02 - object + Window_bar__minus_03_dot_27_bar__plus_01_dot_93_bar__plus_00_dot_02 - object + Cabinet_bar__minus_01_dot_00_bar__plus_00_dot_39_bar__plus_00_dot_73 - receptacle + Cabinet_bar__minus_01_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_73 - receptacle + CoffeeMachine_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__plus_03_dot_19 - receptacle + CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49 - receptacle + CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38 - receptacle + CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38 - receptacle + DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49 - receptacle + Drawer_bar__minus_02_dot_04_bar__plus_00_dot_22_bar__plus_00_dot_59 - receptacle + Drawer_bar__minus_02_dot_04_bar__plus_00_dot_61_bar__plus_00_dot_59 - receptacle + Drawer_bar__minus_02_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_60 - receptacle + Drawer_bar__minus_02_dot_50_bar__plus_00_dot_22_bar__plus_00_dot_59 - receptacle + Drawer_bar__minus_02_dot_50_bar__plus_00_dot_61_bar__plus_00_dot_59 - receptacle + Drawer_bar__minus_02_dot_51_bar__plus_00_dot_94_bar__plus_00_dot_60 - receptacle + Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72 - receptacle + GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01 - receptacle + Microwave_bar__minus_00_dot_37_bar__plus_01_dot_11_bar__plus_00_dot_43 - receptacle + Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin - receptacle + StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_23 - receptacle + StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_48 - receptacle + StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_23 - receptacle + StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_48 - receptacle + Toaster_bar__minus_00_dot_23_bar__plus_01_dot_04_bar__plus_02_dot_87 - receptacle + loc_bar__minus_7_bar_7_bar_2_bar_45 - location + loc_bar__minus_14_bar_5_bar_2_bar_45 - location + loc_bar__minus_10_bar_11_bar_3_bar_60 - location + loc_bar__minus_6_bar_4_bar_2_bar_45 - location + loc_bar__minus_8_bar_4_bar_3_bar_60 - location + loc_bar__minus_7_bar_4_bar_3_bar_60 - location + loc_bar__minus_4_bar_4_bar_3_bar_60 - location + loc_bar__minus_5_bar_12_bar_1_bar_30 - location + loc_bar__minus_13_bar_5_bar_2_bar_45 - location + loc_bar__minus_6_bar_4_bar_2_bar__minus_15 - location + loc_bar__minus_5_bar_11_bar_1_bar_30 - location + loc_bar__minus_10_bar_12_bar_0_bar_30 - location + loc_bar__minus_14_bar_5_bar_2_bar_30 - location + loc_bar__minus_12_bar_5_bar_2_bar_45 - location + loc_bar__minus_5_bar_9_bar_1_bar_60 - location + loc_bar__minus_6_bar_4_bar_3_bar_60 - location + loc_bar__minus_4_bar_4_bar_2_bar_45 - location + loc_bar__minus_14_bar_6_bar_0_bar_60 - location + loc_bar__minus_4_bar_5_bar_2_bar_45 - location + loc_bar__minus_7_bar_4_bar_2_bar_45 - location + loc_bar__minus_5_bar_4_bar_3_bar_60 - location + loc_bar__minus_13_bar_5_bar_2_bar__minus_15 - location + loc_bar__minus_12_bar_5_bar_2_bar_30 - location + loc_bar__minus_6_bar_4_bar_1_bar_30 - location + loc_bar__minus_13_bar_6_bar_2_bar_30 - location + loc_bar__minus_1_bar_4_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_48 StoveBurnerType) + (receptacleType CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38 CounterTopType) + (receptacleType StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_23 StoveBurnerType) + (receptacleType Drawer_bar__minus_02_dot_50_bar__plus_00_dot_61_bar__plus_00_dot_59 DrawerType) + (receptacleType Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72 FridgeType) + (receptacleType DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49 DiningTableType) + (receptacleType Drawer_bar__minus_02_dot_51_bar__plus_00_dot_94_bar__plus_00_dot_60 DrawerType) + (receptacleType CoffeeMachine_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__plus_03_dot_19 CoffeeMachineType) + (receptacleType CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49 CounterTopType) + (receptacleType Cabinet_bar__minus_01_dot_00_bar__plus_00_dot_39_bar__plus_00_dot_73 CabinetType) + (receptacleType GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01 GarbageCanType) + (receptacleType Toaster_bar__minus_00_dot_23_bar__plus_01_dot_04_bar__plus_02_dot_87 ToasterType) + (receptacleType StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_23 StoveBurnerType) + (receptacleType Microwave_bar__minus_00_dot_37_bar__plus_01_dot_11_bar__plus_00_dot_43 MicrowaveType) + (receptacleType CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38 CounterTopType) + (receptacleType Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin SinkBasinType) + (receptacleType Drawer_bar__minus_02_dot_50_bar__plus_00_dot_22_bar__plus_00_dot_59 DrawerType) + (receptacleType Drawer_bar__minus_02_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_60 DrawerType) + (receptacleType StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_48 StoveBurnerType) + (receptacleType Cabinet_bar__minus_01_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_73 CabinetType) + (receptacleType Drawer_bar__minus_02_dot_04_bar__plus_00_dot_22_bar__plus_00_dot_59 DrawerType) + (receptacleType Drawer_bar__minus_02_dot_04_bar__plus_00_dot_61_bar__plus_00_dot_59 DrawerType) + (objectType SoapBottle_bar__minus_01_dot_66_bar__plus_01_dot_15_bar__plus_00_dot_10 SoapBottleType) + (objectType Apple_bar__minus_00_dot_42_bar__plus_01_dot_30_bar__plus_00_dot_38 AppleType) + (objectType Ladle_bar__minus_02_dot_01_bar__plus_01_dot_16_bar__plus_00_dot_28 LadleType) + (objectType Pot_bar__minus_03_dot_00_bar__plus_01_dot_13_bar__plus_00_dot_48 PotType) + (objectType Cup_bar__minus_01_dot_20_bar__plus_00_dot_93_bar__plus_00_dot_29 CupType) + (objectType Spatula_bar__minus_00_dot_66_bar__plus_01_dot_06_bar__plus_01_dot_92 SpatulaType) + (objectType 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Plate_bar__minus_00_dot_91_bar__plus_01_dot_05_bar__plus_02_dot_14) + (inReceptacle Lettuce_bar__minus_00_dot_91_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 Fork_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_02_dot_59 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle ButterKnife_bar__minus_00_dot_79_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 Bread_bar__minus_00_dot_18_bar__plus_01_dot_12_bar__plus_01_dot_89 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle SoapBottle_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_03_dot_04 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Cabinet_bar__minus_01_dot_00_bar__plus_00_dot_39_bar__plus_00_dot_73) + (inReceptacle SaltShaker_bar__minus_01_dot_31_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 PepperShaker_bar__minus_02_dot_51_bar__plus_00_dot_90_bar__plus_00_dot_58 Drawer_bar__minus_02_dot_51_bar__plus_00_dot_94_bar__plus_00_dot_60) + (inReceptacle Fork_bar__minus_02_dot_14_bar__plus_01_dot_13_bar__plus_00_dot_57 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle Ladle_bar__minus_02_dot_01_bar__plus_01_dot_16_bar__plus_00_dot_28 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle DishSponge_bar__minus_02_dot_39_bar__plus_01_dot_12_bar__plus_00_dot_10 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Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle Apple_bar__minus_03_dot_44_bar__plus_01_dot_63_bar__plus_03_dot_06 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle Plate_bar__minus_03_dot_57_bar__plus_01_dot_29_bar__plus_03_dot_06 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle Apple_bar__minus_03_dot_64_bar__plus_00_dot_98_bar__plus_02_dot_85 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle Cup_bar__minus_03_dot_31_bar__plus_01_dot_28_bar__plus_03_dot_06 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle Apple_bar__minus_03_dot_80_bar__plus_00_dot_18_bar__plus_01_dot_98 GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01) + (inReceptacle Egg_bar__minus_03_dot_70_bar__plus_00_dot_14_bar__plus_01_dot_95 GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01) + (inReceptacle 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"trial_T20190908_104413_450768", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3F7G1FSFWQPLE_308Q0PEVBB4Q7HJ3OZ33JSIGXP0I9D", + "high_descs": [ + "Take a step forward then turn left to face the microwave.", + "Take the apple out of the microwave then close the door.", + "Turn around and take a step forward, then turn left and walk over to the sink.", + "Put the apple in the sink and turn on the water, after a couple seconds turn the water off and remove the clean apple.", + "Turn right and take a step forward, then turn right and walk to the wall, turn right again to face the wooden table.", + "Put the clean apple on the table in front of the bottle of lotion." + ], + "task_desc": "Put a clean apple on a wooden table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3PPLDHC3CG0YN_3LQ8PUHQFOJJMN1MMBRVW9G4G2OHII", + "high_descs": [ + "Turn left and face the microwave on the counter. ", + "Open the microwave door, take out the apple to the right of the egg, close the microwave door. ", + "Walk to the sink to the right of the microwave. ", + "Put the apple in the sink, rinse the apple with water, take the apple out of the sink. ", + "Turn around and walk to the table on the right. ", + "Place the apple down on the table to the right of the lettuce. " + ], + "task_desc": "To rinse an apple and put it on the table. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2871R3LEPWMMK_3X31TUMD70DA8DOE5PLNW2SPGIX1LU", + "high_descs": [ + "Walk to the microwave on the counter to the left.", + "Open the microwave, pick up the red apple from inside and close the door.", + "Turn around, take a left at the table and walk to the sink on the left.", + "Put the apple in the middle of the sink, rinse it for a few seconds and pick it back up.", + "Turn around, head towards the wall and turn right at the wall to face the wooden table.", + "Put the chilled apple in front of the blue bottle on the table." + ], + "task_desc": "Place a chilled apple on a table.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Apple-None-DiningTable-4/trial_T20190908_104438_181745/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Apple-None-DiningTable-4/trial_T20190908_104438_181745/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..7a28330fdc49e0676641b361200b69873ee7b836 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Apple-None-DiningTable-4/trial_T20190908_104438_181745/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 apple 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_T20190908_104438_181745)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__minus_03_dot_51_bar__plus_00_dot_98_bar__plus_02_dot_78 - object\n Apple_bar__minus_03_dot_89_bar__plus_01_dot_19_bar__plus_00_dot_28 - object\n Bowl_bar__minus_01_dot_60_bar__plus_00_dot_05_bar__plus_00_dot_38 - object\n Bowl_bar__minus_02_dot_39_bar__plus_01_dot_12_bar__plus_00_dot_19 - object\n Bowl_bar__minus_02_dot_39_bar__plus_01_dot_12_bar__plus_00_dot_57 - object\n Bread_bar__minus_00_dot_91_bar__plus_01_dot_13_bar__plus_02_dot_59 - object\n Bread_bar__minus_00_dot_91_bar__plus_01_dot_13_bar__plus_03_dot_04 - object\n Bread_bar__minus_02_dot_64_bar__plus_01_dot_21_bar__plus_00_dot_47 - object\n ButterKnife_bar__minus_00_dot_29_bar__plus_01_dot_05_bar__plus_02_dot_14 - object\n ButterKnife_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_02_dot_37 - object\n Cup_bar__minus_01_dot_60_bar__plus_00_dot_05_bar__plus_00_dot_67 - object\n DishSponge_bar__minus_01_dot_38_bar__plus_00_dot_93_bar__plus_00_dot_29 - object\n DishSponge_bar__minus_01_dot_38_bar__plus_00_dot_93_bar__plus_00_dot_43 - object\n DishSponge_bar__minus_01_dot_89_bar__plus_01_dot_12_bar__plus_00_dot_57 - object\n Egg_bar__minus_03_dot_37_bar__plus_00_dot_94_bar__plus_03_dot_06 - object\n Faucet_bar__minus_01_dot_39_bar__plus_01_dot_37_bar__plus_00_dot_17 - object\n Fork_bar__minus_00_dot_17_bar__plus_01_dot_05_bar__plus_01_dot_92 - object\n HousePlant_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__plus_00_dot_17 - object\n Knife_bar__minus_00_dot_66_bar__plus_01_dot_08_bar__plus_02_dot_59 - object\n Knife_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__plus_00_dot_50 - object\n Knife_bar__minus_01_dot_64_bar__plus_00_dot_96_bar__plus_00_dot_29 - object\n Ladle_bar__minus_00_dot_72_bar__plus_01_dot_16_bar__plus_00_dot_39 - object\n Ladle_bar__minus_00_dot_79_bar__plus_01_dot_09_bar__plus_01_dot_92 - object\n Ladle_bar__minus_00_dot_79_bar__plus_01_dot_09_bar__plus_03_dot_04 - object\n Lettuce_bar__minus_00_dot_17_bar__plus_01_dot_12_bar__plus_02_dot_14 - object\n Lettuce_bar__minus_00_dot_66_bar__plus_01_dot_13_bar__plus_03_dot_27 - object\n Lettuce_bar__minus_03_dot_51_bar__plus_01_dot_64_bar__plus_03_dot_06 - object\n LightSwitch_bar__minus_02_dot_58_bar__plus_01_dot_30_bar__plus_03_dot_50 - object\n Mug_bar__minus_00_dot_38_bar__plus_01_dot_09_bar__plus_03_dot_19 - object\n Mug_bar__minus_01_dot_20_bar__plus_00_dot_04_bar__plus_00_dot_61 - object\n Pan_bar__minus_00_dot_27_bar__plus_01_dot_04_bar__plus_02_dot_56 - object\n PepperShaker_bar__minus_00_dot_29_bar__plus_01_dot_04_bar__plus_01_dot_92 - object\n PepperShaker_bar__minus_00_dot_77_bar__plus_01_dot_12_bar__plus_00_dot_66 - object\n PepperShaker_bar__minus_03_dot_78_bar__plus_01_dot_12_bar__plus_00_dot_19 - object\n Plate_bar__minus_00_dot_42_bar__plus_01_dot_05_bar__plus_02_dot_14 - object\n Plate_bar__minus_01_dot_19_bar__plus_00_dot_92_bar__plus_00_dot_40 - object\n Potato_bar__minus_01_dot_20_bar__plus_00_dot_96_bar__plus_00_dot_64 - object\n Potato_bar__minus_03_dot_24_bar__plus_01_dot_59_bar__plus_03_dot_06 - object\n Pot_bar__minus_03_dot_48_bar__plus_01_dot_13_bar__plus_00_dot_23 - object\n Pot_bar__minus_03_dot_57_bar__plus_00_dot_92_bar__plus_03_dot_13 - object\n Pot_bar__minus_03_dot_57_bar__plus_01_dot_56_bar__plus_02_dot_85 - object\n SaltShaker_bar__minus_01_dot_48_bar__plus_00_dot_05_bar__plus_00_dot_61 - object\n SaltShaker_bar__minus_02_dot_09_bar__plus_00_dot_09_bar__plus_00_dot_55 - object\n Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44 - object\n SoapBottle_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_02_dot_59 - object\n SoapBottle_bar__minus_00_dot_91_bar__plus_01_dot_05_bar__plus_02_dot_37 - object\n SoapBottle_bar__minus_03_dot_81_bar__plus_01_dot_13_bar__plus_00_dot_47 - object\n Spatula_bar__minus_00_dot_79_bar__plus_01_dot_06_bar__plus_02_dot_14 - object\n Spatula_bar__minus_00_dot_88_bar__plus_01_dot_14_bar__plus_00_dot_12 - object\n Spoon_bar__minus_00_dot_91_bar__plus_01_dot_05_bar__plus_01_dot_92 - object\n Spoon_bar__minus_02_dot_64_bar__plus_00_dot_10_bar__plus_00_dot_61 - object\n Spoon_bar__minus_03_dot_74_bar__plus_01_dot_13_bar__plus_00_dot_47 - object\n StoveKnob_bar__minus_02_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_71 - object\n StoveKnob_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_00_dot_71 - object\n StoveKnob_bar__minus_03_dot_32_bar__plus_01_dot_05_bar__plus_00_dot_71 - object\n StoveKnob_bar__minus_03_dot_49_bar__plus_01_dot_05_bar__plus_00_dot_71 - object\n Tomato_bar__minus_00_dot_66_bar__plus_01_dot_09_bar__plus_03_dot_04 - object\n Tomato_bar__minus_00_dot_91_bar__plus_01_dot_09_bar__plus_02_dot_82 - object\n Tomato_bar__minus_03_dot_59_bar__plus_00_dot_15_bar__plus_02_dot_04 - object\n Window_bar__minus_01_dot_39_bar__plus_01_dot_93_bar__plus_00_dot_02 - object\n Window_bar__minus_03_dot_27_bar__plus_01_dot_93_bar__plus_00_dot_02 - object\n Cabinet_bar__minus_01_dot_00_bar__plus_00_dot_39_bar__plus_00_dot_73 - receptacle\n Cabinet_bar__minus_01_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_73 - receptacle\n CoffeeMachine_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__plus_03_dot_19 - receptacle\n CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49 - receptacle\n CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38 - receptacle\n CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38 - receptacle\n DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49 - receptacle\n Drawer_bar__minus_02_dot_04_bar__plus_00_dot_22_bar__plus_00_dot_59 - receptacle\n Drawer_bar__minus_02_dot_04_bar__plus_00_dot_61_bar__plus_00_dot_59 - receptacle\n Drawer_bar__minus_02_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_60 - receptacle\n Drawer_bar__minus_02_dot_50_bar__plus_00_dot_22_bar__plus_00_dot_59 - receptacle\n Drawer_bar__minus_02_dot_50_bar__plus_00_dot_61_bar__plus_00_dot_59 - receptacle\n Drawer_bar__minus_02_dot_51_bar__plus_00_dot_94_bar__plus_00_dot_60 - receptacle\n Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72 - receptacle\n GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01 - receptacle\n Microwave_bar__minus_00_dot_37_bar__plus_01_dot_11_bar__plus_00_dot_43 - receptacle\n Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_23 - receptacle\n StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_48 - receptacle\n StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_23 - receptacle\n StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_48 - receptacle\n Toaster_bar__minus_00_dot_23_bar__plus_01_dot_04_bar__plus_02_dot_87 - receptacle\n loc_bar__minus_7_bar_7_bar_2_bar_45 - location\n loc_bar__minus_14_bar_5_bar_2_bar_45 - location\n loc_bar__minus_10_bar_11_bar_3_bar_60 - location\n loc_bar__minus_6_bar_4_bar_2_bar_45 - location\n loc_bar__minus_8_bar_4_bar_3_bar_60 - location\n loc_bar__minus_7_bar_4_bar_3_bar_60 - location\n loc_bar__minus_4_bar_4_bar_3_bar_60 - location\n loc_bar__minus_5_bar_12_bar_1_bar_30 - location\n loc_bar__minus_13_bar_5_bar_2_bar_45 - location\n loc_bar__minus_6_bar_4_bar_2_bar__minus_15 - location\n loc_bar__minus_5_bar_11_bar_1_bar_30 - location\n loc_bar__minus_10_bar_12_bar_0_bar_30 - location\n loc_bar__minus_14_bar_5_bar_2_bar_30 - location\n loc_bar__minus_12_bar_5_bar_2_bar_45 - location\n loc_bar__minus_5_bar_9_bar_1_bar_60 - location\n loc_bar__minus_6_bar_4_bar_3_bar_60 - location\n loc_bar__minus_4_bar_4_bar_2_bar_45 - location\n loc_bar__minus_14_bar_6_bar_0_bar_60 - location\n loc_bar__minus_4_bar_5_bar_2_bar_45 - location\n loc_bar__minus_7_bar_4_bar_2_bar_45 - location\n loc_bar__minus_5_bar_9_bar_1_bar_30 - location\n loc_bar__minus_5_bar_4_bar_3_bar_60 - location\n loc_bar__minus_13_bar_5_bar_2_bar__minus_15 - location\n loc_bar__minus_12_bar_5_bar_2_bar_30 - location\n loc_bar__minus_6_bar_4_bar_1_bar_30 - location\n loc_bar__minus_13_bar_6_bar_2_bar_30 - location\n loc_bar__minus_5_bar_11_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_48 StoveBurnerType)\n (receptacleType CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38 CounterTopType)\n (receptacleType StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_23 StoveBurnerType)\n (receptacleType Drawer_bar__minus_02_dot_50_bar__plus_00_dot_61_bar__plus_00_dot_59 DrawerType)\n (receptacleType Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72 FridgeType)\n (receptacleType DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49 DiningTableType)\n (receptacleType Drawer_bar__minus_02_dot_51_bar__plus_00_dot_94_bar__plus_00_dot_60 DrawerType)\n (receptacleType CoffeeMachine_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__plus_03_dot_19 CoffeeMachineType)\n (receptacleType CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49 CounterTopType)\n (receptacleType Cabinet_bar__minus_01_dot_00_bar__plus_00_dot_39_bar__plus_00_dot_73 CabinetType)\n (receptacleType GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01 GarbageCanType)\n (receptacleType Toaster_bar__minus_00_dot_23_bar__plus_01_dot_04_bar__plus_02_dot_87 ToasterType)\n (receptacleType StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_23 StoveBurnerType)\n (receptacleType Microwave_bar__minus_00_dot_37_bar__plus_01_dot_11_bar__plus_00_dot_43 MicrowaveType)\n (receptacleType CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38 CounterTopType)\n (receptacleType Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin SinkBasinType)\n (receptacleType Drawer_bar__minus_02_dot_50_bar__plus_00_dot_22_bar__plus_00_dot_59 DrawerType)\n (receptacleType Drawer_bar__minus_02_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_60 DrawerType)\n (receptacleType StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_48 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_01_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_73 CabinetType)\n (receptacleType Drawer_bar__minus_02_dot_04_bar__plus_00_dot_22_bar__plus_00_dot_59 DrawerType)\n (receptacleType Drawer_bar__minus_02_dot_04_bar__plus_00_dot_61_bar__plus_00_dot_59 DrawerType)\n (objectType Mug_bar__minus_00_dot_38_bar__plus_01_dot_09_bar__plus_03_dot_19 MugType)\n (objectType DishSponge_bar__minus_01_dot_89_bar__plus_01_dot_12_bar__plus_00_dot_57 DishSpongeType)\n (objectType Ladle_bar__minus_00_dot_79_bar__plus_01_dot_09_bar__plus_01_dot_92 LadleType)\n (objectType Tomato_bar__minus_00_dot_91_bar__plus_01_dot_09_bar__plus_02_dot_82 TomatoType)\n (objectType Pot_bar__minus_03_dot_48_bar__plus_01_dot_13_bar__plus_00_dot_23 PotType)\n (objectType DishSponge_bar__minus_01_dot_38_bar__plus_00_dot_93_bar__plus_00_dot_29 DishSpongeType)\n (objectType PepperShaker_bar__minus_03_dot_78_bar__plus_01_dot_12_bar__plus_00_dot_19 PepperShakerType)\n (objectType Ladle_bar__minus_00_dot_72_bar__plus_01_dot_16_bar__plus_00_dot_39 LadleType)\n (objectType Pot_bar__minus_03_dot_57_bar__plus_01_dot_56_bar__plus_02_dot_85 PotType)\n (objectType Cup_bar__minus_01_dot_60_bar__plus_00_dot_05_bar__plus_00_dot_67 CupType)\n (objectType Bowl_bar__minus_01_dot_60_bar__plus_00_dot_05_bar__plus_00_dot_38 BowlType)\n (objectType SaltShaker_bar__minus_01_dot_48_bar__plus_00_dot_05_bar__plus_00_dot_61 SaltShakerType)\n (objectType StoveKnob_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_00_dot_71 StoveKnobType)\n (objectType Bowl_bar__minus_02_dot_39_bar__plus_01_dot_12_bar__plus_00_dot_57 BowlType)\n (objectType ButterKnife_bar__minus_00_dot_29_bar__plus_01_dot_05_bar__plus_02_dot_14 ButterKnifeType)\n (objectType Knife_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__plus_00_dot_50 KnifeType)\n (objectType Apple_bar__minus_03_dot_89_bar__plus_01_dot_19_bar__plus_00_dot_28 AppleType)\n (objectType HousePlant_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__plus_00_dot_17 HousePlantType)\n (objectType Window_bar__minus_01_dot_39_bar__plus_01_dot_93_bar__plus_00_dot_02 WindowType)\n (objectType Spoon_bar__minus_00_dot_91_bar__plus_01_dot_05_bar__plus_01_dot_92 SpoonType)\n (objectType Tomato_bar__minus_03_dot_59_bar__plus_00_dot_15_bar__plus_02_dot_04 TomatoType)\n (objectType PepperShaker_bar__minus_00_dot_29_bar__plus_01_dot_04_bar__plus_01_dot_92 PepperShakerType)\n (objectType Potato_bar__minus_01_dot_20_bar__plus_00_dot_96_bar__plus_00_dot_64 PotatoType)\n (objectType Pan_bar__minus_00_dot_27_bar__plus_01_dot_04_bar__plus_02_dot_56 PanType)\n (objectType Lettuce_bar__minus_00_dot_66_bar__plus_01_dot_13_bar__plus_03_dot_27 LettuceType)\n (objectType StoveKnob_bar__minus_03_dot_49_bar__plus_01_dot_05_bar__plus_00_dot_71 StoveKnobType)\n (objectType Tomato_bar__minus_00_dot_66_bar__plus_01_dot_09_bar__plus_03_dot_04 TomatoType)\n (objectType Knife_bar__minus_00_dot_66_bar__plus_01_dot_08_bar__plus_02_dot_59 KnifeType)\n (objectType StoveKnob_bar__minus_02_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_71 StoveKnobType)\n (objectType Bread_bar__minus_02_dot_64_bar__plus_01_dot_21_bar__plus_00_dot_47 BreadType)\n (objectType Mug_bar__minus_01_dot_20_bar__plus_00_dot_04_bar__plus_00_dot_61 MugType)\n (objectType Spatula_bar__minus_00_dot_79_bar__plus_01_dot_06_bar__plus_02_dot_14 SpatulaType)\n (objectType Ladle_bar__minus_00_dot_79_bar__plus_01_dot_09_bar__plus_03_dot_04 LadleType)\n (objectType Plate_bar__minus_00_dot_42_bar__plus_01_dot_05_bar__plus_02_dot_14 PlateType)\n (objectType Fork_bar__minus_00_dot_17_bar__plus_01_dot_05_bar__plus_01_dot_92 ForkType)\n (objectType LightSwitch_bar__minus_02_dot_58_bar__plus_01_dot_30_bar__plus_03_dot_50 LightSwitchType)\n (objectType Knife_bar__minus_01_dot_64_bar__plus_00_dot_96_bar__plus_00_dot_29 KnifeType)\n (objectType Pot_bar__minus_03_dot_57_bar__plus_00_dot_92_bar__plus_03_dot_13 PotType)\n (objectType Window_bar__minus_03_dot_27_bar__plus_01_dot_93_bar__plus_00_dot_02 WindowType)\n (objectType ButterKnife_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_02_dot_37 ButterKnifeType)\n (objectType Bread_bar__minus_00_dot_91_bar__plus_01_dot_13_bar__plus_02_dot_59 BreadType)\n (objectType Spatula_bar__minus_00_dot_88_bar__plus_01_dot_14_bar__plus_00_dot_12 SpatulaType)\n (objectType SaltShaker_bar__minus_02_dot_09_bar__plus_00_dot_09_bar__plus_00_dot_55 SaltShakerType)\n (objectType Potato_bar__minus_03_dot_24_bar__plus_01_dot_59_bar__plus_03_dot_06 PotatoType)\n (objectType Egg_bar__minus_03_dot_37_bar__plus_00_dot_94_bar__plus_03_dot_06 EggType)\n (objectType Bread_bar__minus_00_dot_91_bar__plus_01_dot_13_bar__plus_03_dot_04 BreadType)\n (objectType SoapBottle_bar__minus_00_dot_91_bar__plus_01_dot_05_bar__plus_02_dot_37 SoapBottleType)\n (objectType Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44 SinkType)\n (objectType Plate_bar__minus_01_dot_19_bar__plus_00_dot_92_bar__plus_00_dot_40 PlateType)\n (objectType PepperShaker_bar__minus_00_dot_77_bar__plus_01_dot_12_bar__plus_00_dot_66 PepperShakerType)\n (objectType DishSponge_bar__minus_01_dot_38_bar__plus_00_dot_93_bar__plus_00_dot_43 DishSpongeType)\n (objectType Lettuce_bar__minus_03_dot_51_bar__plus_01_dot_64_bar__plus_03_dot_06 LettuceType)\n (objectType SoapBottle_bar__minus_03_dot_81_bar__plus_01_dot_13_bar__plus_00_dot_47 SoapBottleType)\n (objectType Spoon_bar__minus_02_dot_64_bar__plus_00_dot_10_bar__plus_00_dot_61 SpoonType)\n (objectType Spoon_bar__minus_03_dot_74_bar__plus_01_dot_13_bar__plus_00_dot_47 SpoonType)\n (objectType StoveKnob_bar__minus_03_dot_32_bar__plus_01_dot_05_bar__plus_00_dot_71 StoveKnobType)\n (objectType Bowl_bar__minus_02_dot_39_bar__plus_01_dot_12_bar__plus_00_dot_19 BowlType)\n (objectType Apple_bar__minus_03_dot_51_bar__plus_00_dot_98_bar__plus_02_dot_78 AppleType)\n (objectType Lettuce_bar__minus_00_dot_17_bar__plus_01_dot_12_bar__plus_02_dot_14 LettuceType)\n (objectType SoapBottle_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_02_dot_59 SoapBottleType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain CounterTopType SaltShakerType)\n (canContain CounterTopType BreadType)\n (canContain CounterTopType DishSpongeType)\n (canContain CounterTopType BowlType)\n (canContain CounterTopType PotType)\n (canContain CounterTopType MugType)\n (canContain CounterTopType EggType)\n (canContain CounterTopType LadleType)\n (canContain CounterTopType ForkType)\n (canContain CounterTopType SpoonType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType LettuceType)\n (canContain CounterTopType PotatoType)\n (canContain CounterTopType ButterKnifeType)\n (canContain CounterTopType CupType)\n (canContain CounterTopType PlateType)\n (canContain CounterTopType PepperShakerType)\n (canContain CounterTopType TomatoType)\n (canContain CounterTopType KnifeType)\n (canContain CounterTopType AppleType)\n (canContain CounterTopType PanType)\n (canContain CounterTopType SpatulaType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain FridgeType BreadType)\n (canContain FridgeType BowlType)\n (canContain FridgeType PotType)\n (canContain FridgeType MugType)\n (canContain FridgeType EggType)\n (canContain FridgeType LettuceType)\n (canContain FridgeType PotatoType)\n (canContain FridgeType CupType)\n (canContain FridgeType PlateType)\n (canContain FridgeType TomatoType)\n (canContain FridgeType AppleType)\n (canContain FridgeType PanType)\n (canContain DiningTableType SaltShakerType)\n (canContain DiningTableType BreadType)\n (canContain DiningTableType DishSpongeType)\n (canContain DiningTableType BowlType)\n (canContain DiningTableType PotType)\n (canContain DiningTableType MugType)\n (canContain DiningTableType EggType)\n (canContain DiningTableType LadleType)\n (canContain DiningTableType ForkType)\n (canContain DiningTableType SpoonType)\n (canContain DiningTableType SoapBottleType)\n (canContain DiningTableType LettuceType)\n (canContain DiningTableType PotatoType)\n (canContain DiningTableType ButterKnifeType)\n (canContain DiningTableType CupType)\n (canContain DiningTableType PlateType)\n (canContain DiningTableType PepperShakerType)\n (canContain DiningTableType TomatoType)\n (canContain DiningTableType KnifeType)\n (canContain DiningTableType AppleType)\n (canContain DiningTableType PanType)\n (canContain DiningTableType SpatulaType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain CoffeeMachineType MugType)\n (canContain CounterTopType SaltShakerType)\n (canContain CounterTopType BreadType)\n (canContain CounterTopType DishSpongeType)\n (canContain CounterTopType BowlType)\n (canContain CounterTopType PotType)\n (canContain CounterTopType MugType)\n (canContain CounterTopType EggType)\n (canContain CounterTopType LadleType)\n (canContain CounterTopType ForkType)\n (canContain CounterTopType SpoonType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType LettuceType)\n (canContain CounterTopType PotatoType)\n (canContain CounterTopType ButterKnifeType)\n (canContain CounterTopType CupType)\n (canContain CounterTopType PlateType)\n (canContain CounterTopType PepperShakerType)\n (canContain CounterTopType TomatoType)\n (canContain CounterTopType KnifeType)\n (canContain CounterTopType AppleType)\n (canContain CounterTopType PanType)\n (canContain CounterTopType SpatulaType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain GarbageCanType BreadType)\n (canContain GarbageCanType DishSpongeType)\n (canContain GarbageCanType EggType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType LettuceType)\n (canContain GarbageCanType PotatoType)\n (canContain GarbageCanType TomatoType)\n (canContain GarbageCanType AppleType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain MicrowaveType MugType)\n (canContain MicrowaveType PotatoType)\n (canContain MicrowaveType EggType)\n (canContain MicrowaveType AppleType)\n (canContain MicrowaveType TomatoType)\n (canContain MicrowaveType BreadType)\n (canContain MicrowaveType CupType)\n (canContain MicrowaveType PlateType)\n (canContain MicrowaveType BowlType)\n (canContain CounterTopType SaltShakerType)\n (canContain CounterTopType BreadType)\n (canContain CounterTopType DishSpongeType)\n (canContain CounterTopType BowlType)\n (canContain CounterTopType PotType)\n (canContain CounterTopType MugType)\n (canContain CounterTopType EggType)\n (canContain CounterTopType LadleType)\n (canContain CounterTopType ForkType)\n (canContain CounterTopType SpoonType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType LettuceType)\n (canContain CounterTopType PotatoType)\n (canContain CounterTopType ButterKnifeType)\n (canContain CounterTopType CupType)\n (canContain CounterTopType PlateType)\n (canContain CounterTopType PepperShakerType)\n (canContain CounterTopType TomatoType)\n (canContain CounterTopType KnifeType)\n (canContain CounterTopType AppleType)\n (canContain CounterTopType PanType)\n (canContain CounterTopType SpatulaType)\n (canContain SinkBasinType DishSpongeType)\n (canContain SinkBasinType BowlType)\n (canContain SinkBasinType PotType)\n (canContain SinkBasinType MugType)\n (canContain SinkBasinType EggType)\n (canContain SinkBasinType LadleType)\n (canContain SinkBasinType ForkType)\n (canContain SinkBasinType SpoonType)\n (canContain SinkBasinType LettuceType)\n (canContain SinkBasinType PotatoType)\n (canContain SinkBasinType ButterKnifeType)\n (canContain SinkBasinType CupType)\n (canContain SinkBasinType PlateType)\n (canContain SinkBasinType TomatoType)\n (canContain SinkBasinType KnifeType)\n (canContain SinkBasinType AppleType)\n (canContain SinkBasinType PanType)\n (canContain SinkBasinType SpatulaType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n 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PepperShaker_bar__minus_00_dot_29_bar__plus_01_dot_04_bar__plus_01_dot_92 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49)\n (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)\n (inReceptacle Lettuce_bar__minus_00_dot_66_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)\n (inReceptacle Tomato_bar__minus_00_dot_66_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)\n (inReceptacle Knife_bar__minus_00_dot_66_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)\n (inReceptacle Spatula_bar__minus_00_dot_79_bar__plus_01_dot_06_bar__plus_02_dot_14 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49)\n (inReceptacle Ladle_bar__minus_00_dot_79_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)\n (inReceptacle Plate_bar__minus_00_dot_42_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)\n (inReceptacle Fork_bar__minus_00_dot_17_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)\n (inReceptacle ButterKnife_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_02_dot_37 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49)\n (inReceptacle Bread_bar__minus_00_dot_91_bar__plus_01_dot_13_bar__plus_02_dot_59 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49)\n (inReceptacle Bread_bar__minus_00_dot_91_bar__plus_01_dot_13_bar__plus_03_dot_04 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49)\n (inReceptacle SoapBottle_bar__minus_00_dot_91_bar__plus_01_dot_05_bar__plus_02_dot_37 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49)\n (inReceptacle Lettuce_bar__minus_00_dot_17_bar__plus_01_dot_12_bar__plus_02_dot_14 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49)\n (inReceptacle SoapBottle_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_02_dot_59 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49)\n (inReceptacle SaltShaker_bar__minus_02_dot_09_bar__plus_00_dot_09_bar__plus_00_dot_55 Drawer_bar__minus_02_dot_04_bar__plus_00_dot_22_bar__plus_00_dot_59)\n (inReceptacle Spoon_bar__minus_02_dot_64_bar__plus_00_dot_10_bar__plus_00_dot_61 Drawer_bar__minus_02_dot_50_bar__plus_00_dot_22_bar__plus_00_dot_59)\n (inReceptacle Mug_bar__minus_01_dot_20_bar__plus_00_dot_04_bar__plus_00_dot_61 Cabinet_bar__minus_01_dot_00_bar__plus_00_dot_39_bar__plus_00_dot_73)\n (inReceptacle Apple_bar__minus_03_dot_89_bar__plus_01_dot_19_bar__plus_00_dot_28 CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38)\n (inReceptacle SoapBottle_bar__minus_03_dot_81_bar__plus_01_dot_13_bar__plus_00_dot_47 CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38)\n (inReceptacle Spoon_bar__minus_03_dot_74_bar__plus_01_dot_13_bar__plus_00_dot_47 CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38)\n (inReceptacle PepperShaker_bar__minus_03_dot_78_bar__plus_01_dot_12_bar__plus_00_dot_19 CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38)\n (inReceptacle DishSponge_bar__minus_01_dot_89_bar__plus_01_dot_12_bar__plus_00_dot_57 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38)\n (inReceptacle Bowl_bar__minus_02_dot_39_bar__plus_01_dot_12_bar__plus_00_dot_57 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38)\n (inReceptacle Bread_bar__minus_02_dot_64_bar__plus_01_dot_21_bar__plus_00_dot_47 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38)\n (inReceptacle Bowl_bar__minus_02_dot_39_bar__plus_01_dot_12_bar__plus_00_dot_19 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38)\n (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)\n (inReceptacle Spatula_bar__minus_00_dot_88_bar__plus_01_dot_14_bar__plus_00_dot_12 CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49)\n (inReceptacle PepperShaker_bar__minus_00_dot_77_bar__plus_01_dot_12_bar__plus_00_dot_66 CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49)\n (inReceptacle Ladle_bar__minus_00_dot_72_bar__plus_01_dot_16_bar__plus_00_dot_39 CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49)\n (inReceptacle Cup_bar__minus_01_dot_60_bar__plus_00_dot_05_bar__plus_00_dot_67 Cabinet_bar__minus_01_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_73)\n (inReceptacle Bowl_bar__minus_01_dot_60_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)\n (inReceptacle SaltShaker_bar__minus_01_dot_48_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)\n (inReceptacle Mug_bar__minus_00_dot_38_bar__plus_01_dot_09_bar__plus_03_dot_19 CoffeeMachine_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__plus_03_dot_19)\n (inReceptacle Lettuce_bar__minus_03_dot_51_bar__plus_01_dot_64_bar__plus_03_dot_06 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72)\n (inReceptacle Pot_bar__minus_03_dot_57_bar__plus_00_dot_92_bar__plus_03_dot_13 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72)\n (inReceptacle Pot_bar__minus_03_dot_57_bar__plus_01_dot_56_bar__plus_02_dot_85 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72)\n (inReceptacle Apple_bar__minus_03_dot_51_bar__plus_00_dot_98_bar__plus_02_dot_78 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72)\n (inReceptacle Potato_bar__minus_03_dot_24_bar__plus_01_dot_59_bar__plus_03_dot_06 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72)\n (inReceptacle Egg_bar__minus_03_dot_37_bar__plus_00_dot_94_bar__plus_03_dot_06 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72)\n (inReceptacleObject ButterKnife_bar__minus_00_dot_29_bar__plus_01_dot_05_bar__plus_02_dot_14 Plate_bar__minus_00_dot_42_bar__plus_01_dot_05_bar__plus_02_dot_14)\n (inReceptacle Tomato_bar__minus_03_dot_59_bar__plus_00_dot_15_bar__plus_02_dot_04 GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01)\n (inReceptacle Potato_bar__minus_01_dot_20_bar__plus_00_dot_96_bar__plus_00_dot_64 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin)\n (inReceptacle Plate_bar__minus_01_dot_19_bar__plus_00_dot_92_bar__plus_00_dot_40 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin)\n (inReceptacle DishSponge_bar__minus_01_dot_38_bar__plus_00_dot_93_bar__plus_00_dot_29 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin)\n (inReceptacle DishSponge_bar__minus_01_dot_38_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)\n (inReceptacle Knife_bar__minus_01_dot_64_bar__plus_00_dot_96_bar__plus_00_dot_29 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin)\n (inReceptacle Knife_bar__minus_01_dot_29_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)\n \n \n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (objectAtLocation Mug_bar__minus_00_dot_38_bar__plus_01_dot_09_bar__plus_03_dot_19 loc_bar__minus_5_bar_12_bar_1_bar_30)\n (objectAtLocation Spoon_bar__minus_00_dot_91_bar__plus_01_dot_05_bar__plus_01_dot_92 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation DishSponge_bar__minus_01_dot_38_bar__plus_00_dot_93_bar__plus_00_dot_29 loc_bar__minus_4_bar_5_bar_2_bar_45)\n (objectAtLocation Tomato_bar__minus_03_dot_59_bar__plus_00_dot_15_bar__plus_02_dot_04 loc_bar__minus_14_bar_6_bar_0_bar_60)\n (objectAtLocation Apple_bar__minus_03_dot_51_bar__plus_00_dot_98_bar__plus_02_dot_78 loc_bar__minus_10_bar_11_bar_3_bar_60)\n (objectAtLocation ButterKnife_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_02_dot_37 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__minus_00_dot_29_bar__plus_01_dot_04_bar__plus_01_dot_92 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation Bowl_bar__minus_02_dot_39_bar__plus_01_dot_12_bar__plus_00_dot_19 loc_bar__minus_7_bar_4_bar_2_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_66_bar__plus_01_dot_08_bar__plus_02_dot_59 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation SaltShaker_bar__minus_02_dot_09_bar__plus_00_dot_09_bar__plus_00_dot_55 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation Spatula_bar__minus_00_dot_88_bar__plus_01_dot_14_bar__plus_00_dot_12 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__minus_03_dot_51_bar__plus_01_dot_64_bar__plus_03_dot_06 loc_bar__minus_10_bar_11_bar_3_bar_60)\n (objectAtLocation Bread_bar__minus_00_dot_91_bar__plus_01_dot_13_bar__plus_02_dot_59 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation Plate_bar__minus_01_dot_19_bar__plus_00_dot_92_bar__plus_00_dot_40 loc_bar__minus_4_bar_5_bar_2_bar_45)\n (objectAtLocation Potato_bar__minus_03_dot_24_bar__plus_01_dot_59_bar__plus_03_dot_06 loc_bar__minus_10_bar_11_bar_3_bar_60)\n (objectAtLocation Ladle_bar__minus_00_dot_72_bar__plus_01_dot_16_bar__plus_00_dot_39 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Pot_bar__minus_03_dot_57_bar__plus_01_dot_56_bar__plus_02_dot_85 loc_bar__minus_10_bar_11_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__minus_03_dot_81_bar__plus_01_dot_13_bar__plus_00_dot_47 loc_bar__minus_13_bar_6_bar_2_bar_30)\n (objectAtLocation Lettuce_bar__minus_00_dot_66_bar__plus_01_dot_13_bar__plus_03_dot_27 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation Bread_bar__minus_00_dot_91_bar__plus_01_dot_13_bar__plus_03_dot_04 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__minus_03_dot_78_bar__plus_01_dot_12_bar__plus_00_dot_19 loc_bar__minus_13_bar_6_bar_2_bar_30)\n (objectAtLocation Bowl_bar__minus_01_dot_60_bar__plus_00_dot_05_bar__plus_00_dot_38 loc_bar__minus_7_bar_7_bar_2_bar_45)\n (objectAtLocation Tomato_bar__minus_00_dot_91_bar__plus_01_dot_09_bar__plus_02_dot_82 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation 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(objectAtLocation StoveKnob_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_00_dot_71 loc_bar__minus_13_bar_5_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__minus_03_dot_49_bar__plus_01_dot_05_bar__plus_00_dot_71 loc_bar__minus_14_bar_5_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__minus_02_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_71 loc_bar__minus_12_bar_5_bar_2_bar_45)\n (objectAtLocation Fork_bar__minus_00_dot_17_bar__plus_01_dot_05_bar__plus_01_dot_92 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__minus_00_dot_91_bar__plus_01_dot_05_bar__plus_02_dot_37 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (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)\n (objectAtLocation Ladle_bar__minus_00_dot_79_bar__plus_01_dot_09_bar__plus_03_dot_04 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation Potato_bar__minus_01_dot_20_bar__plus_00_dot_96_bar__plus_00_dot_64 loc_bar__minus_4_bar_5_bar_2_bar_45)\n (objectAtLocation Plate_bar__minus_00_dot_42_bar__plus_01_dot_05_bar__plus_02_dot_14 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation Bread_bar__minus_02_dot_64_bar__plus_01_dot_21_bar__plus_00_dot_47 loc_bar__minus_7_bar_4_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__minus_00_dot_17_bar__plus_01_dot_12_bar__plus_02_dot_14 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation Window_bar__minus_01_dot_39_bar__plus_01_dot_93_bar__plus_00_dot_02 loc_bar__minus_6_bar_4_bar_2_bar__minus_15)\n (objectAtLocation Window_bar__minus_03_dot_27_bar__plus_01_dot_93_bar__plus_00_dot_02 loc_bar__minus_13_bar_5_bar_2_bar__minus_15)\n (objectAtLocation Spatula_bar__minus_00_dot_79_bar__plus_01_dot_06_bar__plus_02_dot_14 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation Pan_bar__minus_00_dot_27_bar__plus_01_dot_04_bar__plus_02_dot_56 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation Egg_bar__minus_03_dot_37_bar__plus_00_dot_94_bar__plus_03_dot_06 loc_bar__minus_10_bar_11_bar_3_bar_60)\n (objectAtLocation Cup_bar__minus_01_dot_60_bar__plus_00_dot_05_bar__plus_00_dot_67 loc_bar__minus_7_bar_7_bar_2_bar_45)\n (objectAtLocation SaltShaker_bar__minus_01_dot_48_bar__plus_00_dot_05_bar__plus_00_dot_61 loc_bar__minus_7_bar_7_bar_2_bar_45)\n (objectAtLocation Knife_bar__minus_01_dot_64_bar__plus_00_dot_96_bar__plus_00_dot_29 loc_bar__minus_4_bar_5_bar_2_bar_45)\n (objectAtLocation Bowl_bar__minus_02_dot_39_bar__plus_01_dot_12_bar__plus_00_dot_57 loc_bar__minus_7_bar_4_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__minus_00_dot_77_bar__plus_01_dot_12_bar__plus_00_dot_66 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (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_30)\n (objectAtLocation Apple_bar__minus_03_dot_89_bar__plus_01_dot_19_bar__plus_00_dot_28 loc_bar__minus_13_bar_6_bar_2_bar_30)\n (objectAtLocation Tomato_bar__minus_00_dot_66_bar__plus_01_dot_09_bar__plus_03_dot_04 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation DishSponge_bar__minus_01_dot_38_bar__plus_00_dot_93_bar__plus_00_dot_43 loc_bar__minus_4_bar_5_bar_2_bar_45)\n (objectAtLocation HousePlant_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__plus_00_dot_17 loc_bar__minus_7_bar_4_bar_2_bar_45)\n (objectAtLocation LightSwitch_bar__minus_02_dot_58_bar__plus_01_dot_30_bar__plus_03_dot_50 loc_bar__minus_10_bar_12_bar_0_bar_30)\n (objectAtLocation Spoon_bar__minus_03_dot_74_bar__plus_01_dot_13_bar__plus_00_dot_47 loc_bar__minus_13_bar_6_bar_2_bar_30)\n (objectAtLocation Mug_bar__minus_01_dot_20_bar__plus_00_dot_04_bar__plus_00_dot_61 loc_bar__minus_7_bar_7_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 AppleType)\n (receptacleType ?r DiningTableType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take apple 1 from countertop 1", "go to sinkbasin 1", "clean apple 1 with sinkbasin 1", "go to diningtable 1", "move apple 1 to diningtable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Apple-None-DiningTable-4/trial_T20190908_104438_181745/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Apple-None-DiningTable-4/trial_T20190908_104438_181745/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..bb9674039bf7df16c214c5622c9ca559b827925f --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Apple-None-DiningTable-4/trial_T20190908_104438_181745/initial_state.pddl @@ -0,0 +1,956 @@ + +(define (problem plan_trial_T20190908_104438_181745) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__minus_03_dot_51_bar__plus_00_dot_98_bar__plus_02_dot_78 - object + Apple_bar__minus_03_dot_89_bar__plus_01_dot_19_bar__plus_00_dot_28 - object + Bowl_bar__minus_01_dot_60_bar__plus_00_dot_05_bar__plus_00_dot_38 - object + Bowl_bar__minus_02_dot_39_bar__plus_01_dot_12_bar__plus_00_dot_19 - object + Bowl_bar__minus_02_dot_39_bar__plus_01_dot_12_bar__plus_00_dot_57 - object + Bread_bar__minus_00_dot_91_bar__plus_01_dot_13_bar__plus_02_dot_59 - object + Bread_bar__minus_00_dot_91_bar__plus_01_dot_13_bar__plus_03_dot_04 - object + Bread_bar__minus_02_dot_64_bar__plus_01_dot_21_bar__plus_00_dot_47 - object + ButterKnife_bar__minus_00_dot_29_bar__plus_01_dot_05_bar__plus_02_dot_14 - object + ButterKnife_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_02_dot_37 - object + Cup_bar__minus_01_dot_60_bar__plus_00_dot_05_bar__plus_00_dot_67 - object + DishSponge_bar__minus_01_dot_38_bar__plus_00_dot_93_bar__plus_00_dot_29 - object + DishSponge_bar__minus_01_dot_38_bar__plus_00_dot_93_bar__plus_00_dot_43 - object + DishSponge_bar__minus_01_dot_89_bar__plus_01_dot_12_bar__plus_00_dot_57 - object + Egg_bar__minus_03_dot_37_bar__plus_00_dot_94_bar__plus_03_dot_06 - object + Faucet_bar__minus_01_dot_39_bar__plus_01_dot_37_bar__plus_00_dot_17 - object + Fork_bar__minus_00_dot_17_bar__plus_01_dot_05_bar__plus_01_dot_92 - object + HousePlant_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__plus_00_dot_17 - object + Knife_bar__minus_00_dot_66_bar__plus_01_dot_08_bar__plus_02_dot_59 - object + Knife_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__plus_00_dot_50 - object + Knife_bar__minus_01_dot_64_bar__plus_00_dot_96_bar__plus_00_dot_29 - object + Ladle_bar__minus_00_dot_72_bar__plus_01_dot_16_bar__plus_00_dot_39 - object + Ladle_bar__minus_00_dot_79_bar__plus_01_dot_09_bar__plus_01_dot_92 - object + Ladle_bar__minus_00_dot_79_bar__plus_01_dot_09_bar__plus_03_dot_04 - object + Lettuce_bar__minus_00_dot_17_bar__plus_01_dot_12_bar__plus_02_dot_14 - object + Lettuce_bar__minus_00_dot_66_bar__plus_01_dot_13_bar__plus_03_dot_27 - object + Lettuce_bar__minus_03_dot_51_bar__plus_01_dot_64_bar__plus_03_dot_06 - object + LightSwitch_bar__minus_02_dot_58_bar__plus_01_dot_30_bar__plus_03_dot_50 - object + Mug_bar__minus_00_dot_38_bar__plus_01_dot_09_bar__plus_03_dot_19 - object + Mug_bar__minus_01_dot_20_bar__plus_00_dot_04_bar__plus_00_dot_61 - object + Pan_bar__minus_00_dot_27_bar__plus_01_dot_04_bar__plus_02_dot_56 - object + PepperShaker_bar__minus_00_dot_29_bar__plus_01_dot_04_bar__plus_01_dot_92 - object + PepperShaker_bar__minus_00_dot_77_bar__plus_01_dot_12_bar__plus_00_dot_66 - object + PepperShaker_bar__minus_03_dot_78_bar__plus_01_dot_12_bar__plus_00_dot_19 - object + Plate_bar__minus_00_dot_42_bar__plus_01_dot_05_bar__plus_02_dot_14 - object + Plate_bar__minus_01_dot_19_bar__plus_00_dot_92_bar__plus_00_dot_40 - object + Potato_bar__minus_01_dot_20_bar__plus_00_dot_96_bar__plus_00_dot_64 - object + Potato_bar__minus_03_dot_24_bar__plus_01_dot_59_bar__plus_03_dot_06 - object + Pot_bar__minus_03_dot_48_bar__plus_01_dot_13_bar__plus_00_dot_23 - object + Pot_bar__minus_03_dot_57_bar__plus_00_dot_92_bar__plus_03_dot_13 - object + Pot_bar__minus_03_dot_57_bar__plus_01_dot_56_bar__plus_02_dot_85 - object + SaltShaker_bar__minus_01_dot_48_bar__plus_00_dot_05_bar__plus_00_dot_61 - object + SaltShaker_bar__minus_02_dot_09_bar__plus_00_dot_09_bar__plus_00_dot_55 - object + Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44 - object + SoapBottle_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_02_dot_59 - object + SoapBottle_bar__minus_00_dot_91_bar__plus_01_dot_05_bar__plus_02_dot_37 - object + SoapBottle_bar__minus_03_dot_81_bar__plus_01_dot_13_bar__plus_00_dot_47 - object + Spatula_bar__minus_00_dot_79_bar__plus_01_dot_06_bar__plus_02_dot_14 - object + Spatula_bar__minus_00_dot_88_bar__plus_01_dot_14_bar__plus_00_dot_12 - object + Spoon_bar__minus_00_dot_91_bar__plus_01_dot_05_bar__plus_01_dot_92 - object + Spoon_bar__minus_02_dot_64_bar__plus_00_dot_10_bar__plus_00_dot_61 - object + Spoon_bar__minus_03_dot_74_bar__plus_01_dot_13_bar__plus_00_dot_47 - object + StoveKnob_bar__minus_02_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_71 - object + StoveKnob_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_00_dot_71 - object + StoveKnob_bar__minus_03_dot_32_bar__plus_01_dot_05_bar__plus_00_dot_71 - object + StoveKnob_bar__minus_03_dot_49_bar__plus_01_dot_05_bar__plus_00_dot_71 - object + Tomato_bar__minus_00_dot_66_bar__plus_01_dot_09_bar__plus_03_dot_04 - object + Tomato_bar__minus_00_dot_91_bar__plus_01_dot_09_bar__plus_02_dot_82 - object + Tomato_bar__minus_03_dot_59_bar__plus_00_dot_15_bar__plus_02_dot_04 - object + Window_bar__minus_01_dot_39_bar__plus_01_dot_93_bar__plus_00_dot_02 - object + Window_bar__minus_03_dot_27_bar__plus_01_dot_93_bar__plus_00_dot_02 - object + Cabinet_bar__minus_01_dot_00_bar__plus_00_dot_39_bar__plus_00_dot_73 - receptacle + Cabinet_bar__minus_01_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_73 - receptacle + CoffeeMachine_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__plus_03_dot_19 - receptacle + CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49 - receptacle + CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38 - receptacle + CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38 - receptacle + DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49 - receptacle + Drawer_bar__minus_02_dot_04_bar__plus_00_dot_22_bar__plus_00_dot_59 - receptacle + Drawer_bar__minus_02_dot_04_bar__plus_00_dot_61_bar__plus_00_dot_59 - receptacle + Drawer_bar__minus_02_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_60 - receptacle + Drawer_bar__minus_02_dot_50_bar__plus_00_dot_22_bar__plus_00_dot_59 - receptacle + Drawer_bar__minus_02_dot_50_bar__plus_00_dot_61_bar__plus_00_dot_59 - receptacle + Drawer_bar__minus_02_dot_51_bar__plus_00_dot_94_bar__plus_00_dot_60 - receptacle + Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72 - receptacle + GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01 - receptacle + Microwave_bar__minus_00_dot_37_bar__plus_01_dot_11_bar__plus_00_dot_43 - receptacle + Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin - receptacle + StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_23 - receptacle + StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_48 - receptacle + StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_23 - receptacle + StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_48 - receptacle + Toaster_bar__minus_00_dot_23_bar__plus_01_dot_04_bar__plus_02_dot_87 - receptacle + loc_bar__minus_7_bar_7_bar_2_bar_45 - location + loc_bar__minus_14_bar_5_bar_2_bar_45 - location + loc_bar__minus_10_bar_11_bar_3_bar_60 - location + loc_bar__minus_6_bar_4_bar_2_bar_45 - location + loc_bar__minus_8_bar_4_bar_3_bar_60 - location + loc_bar__minus_7_bar_4_bar_3_bar_60 - location + loc_bar__minus_4_bar_4_bar_3_bar_60 - location + loc_bar__minus_5_bar_12_bar_1_bar_30 - location + loc_bar__minus_13_bar_5_bar_2_bar_45 - location + loc_bar__minus_6_bar_4_bar_2_bar__minus_15 - location + loc_bar__minus_5_bar_11_bar_1_bar_30 - location + loc_bar__minus_10_bar_12_bar_0_bar_30 - location + loc_bar__minus_14_bar_5_bar_2_bar_30 - location + loc_bar__minus_12_bar_5_bar_2_bar_45 - location + loc_bar__minus_5_bar_9_bar_1_bar_60 - location + loc_bar__minus_6_bar_4_bar_3_bar_60 - location + loc_bar__minus_4_bar_4_bar_2_bar_45 - location + loc_bar__minus_14_bar_6_bar_0_bar_60 - location + loc_bar__minus_4_bar_5_bar_2_bar_45 - location + loc_bar__minus_7_bar_4_bar_2_bar_45 - location + loc_bar__minus_5_bar_9_bar_1_bar_30 - location + loc_bar__minus_5_bar_4_bar_3_bar_60 - location + loc_bar__minus_13_bar_5_bar_2_bar__minus_15 - location + loc_bar__minus_12_bar_5_bar_2_bar_30 - location + loc_bar__minus_6_bar_4_bar_1_bar_30 - location + loc_bar__minus_13_bar_6_bar_2_bar_30 - location + loc_bar__minus_5_bar_11_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_48 StoveBurnerType) + (receptacleType CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38 CounterTopType) + (receptacleType StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_23 StoveBurnerType) + (receptacleType Drawer_bar__minus_02_dot_50_bar__plus_00_dot_61_bar__plus_00_dot_59 DrawerType) + (receptacleType Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72 FridgeType) + (receptacleType DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49 DiningTableType) + (receptacleType Drawer_bar__minus_02_dot_51_bar__plus_00_dot_94_bar__plus_00_dot_60 DrawerType) + (receptacleType CoffeeMachine_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__plus_03_dot_19 CoffeeMachineType) + (receptacleType CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49 CounterTopType) + (receptacleType Cabinet_bar__minus_01_dot_00_bar__plus_00_dot_39_bar__plus_00_dot_73 CabinetType) + (receptacleType GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01 GarbageCanType) + (receptacleType Toaster_bar__minus_00_dot_23_bar__plus_01_dot_04_bar__plus_02_dot_87 ToasterType) + (receptacleType StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_23 StoveBurnerType) + (receptacleType Microwave_bar__minus_00_dot_37_bar__plus_01_dot_11_bar__plus_00_dot_43 MicrowaveType) + (receptacleType 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(objectType Ladle_bar__minus_00_dot_79_bar__plus_01_dot_09_bar__plus_01_dot_92 LadleType) + (objectType Tomato_bar__minus_00_dot_91_bar__plus_01_dot_09_bar__plus_02_dot_82 TomatoType) + (objectType Pot_bar__minus_03_dot_48_bar__plus_01_dot_13_bar__plus_00_dot_23 PotType) + (objectType DishSponge_bar__minus_01_dot_38_bar__plus_00_dot_93_bar__plus_00_dot_29 DishSpongeType) + (objectType PepperShaker_bar__minus_03_dot_78_bar__plus_01_dot_12_bar__plus_00_dot_19 PepperShakerType) + (objectType Ladle_bar__minus_00_dot_72_bar__plus_01_dot_16_bar__plus_00_dot_39 LadleType) + (objectType Pot_bar__minus_03_dot_57_bar__plus_01_dot_56_bar__plus_02_dot_85 PotType) + (objectType Cup_bar__minus_01_dot_60_bar__plus_00_dot_05_bar__plus_00_dot_67 CupType) + (objectType Bowl_bar__minus_01_dot_60_bar__plus_00_dot_05_bar__plus_00_dot_38 BowlType) + (objectType SaltShaker_bar__minus_01_dot_48_bar__plus_00_dot_05_bar__plus_00_dot_61 SaltShakerType) + (objectType 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loc_bar__minus_5_bar_11_bar_3_bar_30) + + (cleanable Mug_bar__minus_00_dot_38_bar__plus_01_dot_09_bar__plus_03_dot_19) + (cleanable DishSponge_bar__minus_01_dot_89_bar__plus_01_dot_12_bar__plus_00_dot_57) + (cleanable Ladle_bar__minus_00_dot_79_bar__plus_01_dot_09_bar__plus_01_dot_92) + (cleanable Tomato_bar__minus_00_dot_91_bar__plus_01_dot_09_bar__plus_02_dot_82) + (cleanable Pot_bar__minus_03_dot_48_bar__plus_01_dot_13_bar__plus_00_dot_23) + (cleanable DishSponge_bar__minus_01_dot_38_bar__plus_00_dot_93_bar__plus_00_dot_29) + (cleanable Ladle_bar__minus_00_dot_72_bar__plus_01_dot_16_bar__plus_00_dot_39) + (cleanable Pot_bar__minus_03_dot_57_bar__plus_01_dot_56_bar__plus_02_dot_85) + (cleanable Cup_bar__minus_01_dot_60_bar__plus_00_dot_05_bar__plus_00_dot_67) + (cleanable Bowl_bar__minus_01_dot_60_bar__plus_00_dot_05_bar__plus_00_dot_38) + (cleanable Bowl_bar__minus_02_dot_39_bar__plus_01_dot_12_bar__plus_00_dot_57) + (cleanable ButterKnife_bar__minus_00_dot_29_bar__plus_01_dot_05_bar__plus_02_dot_14) + (cleanable Knife_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__plus_00_dot_50) + (cleanable Apple_bar__minus_03_dot_89_bar__plus_01_dot_19_bar__plus_00_dot_28) + (cleanable Spoon_bar__minus_00_dot_91_bar__plus_01_dot_05_bar__plus_01_dot_92) + (cleanable Tomato_bar__minus_03_dot_59_bar__plus_00_dot_15_bar__plus_02_dot_04) + (cleanable Potato_bar__minus_01_dot_20_bar__plus_00_dot_96_bar__plus_00_dot_64) + (cleanable Pan_bar__minus_00_dot_27_bar__plus_01_dot_04_bar__plus_02_dot_56) + (cleanable Lettuce_bar__minus_00_dot_66_bar__plus_01_dot_13_bar__plus_03_dot_27) + (cleanable Tomato_bar__minus_00_dot_66_bar__plus_01_dot_09_bar__plus_03_dot_04) + (cleanable Knife_bar__minus_00_dot_66_bar__plus_01_dot_08_bar__plus_02_dot_59) + (cleanable Mug_bar__minus_01_dot_20_bar__plus_00_dot_04_bar__plus_00_dot_61) + (cleanable Spatula_bar__minus_00_dot_79_bar__plus_01_dot_06_bar__plus_02_dot_14) + (cleanable Ladle_bar__minus_00_dot_79_bar__plus_01_dot_09_bar__plus_03_dot_04) + (cleanable Plate_bar__minus_00_dot_42_bar__plus_01_dot_05_bar__plus_02_dot_14) + (cleanable Fork_bar__minus_00_dot_17_bar__plus_01_dot_05_bar__plus_01_dot_92) + (cleanable Knife_bar__minus_01_dot_64_bar__plus_00_dot_96_bar__plus_00_dot_29) + (cleanable Pot_bar__minus_03_dot_57_bar__plus_00_dot_92_bar__plus_03_dot_13) + (cleanable ButterKnife_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_02_dot_37) + (cleanable Spatula_bar__minus_00_dot_88_bar__plus_01_dot_14_bar__plus_00_dot_12) + (cleanable Potato_bar__minus_03_dot_24_bar__plus_01_dot_59_bar__plus_03_dot_06) + (cleanable Egg_bar__minus_03_dot_37_bar__plus_00_dot_94_bar__plus_03_dot_06) + (cleanable Plate_bar__minus_01_dot_19_bar__plus_00_dot_92_bar__plus_00_dot_40) + (cleanable DishSponge_bar__minus_01_dot_38_bar__plus_00_dot_93_bar__plus_00_dot_43) + (cleanable Lettuce_bar__minus_03_dot_51_bar__plus_01_dot_64_bar__plus_03_dot_06) + (cleanable Spoon_bar__minus_02_dot_64_bar__plus_00_dot_10_bar__plus_00_dot_61) + (cleanable Spoon_bar__minus_03_dot_74_bar__plus_01_dot_13_bar__plus_00_dot_47) + (cleanable Bowl_bar__minus_02_dot_39_bar__plus_01_dot_12_bar__plus_00_dot_19) + (cleanable Apple_bar__minus_03_dot_51_bar__plus_00_dot_98_bar__plus_02_dot_78) + (cleanable Lettuce_bar__minus_00_dot_17_bar__plus_01_dot_12_bar__plus_02_dot_14) + + (heatable Mug_bar__minus_00_dot_38_bar__plus_01_dot_09_bar__plus_03_dot_19) + (heatable Tomato_bar__minus_00_dot_91_bar__plus_01_dot_09_bar__plus_02_dot_82) + (heatable Cup_bar__minus_01_dot_60_bar__plus_00_dot_05_bar__plus_00_dot_67) + (heatable Apple_bar__minus_03_dot_89_bar__plus_01_dot_19_bar__plus_00_dot_28) + (heatable Tomato_bar__minus_03_dot_59_bar__plus_00_dot_15_bar__plus_02_dot_04) + (heatable Potato_bar__minus_01_dot_20_bar__plus_00_dot_96_bar__plus_00_dot_64) + (heatable Tomato_bar__minus_00_dot_66_bar__plus_01_dot_09_bar__plus_03_dot_04) + (heatable Bread_bar__minus_02_dot_64_bar__plus_01_dot_21_bar__plus_00_dot_47) + (heatable Mug_bar__minus_01_dot_20_bar__plus_00_dot_04_bar__plus_00_dot_61) + (heatable Plate_bar__minus_00_dot_42_bar__plus_01_dot_05_bar__plus_02_dot_14) + (heatable Bread_bar__minus_00_dot_91_bar__plus_01_dot_13_bar__plus_02_dot_59) + (heatable Potato_bar__minus_03_dot_24_bar__plus_01_dot_59_bar__plus_03_dot_06) + (heatable Egg_bar__minus_03_dot_37_bar__plus_00_dot_94_bar__plus_03_dot_06) + (heatable Bread_bar__minus_00_dot_91_bar__plus_01_dot_13_bar__plus_03_dot_04) + (heatable Plate_bar__minus_01_dot_19_bar__plus_00_dot_92_bar__plus_00_dot_40) + (heatable Apple_bar__minus_03_dot_51_bar__plus_00_dot_98_bar__plus_02_dot_78) + (coolable Mug_bar__minus_00_dot_38_bar__plus_01_dot_09_bar__plus_03_dot_19) + (coolable Tomato_bar__minus_00_dot_91_bar__plus_01_dot_09_bar__plus_02_dot_82) + (coolable Pot_bar__minus_03_dot_48_bar__plus_01_dot_13_bar__plus_00_dot_23) + (coolable Pot_bar__minus_03_dot_57_bar__plus_01_dot_56_bar__plus_02_dot_85) + (coolable Cup_bar__minus_01_dot_60_bar__plus_00_dot_05_bar__plus_00_dot_67) + (coolable Bowl_bar__minus_01_dot_60_bar__plus_00_dot_05_bar__plus_00_dot_38) + (coolable Bowl_bar__minus_02_dot_39_bar__plus_01_dot_12_bar__plus_00_dot_57) + (coolable Apple_bar__minus_03_dot_89_bar__plus_01_dot_19_bar__plus_00_dot_28) + (coolable Tomato_bar__minus_03_dot_59_bar__plus_00_dot_15_bar__plus_02_dot_04) + (coolable Potato_bar__minus_01_dot_20_bar__plus_00_dot_96_bar__plus_00_dot_64) + (coolable Pan_bar__minus_00_dot_27_bar__plus_01_dot_04_bar__plus_02_dot_56) + (coolable Lettuce_bar__minus_00_dot_66_bar__plus_01_dot_13_bar__plus_03_dot_27) + (coolable Tomato_bar__minus_00_dot_66_bar__plus_01_dot_09_bar__plus_03_dot_04) + (coolable Bread_bar__minus_02_dot_64_bar__plus_01_dot_21_bar__plus_00_dot_47) + (coolable Mug_bar__minus_01_dot_20_bar__plus_00_dot_04_bar__plus_00_dot_61) + (coolable Plate_bar__minus_00_dot_42_bar__plus_01_dot_05_bar__plus_02_dot_14) + (coolable Pot_bar__minus_03_dot_57_bar__plus_00_dot_92_bar__plus_03_dot_13) + (coolable Bread_bar__minus_00_dot_91_bar__plus_01_dot_13_bar__plus_02_dot_59) + (coolable Potato_bar__minus_03_dot_24_bar__plus_01_dot_59_bar__plus_03_dot_06) + (coolable Egg_bar__minus_03_dot_37_bar__plus_00_dot_94_bar__plus_03_dot_06) + (coolable Bread_bar__minus_00_dot_91_bar__plus_01_dot_13_bar__plus_03_dot_04) + (coolable Plate_bar__minus_01_dot_19_bar__plus_00_dot_92_bar__plus_00_dot_40) + (coolable Lettuce_bar__minus_03_dot_51_bar__plus_01_dot_64_bar__plus_03_dot_06) + (coolable Bowl_bar__minus_02_dot_39_bar__plus_01_dot_12_bar__plus_00_dot_19) + (coolable Apple_bar__minus_03_dot_51_bar__plus_00_dot_98_bar__plus_02_dot_78) + (coolable Lettuce_bar__minus_00_dot_17_bar__plus_01_dot_12_bar__plus_02_dot_14) + + (isCool Apple_bar__minus_03_dot_51_bar__plus_00_dot_98_bar__plus_02_dot_78) + + + + (sliceable Tomato_bar__minus_00_dot_91_bar__plus_01_dot_09_bar__plus_02_dot_82) + (sliceable Apple_bar__minus_03_dot_89_bar__plus_01_dot_19_bar__plus_00_dot_28) + (sliceable Tomato_bar__minus_03_dot_59_bar__plus_00_dot_15_bar__plus_02_dot_04) + (sliceable Potato_bar__minus_01_dot_20_bar__plus_00_dot_96_bar__plus_00_dot_64) + (sliceable Lettuce_bar__minus_00_dot_66_bar__plus_01_dot_13_bar__plus_03_dot_27) + (sliceable Tomato_bar__minus_00_dot_66_bar__plus_01_dot_09_bar__plus_03_dot_04) + (sliceable Bread_bar__minus_02_dot_64_bar__plus_01_dot_21_bar__plus_00_dot_47) + (sliceable Bread_bar__minus_00_dot_91_bar__plus_01_dot_13_bar__plus_02_dot_59) + (sliceable Potato_bar__minus_03_dot_24_bar__plus_01_dot_59_bar__plus_03_dot_06) + (sliceable Egg_bar__minus_03_dot_37_bar__plus_00_dot_94_bar__plus_03_dot_06) + (sliceable Bread_bar__minus_00_dot_91_bar__plus_01_dot_13_bar__plus_03_dot_04) + (sliceable Lettuce_bar__minus_03_dot_51_bar__plus_01_dot_64_bar__plus_03_dot_06) + (sliceable Apple_bar__minus_03_dot_51_bar__plus_00_dot_98_bar__plus_02_dot_78) + (sliceable Lettuce_bar__minus_00_dot_17_bar__plus_01_dot_12_bar__plus_02_dot_14) + + (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 Mug_bar__minus_00_dot_38_bar__plus_01_dot_09_bar__plus_03_dot_19 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Ladle_bar__minus_00_dot_79_bar__plus_01_dot_09_bar__plus_01_dot_92 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Tomato_bar__minus_00_dot_91_bar__plus_01_dot_09_bar__plus_02_dot_82 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 Spoon_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 PepperShaker_bar__minus_00_dot_29_bar__plus_01_dot_04_bar__plus_01_dot_92 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 Lettuce_bar__minus_00_dot_66_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 Tomato_bar__minus_00_dot_66_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_66_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 Spatula_bar__minus_00_dot_79_bar__plus_01_dot_06_bar__plus_02_dot_14 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Ladle_bar__minus_00_dot_79_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 Plate_bar__minus_00_dot_42_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 Fork_bar__minus_00_dot_17_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 ButterKnife_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_02_dot_37 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_59 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_03_dot_04 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle SoapBottle_bar__minus_00_dot_91_bar__plus_01_dot_05_bar__plus_02_dot_37 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Lettuce_bar__minus_00_dot_17_bar__plus_01_dot_12_bar__plus_02_dot_14 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle SoapBottle_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_02_dot_59 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle SaltShaker_bar__minus_02_dot_09_bar__plus_00_dot_09_bar__plus_00_dot_55 Drawer_bar__minus_02_dot_04_bar__plus_00_dot_22_bar__plus_00_dot_59) + (inReceptacle Spoon_bar__minus_02_dot_64_bar__plus_00_dot_10_bar__plus_00_dot_61 Drawer_bar__minus_02_dot_50_bar__plus_00_dot_22_bar__plus_00_dot_59) + (inReceptacle Mug_bar__minus_01_dot_20_bar__plus_00_dot_04_bar__plus_00_dot_61 Cabinet_bar__minus_01_dot_00_bar__plus_00_dot_39_bar__plus_00_dot_73) + (inReceptacle Apple_bar__minus_03_dot_89_bar__plus_01_dot_19_bar__plus_00_dot_28 CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle SoapBottle_bar__minus_03_dot_81_bar__plus_01_dot_13_bar__plus_00_dot_47 CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle Spoon_bar__minus_03_dot_74_bar__plus_01_dot_13_bar__plus_00_dot_47 CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle PepperShaker_bar__minus_03_dot_78_bar__plus_01_dot_12_bar__plus_00_dot_19 CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle DishSponge_bar__minus_01_dot_89_bar__plus_01_dot_12_bar__plus_00_dot_57 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle 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Ladle_bar__minus_00_dot_72_bar__plus_01_dot_16_bar__plus_00_dot_39 CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49) + (inReceptacle Cup_bar__minus_01_dot_60_bar__plus_00_dot_05_bar__plus_00_dot_67 Cabinet_bar__minus_01_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_73) + (inReceptacle Bowl_bar__minus_01_dot_60_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 SaltShaker_bar__minus_01_dot_48_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 Mug_bar__minus_00_dot_38_bar__plus_01_dot_09_bar__plus_03_dot_19 CoffeeMachine_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__plus_03_dot_19) + (inReceptacle Lettuce_bar__minus_03_dot_51_bar__plus_01_dot_64_bar__plus_03_dot_06 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle Pot_bar__minus_03_dot_57_bar__plus_00_dot_92_bar__plus_03_dot_13 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"scene_num": 4 + }, + "task_id": "trial_T20190908_104438_181745", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1MKCTVKE7J0ZP_3C8HJ7UOPALR9RR7DCVUO9RQT06MZ8", + "high_descs": [ + "Go forward, to the fridge.", + "Take the apple from the fridge.", + "Turn left and go to the counter, then turn left and go forward, then turn right and face the sink.", + "Wash the apple in the sink.", + "Turn around and go forward to the wall, then turn right to face the table.", + "Put the apple on the table, to the left of the bread." + ], + "task_desc": "Put a clean apple on the table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2A028LRDJB7ZB_3HVVDCPGTHJVHW7MQNUNWGDGHE0YTW", + "high_descs": [ + "Walk straight and head to the fridge", + "Open the fridge and take the apple then close the fridge", + "Turn left walk straight then head to the sink on your right", + "Put the apple in the sink and rinse it", + "Turn right walk straight then face the table on your right", + "Put the apple on the table left side of the bread" + ], + "task_desc": "Put the clean apple on the table", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1ELPYAFO7MANS_3L6L49WXW3ODYNIC0KOIDB3V6AD54P", + "high_descs": [ + "Walk ahead to the fridge.", + "Take out the red apple.", + "Turn around and veer right to the sink.", + "Wash the apple in the sink.", + "Turn around a walk around the left side of the table.", + "Place the apple on the table to the left of the bread." + ], + "task_desc": "Place a washed apple on a table.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Apple-None-DiningTable-4/trial_T20190918_193418_341390/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Apple-None-DiningTable-4/trial_T20190918_193418_341390/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..c0061cf262dbb21842cae8e2a49280a6d605f8f6 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Apple-None-DiningTable-4/trial_T20190918_193418_341390/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 apple 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_T20190918_193418_341390)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__minus_03_dot_78_bar__plus_01_dot_19_bar__plus_00_dot_47 - object\n Bowl_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_02_dot_59 - object\n Bowl_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_01_dot_92 - object\n 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Fork_bar__minus_01_dot_47_bar__plus_00_dot_93_bar__plus_00_dot_57 - object\n Fork_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_36 - object\n HousePlant_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__plus_00_dot_17 - object\n Knife_bar__minus_00_dot_29_bar__plus_01_dot_08_bar__plus_01_dot_92 - object\n Knife_bar__minus_00_dot_54_bar__plus_01_dot_08_bar__plus_02_dot_14 - object\n Knife_bar__minus_00_dot_77_bar__plus_01_dot_16_bar__plus_00_dot_39 - object\n Ladle_bar__minus_00_dot_79_bar__plus_01_dot_09_bar__plus_02_dot_82 - object\n Ladle_bar__minus_02_dot_39_bar__plus_01_dot_16_bar__plus_00_dot_19 - object\n Lettuce_bar__minus_00_dot_66_bar__plus_01_dot_12_bar__plus_03_dot_27 - object\n Lettuce_bar__minus_03_dot_44_bar__plus_01_dot_36_bar__plus_03_dot_06 - object\n LightSwitch_bar__minus_02_dot_58_bar__plus_01_dot_30_bar__plus_03_dot_50 - object\n Mug_bar__minus_00_dot_38_bar__plus_01_dot_10_bar__plus_03_dot_19 - object\n Mug_bar__minus_03_dot_78_bar__plus_01_dot_12_bar__plus_00_dot_66 - object\n Pan_bar__minus_00_dot_27_bar__plus_01_dot_04_bar__plus_02_dot_56 - object\n PepperShaker_bar__minus_01_dot_27_bar__plus_00_dot_05_bar__plus_00_dot_32 - object\n PepperShaker_bar__minus_02_dot_51_bar__plus_01_dot_12_bar__plus_00_dot_19 - object\n Plate_bar__minus_00_dot_54_bar__plus_01_dot_05_bar__plus_02_dot_82 - object\n Plate_bar__minus_01_dot_19_bar__plus_00_dot_92_bar__plus_00_dot_40 - object\n Plate_bar__minus_02_dot_26_bar__plus_01_dot_12_bar__plus_00_dot_47 - object\n Potato_bar__minus_01_dot_38_bar__plus_00_dot_96_bar__plus_00_dot_36 - object\n Potato_bar__minus_01_dot_47_bar__plus_00_dot_96_bar__plus_00_dot_50 - object\n Potato_bar__minus_03_dot_51_bar__plus_00_dot_94_bar__plus_02_dot_92 - object\n Pot_bar__minus_03_dot_00_bar__plus_01_dot_13_bar__plus_00_dot_23 - object\n Pot_bar__minus_03_dot_48_bar__plus_01_dot_13_bar__plus_00_dot_23 - object\n SaltShaker_bar__minus_00_dot_42_bar__plus_01_dot_04_bar__plus_02_dot_37 - object\n SaltShaker_bar__minus_00_dot_79_bar__plus_01_dot_04_bar__plus_03_dot_27 - object\n SaltShaker_bar__minus_01_dot_24_bar__plus_00_dot_05_bar__plus_00_dot_44 - object\n Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44 - object\n SoapBottle_bar__minus_01_dot_60_bar__plus_00_dot_05_bar__plus_00_dot_38 - object\n SoapBottle_bar__minus_03_dot_64_bar__plus_00_dot_11_bar__plus_02_dot_07 - object\n SoapBottle_bar__minus_03_dot_80_bar__plus_00_dot_11_bar__plus_02_dot_04 - object\n Spatula_bar__minus_00_dot_54_bar__plus_01_dot_06_bar__plus_03_dot_04 - object\n Spatula_bar__minus_03_dot_74_bar__plus_01_dot_14_bar__plus_00_dot_10 - object\n Spoon_bar__minus_00_dot_91_bar__plus_01_dot_05_bar__plus_03_dot_27 - object\n StoveKnob_bar__minus_02_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_71 - object\n StoveKnob_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_00_dot_71 - object\n StoveKnob_bar__minus_03_dot_32_bar__plus_01_dot_05_bar__plus_00_dot_71 - object\n StoveKnob_bar__minus_03_dot_49_bar__plus_01_dot_05_bar__plus_00_dot_71 - object\n Tomato_bar__minus_00_dot_79_bar__plus_01_dot_09_bar__plus_02_dot_14 - object\n Tomato_bar__minus_03_dot_37_bar__plus_00_dot_95_bar__plus_02_dot_92 - object\n Tomato_bar__minus_03_dot_64_bar__plus_01_dot_60_bar__plus_03_dot_06 - object\n Window_bar__minus_01_dot_39_bar__plus_01_dot_93_bar__plus_00_dot_02 - object\n Window_bar__minus_03_dot_27_bar__plus_01_dot_93_bar__plus_00_dot_02 - object\n Cabinet_bar__minus_01_dot_00_bar__plus_00_dot_39_bar__plus_00_dot_73 - receptacle\n Cabinet_bar__minus_01_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_73 - receptacle\n CoffeeMachine_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__plus_03_dot_19 - receptacle\n CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49 - receptacle\n CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38 - receptacle\n CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38 - receptacle\n DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49 - receptacle\n Drawer_bar__minus_02_dot_04_bar__plus_00_dot_22_bar__plus_00_dot_59 - receptacle\n Drawer_bar__minus_02_dot_04_bar__plus_00_dot_61_bar__plus_00_dot_59 - receptacle\n Drawer_bar__minus_02_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_60 - receptacle\n Drawer_bar__minus_02_dot_50_bar__plus_00_dot_22_bar__plus_00_dot_59 - receptacle\n Drawer_bar__minus_02_dot_50_bar__plus_00_dot_61_bar__plus_00_dot_59 - receptacle\n Drawer_bar__minus_02_dot_51_bar__plus_00_dot_94_bar__plus_00_dot_60 - receptacle\n Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72 - receptacle\n GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01 - receptacle\n Microwave_bar__minus_00_dot_37_bar__plus_01_dot_11_bar__plus_00_dot_43 - receptacle\n Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_23 - receptacle\n StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_48 - receptacle\n StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_23 - receptacle\n StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_48 - receptacle\n Toaster_bar__minus_00_dot_23_bar__plus_01_dot_04_bar__plus_02_dot_87 - receptacle\n loc_bar__minus_7_bar_7_bar_2_bar_45 - location\n loc_bar__minus_14_bar_5_bar_2_bar_45 - location\n loc_bar__minus_10_bar_11_bar_3_bar_60 - location\n loc_bar__minus_6_bar_4_bar_2_bar_45 - location\n loc_bar__minus_8_bar_4_bar_3_bar_60 - location\n loc_bar__minus_5_bar_11_bar_1_bar_45 - location\n loc_bar__minus_7_bar_4_bar_3_bar_60 - location\n loc_bar__minus_4_bar_4_bar_3_bar_60 - location\n loc_bar__minus_5_bar_12_bar_1_bar_30 - location\n loc_bar__minus_13_bar_5_bar_2_bar_45 - location\n loc_bar__minus_6_bar_4_bar_2_bar__minus_15 - location\n loc_bar__minus_5_bar_11_bar_1_bar_30 - location\n loc_bar__minus_10_bar_12_bar_0_bar_30 - location\n loc_bar__minus_14_bar_5_bar_2_bar_30 - location\n loc_bar__minus_12_bar_5_bar_2_bar_45 - location\n loc_bar__minus_5_bar_9_bar_1_bar_60 - location\n loc_bar__minus_6_bar_4_bar_3_bar_60 - location\n loc_bar__minus_4_bar_4_bar_2_bar_45 - location\n loc_bar__minus_14_bar_6_bar_0_bar_60 - location\n loc_bar__minus_4_bar_5_bar_2_bar_45 - location\n loc_bar__minus_7_bar_4_bar_2_bar_45 - location\n loc_bar__minus_5_bar_4_bar_3_bar_60 - location\n loc_bar__minus_13_bar_5_bar_2_bar__minus_15 - location\n loc_bar__minus_12_bar_5_bar_2_bar_30 - location\n loc_bar__minus_6_bar_4_bar_1_bar_30 - location\n loc_bar__minus_13_bar_6_bar_2_bar_30 - location\n loc_bar__minus_8_bar_10_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_48 StoveBurnerType)\n (receptacleType CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38 CounterTopType)\n (receptacleType StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_23 StoveBurnerType)\n (receptacleType Drawer_bar__minus_02_dot_50_bar__plus_00_dot_61_bar__plus_00_dot_59 DrawerType)\n (receptacleType Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72 FridgeType)\n (receptacleType DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49 DiningTableType)\n (receptacleType Drawer_bar__minus_02_dot_51_bar__plus_00_dot_94_bar__plus_00_dot_60 DrawerType)\n (receptacleType CoffeeMachine_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__plus_03_dot_19 CoffeeMachineType)\n (receptacleType CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49 CounterTopType)\n (receptacleType Cabinet_bar__minus_01_dot_00_bar__plus_00_dot_39_bar__plus_00_dot_73 CabinetType)\n (receptacleType GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01 GarbageCanType)\n (receptacleType Toaster_bar__minus_00_dot_23_bar__plus_01_dot_04_bar__plus_02_dot_87 ToasterType)\n (receptacleType StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_23 StoveBurnerType)\n (receptacleType Microwave_bar__minus_00_dot_37_bar__plus_01_dot_11_bar__plus_00_dot_43 MicrowaveType)\n (receptacleType CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38 CounterTopType)\n (receptacleType Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin SinkBasinType)\n (receptacleType Drawer_bar__minus_02_dot_50_bar__plus_00_dot_22_bar__plus_00_dot_59 DrawerType)\n (receptacleType Drawer_bar__minus_02_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_60 DrawerType)\n (receptacleType StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_48 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_01_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_73 CabinetType)\n (receptacleType Drawer_bar__minus_02_dot_04_bar__plus_00_dot_22_bar__plus_00_dot_59 DrawerType)\n (receptacleType Drawer_bar__minus_02_dot_04_bar__plus_00_dot_61_bar__plus_00_dot_59 DrawerType)\n (objectType Tomato_bar__minus_00_dot_79_bar__plus_01_dot_09_bar__plus_02_dot_14 TomatoType)\n (objectType Pot_bar__minus_03_dot_48_bar__plus_01_dot_13_bar__plus_00_dot_23 PotType)\n (objectType Spoon_bar__minus_00_dot_91_bar__plus_01_dot_05_bar__plus_03_dot_27 SpoonType)\n (objectType Tomato_bar__minus_03_dot_37_bar__plus_00_dot_95_bar__plus_02_dot_92 TomatoType)\n (objectType Ladle_bar__minus_00_dot_79_bar__plus_01_dot_09_bar__plus_02_dot_82 LadleType)\n (objectType Bowl_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_01_dot_92 BowlType)\n (objectType 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Plate_bar__minus_00_dot_54_bar__plus_01_dot_05_bar__plus_02_dot_82 PlateType)\n (objectType Lettuce_bar__minus_00_dot_66_bar__plus_01_dot_12_bar__plus_03_dot_27 LettuceType)\n (objectType Tomato_bar__minus_03_dot_64_bar__plus_01_dot_60_bar__plus_03_dot_06 TomatoType)\n (objectType Apple_bar__minus_03_dot_78_bar__plus_01_dot_19_bar__plus_00_dot_47 AppleType)\n (objectType ButterKnife_bar__minus_02_dot_14_bar__plus_01_dot_12_bar__plus_00_dot_57 ButterKnifeType)\n (objectType Fork_bar__minus_01_dot_47_bar__plus_00_dot_93_bar__plus_00_dot_57 ForkType)\n (objectType Knife_bar__minus_00_dot_54_bar__plus_01_dot_08_bar__plus_02_dot_14 KnifeType)\n (objectType Bread_bar__minus_03_dot_44_bar__plus_01_dot_65_bar__plus_02_dot_99 BreadType)\n (objectType LightSwitch_bar__minus_02_dot_58_bar__plus_01_dot_30_bar__plus_03_dot_50 LightSwitchType)\n (objectType SaltShaker_bar__minus_01_dot_24_bar__plus_00_dot_05_bar__plus_00_dot_44 SaltShakerType)\n (objectType 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Potato_bar__minus_01_dot_38_bar__plus_00_dot_96_bar__plus_00_dot_36)\n (heatable Egg_bar__minus_00_dot_26_bar__plus_01_dot_26_bar__plus_00_dot_51)\n (heatable Plate_bar__minus_00_dot_54_bar__plus_01_dot_05_bar__plus_02_dot_82)\n (heatable Tomato_bar__minus_03_dot_64_bar__plus_01_dot_60_bar__plus_03_dot_06)\n (heatable Apple_bar__minus_03_dot_78_bar__plus_01_dot_19_bar__plus_00_dot_47)\n (heatable Bread_bar__minus_03_dot_44_bar__plus_01_dot_65_bar__plus_02_dot_99)\n (heatable Egg_bar__minus_00_dot_77_bar__plus_01_dot_16_bar__plus_00_dot_21)\n (heatable Plate_bar__minus_01_dot_19_bar__plus_00_dot_92_bar__plus_00_dot_40)\n (heatable Potato_bar__minus_01_dot_47_bar__plus_00_dot_96_bar__plus_00_dot_50)\n (heatable Potato_bar__minus_03_dot_51_bar__plus_00_dot_94_bar__plus_02_dot_92)\n (coolable Tomato_bar__minus_00_dot_79_bar__plus_01_dot_09_bar__plus_02_dot_14)\n (coolable Pot_bar__minus_03_dot_48_bar__plus_01_dot_13_bar__plus_00_dot_23)\n (coolable Tomato_bar__minus_03_dot_37_bar__plus_00_dot_95_bar__plus_02_dot_92)\n (coolable Bowl_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_01_dot_92)\n (coolable Plate_bar__minus_02_dot_26_bar__plus_01_dot_12_bar__plus_00_dot_47)\n (coolable Mug_bar__minus_00_dot_38_bar__plus_01_dot_10_bar__plus_03_dot_19)\n (coolable Mug_bar__minus_03_dot_78_bar__plus_01_dot_12_bar__plus_00_dot_66)\n (coolable Cup_bar__minus_01_dot_20_bar__plus_00_dot_93_bar__plus_00_dot_57)\n (coolable Pot_bar__minus_03_dot_00_bar__plus_01_dot_13_bar__plus_00_dot_23)\n (coolable Cup_bar__minus_00_dot_20_bar__plus_01_dot_23_bar__plus_00_dot_41)\n (coolable Potato_bar__minus_01_dot_38_bar__plus_00_dot_96_bar__plus_00_dot_36)\n (coolable Pan_bar__minus_00_dot_27_bar__plus_01_dot_04_bar__plus_02_dot_56)\n (coolable Egg_bar__minus_00_dot_26_bar__plus_01_dot_26_bar__plus_00_dot_51)\n (coolable Plate_bar__minus_00_dot_54_bar__plus_01_dot_05_bar__plus_02_dot_82)\n (coolable Lettuce_bar__minus_00_dot_66_bar__plus_01_dot_12_bar__plus_03_dot_27)\n (coolable Tomato_bar__minus_03_dot_64_bar__plus_01_dot_60_bar__plus_03_dot_06)\n (coolable Apple_bar__minus_03_dot_78_bar__plus_01_dot_19_bar__plus_00_dot_47)\n (coolable Bread_bar__minus_03_dot_44_bar__plus_01_dot_65_bar__plus_02_dot_99)\n (coolable Egg_bar__minus_00_dot_77_bar__plus_01_dot_16_bar__plus_00_dot_21)\n (coolable Plate_bar__minus_01_dot_19_bar__plus_00_dot_92_bar__plus_00_dot_40)\n (coolable Potato_bar__minus_01_dot_47_bar__plus_00_dot_96_bar__plus_00_dot_50)\n (coolable Bowl_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_02_dot_59)\n (coolable Potato_bar__minus_03_dot_51_bar__plus_00_dot_94_bar__plus_02_dot_92)\n (coolable Lettuce_bar__minus_03_dot_44_bar__plus_01_dot_36_bar__plus_03_dot_06)\n \n \n \n \n \n (sliceable Tomato_bar__minus_00_dot_79_bar__plus_01_dot_09_bar__plus_02_dot_14)\n (sliceable Tomato_bar__minus_03_dot_37_bar__plus_00_dot_95_bar__plus_02_dot_92)\n (sliceable Potato_bar__minus_01_dot_38_bar__plus_00_dot_96_bar__plus_00_dot_36)\n (sliceable Egg_bar__minus_00_dot_26_bar__plus_01_dot_26_bar__plus_00_dot_51)\n (sliceable Lettuce_bar__minus_00_dot_66_bar__plus_01_dot_12_bar__plus_03_dot_27)\n (sliceable Tomato_bar__minus_03_dot_64_bar__plus_01_dot_60_bar__plus_03_dot_06)\n (sliceable Apple_bar__minus_03_dot_78_bar__plus_01_dot_19_bar__plus_00_dot_47)\n (sliceable Bread_bar__minus_03_dot_44_bar__plus_01_dot_65_bar__plus_02_dot_99)\n (sliceable Egg_bar__minus_00_dot_77_bar__plus_01_dot_16_bar__plus_00_dot_21)\n (sliceable Potato_bar__minus_01_dot_47_bar__plus_00_dot_96_bar__plus_00_dot_50)\n (sliceable Potato_bar__minus_03_dot_51_bar__plus_00_dot_94_bar__plus_02_dot_92)\n (sliceable Lettuce_bar__minus_03_dot_44_bar__plus_01_dot_36_bar__plus_03_dot_06)\n \n (inReceptacleObject ButterKnife_bar__minus_02_dot_14_bar__plus_01_dot_12_bar__plus_00_dot_57 Plate_bar__minus_02_dot_26_bar__plus_01_dot_12_bar__plus_00_dot_47)\n (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)\n (inReceptacle SaltShaker_bar__minus_00_dot_42_bar__plus_01_dot_04_bar__plus_02_dot_37 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49)\n (inReceptacle Tomato_bar__minus_00_dot_79_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)\n (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)\n (inReceptacle Bowl_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_02_dot_59 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49)\n (inReceptacle Spatula_bar__minus_00_dot_54_bar__plus_01_dot_06_bar__plus_03_dot_04 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49)\n (inReceptacle Knife_bar__minus_00_dot_54_bar__plus_01_dot_08_bar__plus_02_dot_14 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49)\n (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)\n (inReceptacle Bowl_bar__minus_00_dot_79_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)\n (inReceptacle Mug_bar__minus_00_dot_38_bar__plus_01_dot_10_bar__plus_03_dot_19 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49)\n (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)\n (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)\n (inReceptacle Plate_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)\n (inReceptacle Lettuce_bar__minus_00_dot_66_bar__plus_01_dot_12_bar__plus_03_dot_27 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49)\n (inReceptacle SaltShaker_bar__minus_00_dot_79_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)\n (inReceptacle SaltShaker_bar__minus_01_dot_24_bar__plus_00_dot_05_bar__plus_00_dot_44 Cabinet_bar__minus_01_dot_00_bar__plus_00_dot_39_bar__plus_00_dot_73)\n (inReceptacle PepperShaker_bar__minus_01_dot_27_bar__plus_00_dot_05_bar__plus_00_dot_32 Cabinet_bar__minus_01_dot_00_bar__plus_00_dot_39_bar__plus_00_dot_73)\n (inReceptacle Spatula_bar__minus_03_dot_74_bar__plus_01_dot_14_bar__plus_00_dot_10 CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38)\n (inReceptacle Mug_bar__minus_03_dot_78_bar__plus_01_dot_12_bar__plus_00_dot_66 CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38)\n (inReceptacle Apple_bar__minus_03_dot_78_bar__plus_01_dot_19_bar__plus_00_dot_47 CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38)\n (inReceptacle ButterKnife_bar__minus_02_dot_60_bar__plus_01_dot_11_bar__plus_00_dot_58 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38)\n (inReceptacle ButterKnife_bar__minus_02_dot_14_bar__plus_01_dot_12_bar__plus_00_dot_57 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38)\n (inReceptacle PepperShaker_bar__minus_02_dot_51_bar__plus_01_dot_12_bar__plus_00_dot_19 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38)\n (inReceptacle Plate_bar__minus_02_dot_26_bar__plus_01_dot_12_bar__plus_00_dot_47 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38)\n (inReceptacle Ladle_bar__minus_02_dot_39_bar__plus_01_dot_16_bar__plus_00_dot_19 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38)\n (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)\n (inReceptacle Egg_bar__minus_00_dot_77_bar__plus_01_dot_16_bar__plus_00_dot_21 CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49)\n (inReceptacle Knife_bar__minus_00_dot_77_bar__plus_01_dot_16_bar__plus_00_dot_39 CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49)\n (inReceptacle Fork_bar__minus_00_dot_72_bar__plus_01_dot_13_bar__plus_00_dot_57 CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49)\n (inReceptacle Pot_bar__minus_03_dot_00_bar__plus_01_dot_13_bar__plus_00_dot_23 StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_23)\n (inReceptacle DishSponge_bar__minus_01_dot_48_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)\n (inReceptacle SoapBottle_bar__minus_01_dot_60_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)\n (inReceptacle Mug_bar__minus_00_dot_38_bar__plus_01_dot_10_bar__plus_03_dot_19 CoffeeMachine_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__plus_03_dot_19)\n (inReceptacle Tomato_bar__minus_03_dot_37_bar__plus_00_dot_95_bar__plus_02_dot_92 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72)\n (inReceptacle Bread_bar__minus_03_dot_44_bar__plus_01_dot_65_bar__plus_02_dot_99 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72)\n (inReceptacle Tomato_bar__minus_03_dot_64_bar__plus_01_dot_60_bar__plus_03_dot_06 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72)\n (inReceptacle Potato_bar__minus_03_dot_51_bar__plus_00_dot_94_bar__plus_02_dot_92 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72)\n (inReceptacle Lettuce_bar__minus_03_dot_44_bar__plus_01_dot_36_bar__plus_03_dot_06 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72)\n (inReceptacle DishSponge_bar__minus_03_dot_64_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)\n (inReceptacle SoapBottle_bar__minus_03_dot_80_bar__plus_00_dot_11_bar__plus_02_dot_04 GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01)\n (inReceptacle SoapBottle_bar__minus_03_dot_64_bar__plus_00_dot_11_bar__plus_02_dot_07 GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01)\n (inReceptacle Cup_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)\n (inReceptacle Plate_bar__minus_01_dot_19_bar__plus_00_dot_92_bar__plus_00_dot_40 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin)\n (inReceptacle Potato_bar__minus_01_dot_47_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)\n (inReceptacle Fork_bar__minus_01_dot_47_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)\n (inReceptacle Potato_bar__minus_01_dot_38_bar__plus_00_dot_96_bar__plus_00_dot_36 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin)\n (inReceptacle Fork_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_36 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin)\n (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)\n (inReceptacle Cup_bar__minus_00_dot_20_bar__plus_01_dot_23_bar__plus_00_dot_41 Microwave_bar__minus_00_dot_37_bar__plus_01_dot_11_bar__plus_00_dot_43)\n \n \n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (objectAtLocation Mug_bar__minus_03_dot_78_bar__plus_01_dot_12_bar__plus_00_dot_66 loc_bar__minus_13_bar_6_bar_2_bar_30)\n (objectAtLocation DishSponge_bar__minus_03_dot_64_bar__plus_00_dot_11_bar__plus_01_dot_98 loc_bar__minus_14_bar_6_bar_0_bar_60)\n (objectAtLocation Tomato_bar__minus_03_dot_37_bar__plus_00_dot_95_bar__plus_02_dot_92 loc_bar__minus_10_bar_11_bar_3_bar_60)\n (objectAtLocation ButterKnife_bar__minus_02_dot_60_bar__plus_01_dot_11_bar__plus_00_dot_58 loc_bar__minus_7_bar_4_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__minus_02_dot_51_bar__plus_01_dot_12_bar__plus_00_dot_19 loc_bar__minus_7_bar_4_bar_2_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_02_dot_59 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (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)\n (objectAtLocation SaltShaker_bar__minus_01_dot_24_bar__plus_00_dot_05_bar__plus_00_dot_44 loc_bar__minus_7_bar_7_bar_2_bar_45)\n (objectAtLocation Cup_bar__minus_00_dot_20_bar__plus_01_dot_23_bar__plus_00_dot_41 loc_bar__minus_6_bar_4_bar_1_bar_30)\n (objectAtLocation Egg_bar__minus_00_dot_77_bar__plus_01_dot_16_bar__plus_00_dot_21 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Spatula_bar__minus_00_dot_54_bar__plus_01_dot_06_bar__plus_03_dot_04 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation Lettuce_bar__minus_00_dot_66_bar__plus_01_dot_12_bar__plus_03_dot_27 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation Plate_bar__minus_01_dot_19_bar__plus_00_dot_92_bar__plus_00_dot_40 loc_bar__minus_4_bar_5_bar_2_bar_45)\n (objectAtLocation Potato_bar__minus_01_dot_47_bar__plus_00_dot_96_bar__plus_00_dot_50 loc_bar__minus_4_bar_5_bar_2_bar_45)\n (objectAtLocation Ladle_bar__minus_00_dot_79_bar__plus_01_dot_09_bar__plus_02_dot_82 loc_bar__minus_5_bar_11_bar_1_bar_45)\n (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)\n (objectAtLocation SoapBottle_bar__minus_03_dot_80_bar__plus_00_dot_11_bar__plus_02_dot_04 loc_bar__minus_14_bar_6_bar_0_bar_60)\n (objectAtLocation Fork_bar__minus_01_dot_47_bar__plus_00_dot_93_bar__plus_00_dot_57 loc_bar__minus_4_bar_5_bar_2_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_42_bar__plus_01_dot_04_bar__plus_02_dot_37 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation Tomato_bar__minus_03_dot_64_bar__plus_01_dot_60_bar__plus_03_dot_06 loc_bar__minus_10_bar_11_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__minus_01_dot_60_bar__plus_00_dot_05_bar__plus_00_dot_38 loc_bar__minus_7_bar_7_bar_2_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_54_bar__plus_01_dot_08_bar__plus_02_dot_14 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation Plate_bar__minus_02_dot_26_bar__plus_01_dot_12_bar__plus_00_dot_47 loc_bar__minus_7_bar_4_bar_2_bar_45)\n (objectAtLocation Fork_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_36 loc_bar__minus_4_bar_5_bar_2_bar_45)\n (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)\n (objectAtLocation Potato_bar__minus_03_dot_51_bar__plus_00_dot_94_bar__plus_02_dot_92 loc_bar__minus_10_bar_11_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_03_dot_32_bar__plus_01_dot_05_bar__plus_00_dot_71 loc_bar__minus_13_bar_5_bar_2_bar_45)\n (objectAtLocation Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44 loc_bar__minus_6_bar_4_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_00_dot_71 loc_bar__minus_13_bar_5_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__minus_03_dot_49_bar__plus_01_dot_05_bar__plus_00_dot_71 loc_bar__minus_14_bar_5_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__minus_02_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_71 loc_bar__minus_12_bar_5_bar_2_bar_45)\n (objectAtLocation Fork_bar__minus_00_dot_72_bar__plus_01_dot_13_bar__plus_00_dot_57 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__minus_03_dot_64_bar__plus_00_dot_11_bar__plus_02_dot_07 loc_bar__minus_14_bar_6_bar_0_bar_60)\n (objectAtLocation Pot_bar__minus_03_dot_00_bar__plus_01_dot_13_bar__plus_00_dot_23 loc_bar__minus_12_bar_5_bar_2_bar_30)\n (objectAtLocation Ladle_bar__minus_02_dot_39_bar__plus_01_dot_16_bar__plus_00_dot_19 loc_bar__minus_7_bar_4_bar_2_bar_45)\n (objectAtLocation Potato_bar__minus_01_dot_38_bar__plus_00_dot_96_bar__plus_00_dot_36 loc_bar__minus_4_bar_5_bar_2_bar_45)\n (objectAtLocation Plate_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)\n (objectAtLocation Bread_bar__minus_03_dot_44_bar__plus_01_dot_65_bar__plus_02_dot_99 loc_bar__minus_10_bar_11_bar_3_bar_60)\n (objectAtLocation Lettuce_bar__minus_03_dot_44_bar__plus_01_dot_36_bar__plus_03_dot_06 loc_bar__minus_10_bar_11_bar_3_bar_60)\n (objectAtLocation Window_bar__minus_01_dot_39_bar__plus_01_dot_93_bar__plus_00_dot_02 loc_bar__minus_6_bar_4_bar_2_bar__minus_15)\n (objectAtLocation Window_bar__minus_03_dot_27_bar__plus_01_dot_93_bar__plus_00_dot_02 loc_bar__minus_13_bar_5_bar_2_bar__minus_15)\n (objectAtLocation Spatula_bar__minus_03_dot_74_bar__plus_01_dot_14_bar__plus_00_dot_10 loc_bar__minus_13_bar_6_bar_2_bar_30)\n (objectAtLocation Pan_bar__minus_00_dot_27_bar__plus_01_dot_04_bar__plus_02_dot_56 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (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)\n (objectAtLocation Cup_bar__minus_01_dot_20_bar__plus_00_dot_93_bar__plus_00_dot_57 loc_bar__minus_4_bar_5_bar_2_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_79_bar__plus_01_dot_04_bar__plus_03_dot_27 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation Knife_bar__minus_00_dot_77_bar__plus_01_dot_16_bar__plus_00_dot_39 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_01_dot_92 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__minus_01_dot_27_bar__plus_00_dot_05_bar__plus_00_dot_32 loc_bar__minus_7_bar_7_bar_2_bar_45)\n (objectAtLocation ButterKnife_bar__minus_02_dot_14_bar__plus_01_dot_12_bar__plus_00_dot_57 loc_bar__minus_7_bar_4_bar_2_bar_45)\n (objectAtLocation Apple_bar__minus_03_dot_78_bar__plus_01_dot_19_bar__plus_00_dot_47 loc_bar__minus_13_bar_6_bar_2_bar_30)\n (objectAtLocation Tomato_bar__minus_00_dot_79_bar__plus_01_dot_09_bar__plus_02_dot_14 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation DishSponge_bar__minus_01_dot_48_bar__plus_00_dot_05_bar__plus_00_dot_61 loc_bar__minus_7_bar_7_bar_2_bar_45)\n (objectAtLocation HousePlant_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__plus_00_dot_17 loc_bar__minus_7_bar_4_bar_2_bar_45)\n (objectAtLocation LightSwitch_bar__minus_02_dot_58_bar__plus_01_dot_30_bar__plus_03_dot_50 loc_bar__minus_10_bar_12_bar_0_bar_30)\n (objectAtLocation Spoon_bar__minus_00_dot_91_bar__plus_01_dot_05_bar__plus_03_dot_27 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation Mug_bar__minus_00_dot_38_bar__plus_01_dot_10_bar__plus_03_dot_19 loc_bar__minus_5_bar_12_bar_1_bar_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o AppleType)\n (receptacleType ?r DiningTableType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take apple 1 from countertop 1", "go to sinkbasin 1", "clean apple 1 with sinkbasin 1", "go to diningtable 1", "move apple 1 to diningtable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Apple-None-DiningTable-4/trial_T20190918_193418_341390/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Apple-None-DiningTable-4/trial_T20190918_193418_341390/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..d64b0079a77fd907267cf7872d9aae5f06099cdf --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Apple-None-DiningTable-4/trial_T20190918_193418_341390/initial_state.pddl @@ -0,0 +1,936 @@ + +(define (problem plan_trial_T20190918_193418_341390) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__minus_03_dot_78_bar__plus_01_dot_19_bar__plus_00_dot_47 - object + Bowl_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_02_dot_59 - object + Bowl_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_01_dot_92 - object + Bread_bar__minus_03_dot_44_bar__plus_01_dot_65_bar__plus_02_dot_99 - object + ButterKnife_bar__minus_00_dot_29_bar__plus_01_dot_05_bar__plus_02_dot_14 - object + ButterKnife_bar__minus_02_dot_14_bar__plus_01_dot_12_bar__plus_00_dot_57 - object + ButterKnife_bar__minus_02_dot_60_bar__plus_01_dot_11_bar__plus_00_dot_58 - object + Cup_bar__minus_00_dot_20_bar__plus_01_dot_23_bar__plus_00_dot_41 - object + Cup_bar__minus_01_dot_20_bar__plus_00_dot_93_bar__plus_00_dot_57 - object + DishSponge_bar__minus_01_dot_48_bar__plus_00_dot_05_bar__plus_00_dot_61 - object + DishSponge_bar__minus_03_dot_64_bar__plus_00_dot_11_bar__plus_01_dot_98 - object + Egg_bar__minus_00_dot_26_bar__plus_01_dot_26_bar__plus_00_dot_51 - object + Egg_bar__minus_00_dot_77_bar__plus_01_dot_16_bar__plus_00_dot_21 - object + Faucet_bar__minus_01_dot_39_bar__plus_01_dot_37_bar__plus_00_dot_17 - object + Fork_bar__minus_00_dot_72_bar__plus_01_dot_13_bar__plus_00_dot_57 - object + Fork_bar__minus_01_dot_47_bar__plus_00_dot_93_bar__plus_00_dot_57 - object + Fork_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_36 - object + HousePlant_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__plus_00_dot_17 - object + Knife_bar__minus_00_dot_29_bar__plus_01_dot_08_bar__plus_01_dot_92 - object + Knife_bar__minus_00_dot_54_bar__plus_01_dot_08_bar__plus_02_dot_14 - object + Knife_bar__minus_00_dot_77_bar__plus_01_dot_16_bar__plus_00_dot_39 - object + Ladle_bar__minus_00_dot_79_bar__plus_01_dot_09_bar__plus_02_dot_82 - object + Ladle_bar__minus_02_dot_39_bar__plus_01_dot_16_bar__plus_00_dot_19 - object + Lettuce_bar__minus_00_dot_66_bar__plus_01_dot_12_bar__plus_03_dot_27 - object + Lettuce_bar__minus_03_dot_44_bar__plus_01_dot_36_bar__plus_03_dot_06 - object + LightSwitch_bar__minus_02_dot_58_bar__plus_01_dot_30_bar__plus_03_dot_50 - object + Mug_bar__minus_00_dot_38_bar__plus_01_dot_10_bar__plus_03_dot_19 - object + Mug_bar__minus_03_dot_78_bar__plus_01_dot_12_bar__plus_00_dot_66 - object + Pan_bar__minus_00_dot_27_bar__plus_01_dot_04_bar__plus_02_dot_56 - object + PepperShaker_bar__minus_01_dot_27_bar__plus_00_dot_05_bar__plus_00_dot_32 - object + PepperShaker_bar__minus_02_dot_51_bar__plus_01_dot_12_bar__plus_00_dot_19 - object + Plate_bar__minus_00_dot_54_bar__plus_01_dot_05_bar__plus_02_dot_82 - object + Plate_bar__minus_01_dot_19_bar__plus_00_dot_92_bar__plus_00_dot_40 - object + Plate_bar__minus_02_dot_26_bar__plus_01_dot_12_bar__plus_00_dot_47 - object + Potato_bar__minus_01_dot_38_bar__plus_00_dot_96_bar__plus_00_dot_36 - object + Potato_bar__minus_01_dot_47_bar__plus_00_dot_96_bar__plus_00_dot_50 - object + Potato_bar__minus_03_dot_51_bar__plus_00_dot_94_bar__plus_02_dot_92 - object + Pot_bar__minus_03_dot_00_bar__plus_01_dot_13_bar__plus_00_dot_23 - object + Pot_bar__minus_03_dot_48_bar__plus_01_dot_13_bar__plus_00_dot_23 - object + SaltShaker_bar__minus_00_dot_42_bar__plus_01_dot_04_bar__plus_02_dot_37 - object + SaltShaker_bar__minus_00_dot_79_bar__plus_01_dot_04_bar__plus_03_dot_27 - object + SaltShaker_bar__minus_01_dot_24_bar__plus_00_dot_05_bar__plus_00_dot_44 - object + Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44 - object + SoapBottle_bar__minus_01_dot_60_bar__plus_00_dot_05_bar__plus_00_dot_38 - object + SoapBottle_bar__minus_03_dot_64_bar__plus_00_dot_11_bar__plus_02_dot_07 - object + SoapBottle_bar__minus_03_dot_80_bar__plus_00_dot_11_bar__plus_02_dot_04 - object + Spatula_bar__minus_00_dot_54_bar__plus_01_dot_06_bar__plus_03_dot_04 - object + Spatula_bar__minus_03_dot_74_bar__plus_01_dot_14_bar__plus_00_dot_10 - object + Spoon_bar__minus_00_dot_91_bar__plus_01_dot_05_bar__plus_03_dot_27 - object + StoveKnob_bar__minus_02_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_71 - object + StoveKnob_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_00_dot_71 - object + StoveKnob_bar__minus_03_dot_32_bar__plus_01_dot_05_bar__plus_00_dot_71 - object + StoveKnob_bar__minus_03_dot_49_bar__plus_01_dot_05_bar__plus_00_dot_71 - object + Tomato_bar__minus_00_dot_79_bar__plus_01_dot_09_bar__plus_02_dot_14 - object + Tomato_bar__minus_03_dot_37_bar__plus_00_dot_95_bar__plus_02_dot_92 - object + Tomato_bar__minus_03_dot_64_bar__plus_01_dot_60_bar__plus_03_dot_06 - object + Window_bar__minus_01_dot_39_bar__plus_01_dot_93_bar__plus_00_dot_02 - object + Window_bar__minus_03_dot_27_bar__plus_01_dot_93_bar__plus_00_dot_02 - object + Cabinet_bar__minus_01_dot_00_bar__plus_00_dot_39_bar__plus_00_dot_73 - receptacle + Cabinet_bar__minus_01_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_73 - receptacle + CoffeeMachine_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__plus_03_dot_19 - receptacle + CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49 - receptacle + CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38 - receptacle + CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38 - receptacle + DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49 - receptacle + Drawer_bar__minus_02_dot_04_bar__plus_00_dot_22_bar__plus_00_dot_59 - receptacle + Drawer_bar__minus_02_dot_04_bar__plus_00_dot_61_bar__plus_00_dot_59 - receptacle + Drawer_bar__minus_02_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_60 - receptacle + Drawer_bar__minus_02_dot_50_bar__plus_00_dot_22_bar__plus_00_dot_59 - receptacle + Drawer_bar__minus_02_dot_50_bar__plus_00_dot_61_bar__plus_00_dot_59 - receptacle + Drawer_bar__minus_02_dot_51_bar__plus_00_dot_94_bar__plus_00_dot_60 - receptacle + Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72 - receptacle + GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01 - receptacle + Microwave_bar__minus_00_dot_37_bar__plus_01_dot_11_bar__plus_00_dot_43 - receptacle + 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loc_bar__minus_13_bar_5_bar_2_bar_45 - location + loc_bar__minus_6_bar_4_bar_2_bar__minus_15 - location + loc_bar__minus_5_bar_11_bar_1_bar_30 - location + loc_bar__minus_10_bar_12_bar_0_bar_30 - location + loc_bar__minus_14_bar_5_bar_2_bar_30 - location + loc_bar__minus_12_bar_5_bar_2_bar_45 - location + loc_bar__minus_5_bar_9_bar_1_bar_60 - location + loc_bar__minus_6_bar_4_bar_3_bar_60 - location + loc_bar__minus_4_bar_4_bar_2_bar_45 - location + loc_bar__minus_14_bar_6_bar_0_bar_60 - location + loc_bar__minus_4_bar_5_bar_2_bar_45 - location + loc_bar__minus_7_bar_4_bar_2_bar_45 - location + loc_bar__minus_5_bar_4_bar_3_bar_60 - location + loc_bar__minus_13_bar_5_bar_2_bar__minus_15 - location + loc_bar__minus_12_bar_5_bar_2_bar_30 - location + loc_bar__minus_6_bar_4_bar_1_bar_30 - location + loc_bar__minus_13_bar_6_bar_2_bar_30 - location + loc_bar__minus_8_bar_10_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_48 StoveBurnerType) + (receptacleType CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38 CounterTopType) + (receptacleType StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_23 StoveBurnerType) + (receptacleType Drawer_bar__minus_02_dot_50_bar__plus_00_dot_61_bar__plus_00_dot_59 DrawerType) + (receptacleType Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72 FridgeType) + (receptacleType DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49 DiningTableType) + (receptacleType Drawer_bar__minus_02_dot_51_bar__plus_00_dot_94_bar__plus_00_dot_60 DrawerType) + (receptacleType CoffeeMachine_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__plus_03_dot_19 CoffeeMachineType) + (receptacleType CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49 CounterTopType) + (receptacleType 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ButterKnife_bar__minus_02_dot_14_bar__plus_01_dot_12_bar__plus_00_dot_57) + (cleanable Fork_bar__minus_01_dot_47_bar__plus_00_dot_93_bar__plus_00_dot_57) + (cleanable Knife_bar__minus_00_dot_54_bar__plus_01_dot_08_bar__plus_02_dot_14) + (cleanable Egg_bar__minus_00_dot_77_bar__plus_01_dot_16_bar__plus_00_dot_21) + (cleanable Knife_bar__minus_00_dot_77_bar__plus_01_dot_16_bar__plus_00_dot_39) + (cleanable Fork_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_36) + (cleanable Ladle_bar__minus_02_dot_39_bar__plus_01_dot_16_bar__plus_00_dot_19) + (cleanable Spatula_bar__minus_03_dot_74_bar__plus_01_dot_14_bar__plus_00_dot_10) + (cleanable DishSponge_bar__minus_01_dot_48_bar__plus_00_dot_05_bar__plus_00_dot_61) + (cleanable Plate_bar__minus_01_dot_19_bar__plus_00_dot_92_bar__plus_00_dot_40) + (cleanable Potato_bar__minus_01_dot_47_bar__plus_00_dot_96_bar__plus_00_dot_50) + (cleanable DishSponge_bar__minus_03_dot_64_bar__plus_00_dot_11_bar__plus_01_dot_98) + (cleanable 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Potato_bar__minus_01_dot_38_bar__plus_00_dot_96_bar__plus_00_dot_36) + (sliceable Egg_bar__minus_00_dot_26_bar__plus_01_dot_26_bar__plus_00_dot_51) + (sliceable Lettuce_bar__minus_00_dot_66_bar__plus_01_dot_12_bar__plus_03_dot_27) + (sliceable Tomato_bar__minus_03_dot_64_bar__plus_01_dot_60_bar__plus_03_dot_06) + (sliceable Apple_bar__minus_03_dot_78_bar__plus_01_dot_19_bar__plus_00_dot_47) + (sliceable Bread_bar__minus_03_dot_44_bar__plus_01_dot_65_bar__plus_02_dot_99) + (sliceable Egg_bar__minus_00_dot_77_bar__plus_01_dot_16_bar__plus_00_dot_21) + (sliceable Potato_bar__minus_01_dot_47_bar__plus_00_dot_96_bar__plus_00_dot_50) + (sliceable Potato_bar__minus_03_dot_51_bar__plus_00_dot_94_bar__plus_02_dot_92) + (sliceable Lettuce_bar__minus_03_dot_44_bar__plus_01_dot_36_bar__plus_03_dot_06) + + (inReceptacleObject ButterKnife_bar__minus_02_dot_14_bar__plus_01_dot_12_bar__plus_00_dot_57 Plate_bar__minus_02_dot_26_bar__plus_01_dot_12_bar__plus_00_dot_47) + (inReceptacle 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Ladle_bar__minus_02_dot_39_bar__plus_01_dot_16_bar__plus_00_dot_19 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (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 Egg_bar__minus_00_dot_77_bar__plus_01_dot_16_bar__plus_00_dot_21 CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49) + (inReceptacle Knife_bar__minus_00_dot_77_bar__plus_01_dot_16_bar__plus_00_dot_39 CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49) + (inReceptacle Fork_bar__minus_00_dot_72_bar__plus_01_dot_13_bar__plus_00_dot_57 CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49) + (inReceptacle Pot_bar__minus_03_dot_00_bar__plus_01_dot_13_bar__plus_00_dot_23 StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_23) + (inReceptacle DishSponge_bar__minus_01_dot_48_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 SoapBottle_bar__minus_01_dot_60_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 Mug_bar__minus_00_dot_38_bar__plus_01_dot_10_bar__plus_03_dot_19 CoffeeMachine_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__plus_03_dot_19) + (inReceptacle Tomato_bar__minus_03_dot_37_bar__plus_00_dot_95_bar__plus_02_dot_92 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle Bread_bar__minus_03_dot_44_bar__plus_01_dot_65_bar__plus_02_dot_99 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle Tomato_bar__minus_03_dot_64_bar__plus_01_dot_60_bar__plus_03_dot_06 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle Potato_bar__minus_03_dot_51_bar__plus_00_dot_94_bar__plus_02_dot_92 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle Lettuce_bar__minus_03_dot_44_bar__plus_01_dot_36_bar__plus_03_dot_06 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle DishSponge_bar__minus_03_dot_64_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 SoapBottle_bar__minus_03_dot_80_bar__plus_00_dot_11_bar__plus_02_dot_04 GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01) + (inReceptacle SoapBottle_bar__minus_03_dot_64_bar__plus_00_dot_11_bar__plus_02_dot_07 GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01) + (inReceptacle Cup_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 Plate_bar__minus_01_dot_19_bar__plus_00_dot_92_bar__plus_00_dot_40 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin) + (inReceptacle Potato_bar__minus_01_dot_47_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 Fork_bar__minus_01_dot_47_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 Potato_bar__minus_01_dot_38_bar__plus_00_dot_96_bar__plus_00_dot_36 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin) + (inReceptacle Fork_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_36 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) + (inReceptacle Cup_bar__minus_00_dot_20_bar__plus_01_dot_23_bar__plus_00_dot_41 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 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loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Knife_bar__minus_00_dot_77_bar__plus_01_dot_16_bar__plus_00_dot_39 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Bowl_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_01_dot_92 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation PepperShaker_bar__minus_01_dot_27_bar__plus_00_dot_05_bar__plus_00_dot_32 loc_bar__minus_7_bar_7_bar_2_bar_45) + (objectAtLocation ButterKnife_bar__minus_02_dot_14_bar__plus_01_dot_12_bar__plus_00_dot_57 loc_bar__minus_7_bar_4_bar_2_bar_45) + (objectAtLocation Apple_bar__minus_03_dot_78_bar__plus_01_dot_19_bar__plus_00_dot_47 loc_bar__minus_13_bar_6_bar_2_bar_30) + (objectAtLocation Tomato_bar__minus_00_dot_79_bar__plus_01_dot_09_bar__plus_02_dot_14 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation DishSponge_bar__minus_01_dot_48_bar__plus_00_dot_05_bar__plus_00_dot_61 loc_bar__minus_7_bar_7_bar_2_bar_45) + (objectAtLocation HousePlant_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__plus_00_dot_17 loc_bar__minus_7_bar_4_bar_2_bar_45) + (objectAtLocation LightSwitch_bar__minus_02_dot_58_bar__plus_01_dot_30_bar__plus_03_dot_50 loc_bar__minus_10_bar_12_bar_0_bar_30) + (objectAtLocation Spoon_bar__minus_00_dot_91_bar__plus_01_dot_05_bar__plus_03_dot_27 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Mug_bar__minus_00_dot_38_bar__plus_01_dot_10_bar__plus_03_dot_19 loc_bar__minus_5_bar_12_bar_1_bar_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (cleanable ?o) + (objectType ?o AppleType) + (receptacleType ?r DiningTableType) + (isClean ?o) + (inReceptacle ?o ?r) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Apple-None-DiningTable-4/trial_T20190918_193418_341390/traj_data.json 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and go to the small counter, between the stove and the wall. ", + "Pick up the apple, behind the coffee cup, on the counter. ", + "Turn to your left and walk towards the brick wall across from you until you reach the marble sink, on your right. ", + "Place the apple in the back, left corner of the sink, turn the water on, rinse the apple off, turn the water off, and remove the apple from the sink. ", + "Turn around and walk across the kitchen, then turn to the end of the wooden table, on your right. ", + "Place the apple between the two spoons on the wooden table. " + ], + "task_desc": "Put a clean apple on the table. ", + "votes": [ + 0, + 1, + 1 + ] + }, + { + "assignment_id": "A2A028LRDJB7ZB_3DY4FPOOA4F1XNZPHN28P284BDYRV2", + "high_descs": [ + "Turn right then head to the right side of the stove counter ", + "Pick up the apple on the counter", + "Turn left and head to the sink", + "Put the apple in the sink and rinse it", + "Turn around to your right then walk forward face the table on your right", + "Put the apple on the table beside the spoon" + ], + "task_desc": "Put the clean apple on the table", + "votes": [ + 1, + 0, + 1 + ] + }, + { + "assignment_id": "A1NWXL4QO30M8U_3OJSZ2ATDVNAHA0V2IMPGNN5XDZ759", + "high_descs": [ + "Turn to the right and take two steps, then turn right and walk across the room, then turn left. ", + "Pick up the apple on the counter.", + "Turn left and walk across the room, then turn right. ", + "Put the apple in the sink, turn on the faucet for three seconds, then turn off the water and pick up the apple. ", + "Turn around and walk across the room, then turn right to face the table. ", + "Put the apple down to the right of the spoon. " + ], + "task_desc": "Wash the red apple.", + "votes": [ + 1, + 1, + 0 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cloth-None-Toilet-419/trial_T20190909_033717_715383/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cloth-None-Toilet-419/trial_T20190909_033717_715383/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..175f7c8d601338f06706f73b983fbdc3673dcc05 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cloth-None-Toilet-419/trial_T20190909_033717_715383/initial_state.pddl @@ -0,0 +1,431 @@ + +(define (problem plan_trial_T20190909_033717_715383) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Bathtub_bar__minus_00_dot_98_bar__minus_00_dot_72_bar__minus_02_dot_93 - object + Candle_bar__minus_01_dot_46_bar__plus_00_dot_48_bar__minus_02_dot_56 - object + Cloth_bar__minus_01_dot_69_bar__plus_00_dot_06_bar__minus_03_dot_05 - object + Faucet_bar__minus_00_dot_01_bar__plus_01_dot_72_bar__minus_02_dot_98 - object + Faucet_bar__minus_00_dot_02_bar__plus_00_dot_47_bar__minus_02_dot_97 - object + Faucet_bar__minus_02_dot_35_bar__plus_00_dot_96_bar__minus_02_dot_03 - object + HandTowel_bar__minus_02_dot_37_bar__plus_01_dot_52_bar__minus_01_dot_51 - object + LightSwitch_bar__minus_01_dot_25_bar__plus_01_dot_42_bar__plus_00_dot_00 - object + Mirror_bar__minus_02_dot_45_bar__plus_01_dot_64_bar__minus_02_dot_03 - object + Plunger_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_02_dot_38 - object + ScrubBrush_bar__minus_00_dot_16_bar__plus_00_dot_00_bar__minus_02_dot_16 - object + ShowerCurtain_bar__minus_02_dot_33_bar__plus_01_dot_96_bar__minus_02_dot_46 - object + Sink_bar__minus_02_dot_10_bar_00_dot_00_bar__minus_02_dot_03 - object + SoapBar_bar__minus_00_dot_12_bar__plus_01_dot_05_bar__minus_01_dot_88 - object + SoapBar_bar__minus_00_dot_12_bar__plus_01_dot_05_bar__minus_02_dot_08 - object + SoapBar_bar__minus_02_dot_34_bar__plus_00_dot_98_bar__minus_01_dot_95 - object + SoapBottle_bar__minus_02_dot_07_bar__plus_00_dot_68_bar__minus_01_dot_55 - object + SprayBottle_bar__minus_02_dot_07_bar__plus_00_dot_68_bar__minus_01_dot_24 - object + SprayBottle_bar__minus_02_dot_16_bar__plus_00_dot_68_bar__minus_01_dot_55 - object + SprayBottle_bar__minus_02_dot_29_bar__plus_00_dot_68_bar__minus_01_dot_24 - object + TissueBox_bar__minus_02_dot_19_bar__plus_00_dot_67_bar__minus_01_dot_12 - object + ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_99_bar__minus_01_dot_34 - object + ToiletPaper_bar__minus_00_dot_17_bar__plus_01_dot_04_bar__minus_01_dot_75 - object + ToiletPaper_bar__minus_02_dot_14_bar__plus_00_dot_08_bar__minus_01_dot_20 - object + Towel_bar__minus_00_dot_05_bar__plus_01_dot_85_bar__minus_01_dot_89 - object + Bathtub_bar__minus_00_dot_98_bar__minus_00_dot_72_bar__minus_02_dot_93_bar_BathtubBasin - receptacle + Drawer_bar__minus_02_dot_12_bar__plus_00_dot_17_bar__minus_01_dot_31 - receptacle + Drawer_bar__minus_02_dot_12_bar__plus_00_dot_46_bar__minus_01_dot_31 - receptacle + GarbageCan_bar__minus_00_dot_22_bar__plus_00_dot_00_bar__minus_01_dot_42 - receptacle + HandTowelHolder_bar__minus_02_dot_41_bar__plus_01_dot_63_bar__minus_01_dot_51 - receptacle + SideTable_bar__minus_02_dot_12_bar__plus_00_dot_46_bar__minus_01_dot_31 - receptacle + Sink_bar__minus_02_dot_10_bar_00_dot_00_bar__minus_02_dot_03_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_99_bar__minus_01_dot_40 - receptacle + Toilet_bar__minus_00_dot_47_bar__plus_00_dot_00_bar__minus_01_dot_88 - receptacle + TowelHolder_bar__plus_00_dot_06_bar__plus_01_dot_83_bar__minus_01_dot_89 - receptacle + loc_bar__minus_6_bar__minus_6_bar_3_bar_0 - location + loc_bar__minus_7_bar__minus_2_bar_2_bar_60 - location + loc_bar__minus_5_bar__minus_9_bar_1_bar_60 - location + loc_bar__minus_5_bar__minus_8_bar_2_bar_60 - location + loc_bar__minus_6_bar__minus_8_bar_3_bar_0 - location + loc_bar__minus_6_bar__minus_7_bar_3_bar_60 - location + loc_bar__minus_5_bar__minus_9_bar_2_bar_60 - location + loc_bar__minus_5_bar__minus_2_bar_0_bar_30 - location + loc_bar__minus_3_bar__minus_5_bar_1_bar_45 - location + loc_bar__minus_7_bar__minus_5_bar_3_bar_60 - location + loc_bar__minus_5_bar__minus_8_bar_1_bar_60 - location + loc_bar__minus_5_bar__minus_8_bar_1_bar__minus_15 - location + loc_bar__minus_3_bar__minus_5_bar_1_bar_60 - location + loc_bar__minus_6_bar__minus_8_bar_3_bar_60 - location + loc_bar__minus_6_bar__minus_8_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_99_bar__minus_01_dot_40 ToiletPaperHangerType) + (receptacleType Toilet_bar__minus_00_dot_47_bar__plus_00_dot_00_bar__minus_01_dot_88 ToiletType) + (receptacleType Bathtub_bar__minus_00_dot_98_bar__minus_00_dot_72_bar__minus_02_dot_93_bar_BathtubBasin BathtubBasinType) + (receptacleType Drawer_bar__minus_02_dot_12_bar__plus_00_dot_46_bar__minus_01_dot_31 DrawerType) + (receptacleType Drawer_bar__minus_02_dot_12_bar__plus_00_dot_17_bar__minus_01_dot_31 DrawerType) + (receptacleType SideTable_bar__minus_02_dot_12_bar__plus_00_dot_46_bar__minus_01_dot_31 SideTableType) + (receptacleType TowelHolder_bar__plus_00_dot_06_bar__plus_01_dot_83_bar__minus_01_dot_89 TowelHolderType) + (receptacleType HandTowelHolder_bar__minus_02_dot_41_bar__plus_01_dot_63_bar__minus_01_dot_51 HandTowelHolderType) + (receptacleType GarbageCan_bar__minus_00_dot_22_bar__plus_00_dot_00_bar__minus_01_dot_42 GarbageCanType) + (receptacleType Sink_bar__minus_02_dot_10_bar_00_dot_00_bar__minus_02_dot_03_bar_SinkBasin SinkBasinType) + (objectType Plunger_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_02_dot_38 PlungerType) + (objectType Candle_bar__minus_01_dot_46_bar__plus_00_dot_48_bar__minus_02_dot_56 CandleType) + (objectType LightSwitch_bar__minus_01_dot_25_bar__plus_01_dot_42_bar__plus_00_dot_00 LightSwitchType) + (objectType HandTowel_bar__minus_02_dot_37_bar__plus_01_dot_52_bar__minus_01_dot_51 HandTowelType) + (objectType SoapBar_bar__minus_00_dot_12_bar__plus_01_dot_05_bar__minus_01_dot_88 SoapBarType) + (objectType ToiletPaper_bar__minus_02_dot_14_bar__plus_00_dot_08_bar__minus_01_dot_20 ToiletPaperType) + (objectType Cloth_bar__minus_01_dot_69_bar__plus_00_dot_06_bar__minus_03_dot_05 ClothType) + (objectType ScrubBrush_bar__minus_00_dot_16_bar__plus_00_dot_00_bar__minus_02_dot_16 ScrubBrushType) + (objectType SoapBar_bar__minus_02_dot_34_bar__plus_00_dot_98_bar__minus_01_dot_95 SoapBarType) + (objectType Bathtub_bar__minus_00_dot_98_bar__minus_00_dot_72_bar__minus_02_dot_93 BathtubType) + (objectType Mirror_bar__minus_02_dot_45_bar__plus_01_dot_64_bar__minus_02_dot_03 MirrorType) + (objectType SoapBar_bar__minus_00_dot_12_bar__plus_01_dot_05_bar__minus_02_dot_08 SoapBarType) + (objectType SprayBottle_bar__minus_02_dot_29_bar__plus_00_dot_68_bar__minus_01_dot_24 SprayBottleType) + (objectType SprayBottle_bar__minus_02_dot_16_bar__plus_00_dot_68_bar__minus_01_dot_55 SprayBottleType) + (objectType SoapBottle_bar__minus_02_dot_07_bar__plus_00_dot_68_bar__minus_01_dot_55 SoapBottleType) + (objectType Sink_bar__minus_02_dot_10_bar_00_dot_00_bar__minus_02_dot_03 SinkType) + (objectType ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_99_bar__minus_01_dot_34 ToiletPaperType) + (objectType ToiletPaper_bar__minus_00_dot_17_bar__plus_01_dot_04_bar__minus_01_dot_75 ToiletPaperType) + (objectType TissueBox_bar__minus_02_dot_19_bar__plus_00_dot_67_bar__minus_01_dot_12 TissueBoxType) + (objectType SprayBottle_bar__minus_02_dot_07_bar__plus_00_dot_68_bar__minus_01_dot_24 SprayBottleType) + (objectType Towel_bar__minus_00_dot_05_bar__plus_01_dot_85_bar__minus_01_dot_89 TowelType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType ClothType) + (canContain ToiletType CandleType) + (canContain ToiletType SoapBarType) + (canContain ToiletType SprayBottleType) + (canContain ToiletType TissueBoxType) + (canContain BathtubBasinType ClothType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType HandTowelType) + (canContain SideTableType CandleType) + (canContain SideTableType SoapBarType) + (canContain SideTableType SprayBottleType) + (canContain SideTableType ToiletPaperType) + (canContain SideTableType SoapBottleType) + (canContain SideTableType ClothType) + (canContain SideTableType TissueBoxType) + (canContain SideTableType HandTowelType) + (canContain TowelHolderType TowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType TissueBoxType) + (canContain GarbageCanType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (pickupable Plunger_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_02_dot_38) + (pickupable Candle_bar__minus_01_dot_46_bar__plus_00_dot_48_bar__minus_02_dot_56) + (pickupable HandTowel_bar__minus_02_dot_37_bar__plus_01_dot_52_bar__minus_01_dot_51) + (pickupable SoapBar_bar__minus_00_dot_12_bar__plus_01_dot_05_bar__minus_01_dot_88) + (pickupable ToiletPaper_bar__minus_02_dot_14_bar__plus_00_dot_08_bar__minus_01_dot_20) + (pickupable Cloth_bar__minus_01_dot_69_bar__plus_00_dot_06_bar__minus_03_dot_05) + (pickupable ScrubBrush_bar__minus_00_dot_16_bar__plus_00_dot_00_bar__minus_02_dot_16) + (pickupable SoapBar_bar__minus_02_dot_34_bar__plus_00_dot_98_bar__minus_01_dot_95) + (pickupable SoapBar_bar__minus_00_dot_12_bar__plus_01_dot_05_bar__minus_02_dot_08) + (pickupable SprayBottle_bar__minus_02_dot_29_bar__plus_00_dot_68_bar__minus_01_dot_24) + (pickupable SprayBottle_bar__minus_02_dot_16_bar__plus_00_dot_68_bar__minus_01_dot_55) + (pickupable SoapBottle_bar__minus_02_dot_07_bar__plus_00_dot_68_bar__minus_01_dot_55) + (pickupable ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_99_bar__minus_01_dot_34) + (pickupable ToiletPaper_bar__minus_00_dot_17_bar__plus_01_dot_04_bar__minus_01_dot_75) + (pickupable TissueBox_bar__minus_02_dot_19_bar__plus_00_dot_67_bar__minus_01_dot_12) + (pickupable SprayBottle_bar__minus_02_dot_07_bar__plus_00_dot_68_bar__minus_01_dot_24) + (pickupable Towel_bar__minus_00_dot_05_bar__plus_01_dot_85_bar__minus_01_dot_89) + + + + (atLocation agent1 loc_bar__minus_6_bar__minus_8_bar_1_bar_30) + + (cleanable SoapBar_bar__minus_00_dot_12_bar__plus_01_dot_05_bar__minus_01_dot_88) + (cleanable Cloth_bar__minus_01_dot_69_bar__plus_00_dot_06_bar__minus_03_dot_05) + (cleanable SoapBar_bar__minus_02_dot_34_bar__plus_00_dot_98_bar__minus_01_dot_95) + (cleanable SoapBar_bar__minus_00_dot_12_bar__plus_01_dot_05_bar__minus_02_dot_08) + + + + + + + + + + + (inReceptacle SprayBottle_bar__minus_02_dot_29_bar__plus_00_dot_68_bar__minus_01_dot_24 SideTable_bar__minus_02_dot_12_bar__plus_00_dot_46_bar__minus_01_dot_31) + (inReceptacle SprayBottle_bar__minus_02_dot_16_bar__plus_00_dot_68_bar__minus_01_dot_55 SideTable_bar__minus_02_dot_12_bar__plus_00_dot_46_bar__minus_01_dot_31) + (inReceptacle TissueBox_bar__minus_02_dot_19_bar__plus_00_dot_67_bar__minus_01_dot_12 SideTable_bar__minus_02_dot_12_bar__plus_00_dot_46_bar__minus_01_dot_31) + (inReceptacle SoapBottle_bar__minus_02_dot_07_bar__plus_00_dot_68_bar__minus_01_dot_55 SideTable_bar__minus_02_dot_12_bar__plus_00_dot_46_bar__minus_01_dot_31) + (inReceptacle SprayBottle_bar__minus_02_dot_07_bar__plus_00_dot_68_bar__minus_01_dot_24 SideTable_bar__minus_02_dot_12_bar__plus_00_dot_46_bar__minus_01_dot_31) + (inReceptacle ToiletPaper_bar__minus_02_dot_14_bar__plus_00_dot_08_bar__minus_01_dot_20 Drawer_bar__minus_02_dot_12_bar__plus_00_dot_17_bar__minus_01_dot_31) + (inReceptacle Towel_bar__minus_00_dot_05_bar__plus_01_dot_85_bar__minus_01_dot_89 TowelHolder_bar__plus_00_dot_06_bar__plus_01_dot_83_bar__minus_01_dot_89) + (inReceptacle HandTowel_bar__minus_02_dot_37_bar__plus_01_dot_52_bar__minus_01_dot_51 HandTowelHolder_bar__minus_02_dot_41_bar__plus_01_dot_63_bar__minus_01_dot_51) + (inReceptacle Cloth_bar__minus_01_dot_69_bar__plus_00_dot_06_bar__minus_03_dot_05 Bathtub_bar__minus_00_dot_98_bar__minus_00_dot_72_bar__minus_02_dot_93_bar_BathtubBasin) + (inReceptacle SoapBar_bar__minus_00_dot_12_bar__plus_01_dot_05_bar__minus_02_dot_08 Toilet_bar__minus_00_dot_47_bar__plus_00_dot_00_bar__minus_01_dot_88) + (inReceptacle SoapBar_bar__minus_00_dot_12_bar__plus_01_dot_05_bar__minus_01_dot_88 Toilet_bar__minus_00_dot_47_bar__plus_00_dot_00_bar__minus_01_dot_88) + (inReceptacle ToiletPaper_bar__minus_00_dot_17_bar__plus_01_dot_04_bar__minus_01_dot_75 Toilet_bar__minus_00_dot_47_bar__plus_00_dot_00_bar__minus_01_dot_88) + + + (receptacleAtLocation Bathtub_bar__minus_00_dot_98_bar__minus_00_dot_72_bar__minus_02_dot_93_bar_BathtubBasin loc_bar__minus_5_bar__minus_8_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_12_bar__plus_00_dot_17_bar__minus_01_dot_31 loc_bar__minus_7_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_12_bar__plus_00_dot_46_bar__minus_01_dot_31 loc_bar__minus_7_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_22_bar__plus_00_dot_00_bar__minus_01_dot_42 loc_bar__minus_3_bar__minus_5_bar_1_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_41_bar__plus_01_dot_63_bar__minus_01_dot_51 loc_bar__minus_6_bar__minus_6_bar_3_bar_0) + (receptacleAtLocation SideTable_bar__minus_02_dot_12_bar__plus_00_dot_46_bar__minus_01_dot_31 loc_bar__minus_7_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Sink_bar__minus_02_dot_10_bar_00_dot_00_bar__minus_02_dot_03_bar_SinkBasin loc_bar__minus_6_bar__minus_7_bar_3_bar_60) + (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_99_bar__minus_01_dot_40 loc_bar__minus_3_bar__minus_5_bar_1_bar_45) + (receptacleAtLocation Toilet_bar__minus_00_dot_47_bar__plus_00_dot_00_bar__minus_01_dot_88 loc_bar__minus_5_bar__minus_8_bar_1_bar_60) + (receptacleAtLocation TowelHolder_bar__plus_00_dot_06_bar__plus_01_dot_83_bar__minus_01_dot_89 loc_bar__minus_5_bar__minus_8_bar_1_bar__minus_15) + (objectAtLocation SprayBottle_bar__minus_02_dot_16_bar__plus_00_dot_68_bar__minus_01_dot_55 loc_bar__minus_7_bar__minus_2_bar_2_bar_60) + (objectAtLocation ToiletPaper_bar__minus_02_dot_14_bar__plus_00_dot_08_bar__minus_01_dot_20 loc_bar__minus_7_bar__minus_5_bar_3_bar_60) + (objectAtLocation SoapBar_bar__minus_00_dot_12_bar__plus_01_dot_05_bar__minus_01_dot_88 loc_bar__minus_5_bar__minus_8_bar_1_bar_60) + (objectAtLocation SoapBar_bar__minus_00_dot_12_bar__plus_01_dot_05_bar__minus_02_dot_08 loc_bar__minus_5_bar__minus_8_bar_1_bar_60) + (objectAtLocation SprayBottle_bar__minus_02_dot_29_bar__plus_00_dot_68_bar__minus_01_dot_24 loc_bar__minus_7_bar__minus_2_bar_2_bar_60) + (objectAtLocation Bathtub_bar__minus_00_dot_98_bar__minus_00_dot_72_bar__minus_02_dot_93 loc_bar__minus_5_bar__minus_9_bar_2_bar_60) + (objectAtLocation Sink_bar__minus_02_dot_10_bar_00_dot_00_bar__minus_02_dot_03 loc_bar__minus_6_bar__minus_8_bar_3_bar_60) + (objectAtLocation Mirror_bar__minus_02_dot_45_bar__plus_01_dot_64_bar__minus_02_dot_03 loc_bar__minus_6_bar__minus_8_bar_3_bar_0) + (objectAtLocation HandTowel_bar__minus_02_dot_37_bar__plus_01_dot_52_bar__minus_01_dot_51 loc_bar__minus_6_bar__minus_6_bar_3_bar_0) + (objectAtLocation SoapBar_bar__minus_02_dot_34_bar__plus_00_dot_98_bar__minus_01_dot_95 loc_bar__minus_6_bar__minus_7_bar_3_bar_60) + (objectAtLocation ToiletPaper_bar__minus_00_dot_17_bar__plus_01_dot_04_bar__minus_01_dot_75 loc_bar__minus_5_bar__minus_8_bar_1_bar_60) + (objectAtLocation TissueBox_bar__minus_02_dot_19_bar__plus_00_dot_67_bar__minus_01_dot_12 loc_bar__minus_7_bar__minus_2_bar_2_bar_60) + (objectAtLocation ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_99_bar__minus_01_dot_34 loc_bar__minus_3_bar__minus_5_bar_1_bar_60) + (objectAtLocation LightSwitch_bar__minus_01_dot_25_bar__plus_01_dot_42_bar__plus_00_dot_00 loc_bar__minus_5_bar__minus_2_bar_0_bar_30) + (objectAtLocation Cloth_bar__minus_01_dot_69_bar__plus_00_dot_06_bar__minus_03_dot_05 loc_bar__minus_5_bar__minus_8_bar_2_bar_60) + (objectAtLocation Towel_bar__minus_00_dot_05_bar__plus_01_dot_85_bar__minus_01_dot_89 loc_bar__minus_5_bar__minus_8_bar_1_bar__minus_15) + (objectAtLocation SoapBottle_bar__minus_02_dot_07_bar__plus_00_dot_68_bar__minus_01_dot_55 loc_bar__minus_7_bar__minus_2_bar_2_bar_60) + (objectAtLocation SprayBottle_bar__minus_02_dot_07_bar__plus_00_dot_68_bar__minus_01_dot_24 loc_bar__minus_7_bar__minus_2_bar_2_bar_60) + (objectAtLocation ScrubBrush_bar__minus_00_dot_16_bar__plus_00_dot_00_bar__minus_02_dot_16 loc_bar__minus_5_bar__minus_9_bar_1_bar_60) + (objectAtLocation Plunger_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_02_dot_38 loc_bar__minus_5_bar__minus_9_bar_1_bar_60) + (objectAtLocation Candle_bar__minus_01_dot_46_bar__plus_00_dot_48_bar__minus_02_dot_56 loc_bar__minus_5_bar__minus_8_bar_2_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (cleanable ?o) + (objectType ?o ClothType) + (receptacleType ?r ToiletType) + (isClean ?o) + (inReceptacle ?o ?r) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cloth-None-Toilet-419/trial_T20190909_033717_715383/traj_data.json b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cloth-None-Toilet-419/trial_T20190909_033717_715383/traj_data.json new file mode 100644 index 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+ "objectName": "SprayBottle_2ac4405d", + "position": { + "x": -2.1559546, + "y": 0.6834041, + "z": -1.54510355 + }, + "rotation": { + "x": 0.0, + "y": 270.000061, + "z": 0.0 + } + }, + { + "objectName": "ScrubBrush_97532508", + "position": { + "x": -0.161493659, + "y": 0.00155606866, + "z": -2.15768433 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plunger_308ec35a", + "position": { + "x": -0.123310566, + "y": 0.00109308213, + "z": -2.37855053 + }, + "rotation": { + "x": -0.00118231389, + "y": 0.000436212431, + "z": 0.000779919443 + } + }, + { + "objectName": "Candle_703cf734", + "position": { + "x": -1.46343851, + "y": 0.48134, + "z": -2.55926466 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2859886743, + "scene_num": 419 + }, + "task_id": "trial_T20190909_033717_715383", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1HKHM4NVAO98H_38F71OA9GWNL4A07C01NLHB8H3GMF4", + "high_descs": [ + "turn right to face the bath tub, then look down a bit", + "grab the dirty wash cloth out of the bath tub", + "turn right and walk over to the right side of the sink against the wall", + "place the cloth inside of the sink and turn on the water, clean out the cloth and then pick it back up", + "turn around to face the toilet, and look upwards a bit at the back side of the toilet", + "place the cloth down on top of the back side of the toilet" + ], + "task_desc": "place a clean cloth on top of the back side of the toilet", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1ELPYAFO7MANS_3RGU30DZTDZ19CM3VQS80F30AATMJ3", + "high_descs": [ + "Turn right and face the bath tub.", + "Pick up the black rag in the tub.", + "Turn right and face the sink.", + "Rinse the rag in the sink.", + "Turn around and face the toilet.", + "Place the rag on the toilet in between the bars of soap." + ], + "task_desc": "Place a clean rag on a toilet tank.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_3X4JMASXCP0YOFHKITST4UDAZ2JB0W", + "high_descs": [ + "Turn right and walk up to the tub.", + "Pick up the dirty black rag out of the tub.", + "Turn around and walk forward, then turn left to face the sink.", + "Put the dirty black rag in the sink and turn on the water, after a couple seconds turn the water off and pick up the now clean black rag.", + "Turn left and walk towards the tub, then turn left and walk over to the toilet.", + "Put the clean black rag on top of the toilet tank." + ], + "task_desc": "Put a clean black rag on the toilet tank.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cloth-None-Toilet-419/trial_T20190909_033735_067928/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cloth-None-Toilet-419/trial_T20190909_033735_067928/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..d3920baf5d3c074f32af32086ed3dce1d79b0d06 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cloth-None-Toilet-419/trial_T20190909_033735_067928/initial_state.pddl @@ -0,0 +1,439 @@ + +(define (problem plan_trial_T20190909_033735_067928) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Bathtub_bar__minus_00_dot_98_bar__minus_00_dot_72_bar__minus_02_dot_93 - object + Candle_bar__minus_01_dot_20_bar__plus_00_dot_48_bar__minus_02_dot_55 - object + Cloth_bar__minus_00_dot_45_bar__plus_00_dot_06_bar__minus_02_dot_86 - object + Cloth_bar__minus_00_dot_69_bar__plus_00_dot_06_bar__minus_03_dot_12 - object + Cloth_bar__minus_01_dot_19_bar__plus_00_dot_06_bar__minus_03_dot_05 - object + Cloth_bar__minus_01_dot_94_bar__plus_00_dot_06_bar__minus_02_dot_99 - object + Faucet_bar__minus_00_dot_01_bar__plus_01_dot_72_bar__minus_02_dot_98 - object + Faucet_bar__minus_00_dot_02_bar__plus_00_dot_47_bar__minus_02_dot_97 - object + Faucet_bar__minus_02_dot_35_bar__plus_00_dot_96_bar__minus_02_dot_03 - object + HandTowel_bar__minus_02_dot_37_bar__plus_01_dot_52_bar__minus_01_dot_51 - object + LightSwitch_bar__minus_01_dot_25_bar__plus_01_dot_42_bar__plus_00_dot_00 - object + Mirror_bar__minus_02_dot_45_bar__plus_01_dot_64_bar__minus_02_dot_03 - object + Plunger_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_02_dot_38 - object + ScrubBrush_bar__minus_00_dot_16_bar__plus_00_dot_00_bar__minus_02_dot_16 - object + ShowerCurtain_bar__minus_02_dot_33_bar__plus_01_dot_96_bar__minus_02_dot_46 - object + Sink_bar__minus_02_dot_10_bar_00_dot_00_bar__minus_02_dot_03 - object + SoapBar_bar__minus_00_dot_94_bar__plus_00_dot_06_bar__minus_02_dot_99 - object + SoapBar_bar__minus_02_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_86 - object + SoapBar_bar__minus_02_dot_35_bar__plus_00_dot_98_bar__minus_01_dot_78 - object + SoapBottle_bar__minus_00_dot_14_bar__plus_01_dot_05_bar__minus_02_dot_08 - object + SoapBottle_bar__minus_02_dot_34_bar__plus_00_dot_68_bar__minus_01_dot_08 - object + SprayBottle_bar__minus_02_dot_20_bar__plus_00_dot_68_bar__minus_01_dot_55 - object + TissueBox_bar__minus_02_dot_25_bar__plus_00_dot_68_bar__minus_01_dot_24 - object + ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_99_bar__minus_01_dot_34 - object + ToiletPaper_bar__minus_02_dot_13_bar__plus_00_dot_37_bar__minus_01_dot_20 - object + Towel_bar__minus_00_dot_05_bar__plus_01_dot_85_bar__minus_01_dot_89 - object + Bathtub_bar__minus_00_dot_98_bar__minus_00_dot_72_bar__minus_02_dot_93_bar_BathtubBasin - receptacle + Drawer_bar__minus_02_dot_12_bar__plus_00_dot_17_bar__minus_01_dot_31 - receptacle + Drawer_bar__minus_02_dot_12_bar__plus_00_dot_46_bar__minus_01_dot_31 - receptacle + GarbageCan_bar__minus_00_dot_22_bar__plus_00_dot_00_bar__minus_01_dot_42 - receptacle + HandTowelHolder_bar__minus_02_dot_41_bar__plus_01_dot_63_bar__minus_01_dot_51 - receptacle + SideTable_bar__minus_02_dot_12_bar__plus_00_dot_46_bar__minus_01_dot_31 - receptacle + Sink_bar__minus_02_dot_10_bar_00_dot_00_bar__minus_02_dot_03_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_99_bar__minus_01_dot_40 - receptacle + Toilet_bar__minus_00_dot_47_bar__plus_00_dot_00_bar__minus_01_dot_88 - receptacle + TowelHolder_bar__plus_00_dot_06_bar__plus_01_dot_83_bar__minus_01_dot_89 - receptacle + loc_bar__minus_6_bar__minus_6_bar_3_bar_0 - location + loc_bar__minus_7_bar__minus_2_bar_2_bar_60 - location + loc_bar__minus_5_bar__minus_9_bar_1_bar_60 - location + loc_bar__minus_5_bar__minus_8_bar_2_bar_60 - location + loc_bar__minus_6_bar__minus_8_bar_3_bar_0 - location + loc_bar__minus_6_bar__minus_7_bar_3_bar_60 - location + loc_bar__minus_5_bar__minus_9_bar_2_bar_60 - location + loc_bar__minus_5_bar__minus_2_bar_0_bar_30 - location + loc_bar__minus_3_bar__minus_5_bar_1_bar_45 - location + loc_bar__minus_7_bar__minus_5_bar_3_bar_60 - location + loc_bar__minus_5_bar__minus_8_bar_1_bar_60 - location + loc_bar__minus_5_bar__minus_8_bar_1_bar__minus_15 - location + loc_bar__minus_2_bar__minus_4_bar_1_bar_60 - location + loc_bar__minus_3_bar__minus_5_bar_1_bar_60 - location + loc_bar__minus_6_bar__minus_8_bar_3_bar_60 - location + loc_bar__minus_8_bar__minus_2_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_99_bar__minus_01_dot_40 ToiletPaperHangerType) + (receptacleType Toilet_bar__minus_00_dot_47_bar__plus_00_dot_00_bar__minus_01_dot_88 ToiletType) + (receptacleType Bathtub_bar__minus_00_dot_98_bar__minus_00_dot_72_bar__minus_02_dot_93_bar_BathtubBasin BathtubBasinType) + (receptacleType Drawer_bar__minus_02_dot_12_bar__plus_00_dot_46_bar__minus_01_dot_31 DrawerType) + (receptacleType Drawer_bar__minus_02_dot_12_bar__plus_00_dot_17_bar__minus_01_dot_31 DrawerType) + (receptacleType SideTable_bar__minus_02_dot_12_bar__plus_00_dot_46_bar__minus_01_dot_31 SideTableType) + (receptacleType TowelHolder_bar__plus_00_dot_06_bar__plus_01_dot_83_bar__minus_01_dot_89 TowelHolderType) + (receptacleType HandTowelHolder_bar__minus_02_dot_41_bar__plus_01_dot_63_bar__minus_01_dot_51 HandTowelHolderType) + (receptacleType GarbageCan_bar__minus_00_dot_22_bar__plus_00_dot_00_bar__minus_01_dot_42 GarbageCanType) + (receptacleType Sink_bar__minus_02_dot_10_bar_00_dot_00_bar__minus_02_dot_03_bar_SinkBasin SinkBasinType) + (objectType Plunger_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_02_dot_38 PlungerType) + (objectType SprayBottle_bar__minus_02_dot_20_bar__plus_00_dot_68_bar__minus_01_dot_55 SprayBottleType) + (objectType SoapBottle_bar__minus_00_dot_14_bar__plus_01_dot_05_bar__minus_02_dot_08 SoapBottleType) + (objectType TissueBox_bar__minus_02_dot_25_bar__plus_00_dot_68_bar__minus_01_dot_24 TissueBoxType) + (objectType LightSwitch_bar__minus_01_dot_25_bar__plus_01_dot_42_bar__plus_00_dot_00 LightSwitchType) + (objectType HandTowel_bar__minus_02_dot_37_bar__plus_01_dot_52_bar__minus_01_dot_51 HandTowelType) + (objectType SoapBar_bar__minus_02_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_86 SoapBarType) + (objectType ScrubBrush_bar__minus_00_dot_16_bar__plus_00_dot_00_bar__minus_02_dot_16 ScrubBrushType) + (objectType Bathtub_bar__minus_00_dot_98_bar__minus_00_dot_72_bar__minus_02_dot_93 BathtubType) + (objectType SoapBottle_bar__minus_02_dot_34_bar__plus_00_dot_68_bar__minus_01_dot_08 SoapBottleType) + (objectType SoapBar_bar__minus_02_dot_35_bar__plus_00_dot_98_bar__minus_01_dot_78 SoapBarType) + (objectType Mirror_bar__minus_02_dot_45_bar__plus_01_dot_64_bar__minus_02_dot_03 MirrorType) + (objectType Cloth_bar__minus_01_dot_19_bar__plus_00_dot_06_bar__minus_03_dot_05 ClothType) + (objectType Cloth_bar__minus_00_dot_45_bar__plus_00_dot_06_bar__minus_02_dot_86 ClothType) + (objectType Candle_bar__minus_01_dot_20_bar__plus_00_dot_48_bar__minus_02_dot_55 CandleType) + (objectType Sink_bar__minus_02_dot_10_bar_00_dot_00_bar__minus_02_dot_03 SinkType) + (objectType ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_99_bar__minus_01_dot_34 ToiletPaperType) + (objectType SoapBar_bar__minus_00_dot_94_bar__plus_00_dot_06_bar__minus_02_dot_99 SoapBarType) + (objectType ToiletPaper_bar__minus_02_dot_13_bar__plus_00_dot_37_bar__minus_01_dot_20 ToiletPaperType) + (objectType Cloth_bar__minus_01_dot_94_bar__plus_00_dot_06_bar__minus_02_dot_99 ClothType) + (objectType Cloth_bar__minus_00_dot_69_bar__plus_00_dot_06_bar__minus_03_dot_12 ClothType) + (objectType Towel_bar__minus_00_dot_05_bar__plus_01_dot_85_bar__minus_01_dot_89 TowelType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType ClothType) + (canContain ToiletType CandleType) + (canContain ToiletType SoapBarType) + (canContain ToiletType SprayBottleType) + (canContain ToiletType TissueBoxType) + (canContain BathtubBasinType ClothType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType HandTowelType) + (canContain SideTableType CandleType) + (canContain SideTableType SoapBarType) + (canContain SideTableType SprayBottleType) + (canContain SideTableType ToiletPaperType) + (canContain SideTableType SoapBottleType) + (canContain SideTableType ClothType) + (canContain SideTableType TissueBoxType) + (canContain SideTableType HandTowelType) + (canContain TowelHolderType TowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType TissueBoxType) + (canContain GarbageCanType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (pickupable Plunger_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_02_dot_38) + (pickupable SprayBottle_bar__minus_02_dot_20_bar__plus_00_dot_68_bar__minus_01_dot_55) + (pickupable SoapBottle_bar__minus_00_dot_14_bar__plus_01_dot_05_bar__minus_02_dot_08) + (pickupable TissueBox_bar__minus_02_dot_25_bar__plus_00_dot_68_bar__minus_01_dot_24) + (pickupable HandTowel_bar__minus_02_dot_37_bar__plus_01_dot_52_bar__minus_01_dot_51) + (pickupable SoapBar_bar__minus_02_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_86) + (pickupable ScrubBrush_bar__minus_00_dot_16_bar__plus_00_dot_00_bar__minus_02_dot_16) + (pickupable SoapBottle_bar__minus_02_dot_34_bar__plus_00_dot_68_bar__minus_01_dot_08) + (pickupable SoapBar_bar__minus_02_dot_35_bar__plus_00_dot_98_bar__minus_01_dot_78) + (pickupable Cloth_bar__minus_01_dot_19_bar__plus_00_dot_06_bar__minus_03_dot_05) + (pickupable Cloth_bar__minus_00_dot_45_bar__plus_00_dot_06_bar__minus_02_dot_86) + (pickupable Candle_bar__minus_01_dot_20_bar__plus_00_dot_48_bar__minus_02_dot_55) + (pickupable ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_99_bar__minus_01_dot_34) + (pickupable SoapBar_bar__minus_00_dot_94_bar__plus_00_dot_06_bar__minus_02_dot_99) + (pickupable ToiletPaper_bar__minus_02_dot_13_bar__plus_00_dot_37_bar__minus_01_dot_20) + (pickupable Cloth_bar__minus_01_dot_94_bar__plus_00_dot_06_bar__minus_02_dot_99) + (pickupable Cloth_bar__minus_00_dot_69_bar__plus_00_dot_06_bar__minus_03_dot_12) + (pickupable Towel_bar__minus_00_dot_05_bar__plus_01_dot_85_bar__minus_01_dot_89) + + + + (atLocation agent1 loc_bar__minus_8_bar__minus_2_bar_3_bar_30) + + (cleanable SoapBar_bar__minus_02_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_86) + (cleanable SoapBar_bar__minus_02_dot_35_bar__plus_00_dot_98_bar__minus_01_dot_78) + (cleanable Cloth_bar__minus_01_dot_19_bar__plus_00_dot_06_bar__minus_03_dot_05) + (cleanable Cloth_bar__minus_00_dot_45_bar__plus_00_dot_06_bar__minus_02_dot_86) + (cleanable SoapBar_bar__minus_00_dot_94_bar__plus_00_dot_06_bar__minus_02_dot_99) + (cleanable Cloth_bar__minus_01_dot_94_bar__plus_00_dot_06_bar__minus_02_dot_99) + (cleanable Cloth_bar__minus_00_dot_69_bar__plus_00_dot_06_bar__minus_03_dot_12) + + + + + + + + + + + (inReceptacle ToiletPaper_bar__minus_02_dot_13_bar__plus_00_dot_37_bar__minus_01_dot_20 Drawer_bar__minus_02_dot_12_bar__plus_00_dot_46_bar__minus_01_dot_31) + (inReceptacle SprayBottle_bar__minus_02_dot_20_bar__plus_00_dot_68_bar__minus_01_dot_55 SideTable_bar__minus_02_dot_12_bar__plus_00_dot_46_bar__minus_01_dot_31) + (inReceptacle SoapBottle_bar__minus_02_dot_34_bar__plus_00_dot_68_bar__minus_01_dot_08 SideTable_bar__minus_02_dot_12_bar__plus_00_dot_46_bar__minus_01_dot_31) + (inReceptacle TissueBox_bar__minus_02_dot_25_bar__plus_00_dot_68_bar__minus_01_dot_24 SideTable_bar__minus_02_dot_12_bar__plus_00_dot_46_bar__minus_01_dot_31) + (inReceptacle Towel_bar__minus_00_dot_05_bar__plus_01_dot_85_bar__minus_01_dot_89 TowelHolder_bar__plus_00_dot_06_bar__plus_01_dot_83_bar__minus_01_dot_89) + (inReceptacle HandTowel_bar__minus_02_dot_37_bar__plus_01_dot_52_bar__minus_01_dot_51 HandTowelHolder_bar__minus_02_dot_41_bar__plus_01_dot_63_bar__minus_01_dot_51) + (inReceptacle Cloth_bar__minus_01_dot_94_bar__plus_00_dot_06_bar__minus_02_dot_99 Bathtub_bar__minus_00_dot_98_bar__minus_00_dot_72_bar__minus_02_dot_93_bar_BathtubBasin) + (inReceptacle Cloth_bar__minus_01_dot_19_bar__plus_00_dot_06_bar__minus_03_dot_05 Bathtub_bar__minus_00_dot_98_bar__minus_00_dot_72_bar__minus_02_dot_93_bar_BathtubBasin) + (inReceptacle Cloth_bar__minus_00_dot_45_bar__plus_00_dot_06_bar__minus_02_dot_86 Bathtub_bar__minus_00_dot_98_bar__minus_00_dot_72_bar__minus_02_dot_93_bar_BathtubBasin) + (inReceptacle SoapBar_bar__minus_00_dot_94_bar__plus_00_dot_06_bar__minus_02_dot_99 Bathtub_bar__minus_00_dot_98_bar__minus_00_dot_72_bar__minus_02_dot_93_bar_BathtubBasin) + (inReceptacle Cloth_bar__minus_00_dot_69_bar__plus_00_dot_06_bar__minus_03_dot_12 Bathtub_bar__minus_00_dot_98_bar__minus_00_dot_72_bar__minus_02_dot_93_bar_BathtubBasin) + (inReceptacle SoapBottle_bar__minus_00_dot_14_bar__plus_01_dot_05_bar__minus_02_dot_08 Toilet_bar__minus_00_dot_47_bar__plus_00_dot_00_bar__minus_01_dot_88) + + + (receptacleAtLocation Bathtub_bar__minus_00_dot_98_bar__minus_00_dot_72_bar__minus_02_dot_93_bar_BathtubBasin loc_bar__minus_5_bar__minus_8_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_12_bar__plus_00_dot_17_bar__minus_01_dot_31 loc_bar__minus_7_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_12_bar__plus_00_dot_46_bar__minus_01_dot_31 loc_bar__minus_7_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_22_bar__plus_00_dot_00_bar__minus_01_dot_42 loc_bar__minus_3_bar__minus_5_bar_1_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_41_bar__plus_01_dot_63_bar__minus_01_dot_51 loc_bar__minus_6_bar__minus_6_bar_3_bar_0) + (receptacleAtLocation SideTable_bar__minus_02_dot_12_bar__plus_00_dot_46_bar__minus_01_dot_31 loc_bar__minus_7_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Sink_bar__minus_02_dot_10_bar_00_dot_00_bar__minus_02_dot_03_bar_SinkBasin loc_bar__minus_6_bar__minus_7_bar_3_bar_60) + (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_99_bar__minus_01_dot_40 loc_bar__minus_3_bar__minus_5_bar_1_bar_45) + (receptacleAtLocation Toilet_bar__minus_00_dot_47_bar__plus_00_dot_00_bar__minus_01_dot_88 loc_bar__minus_5_bar__minus_8_bar_1_bar_60) + (receptacleAtLocation TowelHolder_bar__plus_00_dot_06_bar__plus_01_dot_83_bar__minus_01_dot_89 loc_bar__minus_5_bar__minus_8_bar_1_bar__minus_15) + (objectAtLocation SoapBottle_bar__minus_00_dot_14_bar__plus_01_dot_05_bar__minus_02_dot_08 loc_bar__minus_5_bar__minus_8_bar_1_bar_60) + (objectAtLocation Cloth_bar__minus_01_dot_94_bar__plus_00_dot_06_bar__minus_02_dot_99 loc_bar__minus_5_bar__minus_8_bar_2_bar_60) + (objectAtLocation SoapBar_bar__minus_02_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_86 loc_bar__minus_6_bar__minus_7_bar_3_bar_60) + (objectAtLocation SoapBar_bar__minus_00_dot_94_bar__plus_00_dot_06_bar__minus_02_dot_99 loc_bar__minus_5_bar__minus_8_bar_2_bar_60) + (objectAtLocation Cloth_bar__minus_01_dot_19_bar__plus_00_dot_06_bar__minus_03_dot_05 loc_bar__minus_5_bar__minus_8_bar_2_bar_60) + (objectAtLocation Cloth_bar__minus_00_dot_45_bar__plus_00_dot_06_bar__minus_02_dot_86 loc_bar__minus_5_bar__minus_8_bar_2_bar_60) + (objectAtLocation Bathtub_bar__minus_00_dot_98_bar__minus_00_dot_72_bar__minus_02_dot_93 loc_bar__minus_5_bar__minus_9_bar_2_bar_60) + (objectAtLocation Sink_bar__minus_02_dot_10_bar_00_dot_00_bar__minus_02_dot_03 loc_bar__minus_6_bar__minus_8_bar_3_bar_60) + (objectAtLocation Mirror_bar__minus_02_dot_45_bar__plus_01_dot_64_bar__minus_02_dot_03 loc_bar__minus_6_bar__minus_8_bar_3_bar_0) + (objectAtLocation HandTowel_bar__minus_02_dot_37_bar__plus_01_dot_52_bar__minus_01_dot_51 loc_bar__minus_6_bar__minus_6_bar_3_bar_0) + (objectAtLocation SoapBar_bar__minus_02_dot_35_bar__plus_00_dot_98_bar__minus_01_dot_78 loc_bar__minus_6_bar__minus_7_bar_3_bar_60) + (objectAtLocation ToiletPaper_bar__minus_02_dot_13_bar__plus_00_dot_37_bar__minus_01_dot_20 loc_bar__minus_7_bar__minus_5_bar_3_bar_60) + (objectAtLocation TissueBox_bar__minus_02_dot_25_bar__plus_00_dot_68_bar__minus_01_dot_24 loc_bar__minus_7_bar__minus_2_bar_2_bar_60) + (objectAtLocation ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_99_bar__minus_01_dot_34 loc_bar__minus_2_bar__minus_4_bar_1_bar_60) + (objectAtLocation LightSwitch_bar__minus_01_dot_25_bar__plus_01_dot_42_bar__plus_00_dot_00 loc_bar__minus_5_bar__minus_2_bar_0_bar_30) + (objectAtLocation Cloth_bar__minus_00_dot_69_bar__plus_00_dot_06_bar__minus_03_dot_12 loc_bar__minus_5_bar__minus_8_bar_2_bar_60) + (objectAtLocation Towel_bar__minus_00_dot_05_bar__plus_01_dot_85_bar__minus_01_dot_89 loc_bar__minus_5_bar__minus_8_bar_1_bar__minus_15) + (objectAtLocation SoapBottle_bar__minus_02_dot_34_bar__plus_00_dot_68_bar__minus_01_dot_08 loc_bar__minus_7_bar__minus_2_bar_2_bar_60) + (objectAtLocation SprayBottle_bar__minus_02_dot_20_bar__plus_00_dot_68_bar__minus_01_dot_55 loc_bar__minus_7_bar__minus_2_bar_2_bar_60) + (objectAtLocation ScrubBrush_bar__minus_00_dot_16_bar__plus_00_dot_00_bar__minus_02_dot_16 loc_bar__minus_5_bar__minus_9_bar_1_bar_60) + (objectAtLocation Plunger_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_02_dot_38 loc_bar__minus_5_bar__minus_9_bar_1_bar_60) + (objectAtLocation Candle_bar__minus_01_dot_20_bar__plus_00_dot_48_bar__minus_02_dot_55 loc_bar__minus_5_bar__minus_8_bar_2_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (cleanable ?o) + (objectType ?o ClothType) + (receptacleType ?r ToiletType) + (isClean ?o) + (inReceptacle ?o ?r) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git 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0.000436212431, + "z": 0.000779919443 + } + }, + { + "objectName": "Candle_703cf734", + "position": { + "x": -1.19825029, + "y": 0.48134, + "z": -2.54519939 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 1668833091, + "scene_num": 419 + }, + "task_id": "trial_T20190909_033735_067928", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1RLO9LNUJIW5S_30BUDKLTXGMVQPF5PQ0VMXFMJ82E5H", + "high_descs": [ + "Turn around and take a step then turn right and walk to the tub then turn left to face the toilet.", + "Pick up the wash cloth that's over the drain in the tub.", + "Turn around to face the sink.", + "Get the wash cloth wet in the sink and then pick it back up and shut off the water.", + "Turn back around to face the toilet.", + "Put the wet wash cloth on the back of the toilet." + ], + "task_desc": "Put a wet wash cloth on the toilet.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AM2KK02JXXW48_3OONKJ5DKFAJRW93KEU4UV9SX6LBOA", + "high_descs": [ + "Turn around, move to the tub on the right.", + "Pick up the black rag in the tub, closest to the faucet. ", + "Bring the rag to the sink, right of the tub. ", + "Wash the rag in the sink with water. ", + "Turn around, bring the rag to the toilet.", + "Stand the rag on the toilet tank lid. " + ], + "task_desc": "Put a cleaned rag on the toilet tank lid. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A20FCMWP43CVIU_3X87C8JFV92LTU3LAD839PESGV8QSH", + "high_descs": [ + "walk to face top of bath tub", + "pick up black rag from tub basin", + "walk to face sink", + "wash and remove rag from sink", + "walk to face toilet", + "put rag on toilet tank " + ], + "task_desc": "put a washed rag on toilet tank", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Lettuce-None-CounterTop-30/trial_T20190909_033139_582791/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Lettuce-None-CounterTop-30/trial_T20190909_033139_582791/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..b00fcd51e12df1e88b7bce85c132adc651b8e593 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Lettuce-None-CounterTop-30/trial_T20190909_033139_582791/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 lettuce in countertop.\"\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_033139_582791)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - 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(canContain DrawerType SpatulaType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain StoveBurnerType KettleType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain CounterTopType SaltShakerType)\n (canContain CounterTopType BreadType)\n (canContain CounterTopType DishSpongeType)\n (canContain CounterTopType BowlType)\n (canContain CounterTopType KettleType)\n (canContain CounterTopType PotType)\n (canContain CounterTopType MugType)\n (canContain CounterTopType EggType)\n (canContain CounterTopType LadleType)\n (canContain CounterTopType ForkType)\n (canContain CounterTopType GlassbottleType)\n (canContain CounterTopType CellPhoneType)\n (canContain CounterTopType SpoonType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType LettuceType)\n (canContain CounterTopType PotatoType)\n (canContain CounterTopType ButterKnifeType)\n (canContain CounterTopType CupType)\n (canContain CounterTopType PlateType)\n (canContain CounterTopType PepperShakerType)\n (canContain CounterTopType TomatoType)\n (canContain CounterTopType KnifeType)\n (canContain CounterTopType AppleType)\n (canContain CounterTopType PanType)\n (canContain CounterTopType SpatulaType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain 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(canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType GlassbottleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain CounterTopType SaltShakerType)\n (canContain CounterTopType BreadType)\n (canContain CounterTopType DishSpongeType)\n (canContain CounterTopType BowlType)\n (canContain CounterTopType KettleType)\n (canContain CounterTopType PotType)\n (canContain CounterTopType MugType)\n (canContain CounterTopType EggType)\n (canContain CounterTopType LadleType)\n (canContain CounterTopType ForkType)\n (canContain CounterTopType GlassbottleType)\n (canContain CounterTopType CellPhoneType)\n (canContain CounterTopType SpoonType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType LettuceType)\n (canContain CounterTopType PotatoType)\n (canContain CounterTopType 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(canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain FridgeType BreadType)\n (canContain FridgeType BowlType)\n (canContain FridgeType PotType)\n (canContain FridgeType MugType)\n (canContain FridgeType EggType)\n (canContain FridgeType GlassbottleType)\n (canContain FridgeType LettuceType)\n (canContain FridgeType PotatoType)\n (canContain FridgeType CupType)\n (canContain FridgeType PlateType)\n (canContain FridgeType TomatoType)\n (canContain FridgeType AppleType)\n (canContain FridgeType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType GlassbottleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType GlassbottleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain 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CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Spoon_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__plus_00_dot_75 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle CellPhone_bar__plus_00_dot_44_bar__plus_00_dot_91_bar__plus_00_dot_22 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle ButterKnife_bar__plus_00_dot_45_bar__plus_00_dot_91_bar__plus_00_dot_83 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Knife_bar__plus_00_dot_95_bar__plus_00_dot_94_bar__plus_00_dot_45 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Fork_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__plus_00_dot_18 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Plate_bar__plus_00_dot_72_bar__plus_00_dot_92_bar__plus_00_dot_37 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Lettuce_bar__plus_00_dot_97_bar__plus_00_dot_98_bar__plus_00_dot_61 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Bread_bar__plus_01_dot_53_bar__plus_00_dot_97_bar__plus_00_dot_49 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Fork_bar__plus_00_dot_80_bar__plus_00_dot_91_bar__plus_00_dot_73 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Glassbottle_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__plus_00_dot_89 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Apple_bar__plus_03_dot_24_bar__plus_00_dot_17_bar__plus_01_dot_55 GarbageCan_bar__plus_03_dot_18_bar__plus_00_dot_03_bar__plus_01_dot_60)\n (inReceptacle Potato_bar__plus_03_dot_13_bar__plus_00_dot_14_bar__plus_01_dot_60 GarbageCan_bar__plus_03_dot_18_bar__plus_00_dot_03_bar__plus_01_dot_60)\n (inReceptacle Mug_bar__plus_03_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_59 CoffeeMachine_bar__plus_03_dot_22_bar__plus_00_dot_89_bar__plus_00_dot_70)\n (inReceptacle Spoon_bar__plus_03_dot_07_bar__plus_00_dot_75_bar__plus_00_dot_03 Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09_bar_SinkBasin)\n (inReceptacle Egg_bar__plus_01_dot_24_bar__plus_00_dot_76_bar__minus_01_dot_35 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47)\n (inReceptacle Apple_bar__plus_00_dot_93_bar__plus_01_dot_32_bar__minus_01_dot_50 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47)\n (inReceptacle Potato_bar__plus_00_dot_93_bar__plus_00_dot_92_bar__minus_01_dot_48 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47)\n (inReceptacle Cup_bar__minus_00_dot_99_bar__plus_01_dot_00_bar__plus_01_dot_42 Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43)\n (inReceptacle Egg_bar__minus_00_dot_99_bar__plus_01_dot_05_bar__plus_01_dot_21 Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43)\n (inReceptacle Potato_bar__minus_01_dot_12_bar__plus_01_dot_04_bar__plus_01_dot_26 Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_14_bar__plus_01_dot_67_bar__minus_01_dot_56 loc_bar_2_bar__minus_3_bar_2_bar_0)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_62_bar__plus_01_dot_87_bar__minus_01_dot_26 loc_bar_4_bar__minus_2_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_40_bar__plus_01_dot_87_bar__minus_01_dot_26 loc_bar_4_bar__minus_2_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_05 loc_bar_9_bar__minus_5_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_85 loc_bar_8_bar__minus_5_bar_1_bar_0)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__plus_00_dot_41 loc_bar_8_bar_1_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_61 loc_bar_8_bar_0_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_96 loc_bar_8_bar__minus_5_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_03_dot_07_bar__plus_01_dot_67_bar__minus_00_dot_71 loc_bar_9_bar__minus_4_bar_1_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_67_bar__minus_01_dot_34 loc_bar_1_bar__minus_3_bar_2_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_20_bar__plus_01_dot_96_bar__minus_01_dot_33 loc_bar_0_bar__minus_2_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_71_bar__plus_01_dot_96_bar__minus_00_dot_82 loc_bar_0_bar__minus_3_bar_3_bar__minus_15)\n (receptacleAtLocation 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(receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__minus_00_dot_10 loc_bar_0_bar_4_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_00_dot_66 loc_bar_0_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_01_dot_43 loc_bar_0_bar_2_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__minus_00_dot_10 loc_bar_0_bar_4_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_00_dot_66 loc_bar_0_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_01_dot_43 loc_bar_0_bar_1_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__minus_00_dot_10 loc_bar_0_bar_4_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_00_dot_66 loc_bar__minus_1_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_01_dot_43 loc_bar__minus_1_bar_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__minus_00_dot_10 loc_bar__minus_1_bar_3_bar_2_bar_45)\n (receptacleAtLocation Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_03_dot_18_bar__plus_00_dot_03_bar__plus_01_dot_60 loc_bar_11_bar_5_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43 loc_bar__minus_1_bar_5_bar_3_bar_45)\n (receptacleAtLocation Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09_bar_SinkBasin loc_bar_10_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_90_bar__minus_01_dot_09 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_09 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation Toaster_bar__minus_01_dot_04_bar__plus_00_dot_87_bar__minus_00_dot_40 loc_bar__minus_1_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_79_bar__plus_00_dot_90_bar__plus_00_dot_40 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation Spoon_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__plus_00_dot_75 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Tomato_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_01_dot_53 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation DishSponge_bar__plus_03_dot_10_bar__plus_01_dot_46_bar__minus_01_dot_24 loc_bar_9_bar__minus_5_bar_1_bar__minus_15)\n (objectAtLocation CellPhone_bar__plus_00_dot_44_bar__plus_00_dot_91_bar__plus_00_dot_22 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Apple_bar__plus_03_dot_24_bar__plus_00_dot_17_bar__plus_01_dot_55 loc_bar_11_bar_5_bar_1_bar_60)\n (objectAtLocation ButterKnife_bar__plus_00_dot_45_bar__plus_00_dot_91_bar__plus_00_dot_83 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation PepperShaker_bar__plus_01_dot_35_bar__plus_01_dot_67_bar__minus_01_dot_76 loc_bar_4_bar__minus_2_bar_2_bar__minus_15)\n (objectAtLocation Egg_bar__minus_00_dot_99_bar__plus_01_dot_05_bar__plus_01_dot_21 loc_bar__minus_1_bar_5_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__plus_03_dot_26_bar__plus_00_dot_17_bar__minus_00_dot_40 loc_bar_8_bar_0_bar_1_bar_60)\n (objectAtLocation Cup_bar__plus_00_dot_86_bar__plus_01_dot_67_bar__minus_01_dot_41 loc_bar_4_bar__minus_2_bar_2_bar__minus_15)\n (objectAtLocation Lettuce_bar__plus_00_dot_97_bar__plus_00_dot_98_bar__plus_00_dot_61 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Knife_bar__plus_00_dot_11_bar__plus_00_dot_93_bar__minus_01_dot_43 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Spatula_bar__minus_00_dot_29_bar__plus_00_dot_92_bar__minus_01_dot_45 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Ladle_bar__plus_02_dot_91_bar__plus_00_dot_75_bar__minus_00_dot_36 loc_bar_9_bar_2_bar_2_bar_45)\n (objectAtLocation Fork_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__plus_00_dot_18 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Potato_bar__plus_03_dot_13_bar__plus_00_dot_14_bar__plus_01_dot_60 loc_bar_11_bar_5_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__plus_03_dot_08_bar__plus_00_dot_18_bar__minus_00_dot_40 loc_bar_8_bar_0_bar_1_bar_60)\n (objectAtLocation Plate_bar__plus_03_dot_04_bar__plus_01_dot_48_bar__minus_01_dot_65 loc_bar_8_bar__minus_5_bar_1_bar_0)\n (objectAtLocation Knife_bar__plus_03_dot_28_bar__plus_00_dot_93_bar__minus_00_dot_30 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (objectAtLocation Plate_bar__plus_00_dot_72_bar__plus_00_dot_92_bar__plus_00_dot_37 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Cup_bar__minus_00_dot_99_bar__plus_01_dot_00_bar__plus_01_dot_42 loc_bar__minus_1_bar_5_bar_3_bar_45)\n (objectAtLocation Egg_bar__plus_03_dot_36_bar__plus_00_dot_95_bar__minus_00_dot_40 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__plus_03_dot_10_bar__plus_01_dot_47_bar__minus_01_dot_14 loc_bar_9_bar__minus_5_bar_1_bar__minus_15)\n (objectAtLocation Bowl_bar__plus_03_dot_03_bar__plus_00_dot_17_bar__minus_00_dot_83 loc_bar_8_bar__minus_5_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__plus_00_dot_47_bar__plus_00_dot_70_bar__minus_01_dot_52 loc_bar_0_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__minus_00_dot_62_bar__plus_00_dot_97_bar__minus_00_dot_70 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation Fork_bar__minus_00_dot_83_bar__plus_00_dot_13_bar__minus_00_dot_27 loc_bar_0_bar_4_bar_2_bar_60)\n (objectAtLocation Spatula_bar__minus_00_dot_79_bar__plus_00_dot_15_bar__plus_01_dot_17 loc_bar_0_bar_1_bar_0_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__minus_00_dot_05 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation DishSponge_bar__plus_00_dot_33_bar__plus_00_dot_51_bar__minus_01_dot_48 loc_bar_0_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Potato_bar__plus_00_dot_93_bar__plus_00_dot_92_bar__minus_01_dot_48 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09 loc_bar_10_bar_0_bar_1_bar_60)\n (objectAtLocation Mirror_bar__minus_01_dot_30_bar__plus_01_dot_63_bar__plus_00_dot_05 loc_bar__minus_1_bar_1_bar_3_bar_0)\n (objectAtLocation Plate_bar__plus_00_dot_81_bar__plus_01_dot_69_bar__minus_01_dot_62 loc_bar_4_bar__minus_2_bar_2_bar__minus_15)\n (objectAtLocation Glassbottle_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__plus_00_dot_89 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation SoapBottle_bar__plus_03_dot_26_bar__plus_00_dot_18_bar__minus_00_dot_26 loc_bar_8_bar_0_bar_1_bar_60)\n (objectAtLocation Potato_bar__minus_01_dot_12_bar__plus_01_dot_04_bar__plus_01_dot_26 loc_bar__minus_1_bar_5_bar_3_bar_45)\n (objectAtLocation HousePlant_bar__plus_03_dot_20_bar__plus_00_dot_89_bar__minus_00_dot_37 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_09_bar__plus_00_dot_79_bar__minus_01_dot_01 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_28_bar__plus_00_dot_79_bar__minus_00_dot_82 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_18_bar__plus_00_dot_79_bar__minus_00_dot_92 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_00_dot_72 loc_bar__minus_1_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Fork_bar__plus_00_dot_80_bar__plus_00_dot_91_bar__plus_00_dot_73 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Ladle_bar__plus_03_dot_03_bar__plus_00_dot_75_bar__minus_00_dot_78 loc_bar_9_bar_0_bar_2_bar_45)\n (objectAtLocation Pot_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_09 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Kettle_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Window_bar__plus_03_dot_70_bar__plus_01_dot_68_bar__plus_00_dot_05 loc_bar_10_bar_0_bar_1_bar_0)\n (objectAtLocation Spatula_bar__minus_00_dot_99_bar__plus_00_dot_72_bar__minus_00_dot_27 loc_bar__minus_1_bar_3_bar_2_bar_45)\n (objectAtLocation Knife_bar__plus_00_dot_95_bar__plus_00_dot_94_bar__plus_00_dot_45 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Lettuce_bar__minus_00_dot_83_bar__plus_00_dot_97_bar__minus_00_dot_80 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation LightSwitch_bar__plus_02_dot_59_bar__plus_01_dot_31_bar__minus_01_dot_88 loc_bar_9_bar__minus_5_bar_2_bar_30)\n (objectAtLocation Cup_bar__plus_03_dot_28_bar__plus_00_dot_90_bar__minus_00_dot_60 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_75_bar__plus_00_dot_51_bar__minus_00_dot_10 loc_bar_0_bar_4_bar_2_bar_45)\n (objectAtLocation Egg_bar__plus_01_dot_24_bar__plus_00_dot_76_bar__minus_01_dot_35 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation PepperShaker_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__plus_00_dot_75 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation ButterKnife_bar__plus_03_dot_04_bar__plus_00_dot_90_bar__minus_00_dot_40 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (objectAtLocation Apple_bar__plus_00_dot_93_bar__plus_01_dot_32_bar__minus_01_dot_50 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Pan_bar__plus_00_dot_34_bar__plus_00_dot_87_bar__minus_01_dot_65 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Bread_bar__plus_01_dot_53_bar__plus_00_dot_97_bar__plus_00_dot_49 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation CellPhone_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__minus_00_dot_57 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation DishSponge_bar__minus_00_dot_99_bar__plus_00_dot_90_bar__minus_00_dot_75 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation Tomato_bar__plus_00_dot_10_bar__plus_00_dot_94_bar__minus_01_dot_63 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Spoon_bar__plus_03_dot_07_bar__plus_00_dot_75_bar__plus_00_dot_03 loc_bar_10_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Bowl_bar__plus_03_dot_08_bar__plus_00_dot_17_bar__plus_00_dot_70 loc_bar_8_bar_1_bar_1_bar_60)\n (objectAtLocation Mug_bar__plus_03_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_59 loc_bar_10_bar_3_bar_1_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 LettuceType)\n (receptacleType ?r CounterTopType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 2", "take lettuce 1 from countertop 2", "go to sinkbasin 1", "clean lettuce 1 with sinkbasin 1", "go to countertop 1", "move lettuce 1 to countertop 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Lettuce-None-CounterTop-30/trial_T20190909_033139_582791/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Lettuce-None-CounterTop-30/trial_T20190909_033139_582791/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..c38437ad2a8512720d89970495f6098df280c12f --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Lettuce-None-CounterTop-30/trial_T20190909_033139_582791/initial_state.pddl @@ -0,0 +1,1549 @@ + +(define (problem plan_trial_T20190909_033139_582791) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__plus_00_dot_93_bar__plus_01_dot_32_bar__minus_01_dot_50 - object + Apple_bar__plus_03_dot_24_bar__plus_00_dot_17_bar__plus_01_dot_55 - object + Bowl_bar__plus_03_dot_03_bar__plus_00_dot_17_bar__minus_00_dot_83 - object + Bowl_bar__plus_03_dot_08_bar__plus_00_dot_17_bar__plus_00_dot_70 - object + Bowl_bar__minus_00_dot_79_bar__plus_00_dot_90_bar__plus_00_dot_40 - object + Bread_bar__plus_01_dot_53_bar__plus_00_dot_97_bar__plus_00_dot_49 - object + ButterKnife_bar__plus_00_dot_45_bar__plus_00_dot_91_bar__plus_00_dot_83 - object + ButterKnife_bar__plus_03_dot_04_bar__plus_00_dot_90_bar__minus_00_dot_40 - object + ButterKnife_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__minus_00_dot_05 - object + CellPhone_bar__plus_00_dot_44_bar__plus_00_dot_91_bar__plus_00_dot_22 - object + CellPhone_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__minus_00_dot_57 - object + Cup_bar__plus_00_dot_86_bar__plus_01_dot_67_bar__minus_01_dot_41 - object + Cup_bar__plus_03_dot_28_bar__plus_00_dot_90_bar__minus_00_dot_60 - object + Cup_bar__minus_00_dot_99_bar__plus_01_dot_00_bar__plus_01_dot_42 - object + DishSponge_bar__plus_00_dot_33_bar__plus_00_dot_51_bar__minus_01_dot_48 - object + DishSponge_bar__plus_03_dot_10_bar__plus_01_dot_46_bar__minus_01_dot_24 - object + DishSponge_bar__minus_00_dot_99_bar__plus_00_dot_90_bar__minus_00_dot_75 - object + Egg_bar__plus_01_dot_24_bar__plus_00_dot_76_bar__minus_01_dot_35 - object + Egg_bar__plus_03_dot_36_bar__plus_00_dot_95_bar__minus_00_dot_40 - object + Egg_bar__minus_00_dot_99_bar__plus_01_dot_05_bar__plus_01_dot_21 - object + Faucet_bar__plus_03_dot_31_bar__plus_00_dot_89_bar__plus_00_dot_09 - object + Fork_bar__plus_00_dot_80_bar__plus_00_dot_91_bar__plus_00_dot_73 - object + Fork_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__plus_00_dot_18 - object + Fork_bar__minus_00_dot_83_bar__plus_00_dot_13_bar__minus_00_dot_27 - object + Glassbottle_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__plus_00_dot_89 - object + HousePlant_bar__plus_03_dot_20_bar__plus_00_dot_89_bar__minus_00_dot_37 - object + Kettle_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 - object + Knife_bar__plus_00_dot_11_bar__plus_00_dot_93_bar__minus_01_dot_43 - object + Knife_bar__plus_00_dot_95_bar__plus_00_dot_94_bar__plus_00_dot_45 - object + Knife_bar__plus_03_dot_28_bar__plus_00_dot_93_bar__minus_00_dot_30 - object + Ladle_bar__plus_02_dot_91_bar__plus_00_dot_75_bar__minus_00_dot_36 - object + Ladle_bar__plus_03_dot_03_bar__plus_00_dot_75_bar__minus_00_dot_78 - object + Lettuce_bar__plus_00_dot_97_bar__plus_00_dot_98_bar__plus_00_dot_61 - object + Lettuce_bar__minus_00_dot_62_bar__plus_00_dot_97_bar__minus_00_dot_70 - object + Lettuce_bar__minus_00_dot_83_bar__plus_00_dot_97_bar__minus_00_dot_80 - object + LightSwitch_bar__plus_02_dot_59_bar__plus_01_dot_31_bar__minus_01_dot_88 - object + Mirror_bar__minus_01_dot_30_bar__plus_01_dot_63_bar__plus_00_dot_05 - object + Mug_bar__plus_03_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_59 - object + Pan_bar__plus_00_dot_34_bar__plus_00_dot_87_bar__minus_01_dot_65 - object + PepperShaker_bar__plus_00_dot_47_bar__plus_00_dot_70_bar__minus_01_dot_52 - object + PepperShaker_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__plus_00_dot_75 - object + PepperShaker_bar__plus_01_dot_35_bar__plus_01_dot_67_bar__minus_01_dot_76 - object + Plate_bar__plus_00_dot_72_bar__plus_00_dot_92_bar__plus_00_dot_37 - object + Plate_bar__plus_00_dot_81_bar__plus_01_dot_69_bar__minus_01_dot_62 - object + Plate_bar__plus_03_dot_04_bar__plus_01_dot_48_bar__minus_01_dot_65 - object + Potato_bar__plus_00_dot_93_bar__plus_00_dot_92_bar__minus_01_dot_48 - object + Potato_bar__plus_03_dot_13_bar__plus_00_dot_14_bar__plus_01_dot_60 - object + Potato_bar__minus_01_dot_12_bar__plus_01_dot_04_bar__plus_01_dot_26 - object + Pot_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_09 - object + SaltShaker_bar__plus_03_dot_26_bar__plus_00_dot_17_bar__minus_00_dot_40 - object + SaltShaker_bar__minus_00_dot_75_bar__plus_00_dot_51_bar__minus_00_dot_10 - object + Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09 - object + SoapBottle_bar__plus_03_dot_08_bar__plus_00_dot_18_bar__minus_00_dot_40 - object + SoapBottle_bar__plus_03_dot_10_bar__plus_01_dot_47_bar__minus_01_dot_14 - object + SoapBottle_bar__plus_03_dot_26_bar__plus_00_dot_18_bar__minus_00_dot_26 - object + Spatula_bar__minus_00_dot_29_bar__plus_00_dot_92_bar__minus_01_dot_45 - object + Spatula_bar__minus_00_dot_79_bar__plus_00_dot_15_bar__plus_01_dot_17 - object + Spatula_bar__minus_00_dot_99_bar__plus_00_dot_72_bar__minus_00_dot_27 - object + Spoon_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__plus_00_dot_75 - object + Spoon_bar__plus_03_dot_07_bar__plus_00_dot_75_bar__plus_00_dot_03 - object + StoveKnob_bar__minus_00_dot_09_bar__plus_00_dot_79_bar__minus_01_dot_01 - object + StoveKnob_bar__minus_00_dot_18_bar__plus_00_dot_79_bar__minus_00_dot_92 - object + StoveKnob_bar__minus_00_dot_28_bar__plus_00_dot_79_bar__minus_00_dot_82 - object + StoveKnob_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_00_dot_72 - object + Tomato_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_01_dot_53 - object + Tomato_bar__plus_00_dot_10_bar__plus_00_dot_94_bar__minus_01_dot_63 - object + Window_bar__plus_03_dot_70_bar__plus_01_dot_68_bar__plus_00_dot_05 - object + Cabinet_bar__plus_00_dot_14_bar__plus_01_dot_67_bar__minus_01_dot_56 - receptacle + Cabinet_bar__plus_00_dot_62_bar__plus_01_dot_87_bar__minus_01_dot_26 - receptacle + Cabinet_bar__plus_01_dot_40_bar__plus_01_dot_87_bar__minus_01_dot_26 - receptacle + Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_05 - receptacle + Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_85 - receptacle + Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__plus_00_dot_41 - receptacle + Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_61 - receptacle + Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_96 - receptacle + Cabinet_bar__plus_03_dot_07_bar__plus_01_dot_67_bar__minus_00_dot_71 - receptacle + Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_67_bar__minus_01_dot_34 - receptacle + Cabinet_bar__minus_00_dot_20_bar__plus_01_dot_96_bar__minus_01_dot_33 - receptacle + Cabinet_bar__minus_00_dot_71_bar__plus_01_dot_96_bar__minus_00_dot_82 - receptacle + Cabinet_bar__minus_00_dot_92_bar__plus_01_dot_67_bar__minus_00_dot_62 - receptacle + CoffeeMachine_bar__plus_03_dot_22_bar__plus_00_dot_89_bar__plus_00_dot_70 - receptacle + CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52 - receptacle + CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46 - receptacle + CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02 - receptacle + CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04 - receptacle + Drawer_bar__plus_00_dot_38_bar__plus_00_dot_19_bar__minus_01_dot_51 - receptacle + Drawer_bar__plus_00_dot_38_bar__plus_00_dot_38_bar__minus_01_dot_51 - receptacle + Drawer_bar__plus_00_dot_38_bar__plus_00_dot_57_bar__minus_01_dot_51 - receptacle + Drawer_bar__plus_00_dot_38_bar__plus_00_dot_77_bar__minus_01_dot_51 - receptacle + Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__plus_00_dot_70 - receptacle + Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_41 - receptacle + Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_78 - receptacle + Drawer_bar__minus_00_dot_05_bar__plus_00_dot_19_bar__minus_01_dot_32 - receptacle + Drawer_bar__minus_00_dot_05_bar__plus_00_dot_38_bar__minus_01_dot_32 - receptacle + Drawer_bar__minus_00_dot_05_bar__plus_00_dot_57_bar__minus_01_dot_32 - receptacle + Drawer_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__minus_01_dot_32 - receptacle + Drawer_bar__minus_00_dot_68_bar__plus_00_dot_19_bar__minus_00_dot_70 - receptacle + Drawer_bar__minus_00_dot_68_bar__plus_00_dot_39_bar__minus_00_dot_70 - receptacle + Drawer_bar__minus_00_dot_68_bar__plus_00_dot_58_bar__minus_00_dot_70 - receptacle + Drawer_bar__minus_00_dot_68_bar__plus_00_dot_77_bar__minus_00_dot_70 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_00_dot_66 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_01_dot_43 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__minus_00_dot_10 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_00_dot_66 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_01_dot_43 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__minus_00_dot_10 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_00_dot_66 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_01_dot_43 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__minus_00_dot_10 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_00_dot_66 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_01_dot_43 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__minus_00_dot_10 - receptacle + Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47 - receptacle + GarbageCan_bar__plus_03_dot_18_bar__plus_00_dot_03_bar__plus_01_dot_60 - receptacle + Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43 - receptacle + Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09_bar_SinkBasin - receptacle + StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_90_bar__minus_01_dot_09 - receptacle + StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 - receptacle + StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 - receptacle + StoveBurner_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_09 - receptacle + Toaster_bar__minus_01_dot_04_bar__plus_00_dot_87_bar__minus_00_dot_40 - receptacle + loc_bar__minus_1_bar_2_bar_3_bar_45 - location + loc_bar_2_bar__minus_1_bar_2_bar_45 - location + loc_bar_10_bar_0_bar_1_bar_0 - location + loc_bar_10_bar_3_bar_1_bar_45 - location + loc_bar__minus_1_bar_5_bar_3_bar_45 - location + loc_bar_0_bar_2_bar_0_bar_60 - location + loc_bar_0_bar_2_bar_2_bar_45 - location + loc_bar_8_bar_1_bar_1_bar_60 - location + loc_bar_10_bar__minus_2_bar_1_bar_45 - location + loc_bar_4_bar__minus_2_bar_0_bar_45 - location + loc_bar_2_bar__minus_2_bar_2_bar_60 - location + loc_bar_1_bar__minus_3_bar_2_bar_0 - location + loc_bar_11_bar_5_bar_1_bar_60 - location + loc_bar_0_bar_1_bar_2_bar_60 - location + loc_bar_9_bar_2_bar_2_bar_45 - location + loc_bar__minus_1_bar_3_bar_2_bar_45 - location + loc_bar_8_bar_0_bar_1_bar_60 - location + loc_bar_9_bar__minus_5_bar_1_bar__minus_15 - location + loc_bar_0_bar_4_bar_2_bar_45 - location + loc_bar__minus_1_bar__minus_1_bar_2_bar_45 - location + loc_bar_1_bar__minus_3_bar_2_bar_45 - location + loc_bar__minus_1_bar__minus_2_bar_3_bar_45 - location + loc_bar_0_bar__minus_2_bar_0_bar_45 - location + loc_bar_0_bar_1_bar_2_bar_45 - location + loc_bar_4_bar__minus_2_bar_2_bar__minus_15 - location + loc_bar_0_bar__minus_2_bar_2_bar__minus_15 - location + loc_bar_9_bar__minus_5_bar_2_bar_30 - location + loc_bar__minus_1_bar__minus_1_bar_0_bar_45 - location + loc_bar_2_bar__minus_3_bar_2_bar_0 - location + loc_bar_4_bar__minus_2_bar_2_bar_60 - location + loc_bar_0_bar__minus_3_bar_3_bar_60 - location + loc_bar_8_bar__minus_5_bar_1_bar_0 - location + loc_bar__minus_1_bar_1_bar_3_bar_0 - location + loc_bar__minus_1_bar__minus_2_bar_3_bar_0 - location + loc_bar_10_bar__minus_1_bar_1_bar_60 - location + loc_bar_9_bar_0_bar_2_bar_45 - location + loc_bar_10_bar_0_bar_1_bar_60 - location + loc_bar_0_bar_4_bar_2_bar_60 - location + loc_bar__minus_1_bar__minus_2_bar_2_bar_60 - location + loc_bar_9_bar__minus_1_bar_0_bar_45 - location + loc_bar_0_bar__minus_2_bar_2_bar_45 - location + loc_bar_0_bar__minus_1_bar_2_bar_45 - location + loc_bar_8_bar__minus_5_bar_1_bar_60 - location + loc_bar_0_bar_1_bar_0_bar_45 - location + loc_bar_0_bar__minus_3_bar_3_bar__minus_15 - location + loc_bar_9_bar__minus_4_bar_1_bar_0 - location + loc_bar__minus_1_bar_2_bar_0_bar_45 - location + loc_bar_2_bar__minus_2_bar_2_bar_45 - location + loc_bar_4_bar__minus_2_bar_3_bar_60 - location + loc_bar__minus_1_bar_1_bar_2_bar_45 - location + loc_bar_0_bar__minus_3_bar_2_bar_60 - location + loc_bar__minus_1_bar_2_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__minus_00_dot_68_bar__plus_00_dot_19_bar__minus_00_dot_70 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_05_bar__plus_00_dot_38_bar__minus_01_dot_32 DrawerType) + (receptacleType Cabinet_bar__minus_00_dot_92_bar__plus_01_dot_67_bar__minus_00_dot_62 CabinetType) + (receptacleType CoffeeMachine_bar__plus_03_dot_22_bar__plus_00_dot_89_bar__plus_00_dot_70 CoffeeMachineType) + (receptacleType Drawer_bar__plus_00_dot_38_bar__plus_00_dot_19_bar__minus_01_dot_51 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_38_bar__plus_00_dot_57_bar__minus_01_dot_51 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_00_dot_66 DrawerType) + (receptacleType Cabinet_bar__plus_03_dot_07_bar__plus_01_dot_67_bar__minus_00_dot_71 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_20_bar__plus_01_dot_96_bar__minus_01_dot_33 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_67_bar__minus_01_dot_34 CabinetType) + (receptacleType Drawer_bar__minus_00_dot_05_bar__plus_00_dot_57_bar__minus_01_dot_32 DrawerType) + (receptacleType CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52 CounterTopType) + (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_00_dot_66 DrawerType) + (receptacleType Cabinet_bar__minus_00_dot_71_bar__plus_01_dot_96_bar__minus_00_dot_82 CabinetType) + (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_00_dot_66 DrawerType) + (receptacleType Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_61 CabinetType) + (receptacleType Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_05 CabinetType) + (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_01_dot_43 DrawerType) + (receptacleType Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09_bar_SinkBasin SinkBasinType) + (receptacleType Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43 MicrowaveType) + (receptacleType Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__plus_00_dot_41 CabinetType) + (receptacleType Drawer_bar__plus_00_dot_38_bar__plus_00_dot_38_bar__minus_01_dot_51 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_00_dot_66 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__minus_00_dot_10 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_68_bar__plus_00_dot_58_bar__minus_00_dot_70 DrawerType) + (receptacleType Toaster_bar__minus_01_dot_04_bar__plus_00_dot_87_bar__minus_00_dot_40 ToasterType) + (receptacleType StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_90_bar__minus_01_dot_09 StoveBurnerType) + (receptacleType CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46 CounterTopType) + (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__minus_00_dot_10 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__minus_01_dot_32 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_01_dot_43 DrawerType) + (receptacleType GarbageCan_bar__plus_03_dot_18_bar__plus_00_dot_03_bar__plus_01_dot_60 GarbageCanType) + (receptacleType Drawer_bar__plus_00_dot_38_bar__plus_00_dot_77_bar__minus_01_dot_51 DrawerType) + (receptacleType StoveBurner_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_09 StoveBurnerType) + (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__minus_00_dot_10 DrawerType) + (receptacleType StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 StoveBurnerType) + (receptacleType Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_78 DrawerType) + (receptacleType Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_85 CabinetType) + (receptacleType CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04 CounterTopType) + (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_01_dot_43 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_68_bar__plus_00_dot_77_bar__minus_00_dot_70 DrawerType) + (receptacleType Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_41 DrawerType) + (receptacleType CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02 CounterTopType) + (receptacleType Cabinet_bar__plus_00_dot_62_bar__plus_01_dot_87_bar__minus_01_dot_26 CabinetType) + (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__minus_00_dot_10 DrawerType) + (receptacleType Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47 FridgeType) + (receptacleType Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_96 CabinetType) + (receptacleType Cabinet_bar__plus_00_dot_14_bar__plus_01_dot_67_bar__minus_01_dot_56 CabinetType) + (receptacleType StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 StoveBurnerType) + (receptacleType Drawer_bar__minus_00_dot_05_bar__plus_00_dot_19_bar__minus_01_dot_32 DrawerType) + (receptacleType Cabinet_bar__plus_01_dot_40_bar__plus_01_dot_87_bar__minus_01_dot_26 CabinetType) + (receptacleType Drawer_bar__minus_00_dot_68_bar__plus_00_dot_39_bar__minus_00_dot_70 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_01_dot_43 DrawerType) + (receptacleType Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__plus_00_dot_70 DrawerType) + (objectType Cup_bar__minus_00_dot_99_bar__plus_01_dot_00_bar__plus_01_dot_42 CupType) + (objectType Spatula_bar__minus_00_dot_29_bar__plus_00_dot_92_bar__minus_01_dot_45 SpatulaType) + (objectType PepperShaker_bar__plus_00_dot_47_bar__plus_00_dot_70_bar__minus_01_dot_52 PepperShakerType) + (objectType ButterKnife_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__minus_00_dot_05 ButterKnifeType) + (objectType Mug_bar__plus_03_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_59 MugType) + (objectType Knife_bar__plus_00_dot_95_bar__plus_00_dot_94_bar__plus_00_dot_45 KnifeType) + (objectType Spatula_bar__minus_00_dot_99_bar__plus_00_dot_72_bar__minus_00_dot_27 SpatulaType) + (objectType SoapBottle_bar__plus_03_dot_26_bar__plus_00_dot_18_bar__minus_00_dot_26 SoapBottleType) + (objectType Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09 SinkType) + (objectType Bowl_bar__plus_03_dot_03_bar__plus_00_dot_17_bar__minus_00_dot_83 BowlType) + (objectType PepperShaker_bar__plus_01_dot_35_bar__plus_01_dot_67_bar__minus_01_dot_76 PepperShakerType) + (objectType Tomato_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_01_dot_53 TomatoType) + (objectType Cup_bar__plus_00_dot_86_bar__plus_01_dot_67_bar__minus_01_dot_41 CupType) + (objectType Spatula_bar__minus_00_dot_79_bar__plus_00_dot_15_bar__plus_01_dot_17 SpatulaType) + (objectType Ladle_bar__plus_02_dot_91_bar__plus_00_dot_75_bar__minus_00_dot_36 LadleType) + (objectType Egg_bar__plus_01_dot_24_bar__plus_00_dot_76_bar__minus_01_dot_35 EggType) + (objectType Spoon_bar__plus_03_dot_07_bar__plus_00_dot_75_bar__plus_00_dot_03 SpoonType) + (objectType StoveKnob_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_00_dot_72 StoveKnobType) + (objectType Pan_bar__plus_00_dot_34_bar__plus_00_dot_87_bar__minus_01_dot_65 PanType) + (objectType Plate_bar__plus_00_dot_81_bar__plus_01_dot_69_bar__minus_01_dot_62 PlateType) + (objectType ButterKnife_bar__plus_03_dot_04_bar__plus_00_dot_90_bar__minus_00_dot_40 ButterKnifeType) + (objectType Tomato_bar__plus_00_dot_10_bar__plus_00_dot_94_bar__minus_01_dot_63 TomatoType) + (objectType Spoon_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__plus_00_dot_75 SpoonType) + (objectType Lettuce_bar__minus_00_dot_83_bar__plus_00_dot_97_bar__minus_00_dot_80 LettuceType) + (objectType 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Tomato_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_01_dot_53) + (coolable Cup_bar__plus_00_dot_86_bar__plus_01_dot_67_bar__minus_01_dot_41) + (coolable Egg_bar__plus_01_dot_24_bar__plus_00_dot_76_bar__minus_01_dot_35) + (coolable Pan_bar__plus_00_dot_34_bar__plus_00_dot_87_bar__minus_01_dot_65) + (coolable Plate_bar__plus_00_dot_81_bar__plus_01_dot_69_bar__minus_01_dot_62) + (coolable Tomato_bar__plus_00_dot_10_bar__plus_00_dot_94_bar__minus_01_dot_63) + (coolable Lettuce_bar__minus_00_dot_83_bar__plus_00_dot_97_bar__minus_00_dot_80) + (coolable Plate_bar__plus_03_dot_04_bar__plus_01_dot_48_bar__minus_01_dot_65) + (coolable Potato_bar__plus_03_dot_13_bar__plus_00_dot_14_bar__plus_01_dot_60) + (coolable Bowl_bar__minus_00_dot_79_bar__plus_00_dot_90_bar__plus_00_dot_40) + (coolable Potato_bar__minus_01_dot_12_bar__plus_01_dot_04_bar__plus_01_dot_26) + (coolable Apple_bar__plus_00_dot_93_bar__plus_01_dot_32_bar__minus_01_dot_50) + (coolable Lettuce_bar__minus_00_dot_62_bar__plus_00_dot_97_bar__minus_00_dot_70) + (coolable Egg_bar__minus_00_dot_99_bar__plus_01_dot_05_bar__plus_01_dot_21) + (coolable Egg_bar__plus_03_dot_36_bar__plus_00_dot_95_bar__minus_00_dot_40) + (coolable Plate_bar__plus_00_dot_72_bar__plus_00_dot_92_bar__plus_00_dot_37) + (coolable Potato_bar__plus_00_dot_93_bar__plus_00_dot_92_bar__minus_01_dot_48) + (coolable Cup_bar__plus_03_dot_28_bar__plus_00_dot_90_bar__minus_00_dot_60) + (coolable Bowl_bar__plus_03_dot_08_bar__plus_00_dot_17_bar__plus_00_dot_70) + (coolable Lettuce_bar__plus_00_dot_97_bar__plus_00_dot_98_bar__plus_00_dot_61) + (coolable Bread_bar__plus_01_dot_53_bar__plus_00_dot_97_bar__plus_00_dot_49) + (coolable Apple_bar__plus_03_dot_24_bar__plus_00_dot_17_bar__plus_01_dot_55) + (coolable Pot_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_09) + + + + + + (sliceable Tomato_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_01_dot_53) + (sliceable Egg_bar__plus_01_dot_24_bar__plus_00_dot_76_bar__minus_01_dot_35) + (sliceable Tomato_bar__plus_00_dot_10_bar__plus_00_dot_94_bar__minus_01_dot_63) + (sliceable Lettuce_bar__minus_00_dot_83_bar__plus_00_dot_97_bar__minus_00_dot_80) + (sliceable Potato_bar__plus_03_dot_13_bar__plus_00_dot_14_bar__plus_01_dot_60) + (sliceable Potato_bar__minus_01_dot_12_bar__plus_01_dot_04_bar__plus_01_dot_26) + (sliceable Apple_bar__plus_00_dot_93_bar__plus_01_dot_32_bar__minus_01_dot_50) + (sliceable Lettuce_bar__minus_00_dot_62_bar__plus_00_dot_97_bar__minus_00_dot_70) + (sliceable Egg_bar__minus_00_dot_99_bar__plus_01_dot_05_bar__plus_01_dot_21) + (sliceable Egg_bar__plus_03_dot_36_bar__plus_00_dot_95_bar__minus_00_dot_40) + (sliceable Potato_bar__plus_00_dot_93_bar__plus_00_dot_92_bar__minus_01_dot_48) + (sliceable Lettuce_bar__plus_00_dot_97_bar__plus_00_dot_98_bar__plus_00_dot_61) + (sliceable Bread_bar__plus_01_dot_53_bar__plus_00_dot_97_bar__plus_00_dot_49) + (sliceable Apple_bar__plus_03_dot_24_bar__plus_00_dot_17_bar__plus_01_dot_55) + + (inReceptacle DishSponge_bar__plus_00_dot_33_bar__plus_00_dot_51_bar__minus_01_dot_48 Drawer_bar__plus_00_dot_38_bar__plus_00_dot_57_bar__minus_01_dot_51) + (inReceptacle Ladle_bar__plus_03_dot_03_bar__plus_00_dot_75_bar__minus_00_dot_78 Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_78) + (inReceptacle Pot_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_09 StoveBurner_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_09) + (inReceptacle PepperShaker_bar__plus_01_dot_35_bar__plus_01_dot_67_bar__minus_01_dot_76 Cabinet_bar__plus_01_dot_40_bar__plus_01_dot_87_bar__minus_01_dot_26) + (inReceptacle Ladle_bar__plus_02_dot_91_bar__plus_00_dot_75_bar__minus_00_dot_36 Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_41) + (inReceptacle Plate_bar__plus_03_dot_04_bar__plus_01_dot_48_bar__minus_01_dot_65 Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_85) + (inReceptacle ButterKnife_bar__plus_03_dot_04_bar__plus_00_dot_90_bar__minus_00_dot_40 CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02) + (inReceptacle Mug_bar__plus_03_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_59 CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02) + (inReceptacle Egg_bar__plus_03_dot_36_bar__plus_00_dot_95_bar__minus_00_dot_40 CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02) + (inReceptacle Cup_bar__plus_03_dot_28_bar__plus_00_dot_90_bar__minus_00_dot_60 CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02) + (inReceptacle Knife_bar__plus_03_dot_28_bar__plus_00_dot_93_bar__minus_00_dot_30 CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02) + (inReceptacle HousePlant_bar__plus_03_dot_20_bar__plus_00_dot_89_bar__minus_00_dot_37 CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02) + (inReceptacle Lettuce_bar__minus_00_dot_62_bar__plus_00_dot_97_bar__minus_00_dot_70 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04) + (inReceptacle ButterKnife_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__minus_00_dot_05 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04) + (inReceptacle DishSponge_bar__minus_00_dot_99_bar__plus_00_dot_90_bar__minus_00_dot_75 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04) + (inReceptacle Lettuce_bar__minus_00_dot_83_bar__plus_00_dot_97_bar__minus_00_dot_80 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04) + (inReceptacle Bowl_bar__minus_00_dot_79_bar__plus_00_dot_90_bar__plus_00_dot_40 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04) + (inReceptacle CellPhone_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__minus_00_dot_57 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04) + (inReceptacle Kettle_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27) + (inReceptacle Spatula_bar__minus_00_dot_99_bar__plus_00_dot_72_bar__minus_00_dot_27 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__minus_00_dot_10) + (inReceptacle PepperShaker_bar__plus_00_dot_47_bar__plus_00_dot_70_bar__minus_01_dot_52 Drawer_bar__plus_00_dot_38_bar__plus_00_dot_77_bar__minus_01_dot_51) + (inReceptacle Bowl_bar__plus_03_dot_08_bar__plus_00_dot_17_bar__plus_00_dot_70 Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__plus_00_dot_41) + (inReceptacle SaltShaker_bar__plus_03_dot_26_bar__plus_00_dot_17_bar__minus_00_dot_40 Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_61) + (inReceptacle SoapBottle_bar__plus_03_dot_26_bar__plus_00_dot_18_bar__minus_00_dot_26 Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_61) + (inReceptacle SoapBottle_bar__plus_03_dot_08_bar__plus_00_dot_18_bar__minus_00_dot_40 Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_61) + (inReceptacle Bowl_bar__plus_03_dot_03_bar__plus_00_dot_17_bar__minus_00_dot_83 Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_96) + (inReceptacle DishSponge_bar__plus_03_dot_10_bar__plus_01_dot_46_bar__minus_01_dot_24 Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_05) + (inReceptacle SoapBottle_bar__plus_03_dot_10_bar__plus_01_dot_47_bar__minus_01_dot_14 Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_05) + (inReceptacle Cup_bar__plus_00_dot_86_bar__plus_01_dot_67_bar__minus_01_dot_41 Cabinet_bar__plus_00_dot_62_bar__plus_01_dot_87_bar__minus_01_dot_26) + (inReceptacle Plate_bar__plus_00_dot_81_bar__plus_01_dot_69_bar__minus_01_dot_62 Cabinet_bar__plus_00_dot_62_bar__plus_01_dot_87_bar__minus_01_dot_26) + (inReceptacle Fork_bar__minus_00_dot_83_bar__plus_00_dot_13_bar__minus_00_dot_27 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__minus_00_dot_10) + (inReceptacle Spatula_bar__minus_00_dot_29_bar__plus_00_dot_92_bar__minus_01_dot_45 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52) + (inReceptacle Tomato_bar__plus_00_dot_10_bar__plus_00_dot_94_bar__minus_01_dot_63 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52) + (inReceptacle Knife_bar__plus_00_dot_11_bar__plus_00_dot_93_bar__minus_01_dot_43 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52) + (inReceptacle Tomato_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_01_dot_53 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52) + (inReceptacle Pan_bar__plus_00_dot_34_bar__plus_00_dot_87_bar__minus_01_dot_65 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52) + (inReceptacle Spatula_bar__minus_00_dot_79_bar__plus_00_dot_15_bar__plus_01_dot_17 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_01_dot_43) + (inReceptacle SaltShaker_bar__minus_00_dot_75_bar__plus_00_dot_51_bar__minus_00_dot_10 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__minus_00_dot_10) + (inReceptacle PepperShaker_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__plus_00_dot_75 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46) + (inReceptacle Spoon_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__plus_00_dot_75 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46) + (inReceptacle CellPhone_bar__plus_00_dot_44_bar__plus_00_dot_91_bar__plus_00_dot_22 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46) + (inReceptacle ButterKnife_bar__plus_00_dot_45_bar__plus_00_dot_91_bar__plus_00_dot_83 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46) + (inReceptacle Knife_bar__plus_00_dot_95_bar__plus_00_dot_94_bar__plus_00_dot_45 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46) + (inReceptacle Fork_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__plus_00_dot_18 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46) + (inReceptacle Plate_bar__plus_00_dot_72_bar__plus_00_dot_92_bar__plus_00_dot_37 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46) + (inReceptacle Lettuce_bar__plus_00_dot_97_bar__plus_00_dot_98_bar__plus_00_dot_61 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46) + (inReceptacle Bread_bar__plus_01_dot_53_bar__plus_00_dot_97_bar__plus_00_dot_49 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46) + (inReceptacle Fork_bar__plus_00_dot_80_bar__plus_00_dot_91_bar__plus_00_dot_73 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46) + (inReceptacle Glassbottle_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__plus_00_dot_89 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46) + (inReceptacle Apple_bar__plus_03_dot_24_bar__plus_00_dot_17_bar__plus_01_dot_55 GarbageCan_bar__plus_03_dot_18_bar__plus_00_dot_03_bar__plus_01_dot_60) + (inReceptacle Potato_bar__plus_03_dot_13_bar__plus_00_dot_14_bar__plus_01_dot_60 GarbageCan_bar__plus_03_dot_18_bar__plus_00_dot_03_bar__plus_01_dot_60) + (inReceptacle Mug_bar__plus_03_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_59 CoffeeMachine_bar__plus_03_dot_22_bar__plus_00_dot_89_bar__plus_00_dot_70) + (inReceptacle Spoon_bar__plus_03_dot_07_bar__plus_00_dot_75_bar__plus_00_dot_03 Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09_bar_SinkBasin) + (inReceptacle Egg_bar__plus_01_dot_24_bar__plus_00_dot_76_bar__minus_01_dot_35 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47) + (inReceptacle Apple_bar__plus_00_dot_93_bar__plus_01_dot_32_bar__minus_01_dot_50 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47) + (inReceptacle Potato_bar__plus_00_dot_93_bar__plus_00_dot_92_bar__minus_01_dot_48 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47) + (inReceptacle Cup_bar__minus_00_dot_99_bar__plus_01_dot_00_bar__plus_01_dot_42 Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43) + (inReceptacle Egg_bar__minus_00_dot_99_bar__plus_01_dot_05_bar__plus_01_dot_21 Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43) + (inReceptacle Potato_bar__minus_01_dot_12_bar__plus_01_dot_04_bar__plus_01_dot_26 Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_14_bar__plus_01_dot_67_bar__minus_01_dot_56 loc_bar_2_bar__minus_3_bar_2_bar_0) + (receptacleAtLocation Cabinet_bar__plus_00_dot_62_bar__plus_01_dot_87_bar__minus_01_dot_26 loc_bar_4_bar__minus_2_bar_2_bar__minus_15) + (receptacleAtLocation Cabinet_bar__plus_01_dot_40_bar__plus_01_dot_87_bar__minus_01_dot_26 loc_bar_4_bar__minus_2_bar_2_bar__minus_15) + (receptacleAtLocation Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_05 loc_bar_9_bar__minus_5_bar_1_bar__minus_15) + (receptacleAtLocation Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_85 loc_bar_8_bar__minus_5_bar_1_bar_0) + (receptacleAtLocation Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__plus_00_dot_41 loc_bar_8_bar_1_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_61 loc_bar_8_bar_0_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_96 loc_bar_8_bar__minus_5_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_03_dot_07_bar__plus_01_dot_67_bar__minus_00_dot_71 loc_bar_9_bar__minus_4_bar_1_bar_0) + (receptacleAtLocation Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_67_bar__minus_01_dot_34 loc_bar_1_bar__minus_3_bar_2_bar_0) + (receptacleAtLocation 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{ + "objectName": "Pan_000ae861", + "position": { + "x": 0.341, + "y": 0.8731569, + "z": -1.649 + }, + "rotation": { + "x": 0.0, + "y": 167.065247, + "z": 0.0 + } + }, + { + "objectName": "Bread_1e8ab5c8", + "position": { + "x": 1.53420067, + "y": 0.9728919, + "z": 0.48683244 + }, + "rotation": { + "x": 1.05460986e-05, + "y": 289.287476, + "z": 7.04143645e-07 + } + }, + { + "objectName": "CellPhone_bf099a5c", + "position": { + "x": 0.436122775, + "y": 0.9054973, + "z": 0.223270655 + }, + "rotation": { + "x": 0.0, + "y": 36.8105049, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_3cec4766", + "position": { + "x": 3.1027, + "y": 1.46412683, + "z": -1.2358 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_bfd17fb4", + "position": { + "x": 0.00275057554, + "y": 0.937289357, + "z": -1.53309751 + }, + "rotation": { + "x": 0.0, + "y": 44.9999962, + "z": 0.0 + } + }, + { + "objectName": "Spoon_0fe289e3", + "position": { + "x": 1.09886408, + "y": 0.9092294, + "z": 0.747513056 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_46f611f6", + "position": { + "x": -0.789968, + "y": 0.8974154, + "z": 0.399594069 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_ba5c7501", + "position": { + "x": 3.04919958, + "y": 0.966699958, + "z": 0.591800451 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 1307153573, + "scene_num": 30 + }, + "task_id": "trial_T20190909_033139_582791", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1ELPYAFO7MANS_3PQMUDRV7UXJIIC6ST9GWLHJGNAIIZ", + "high_descs": [ + "Turn left and walk to the stove.", + "Pick up the lettuce closest to the back wall.", + "Turn left and walk ahead to the sink.", + "Wash the lettuce in the sink.", + "Take a step right.", + "Place the lettuce on the counter to the right of the knife." + ], + "task_desc": "Place a clean head of lettuce on a counter.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A255A9FFZD8PQW_3QECW5O0KKSXF8X2FLPQLJFNMIQ5TZ", + "high_descs": [ + "Turn around and walk to the counter and turn the left. ", + "Pick up the lettuce from the counter. ", + "Turn to the left and go forward Turn left again and face the sink.", + "Place the lettuce in the sink and wash it. Take out the lettuce and drain the sink.", + "Turn to the right and move slightly to the counter next to the sink.", + "Place the lettuce on the counter. " + ], + "task_desc": "Wash the lettuce. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3UF6XXFFRR237_3VNXK88KKF9VTN33N62MYH8A5ZOV9V", + "high_descs": [ + "go to the stove", + "pick up the the lettuce closest to the wall on the counter to the right of the stove", + "take the lettuce to the sink", + "rinse the lettuce in the sink", + "take the lettuce to the right of the sink", + "put the lettuce on the counter" + ], + "task_desc": "rinse the lettuce and put it on the counter", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Lettuce-None-CounterTop-30/trial_T20190909_033228_803068/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Lettuce-None-CounterTop-30/trial_T20190909_033228_803068/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..c9ac0fd0541adb3e68bcda68b1d4788a59ba8639 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Lettuce-None-CounterTop-30/trial_T20190909_033228_803068/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 lettuce in countertop.\"\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_033228_803068)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__plus_00_dot_97_bar__plus_00_dot_98_bar__plus_00_dot_46 - object\n Apple_bar__plus_03_dot_12_bar__plus_00_dot_97_bar__minus_00_dot_70 - object\n Apple_bar__minus_01_dot_05_bar__plus_01_dot_07_bar__plus_01_dot_31 - object\n Bowl_bar__plus_00_dot_76_bar__plus_01_dot_67_bar__minus_01_dot_69 - object\n Bowl_bar__plus_01_dot_23_bar__plus_00_dot_91_bar__plus_00_dot_61 - object\n Bread_bar__plus_01_dot_53_bar__plus_00_dot_97_bar__plus_00_dot_49 - object\n ButterKnife_bar__minus_00_dot_87_bar__plus_00_dot_13_bar__minus_00_dot_01 - object\n CellPhone_bar__plus_00_dot_34_bar__plus_00_dot_90_bar__minus_01_dot_59 - object\n CellPhone_bar__plus_02_dot_97_bar__plus_00_dot_90_bar__minus_00_dot_60 - object\n CellPhone_bar__minus_00_dot_79_bar__plus_00_dot_32_bar__plus_01_dot_34 - object\n Cup_bar__plus_03_dot_14_bar__plus_00_dot_18_bar__plus_00_dot_49 - object\n Cup_bar__plus_03_dot_20_bar__plus_00_dot_18_bar__plus_00_dot_77 - object\n Cup_bar__plus_03_dot_20_bar__plus_00_dot_90_bar__minus_00_dot_90 - object\n DishSponge_bar__plus_00_dot_42_bar__plus_00_dot_51_bar__minus_01_dot_48 - object\n DishSponge_bar__minus_00_dot_18_bar__plus_01_dot_26_bar__minus_01_dot_50 - object\n Egg_bar__plus_00_dot_93_bar__plus_01_dot_13_bar__minus_01_dot_48 - object\n Egg_bar__minus_01_dot_12_bar__plus_01_dot_05_bar__plus_01_dot_47 - object\n Faucet_bar__plus_03_dot_31_bar__plus_00_dot_89_bar__plus_00_dot_09 - object\n Fork_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__plus_00_dot_75 - object\n Fork_bar__plus_03_dot_15_bar__plus_00_dot_71_bar__plus_00_dot_76 - object\n Fork_bar__minus_00_dot_87_bar__plus_00_dot_71_bar__minus_00_dot_19 - object\n Glassbottle_bar__plus_02_dot_99_bar__plus_00_dot_75_bar__plus_00_dot_17 - object\n Glassbottle_bar__minus_00_dot_09_bar__plus_00_dot_90_bar__minus_01_dot_44 - object\n HousePlant_bar__plus_03_dot_20_bar__plus_00_dot_89_bar__minus_00_dot_37 - object\n Kettle_bar__minus_00_dot_24_bar__plus_00_dot_90_bar__minus_01_dot_10 - object\n Knife_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__minus_01_dot_37 - object\n Knife_bar__minus_00_dot_88_bar__plus_00_dot_93_bar__minus_00_dot_85 - object\n 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(canContain DrawerType SpatulaType)\n (canContain StoveBurnerType KettleType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain StoveBurnerType KettleType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType 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(canContain CounterTopType ForkType)\n (canContain CounterTopType GlassbottleType)\n (canContain CounterTopType CellPhoneType)\n (canContain CounterTopType SpoonType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType LettuceType)\n (canContain CounterTopType PotatoType)\n (canContain CounterTopType ButterKnifeType)\n (canContain CounterTopType CupType)\n (canContain CounterTopType PlateType)\n (canContain CounterTopType PepperShakerType)\n (canContain CounterTopType TomatoType)\n (canContain CounterTopType KnifeType)\n (canContain CounterTopType AppleType)\n (canContain CounterTopType PanType)\n (canContain CounterTopType SpatulaType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain CounterTopType SaltShakerType)\n (canContain CounterTopType BreadType)\n (canContain CounterTopType DishSpongeType)\n (canContain CounterTopType BowlType)\n (canContain CounterTopType KettleType)\n (canContain CounterTopType PotType)\n (canContain CounterTopType MugType)\n (canContain CounterTopType EggType)\n (canContain CounterTopType LadleType)\n (canContain CounterTopType ForkType)\n (canContain CounterTopType GlassbottleType)\n (canContain CounterTopType CellPhoneType)\n (canContain CounterTopType SpoonType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType LettuceType)\n (canContain CounterTopType PotatoType)\n (canContain CounterTopType ButterKnifeType)\n (canContain CounterTopType CupType)\n (canContain CounterTopType PlateType)\n (canContain CounterTopType PepperShakerType)\n (canContain CounterTopType TomatoType)\n (canContain CounterTopType KnifeType)\n (canContain CounterTopType AppleType)\n (canContain CounterTopType PanType)\n (canContain CounterTopType SpatulaType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType GlassbottleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain FridgeType BreadType)\n (canContain FridgeType BowlType)\n (canContain FridgeType PotType)\n (canContain FridgeType MugType)\n (canContain FridgeType EggType)\n (canContain FridgeType GlassbottleType)\n (canContain FridgeType LettuceType)\n (canContain FridgeType PotatoType)\n (canContain FridgeType CupType)\n (canContain FridgeType PlateType)\n (canContain FridgeType TomatoType)\n (canContain FridgeType AppleType)\n (canContain FridgeType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType GlassbottleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType GlassbottleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain StoveBurnerType KettleType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType GlassbottleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (pickupable Mug_bar__plus_03_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_59)\n (pickupable Plate_bar__plus_00_dot_61_bar__plus_00_dot_92_bar__plus_00_dot_34)\n (pickupable Spoon_bar__minus_00_dot_79_bar__plus_00_dot_90_bar__plus_00_dot_40)\n (pickupable Spoon_bar__minus_00_dot_71_bar__plus_00_dot_52_bar__minus_00_dot_73)\n (pickupable Fork_bar__plus_03_dot_15_bar__plus_00_dot_71_bar__plus_00_dot_76)\n (pickupable SoapBottle_bar__plus_00_dot_36_bar__plus_00_dot_92_bar__plus_00_dot_43)\n (pickupable DishSponge_bar__minus_00_dot_18_bar__plus_01_dot_26_bar__minus_01_dot_50)\n (pickupable Cup_bar__plus_03_dot_20_bar__plus_00_dot_18_bar__plus_00_dot_77)\n (pickupable Pan_bar__plus_00_dot_34_bar__plus_00_dot_87_bar__minus_01_dot_65)\n (pickupable Mug_bar__plus_00_dot_93_bar__plus_01_dot_24_bar__minus_01_dot_50)\n (pickupable PepperShaker_bar__plus_02_dot_97_bar__plus_00_dot_90_bar__minus_00_dot_50)\n (pickupable Ladle_bar__plus_00_dot_97_bar__plus_00_dot_95_bar__plus_00_dot_18)\n (pickupable Glassbottle_bar__minus_00_dot_09_bar__plus_00_dot_90_bar__minus_01_dot_44)\n (pickupable Plate_bar__plus_03_dot_03_bar__plus_01_dot_48_bar__minus_01_dot_24)\n (pickupable Kettle_bar__minus_00_dot_24_bar__plus_00_dot_90_bar__minus_01_dot_10)\n (pickupable Lettuce_bar__minus_00_dot_86_bar__plus_00_dot_97_bar__plus_00_dot_18)\n (pickupable ButterKnife_bar__minus_00_dot_87_bar__plus_00_dot_13_bar__minus_00_dot_01)\n (pickupable Cup_bar__plus_03_dot_20_bar__plus_00_dot_90_bar__minus_00_dot_90)\n (pickupable Ladle_bar__minus_00_dot_10_bar__plus_00_dot_94_bar__minus_01_dot_64)\n (pickupable Potato_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__minus_00_dot_10)\n (pickupable Egg_bar__plus_00_dot_93_bar__plus_01_dot_13_bar__minus_01_dot_48)\n (pickupable CellPhone_bar__plus_02_dot_97_bar__plus_00_dot_90_bar__minus_00_dot_60)\n (pickupable Glassbottle_bar__plus_02_dot_99_bar__plus_00_dot_75_bar__plus_00_dot_17)\n (pickupable PepperShaker_bar__minus_00_dot_79_bar__plus_00_dot_70_bar__plus_01_dot_34)\n (pickupable SoapBottle_bar__minus_00_dot_92_bar__plus_01_dot_27_bar__minus_00_dot_81)\n (pickupable 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(pickupable Pot_bar__plus_03_dot_04_bar__plus_01_dot_46_bar__minus_01_dot_65)\n (pickupable Fork_bar__minus_00_dot_87_bar__plus_00_dot_71_bar__minus_00_dot_19)\n (pickupable Apple_bar__plus_03_dot_12_bar__plus_00_dot_97_bar__minus_00_dot_70)\n (pickupable Knife_bar__minus_00_dot_88_bar__plus_00_dot_93_bar__minus_00_dot_85)\n (isReceptacleObject Mug_bar__plus_03_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_59)\n (isReceptacleObject Plate_bar__plus_00_dot_61_bar__plus_00_dot_92_bar__plus_00_dot_34)\n (isReceptacleObject Cup_bar__plus_03_dot_20_bar__plus_00_dot_18_bar__plus_00_dot_77)\n (isReceptacleObject Pan_bar__plus_00_dot_34_bar__plus_00_dot_87_bar__minus_01_dot_65)\n (isReceptacleObject Mug_bar__plus_00_dot_93_bar__plus_01_dot_24_bar__minus_01_dot_50)\n (isReceptacleObject Plate_bar__plus_03_dot_03_bar__plus_01_dot_48_bar__minus_01_dot_24)\n (isReceptacleObject Cup_bar__plus_03_dot_20_bar__plus_00_dot_90_bar__minus_00_dot_90)\n (isReceptacleObject 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StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_90_bar__minus_01_dot_09)\n (inReceptacle Bowl_bar__plus_01_dot_23_bar__plus_00_dot_91_bar__plus_00_dot_61 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Ladle_bar__plus_00_dot_97_bar__plus_00_dot_95_bar__plus_00_dot_18 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Plate_bar__plus_00_dot_61_bar__plus_00_dot_92_bar__plus_00_dot_34 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Apple_bar__plus_00_dot_97_bar__plus_00_dot_98_bar__plus_00_dot_46 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Bread_bar__plus_01_dot_53_bar__plus_00_dot_97_bar__plus_00_dot_49 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Fork_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__plus_00_dot_75 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n 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Mug_bar__plus_00_dot_85_bar__plus_00_dot_71_bar__minus_01_dot_35 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47)\n (inReceptacle Egg_bar__plus_00_dot_93_bar__plus_01_dot_13_bar__minus_01_dot_48 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47)\n (inReceptacle Lettuce_bar__plus_01_dot_09_bar__plus_01_dot_31_bar__minus_01_dot_50 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47)\n (inReceptacleObject CellPhone_bar__plus_00_dot_34_bar__plus_00_dot_90_bar__minus_01_dot_59 Pan_bar__plus_00_dot_34_bar__plus_00_dot_87_bar__minus_01_dot_65)\n (inReceptacle Apple_bar__minus_01_dot_05_bar__plus_01_dot_07_bar__plus_01_dot_31 Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43)\n (inReceptacle Egg_bar__minus_01_dot_12_bar__plus_01_dot_05_bar__plus_01_dot_47 Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_14_bar__plus_01_dot_67_bar__minus_01_dot_56 loc_bar_2_bar__minus_3_bar_2_bar_0)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_62_bar__plus_01_dot_87_bar__minus_01_dot_26 loc_bar_4_bar__minus_2_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_40_bar__plus_01_dot_87_bar__minus_01_dot_26 loc_bar_4_bar__minus_2_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_05 loc_bar_9_bar__minus_5_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_85 loc_bar_8_bar__minus_5_bar_1_bar_0)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__plus_00_dot_41 loc_bar_8_bar_1_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_61 loc_bar_8_bar_0_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_96 loc_bar_8_bar__minus_5_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_03_dot_07_bar__plus_01_dot_67_bar__minus_00_dot_71 loc_bar_9_bar__minus_4_bar_1_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_67_bar__minus_01_dot_34 loc_bar_1_bar__minus_3_bar_2_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_20_bar__plus_01_dot_96_bar__minus_01_dot_33 loc_bar_0_bar__minus_2_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_71_bar__plus_01_dot_96_bar__minus_00_dot_82 loc_bar_0_bar__minus_3_bar_3_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_92_bar__plus_01_dot_67_bar__minus_00_dot_62 loc_bar__minus_1_bar__minus_2_bar_3_bar_0)\n (receptacleAtLocation CoffeeMachine_bar__plus_03_dot_22_bar__plus_00_dot_89_bar__plus_00_dot_70 loc_bar_10_bar_3_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_38_bar__plus_00_dot_19_bar__minus_01_dot_51 loc_bar_0_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_38_bar__plus_00_dot_38_bar__minus_01_dot_51 loc_bar__minus_1_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_38_bar__plus_00_dot_57_bar__minus_01_dot_51 loc_bar_0_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_38_bar__plus_00_dot_77_bar__minus_01_dot_51 loc_bar_0_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__plus_00_dot_70 loc_bar_9_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_41 loc_bar_9_bar_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_78 loc_bar_9_bar_0_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_05_bar__plus_00_dot_19_bar__minus_01_dot_32 loc_bar_4_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_05_bar__plus_00_dot_38_bar__minus_01_dot_32 loc_bar_2_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_05_bar__plus_00_dot_57_bar__minus_01_dot_32 loc_bar_2_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__minus_01_dot_32 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_19_bar__minus_00_dot_70 loc_bar_0_bar_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_39_bar__minus_00_dot_70 loc_bar_0_bar_1_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_58_bar__minus_00_dot_70 loc_bar_0_bar_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_77_bar__minus_00_dot_70 loc_bar__minus_1_bar_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_00_dot_66 loc_bar_0_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_01_dot_43 loc_bar_0_bar_1_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__minus_00_dot_10 loc_bar_0_bar_4_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_00_dot_66 loc_bar_0_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_01_dot_43 loc_bar_0_bar_2_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__minus_00_dot_10 loc_bar_0_bar_4_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_00_dot_66 loc_bar_0_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_01_dot_43 loc_bar_0_bar_1_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__minus_00_dot_10 loc_bar_0_bar_4_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_00_dot_66 loc_bar__minus_1_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_01_dot_43 loc_bar__minus_1_bar_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__minus_00_dot_10 loc_bar__minus_1_bar_3_bar_2_bar_45)\n (receptacleAtLocation Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_03_dot_18_bar__plus_00_dot_03_bar__plus_01_dot_60 loc_bar_11_bar_5_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43 loc_bar__minus_1_bar_5_bar_3_bar_45)\n (receptacleAtLocation Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09_bar_SinkBasin loc_bar_10_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_90_bar__minus_01_dot_09 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_09 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation Toaster_bar__minus_01_dot_04_bar__plus_00_dot_87_bar__minus_00_dot_40 loc_bar__minus_1_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Mug_bar__plus_00_dot_85_bar__plus_00_dot_71_bar__minus_01_dot_35 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Bowl_bar__plus_01_dot_23_bar__plus_00_dot_91_bar__plus_00_dot_61 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_79_bar__plus_00_dot_90_bar__plus_00_dot_40 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation DishSponge_bar__plus_00_dot_42_bar__plus_00_dot_51_bar__minus_01_dot_48 loc_bar_0_bar__minus_2_bar_2_bar_45)\n (objectAtLocation CellPhone_bar__plus_00_dot_34_bar__plus_00_dot_90_bar__minus_01_dot_59 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Apple_bar__minus_01_dot_05_bar__plus_01_dot_07_bar__plus_01_dot_31 loc_bar__minus_1_bar_5_bar_3_bar_45)\n (objectAtLocation PepperShaker_bar__plus_02_dot_97_bar__plus_00_dot_90_bar__minus_00_dot_50 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (objectAtLocation Egg_bar__plus_00_dot_93_bar__plus_01_dot_13_bar__minus_01_dot_48 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation SaltShaker_bar__minus_00_dot_91_bar__plus_00_dot_13_bar__plus_01_dot_69 loc_bar_0_bar_1_bar_0_bar_45)\n (objectAtLocation Cup_bar__plus_03_dot_20_bar__plus_00_dot_90_bar__minus_00_dot_90 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (objectAtLocation Lettuce_bar__minus_01_dot_02_bar__plus_00_dot_97_bar__minus_00_dot_72 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_88_bar__plus_00_dot_93_bar__minus_00_dot_85 loc_bar_0_bar__minus_3_bar_3_bar_45)\n (objectAtLocation Pot_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_09 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Ladle_bar__plus_00_dot_97_bar__plus_00_dot_95_bar__plus_00_dot_18 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Fork_bar__minus_00_dot_87_bar__plus_00_dot_71_bar__minus_00_dot_19 loc_bar__minus_1_bar_3_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__plus_00_dot_36_bar__plus_00_dot_92_bar__plus_00_dot_43 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Glassbottle_bar__minus_00_dot_09_bar__plus_00_dot_90_bar__minus_01_dot_44 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Plate_bar__plus_00_dot_61_bar__plus_00_dot_92_bar__plus_00_dot_34 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Cup_bar__plus_03_dot_20_bar__plus_00_dot_18_bar__plus_00_dot_77 loc_bar_8_bar_1_bar_1_bar_60)\n (objectAtLocation SaltShaker_bar__plus_03_dot_08_bar__plus_00_dot_17_bar__minus_00_dot_79 loc_bar_8_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Lettuce_bar__plus_01_dot_09_bar__plus_01_dot_31_bar__minus_01_dot_50 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Lettuce_bar__plus_03_dot_28_bar__plus_00_dot_97_bar__minus_00_dot_70 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (objectAtLocation Apple_bar__plus_03_dot_12_bar__plus_00_dot_97_bar__minus_00_dot_70 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (objectAtLocation Mug_bar__plus_03_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_59 loc_bar_10_bar_3_bar_1_bar_45)\n (objectAtLocation CellPhone_bar__plus_02_dot_97_bar__plus_00_dot_90_bar__minus_00_dot_60 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (objectAtLocation Fork_bar__plus_03_dot_15_bar__plus_00_dot_71_bar__plus_00_dot_76 loc_bar_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Pot_bar__minus_00_dot_94_bar__plus_00_dot_90_bar__plus_00_dot_85 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation Ladle_bar__minus_00_dot_10_bar__plus_00_dot_94_bar__minus_01_dot_64 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09 loc_bar_10_bar_0_bar_1_bar_60)\n (objectAtLocation Mirror_bar__minus_01_dot_30_bar__plus_01_dot_63_bar__plus_00_dot_05 loc_bar__minus_1_bar_1_bar_3_bar_0)\n (objectAtLocation Plate_bar__plus_03_dot_03_bar__plus_01_dot_48_bar__minus_01_dot_24 loc_bar_9_bar__minus_5_bar_1_bar__minus_15)\n (objectAtLocation Glassbottle_bar__plus_02_dot_99_bar__plus_00_dot_75_bar__plus_00_dot_17 loc_bar_10_bar__minus_1_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__minus_00_dot_92_bar__plus_01_dot_27_bar__minus_00_dot_81 loc_bar__minus_1_bar__minus_2_bar_3_bar_0)\n (objectAtLocation Potato_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__minus_00_dot_10 loc_bar_10_bar__minus_1_bar_1_bar_60)\n (objectAtLocation HousePlant_bar__plus_03_dot_20_bar__plus_00_dot_89_bar__minus_00_dot_37 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_09_bar__plus_00_dot_79_bar__minus_01_dot_01 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_28_bar__plus_00_dot_79_bar__minus_00_dot_82 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_18_bar__plus_00_dot_79_bar__minus_00_dot_92 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_00_dot_72 loc_bar__minus_1_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Fork_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__plus_00_dot_75 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Ladle_bar__plus_03_dot_08_bar__plus_00_dot_21_bar__minus_00_dot_40 loc_bar_8_bar_0_bar_1_bar_60)\n (objectAtLocation Pot_bar__plus_03_dot_04_bar__plus_01_dot_46_bar__minus_01_dot_65 loc_bar_8_bar__minus_5_bar_1_bar_0)\n (objectAtLocation Kettle_bar__minus_00_dot_24_bar__plus_00_dot_90_bar__minus_01_dot_10 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Window_bar__plus_03_dot_70_bar__plus_01_dot_68_bar__plus_00_dot_05 loc_bar_10_bar_0_bar_1_bar_0)\n (objectAtLocation Spatula_bar__minus_00_dot_01_bar__plus_00_dot_92_bar__minus_01_dot_73 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Knife_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__minus_01_dot_37 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__minus_00_dot_86_bar__plus_00_dot_97_bar__plus_00_dot_18 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation LightSwitch_bar__plus_02_dot_59_bar__plus_01_dot_31_bar__minus_01_dot_88 loc_bar_9_bar__minus_5_bar_2_bar_30)\n (objectAtLocation Cup_bar__plus_03_dot_14_bar__plus_00_dot_18_bar__plus_00_dot_49 loc_bar_8_bar_1_bar_1_bar_60)\n (objectAtLocation SaltShaker_bar__plus_00_dot_42_bar__plus_00_dot_13_bar__minus_01_dot_39 loc_bar_0_bar__minus_1_bar_2_bar_45)\n (objectAtLocation Egg_bar__minus_01_dot_12_bar__plus_01_dot_05_bar__plus_01_dot_47 loc_bar__minus_1_bar_5_bar_3_bar_45)\n (objectAtLocation PepperShaker_bar__minus_00_dot_79_bar__plus_00_dot_70_bar__plus_01_dot_34 loc_bar__minus_1_bar_2_bar_0_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_87_bar__plus_00_dot_13_bar__minus_00_dot_01 loc_bar_0_bar_4_bar_2_bar_60)\n (objectAtLocation Apple_bar__plus_00_dot_97_bar__plus_00_dot_98_bar__plus_00_dot_46 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Pan_bar__plus_00_dot_34_bar__plus_00_dot_87_bar__minus_01_dot_65 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Bread_bar__plus_01_dot_53_bar__plus_00_dot_97_bar__plus_00_dot_49 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation CellPhone_bar__minus_00_dot_79_bar__plus_00_dot_32_bar__plus_01_dot_34 loc_bar_0_bar_2_bar_0_bar_60)\n (objectAtLocation DishSponge_bar__minus_00_dot_18_bar__plus_01_dot_26_bar__minus_01_dot_50 loc_bar_1_bar__minus_3_bar_2_bar_0)\n (objectAtLocation Tomato_bar__plus_00_dot_15_bar__plus_00_dot_94_bar__minus_01_dot_48 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_71_bar__plus_00_dot_52_bar__minus_00_dot_73 loc_bar_0_bar_1_bar_2_bar_45)\n (objectAtLocation Bowl_bar__plus_00_dot_76_bar__plus_01_dot_67_bar__minus_01_dot_69 loc_bar_4_bar__minus_2_bar_2_bar__minus_15)\n (objectAtLocation Mug_bar__plus_00_dot_93_bar__plus_01_dot_24_bar__minus_01_dot_50 loc_bar_4_bar__minus_2_bar_2_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 LettuceType)\n (receptacleType ?r CounterTopType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take lettuce 1 from countertop 1", "go to sinkbasin 1", "clean lettuce 1 with sinkbasin 1", "go to countertop 1", "move lettuce 1 to countertop 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Lettuce-None-CounterTop-30/trial_T20190909_033228_803068/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Lettuce-None-CounterTop-30/trial_T20190909_033228_803068/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..e6c56af47ec2ad4b0f306104fabe16f270c40ec8 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Lettuce-None-CounterTop-30/trial_T20190909_033228_803068/initial_state.pddl @@ -0,0 +1,1522 @@ + +(define (problem plan_trial_T20190909_033228_803068) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__plus_00_dot_97_bar__plus_00_dot_98_bar__plus_00_dot_46 - object + Apple_bar__plus_03_dot_12_bar__plus_00_dot_97_bar__minus_00_dot_70 - object + Apple_bar__minus_01_dot_05_bar__plus_01_dot_07_bar__plus_01_dot_31 - object + Bowl_bar__plus_00_dot_76_bar__plus_01_dot_67_bar__minus_01_dot_69 - object + Bowl_bar__plus_01_dot_23_bar__plus_00_dot_91_bar__plus_00_dot_61 - object + Bread_bar__plus_01_dot_53_bar__plus_00_dot_97_bar__plus_00_dot_49 - object + ButterKnife_bar__minus_00_dot_87_bar__plus_00_dot_13_bar__minus_00_dot_01 - object + CellPhone_bar__plus_00_dot_34_bar__plus_00_dot_90_bar__minus_01_dot_59 - object + CellPhone_bar__plus_02_dot_97_bar__plus_00_dot_90_bar__minus_00_dot_60 - object + CellPhone_bar__minus_00_dot_79_bar__plus_00_dot_32_bar__plus_01_dot_34 - object + Cup_bar__plus_03_dot_14_bar__plus_00_dot_18_bar__plus_00_dot_49 - object + Cup_bar__plus_03_dot_20_bar__plus_00_dot_18_bar__plus_00_dot_77 - object + Cup_bar__plus_03_dot_20_bar__plus_00_dot_90_bar__minus_00_dot_90 - object + DishSponge_bar__plus_00_dot_42_bar__plus_00_dot_51_bar__minus_01_dot_48 - object + DishSponge_bar__minus_00_dot_18_bar__plus_01_dot_26_bar__minus_01_dot_50 - object + Egg_bar__plus_00_dot_93_bar__plus_01_dot_13_bar__minus_01_dot_48 - object + Egg_bar__minus_01_dot_12_bar__plus_01_dot_05_bar__plus_01_dot_47 - object + Faucet_bar__plus_03_dot_31_bar__plus_00_dot_89_bar__plus_00_dot_09 - object + Fork_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__plus_00_dot_75 - object + Fork_bar__plus_03_dot_15_bar__plus_00_dot_71_bar__plus_00_dot_76 - object + Fork_bar__minus_00_dot_87_bar__plus_00_dot_71_bar__minus_00_dot_19 - object + Glassbottle_bar__plus_02_dot_99_bar__plus_00_dot_75_bar__plus_00_dot_17 - object + Glassbottle_bar__minus_00_dot_09_bar__plus_00_dot_90_bar__minus_01_dot_44 - object + HousePlant_bar__plus_03_dot_20_bar__plus_00_dot_89_bar__minus_00_dot_37 - object + Kettle_bar__minus_00_dot_24_bar__plus_00_dot_90_bar__minus_01_dot_10 - object + Knife_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__minus_01_dot_37 - object + Knife_bar__minus_00_dot_88_bar__plus_00_dot_93_bar__minus_00_dot_85 - object + Ladle_bar__plus_00_dot_97_bar__plus_00_dot_95_bar__plus_00_dot_18 - object + Ladle_bar__plus_03_dot_08_bar__plus_00_dot_21_bar__minus_00_dot_40 - object + Ladle_bar__minus_00_dot_10_bar__plus_00_dot_94_bar__minus_01_dot_64 - object + Lettuce_bar__plus_01_dot_09_bar__plus_01_dot_31_bar__minus_01_dot_50 - object + Lettuce_bar__plus_03_dot_28_bar__plus_00_dot_97_bar__minus_00_dot_70 - object + Lettuce_bar__minus_00_dot_86_bar__plus_00_dot_97_bar__plus_00_dot_18 - object + Lettuce_bar__minus_01_dot_02_bar__plus_00_dot_97_bar__minus_00_dot_72 - object + LightSwitch_bar__plus_02_dot_59_bar__plus_01_dot_31_bar__minus_01_dot_88 - object + Mirror_bar__minus_01_dot_30_bar__plus_01_dot_63_bar__plus_00_dot_05 - object + Mug_bar__plus_00_dot_85_bar__plus_00_dot_71_bar__minus_01_dot_35 - object + Mug_bar__plus_00_dot_93_bar__plus_01_dot_24_bar__minus_01_dot_50 - object + Mug_bar__plus_03_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_59 - object + Pan_bar__plus_00_dot_34_bar__plus_00_dot_87_bar__minus_01_dot_65 - object + PepperShaker_bar__plus_02_dot_97_bar__plus_00_dot_90_bar__minus_00_dot_50 - object + PepperShaker_bar__minus_00_dot_79_bar__plus_00_dot_70_bar__plus_01_dot_34 - object + Plate_bar__plus_00_dot_61_bar__plus_00_dot_92_bar__plus_00_dot_34 - object + Plate_bar__plus_03_dot_03_bar__plus_01_dot_48_bar__minus_01_dot_24 - object + Potato_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__minus_00_dot_10 - object + Pot_bar__plus_03_dot_04_bar__plus_01_dot_46_bar__minus_01_dot_65 - object + Pot_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_09 - object + Pot_bar__minus_00_dot_94_bar__plus_00_dot_90_bar__plus_00_dot_85 - object + SaltShaker_bar__plus_00_dot_42_bar__plus_00_dot_13_bar__minus_01_dot_39 - object + SaltShaker_bar__plus_03_dot_08_bar__plus_00_dot_17_bar__minus_00_dot_79 - object + SaltShaker_bar__minus_00_dot_91_bar__plus_00_dot_13_bar__plus_01_dot_69 - object + Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09 - object + SoapBottle_bar__plus_00_dot_36_bar__plus_00_dot_92_bar__plus_00_dot_43 - object + SoapBottle_bar__minus_00_dot_92_bar__plus_01_dot_27_bar__minus_00_dot_81 - object + Spatula_bar__minus_00_dot_01_bar__plus_00_dot_92_bar__minus_01_dot_73 - object + Spoon_bar__minus_00_dot_71_bar__plus_00_dot_52_bar__minus_00_dot_73 - object + Spoon_bar__minus_00_dot_79_bar__plus_00_dot_90_bar__plus_00_dot_40 - object + StoveKnob_bar__minus_00_dot_09_bar__plus_00_dot_79_bar__minus_01_dot_01 - object + StoveKnob_bar__minus_00_dot_18_bar__plus_00_dot_79_bar__minus_00_dot_92 - object + StoveKnob_bar__minus_00_dot_28_bar__plus_00_dot_79_bar__minus_00_dot_82 - object + StoveKnob_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_00_dot_72 - object + Tomato_bar__plus_00_dot_15_bar__plus_00_dot_94_bar__minus_01_dot_48 - object + Window_bar__plus_03_dot_70_bar__plus_01_dot_68_bar__plus_00_dot_05 - object + Cabinet_bar__plus_00_dot_14_bar__plus_01_dot_67_bar__minus_01_dot_56 - receptacle + Cabinet_bar__plus_00_dot_62_bar__plus_01_dot_87_bar__minus_01_dot_26 - receptacle + Cabinet_bar__plus_01_dot_40_bar__plus_01_dot_87_bar__minus_01_dot_26 - receptacle + Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_05 - receptacle + Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_85 - receptacle + Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__plus_00_dot_41 - receptacle + Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_61 - receptacle + Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_96 - receptacle + Cabinet_bar__plus_03_dot_07_bar__plus_01_dot_67_bar__minus_00_dot_71 - receptacle + Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_67_bar__minus_01_dot_34 - receptacle + Cabinet_bar__minus_00_dot_20_bar__plus_01_dot_96_bar__minus_01_dot_33 - receptacle + Cabinet_bar__minus_00_dot_71_bar__plus_01_dot_96_bar__minus_00_dot_82 - receptacle + Cabinet_bar__minus_00_dot_92_bar__plus_01_dot_67_bar__minus_00_dot_62 - receptacle + CoffeeMachine_bar__plus_03_dot_22_bar__plus_00_dot_89_bar__plus_00_dot_70 - receptacle + CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52 - receptacle + CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46 - receptacle + CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02 - receptacle + CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04 - receptacle + Drawer_bar__plus_00_dot_38_bar__plus_00_dot_19_bar__minus_01_dot_51 - receptacle + Drawer_bar__plus_00_dot_38_bar__plus_00_dot_38_bar__minus_01_dot_51 - receptacle + Drawer_bar__plus_00_dot_38_bar__plus_00_dot_57_bar__minus_01_dot_51 - receptacle + Drawer_bar__plus_00_dot_38_bar__plus_00_dot_77_bar__minus_01_dot_51 - receptacle + Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__plus_00_dot_70 - receptacle + Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_41 - receptacle + Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_78 - receptacle + Drawer_bar__minus_00_dot_05_bar__plus_00_dot_19_bar__minus_01_dot_32 - receptacle + Drawer_bar__minus_00_dot_05_bar__plus_00_dot_38_bar__minus_01_dot_32 - receptacle + Drawer_bar__minus_00_dot_05_bar__plus_00_dot_57_bar__minus_01_dot_32 - receptacle + Drawer_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__minus_01_dot_32 - receptacle + Drawer_bar__minus_00_dot_68_bar__plus_00_dot_19_bar__minus_00_dot_70 - receptacle + Drawer_bar__minus_00_dot_68_bar__plus_00_dot_39_bar__minus_00_dot_70 - receptacle + Drawer_bar__minus_00_dot_68_bar__plus_00_dot_58_bar__minus_00_dot_70 - receptacle + Drawer_bar__minus_00_dot_68_bar__plus_00_dot_77_bar__minus_00_dot_70 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_00_dot_66 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_01_dot_43 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__minus_00_dot_10 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_00_dot_66 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_01_dot_43 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__minus_00_dot_10 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_00_dot_66 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_01_dot_43 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__minus_00_dot_10 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_00_dot_66 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_01_dot_43 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__minus_00_dot_10 - receptacle + Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47 - receptacle + GarbageCan_bar__plus_03_dot_18_bar__plus_00_dot_03_bar__plus_01_dot_60 - receptacle + Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43 - receptacle + Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09_bar_SinkBasin - receptacle + StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_90_bar__minus_01_dot_09 - receptacle + StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 - receptacle + StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 - receptacle + StoveBurner_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_09 - receptacle + Toaster_bar__minus_01_dot_04_bar__plus_00_dot_87_bar__minus_00_dot_40 - receptacle + loc_bar__minus_1_bar_2_bar_3_bar_45 - location + loc_bar_2_bar__minus_1_bar_2_bar_45 - location + loc_bar_10_bar_0_bar_1_bar_0 - location + loc_bar_10_bar_3_bar_1_bar_45 - location + loc_bar__minus_1_bar_5_bar_3_bar_45 - location + loc_bar_0_bar_2_bar_0_bar_60 - location + loc_bar_0_bar_2_bar_2_bar_45 - location + loc_bar_8_bar_1_bar_1_bar_60 - location + loc_bar_0_bar__minus_3_bar_3_bar_45 - location + loc_bar_10_bar__minus_2_bar_1_bar_45 - location + loc_bar_4_bar__minus_2_bar_0_bar_45 - location + loc_bar_2_bar__minus_2_bar_2_bar_60 - location + loc_bar_1_bar__minus_3_bar_2_bar_0 - location + loc_bar_11_bar_5_bar_1_bar_60 - location + loc_bar_0_bar_1_bar_2_bar_60 - location + loc_bar_9_bar_2_bar_2_bar_45 - location + loc_bar__minus_1_bar_3_bar_2_bar_45 - location + loc_bar_8_bar_0_bar_1_bar_60 - location + loc_bar_9_bar__minus_5_bar_1_bar__minus_15 - location + loc_bar_0_bar_4_bar_2_bar_45 - 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location + loc_bar_9_bar__minus_1_bar_0_bar_45 - location + loc_bar_0_bar__minus_2_bar_2_bar_45 - location + loc_bar_0_bar__minus_1_bar_2_bar_45 - location + loc_bar_8_bar__minus_5_bar_1_bar_60 - location + loc_bar_0_bar_1_bar_0_bar_45 - location + loc_bar_0_bar__minus_3_bar_3_bar__minus_15 - location + loc_bar_9_bar__minus_4_bar_1_bar_0 - location + loc_bar__minus_1_bar_2_bar_0_bar_45 - location + loc_bar_2_bar__minus_2_bar_2_bar_45 - location + loc_bar_4_bar__minus_2_bar_3_bar_60 - location + loc_bar__minus_1_bar_1_bar_2_bar_45 - location + loc_bar_0_bar__minus_3_bar_2_bar_60 - location + loc_bar_9_bar__minus_6_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__minus_00_dot_68_bar__plus_00_dot_19_bar__minus_00_dot_70 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_05_bar__plus_00_dot_38_bar__minus_01_dot_32 DrawerType) + (receptacleType Cabinet_bar__minus_00_dot_92_bar__plus_01_dot_67_bar__minus_00_dot_62 CabinetType) + (receptacleType 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Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_05) + (inReceptacle Bowl_bar__plus_00_dot_76_bar__plus_01_dot_67_bar__minus_01_dot_69 Cabinet_bar__plus_00_dot_62_bar__plus_01_dot_87_bar__minus_01_dot_26) + (inReceptacle DishSponge_bar__minus_00_dot_18_bar__plus_01_dot_26_bar__minus_01_dot_50 Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_67_bar__minus_01_dot_34) + (inReceptacle SoapBottle_bar__minus_00_dot_92_bar__plus_01_dot_27_bar__minus_00_dot_81 Cabinet_bar__minus_00_dot_92_bar__plus_01_dot_67_bar__minus_00_dot_62) + (inReceptacle ButterKnife_bar__minus_00_dot_87_bar__plus_00_dot_13_bar__minus_00_dot_01 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__minus_00_dot_10) + (inReceptacle Knife_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__minus_01_dot_37 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52) + (inReceptacle Glassbottle_bar__minus_00_dot_09_bar__plus_00_dot_90_bar__minus_01_dot_44 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52) + (inReceptacle Tomato_bar__plus_00_dot_15_bar__plus_00_dot_94_bar__minus_01_dot_48 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52) + (inReceptacle Ladle_bar__minus_00_dot_10_bar__plus_00_dot_94_bar__minus_01_dot_64 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52) + (inReceptacle Spatula_bar__minus_00_dot_01_bar__plus_00_dot_92_bar__minus_01_dot_73 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52) + (inReceptacle Pan_bar__plus_00_dot_34_bar__plus_00_dot_87_bar__minus_01_dot_65 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52) + (inReceptacle Fork_bar__plus_03_dot_15_bar__plus_00_dot_71_bar__plus_00_dot_76 Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__plus_00_dot_70) + (inReceptacle Spoon_bar__minus_00_dot_71_bar__plus_00_dot_52_bar__minus_00_dot_73 Drawer_bar__minus_00_dot_68_bar__plus_00_dot_58_bar__minus_00_dot_70) + (inReceptacle SaltShaker_bar__minus_00_dot_91_bar__plus_00_dot_13_bar__plus_01_dot_69 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_01_dot_43) + (inReceptacle Kettle_bar__minus_00_dot_24_bar__plus_00_dot_90_bar__minus_01_dot_10 StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_90_bar__minus_01_dot_09) + (inReceptacle Bowl_bar__plus_01_dot_23_bar__plus_00_dot_91_bar__plus_00_dot_61 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46) + (inReceptacle Ladle_bar__plus_00_dot_97_bar__plus_00_dot_95_bar__plus_00_dot_18 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46) + (inReceptacle Plate_bar__plus_00_dot_61_bar__plus_00_dot_92_bar__plus_00_dot_34 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46) + (inReceptacle Apple_bar__plus_00_dot_97_bar__plus_00_dot_98_bar__plus_00_dot_46 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46) + (inReceptacle Bread_bar__plus_01_dot_53_bar__plus_00_dot_97_bar__plus_00_dot_49 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46) + (inReceptacle Fork_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__plus_00_dot_75 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46) + (inReceptacle SoapBottle_bar__plus_00_dot_36_bar__plus_00_dot_92_bar__plus_00_dot_43 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46) + (inReceptacle CellPhone_bar__minus_00_dot_79_bar__plus_00_dot_32_bar__plus_01_dot_34 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_01_dot_43) + (inReceptacle Mug_bar__plus_03_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_59 CoffeeMachine_bar__plus_03_dot_22_bar__plus_00_dot_89_bar__plus_00_dot_70) + (inReceptacle Potato_bar__plus_03_dot_15_bar__plus_00_dot_79_bar__minus_00_dot_10 Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09_bar_SinkBasin) + (inReceptacle Glassbottle_bar__plus_02_dot_99_bar__plus_00_dot_75_bar__plus_00_dot_17 Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09_bar_SinkBasin) + (inReceptacle Mug_bar__plus_00_dot_93_bar__plus_01_dot_24_bar__minus_01_dot_50 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47) + (inReceptacle Mug_bar__plus_00_dot_85_bar__plus_00_dot_71_bar__minus_01_dot_35 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47) + (inReceptacle Egg_bar__plus_00_dot_93_bar__plus_01_dot_13_bar__minus_01_dot_48 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47) + (inReceptacle Lettuce_bar__plus_01_dot_09_bar__plus_01_dot_31_bar__minus_01_dot_50 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47) + (inReceptacleObject CellPhone_bar__plus_00_dot_34_bar__plus_00_dot_90_bar__minus_01_dot_59 Pan_bar__plus_00_dot_34_bar__plus_00_dot_87_bar__minus_01_dot_65) + (inReceptacle Apple_bar__minus_01_dot_05_bar__plus_01_dot_07_bar__plus_01_dot_31 Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43) + (inReceptacle Egg_bar__minus_01_dot_12_bar__plus_01_dot_05_bar__plus_01_dot_47 Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_14_bar__plus_01_dot_67_bar__minus_01_dot_56 loc_bar_2_bar__minus_3_bar_2_bar_0) + (receptacleAtLocation Cabinet_bar__plus_00_dot_62_bar__plus_01_dot_87_bar__minus_01_dot_26 loc_bar_4_bar__minus_2_bar_2_bar__minus_15) + (receptacleAtLocation Cabinet_bar__plus_01_dot_40_bar__plus_01_dot_87_bar__minus_01_dot_26 loc_bar_4_bar__minus_2_bar_2_bar__minus_15) + (receptacleAtLocation Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_05 loc_bar_9_bar__minus_5_bar_1_bar__minus_15) + (receptacleAtLocation 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loc_bar_0_bar__minus_3_bar_3_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_00_dot_92_bar__plus_01_dot_67_bar__minus_00_dot_62 loc_bar__minus_1_bar__minus_2_bar_3_bar_0) + (receptacleAtLocation CoffeeMachine_bar__plus_03_dot_22_bar__plus_00_dot_89_bar__plus_00_dot_70 loc_bar_10_bar_3_bar_1_bar_45) + (receptacleAtLocation CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52 loc_bar_1_bar__minus_3_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46 loc_bar_4_bar__minus_2_bar_0_bar_45) + (receptacleAtLocation CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02 loc_bar_10_bar__minus_2_bar_1_bar_45) + (receptacleAtLocation CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04 loc_bar__minus_1_bar_2_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_38_bar__plus_00_dot_19_bar__minus_01_dot_51 loc_bar_0_bar__minus_1_bar_2_bar_45) + (receptacleAtLocation 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0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_ba5c7501", + "position": { + "x": 0.8517515, + "y": 0.706290245, + "z": -1.35491741 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 4234386012, + "scene_num": 30 + }, + "task_id": "trial_T20190909_033228_803068", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A13OOAT2ORKH6V_3HPZF4IVNPKEVF5B41ZX76DCT0XYCQ", + "high_descs": [ + "Turn right and walk to the phone on the counter to your right.", + "Pick up the lettuce behind the apple on the counter.", + "Turn left and walk to the sink to your right.", + "Place the lettuce in the sink, wash it and remove it.", + "Turn right and walk to the phone on the counter to your left.", + "Place the lettuce next to the phone on the counter." + ], + "task_desc": "Place clean lettuce on the counter.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A12HZGOZQD5YK7_3MB8LZR5BIKCEEA0DZR51HOOPUFLKB", + "high_descs": [ + "Turn around and go to the counter with the plant on it.", + "Pick up the lettuce to the right of the plant on the counter.", + "Turn left and go to the sink.", + "Put the lettuce in the sink, rinse it off and pick it back up.", + "Go to the right and turn left towards the counter.", + "Put the lettuce on the counter to the right of the phone." + ], + "task_desc": "Put clean lettuce on the counter.", + "votes": [ + 0, + 1, + 1 + ] + }, + { + "assignment_id": "A1CPNA5L0J834N_3X0H8UUIT4FQDRZ7MM791EWE4V9SW5", + "high_descs": [ + "turn right walk forward then turn right towards the counter", + "Pick up green fruit from the counter", + "turn left walk forward then turn right towards the sink ", + "place green fruit in the sink and rinse the fruit off pick the fruit back up", + "turn right and walk back to the counter", + "place the fruit on the counter next to the phone " + ], + "task_desc": "to wash off a piece of green fruit and put it back where you found it. ", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Lettuce-None-CounterTop-30/trial_T20190909_033307_872081/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Lettuce-None-CounterTop-30/trial_T20190909_033307_872081/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..9e3a6f5df663a17aee460cef30d1789357fc747e --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Lettuce-None-CounterTop-30/trial_T20190909_033307_872081/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 lettuce in countertop.\"\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_033307_872081)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__plus_01_dot_09_bar__plus_01_dot_32_bar__minus_01_dot_50 - object\n Apple_bar__plus_01_dot_24_bar__plus_00_dot_96_bar__minus_01_dot_48 - object\n Bowl_bar__plus_01_dot_21_bar__plus_01_dot_67_bar__minus_01_dot_48 - object\n Bowl_bar__plus_01_dot_23_bar__plus_00_dot_91_bar__plus_00_dot_46 - object\n Bowl_bar__minus_00_dot_03_bar__plus_00_dot_90_bar__minus_01_dot_29 - object\n Bread_bar__plus_00_dot_71_bar__plus_00_dot_99_bar__plus_00_dot_53 - object\n ButterKnife_bar__plus_03_dot_03_bar__plus_00_dot_71_bar__minus_00_dot_41 - object\n CellPhone_bar__plus_00_dot_02_bar__plus_00_dot_90_bar__minus_01_dot_45 - object\n CellPhone_bar__plus_00_dot_55_bar__plus_00_dot_91_bar__plus_00_dot_26 - object\n Cup_bar__plus_00_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_25 - object\n DishSponge_bar__plus_03_dot_03_bar__plus_00_dot_75_bar__plus_00_dot_23 - object\n DishSponge_bar__plus_03_dot_08_bar__plus_00_dot_18_bar__plus_00_dot_84 - object\n Egg_bar__plus_00_dot_77_bar__plus_00_dot_94_bar__minus_01_dot_45 - object\n Egg_bar__minus_01_dot_05_bar__plus_01_dot_05_bar__plus_01_dot_52 - object\n Egg_bar__minus_01_dot_09_bar__plus_01_dot_05_bar__plus_01_dot_31 - object\n Faucet_bar__plus_03_dot_31_bar__plus_00_dot_89_bar__plus_00_dot_09 - object\n Fork_bar__plus_00_dot_18_bar__plus_00_dot_90_bar__minus_01_dot_73 - object\n Fork_bar__plus_00_dot_84_bar__plus_00_dot_91_bar__plus_00_dot_46 - object\n Fork_bar__minus_01_dot_01_bar__plus_00_dot_90_bar__minus_00_dot_05 - object\n Glassbottle_bar__plus_00_dot_02_bar__plus_00_dot_90_bar__minus_01_dot_59 - object\n Glassbottle_bar__plus_02_dot_98_bar__plus_01_dot_47_bar__minus_01_dot_55 - object\n HousePlant_bar__plus_03_dot_20_bar__plus_00_dot_89_bar__minus_00_dot_37 - object\n Kettle_bar__minus_00_dot_24_bar__plus_00_dot_90_bar__minus_01_dot_09 - object\n Knife_bar__plus_00_dot_83_bar__plus_00_dot_93_bar__plus_00_dot_29 - object\n Knife_bar__plus_03_dot_28_bar__plus_00_dot_93_bar__minus_00_dot_70 - object\n Ladle_bar__plus_00_dot_53_bar__plus_00_dot_95_bar__plus_00_dot_53 - object\n Ladle_bar__plus_01_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_32 - object\n Lettuce_bar__plus_03_dot_12_bar__plus_00_dot_97_bar__minus_00_dot_80 - object\n Lettuce_bar__minus_00_dot_70_bar__plus_00_dot_97_bar__minus_00_dot_73 - object\n LightSwitch_bar__plus_02_dot_59_bar__plus_01_dot_31_bar__minus_01_dot_88 - object\n Mirror_bar__minus_01_dot_30_bar__plus_01_dot_63_bar__plus_00_dot_05 - object\n Mug_bar__plus_02_dot_91_bar__plus_00_dot_17_bar__minus_00_dot_74 - object\n Pan_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 - object\n PepperShaker_bar__plus_02_dot_97_bar__plus_00_dot_90_bar__minus_00_dot_90 - object\n PepperShaker_bar__plus_03_dot_28_bar__plus_00_dot_90_bar__minus_00_dot_90 - object\n Plate_bar__plus_03_dot_03_bar__plus_00_dot_19_bar__minus_00_dot_40 - object\n Plate_bar__plus_03_dot_14_bar__plus_00_dot_19_bar__minus_00_dot_79 - object\n Potato_bar__minus_01_dot_05_bar__plus_01_dot_04_bar__plus_01_dot_42 - object\n Pot_bar__plus_00_dot_42_bar__plus_00_dot_90_bar__plus_00_dot_87 - object\n Pot_bar__plus_01_dot_23_bar__plus_00_dot_91_bar__plus_00_dot_75 - object\n 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(canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain FridgeType BreadType)\n (canContain FridgeType BowlType)\n (canContain FridgeType PotType)\n (canContain FridgeType MugType)\n (canContain FridgeType EggType)\n (canContain FridgeType GlassbottleType)\n (canContain FridgeType LettuceType)\n (canContain FridgeType PotatoType)\n (canContain FridgeType CupType)\n (canContain FridgeType PlateType)\n (canContain FridgeType TomatoType)\n (canContain FridgeType AppleType)\n (canContain FridgeType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType GlassbottleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType GlassbottleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain 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Lettuce_bar__minus_00_dot_70_bar__plus_00_dot_97_bar__minus_00_dot_73)\n (cleanable Cup_bar__plus_00_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_25)\n (cleanable Knife_bar__plus_00_dot_83_bar__plus_00_dot_93_bar__plus_00_dot_29)\n (cleanable Fork_bar__plus_00_dot_18_bar__plus_00_dot_90_bar__minus_01_dot_73)\n (cleanable ButterKnife_bar__plus_03_dot_03_bar__plus_00_dot_71_bar__minus_00_dot_41)\n (cleanable Pot_bar__plus_03_dot_03_bar__plus_01_dot_46_bar__minus_01_dot_24)\n (cleanable Spatula_bar__minus_00_dot_95_bar__plus_00_dot_34_bar__plus_01_dot_69)\n (cleanable Egg_bar__plus_00_dot_77_bar__plus_00_dot_94_bar__minus_01_dot_45)\n (cleanable Pot_bar__plus_00_dot_42_bar__plus_00_dot_90_bar__plus_00_dot_87)\n (cleanable Pot_bar__plus_01_dot_23_bar__plus_00_dot_91_bar__plus_00_dot_75)\n (cleanable Tomato_bar__minus_00_dot_89_bar__plus_00_dot_94_bar__minus_00_dot_64)\n \n (heatable Plate_bar__plus_03_dot_14_bar__plus_00_dot_19_bar__minus_00_dot_79)\n (heatable Egg_bar__minus_01_dot_05_bar__plus_01_dot_05_bar__plus_01_dot_52)\n (heatable Egg_bar__minus_01_dot_09_bar__plus_01_dot_05_bar__plus_01_dot_31)\n (heatable Plate_bar__plus_03_dot_03_bar__plus_00_dot_19_bar__minus_00_dot_40)\n (heatable Tomato_bar__plus_03_dot_03_bar__plus_00_dot_78_bar__minus_00_dot_10)\n (heatable Mug_bar__plus_02_dot_91_bar__plus_00_dot_17_bar__minus_00_dot_74)\n (heatable Apple_bar__plus_01_dot_24_bar__plus_00_dot_96_bar__minus_01_dot_48)\n (heatable Apple_bar__plus_01_dot_09_bar__plus_01_dot_32_bar__minus_01_dot_50)\n (heatable Potato_bar__minus_01_dot_05_bar__plus_01_dot_04_bar__plus_01_dot_42)\n (heatable Bread_bar__plus_00_dot_71_bar__plus_00_dot_99_bar__plus_00_dot_53)\n (heatable Cup_bar__plus_00_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_25)\n (heatable Egg_bar__plus_00_dot_77_bar__plus_00_dot_94_bar__minus_01_dot_45)\n (heatable Tomato_bar__minus_00_dot_89_bar__plus_00_dot_94_bar__minus_00_dot_64)\n (coolable Plate_bar__plus_03_dot_14_bar__plus_00_dot_19_bar__minus_00_dot_79)\n (coolable Egg_bar__minus_01_dot_05_bar__plus_01_dot_05_bar__plus_01_dot_52)\n (coolable Egg_bar__minus_01_dot_09_bar__plus_01_dot_05_bar__plus_01_dot_31)\n (coolable Plate_bar__plus_03_dot_03_bar__plus_00_dot_19_bar__minus_00_dot_40)\n (coolable Bowl_bar__plus_01_dot_21_bar__plus_01_dot_67_bar__minus_01_dot_48)\n (coolable Lettuce_bar__plus_03_dot_12_bar__plus_00_dot_97_bar__minus_00_dot_80)\n (coolable Bowl_bar__minus_00_dot_03_bar__plus_00_dot_90_bar__minus_01_dot_29)\n (coolable Pan_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27)\n (coolable Tomato_bar__plus_03_dot_03_bar__plus_00_dot_78_bar__minus_00_dot_10)\n (coolable Bowl_bar__plus_01_dot_23_bar__plus_00_dot_91_bar__plus_00_dot_46)\n (coolable Mug_bar__plus_02_dot_91_bar__plus_00_dot_17_bar__minus_00_dot_74)\n (coolable Apple_bar__plus_01_dot_24_bar__plus_00_dot_96_bar__minus_01_dot_48)\n (coolable Apple_bar__plus_01_dot_09_bar__plus_01_dot_32_bar__minus_01_dot_50)\n (coolable Potato_bar__minus_01_dot_05_bar__plus_01_dot_04_bar__plus_01_dot_42)\n (coolable Bread_bar__plus_00_dot_71_bar__plus_00_dot_99_bar__plus_00_dot_53)\n (coolable Lettuce_bar__minus_00_dot_70_bar__plus_00_dot_97_bar__minus_00_dot_73)\n (coolable Cup_bar__plus_00_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_25)\n (coolable Pot_bar__plus_03_dot_03_bar__plus_01_dot_46_bar__minus_01_dot_24)\n (coolable Egg_bar__plus_00_dot_77_bar__plus_00_dot_94_bar__minus_01_dot_45)\n (coolable Pot_bar__plus_00_dot_42_bar__plus_00_dot_90_bar__plus_00_dot_87)\n (coolable Pot_bar__plus_01_dot_23_bar__plus_00_dot_91_bar__plus_00_dot_75)\n (coolable Tomato_bar__minus_00_dot_89_bar__plus_00_dot_94_bar__minus_00_dot_64)\n \n \n \n \n \n (sliceable Egg_bar__minus_01_dot_05_bar__plus_01_dot_05_bar__plus_01_dot_52)\n (sliceable Egg_bar__minus_01_dot_09_bar__plus_01_dot_05_bar__plus_01_dot_31)\n (sliceable Lettuce_bar__plus_03_dot_12_bar__plus_00_dot_97_bar__minus_00_dot_80)\n (sliceable Tomato_bar__plus_03_dot_03_bar__plus_00_dot_78_bar__minus_00_dot_10)\n (sliceable Apple_bar__plus_01_dot_24_bar__plus_00_dot_96_bar__minus_01_dot_48)\n (sliceable Apple_bar__plus_01_dot_09_bar__plus_01_dot_32_bar__minus_01_dot_50)\n (sliceable Potato_bar__minus_01_dot_05_bar__plus_01_dot_04_bar__plus_01_dot_42)\n (sliceable Bread_bar__plus_00_dot_71_bar__plus_00_dot_99_bar__plus_00_dot_53)\n (sliceable Lettuce_bar__minus_00_dot_70_bar__plus_00_dot_97_bar__minus_00_dot_73)\n (sliceable Egg_bar__plus_00_dot_77_bar__plus_00_dot_94_bar__minus_01_dot_45)\n (sliceable Tomato_bar__minus_00_dot_89_bar__plus_00_dot_94_bar__minus_00_dot_64)\n \n (inReceptacle SaltShaker_bar__plus_00_dot_33_bar__plus_00_dot_51_bar__minus_01_dot_48 Drawer_bar__plus_00_dot_38_bar__plus_00_dot_57_bar__minus_01_dot_51)\n (inReceptacle Spoon_bar__plus_02_dot_99_bar__plus_00_dot_71_bar__minus_00_dot_82 Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_78)\n (inReceptacle Bowl_bar__plus_01_dot_21_bar__plus_01_dot_67_bar__minus_01_dot_48 Cabinet_bar__plus_01_dot_40_bar__plus_01_dot_87_bar__minus_01_dot_26)\n (inReceptacle ButterKnife_bar__plus_03_dot_03_bar__plus_00_dot_71_bar__minus_00_dot_41 Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_41)\n (inReceptacle Glassbottle_bar__plus_02_dot_98_bar__plus_01_dot_47_bar__minus_01_dot_55 Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_85)\n (inReceptacle PepperShaker_bar__plus_02_dot_97_bar__plus_00_dot_90_bar__minus_00_dot_90 CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02)\n (inReceptacle Knife_bar__plus_03_dot_28_bar__plus_00_dot_93_bar__minus_00_dot_70 CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02)\n (inReceptacle Lettuce_bar__plus_03_dot_12_bar__plus_00_dot_97_bar__minus_00_dot_80 CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02)\n (inReceptacle HousePlant_bar__plus_03_dot_20_bar__plus_00_dot_89_bar__minus_00_dot_37 CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02)\n (inReceptacle PepperShaker_bar__plus_03_dot_28_bar__plus_00_dot_90_bar__minus_00_dot_90 CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02)\n (inReceptacle Tomato_bar__minus_00_dot_89_bar__plus_00_dot_94_bar__minus_00_dot_64 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04)\n (inReceptacle Lettuce_bar__minus_00_dot_70_bar__plus_00_dot_97_bar__minus_00_dot_73 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04)\n (inReceptacle SaltShaker_bar__minus_00_dot_98_bar__plus_00_dot_90_bar__minus_00_dot_85 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04)\n (inReceptacle Pan_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27)\n (inReceptacle SoapBottle_bar__plus_02_dot_92_bar__plus_00_dot_19_bar__plus_00_dot_91 Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__plus_00_dot_41)\n (inReceptacle DishSponge_bar__plus_03_dot_08_bar__plus_00_dot_18_bar__plus_00_dot_84 Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__plus_00_dot_41)\n (inReceptacle Plate_bar__plus_03_dot_03_bar__plus_00_dot_19_bar__minus_00_dot_40 Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_61)\n (inReceptacle Mug_bar__plus_02_dot_91_bar__plus_00_dot_17_bar__minus_00_dot_74 Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_96)\n (inReceptacle Plate_bar__plus_03_dot_14_bar__plus_00_dot_19_bar__minus_00_dot_79 Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_96)\n (inReceptacle Pot_bar__plus_03_dot_03_bar__plus_01_dot_46_bar__minus_01_dot_24 Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_05)\n (inReceptacle Spoon_bar__minus_00_dot_87_bar__plus_00_dot_13_bar__minus_00_dot_10 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__minus_00_dot_10)\n (inReceptacle Pan_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52)\n (inReceptacle Glassbottle_bar__plus_00_dot_02_bar__plus_00_dot_90_bar__minus_01_dot_59 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52)\n (inReceptacle CellPhone_bar__plus_00_dot_02_bar__plus_00_dot_90_bar__minus_01_dot_45 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52)\n (inReceptacle SaltShaker_bar__minus_00_dot_06_bar__plus_00_dot_90_bar__minus_01_dot_78 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52)\n (inReceptacle Bowl_bar__minus_00_dot_03_bar__plus_00_dot_90_bar__minus_01_dot_29 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52)\n (inReceptacle Kettle_bar__minus_00_dot_24_bar__plus_00_dot_90_bar__minus_01_dot_09 StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_90_bar__minus_01_dot_09)\n (inReceptacle Ladle_bar__plus_01_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_32 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Ladle_bar__plus_00_dot_53_bar__plus_00_dot_95_bar__plus_00_dot_53 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Pot_bar__plus_00_dot_42_bar__plus_00_dot_90_bar__plus_00_dot_87 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Fork_bar__plus_00_dot_84_bar__plus_00_dot_91_bar__plus_00_dot_46 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Bowl_bar__plus_01_dot_23_bar__plus_00_dot_91_bar__plus_00_dot_46 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Bread_bar__plus_00_dot_71_bar__plus_00_dot_99_bar__plus_00_dot_53 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle CellPhone_bar__plus_00_dot_55_bar__plus_00_dot_91_bar__plus_00_dot_26 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Cup_bar__plus_00_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_25 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Pot_bar__plus_01_dot_23_bar__plus_00_dot_91_bar__plus_00_dot_75 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Knife_bar__plus_00_dot_83_bar__plus_00_dot_93_bar__plus_00_dot_29 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Spatula_bar__minus_00_dot_95_bar__plus_00_dot_34_bar__plus_01_dot_69 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_01_dot_43)\n (inReceptacle DishSponge_bar__plus_03_dot_03_bar__plus_00_dot_75_bar__plus_00_dot_23 Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09_bar_SinkBasin)\n (inReceptacle Tomato_bar__plus_03_dot_03_bar__plus_00_dot_78_bar__minus_00_dot_10 Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09_bar_SinkBasin)\n (inReceptacle Apple_bar__plus_01_dot_24_bar__plus_00_dot_96_bar__minus_01_dot_48 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47)\n (inReceptacle Apple_bar__plus_01_dot_09_bar__plus_01_dot_32_bar__minus_01_dot_50 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47)\n (inReceptacle Egg_bar__plus_00_dot_77_bar__plus_00_dot_94_bar__minus_01_dot_45 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47)\n (inReceptacle Potato_bar__minus_01_dot_05_bar__plus_01_dot_04_bar__plus_01_dot_42 Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43)\n (inReceptacle Egg_bar__minus_01_dot_05_bar__plus_01_dot_05_bar__plus_01_dot_52 Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43)\n (inReceptacle Egg_bar__minus_01_dot_09_bar__plus_01_dot_05_bar__plus_01_dot_31 Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_14_bar__plus_01_dot_67_bar__minus_01_dot_56 loc_bar_2_bar__minus_3_bar_2_bar_0)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_62_bar__plus_01_dot_87_bar__minus_01_dot_26 loc_bar_4_bar__minus_2_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_40_bar__plus_01_dot_87_bar__minus_01_dot_26 loc_bar_4_bar__minus_2_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_05 loc_bar_9_bar__minus_5_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_85 loc_bar_8_bar__minus_5_bar_1_bar_0)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__plus_00_dot_41 loc_bar_8_bar_1_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_61 loc_bar_8_bar_0_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_96 loc_bar_8_bar__minus_5_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_03_dot_07_bar__plus_01_dot_67_bar__minus_00_dot_71 loc_bar_9_bar__minus_4_bar_1_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_67_bar__minus_01_dot_34 loc_bar_1_bar__minus_3_bar_2_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_20_bar__plus_01_dot_96_bar__minus_01_dot_33 loc_bar_0_bar__minus_2_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_71_bar__plus_01_dot_96_bar__minus_00_dot_82 loc_bar_0_bar__minus_3_bar_3_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_92_bar__plus_01_dot_67_bar__minus_00_dot_62 loc_bar__minus_1_bar__minus_2_bar_3_bar_0)\n (receptacleAtLocation CoffeeMachine_bar__plus_03_dot_22_bar__plus_00_dot_89_bar__plus_00_dot_70 loc_bar_10_bar_3_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_38_bar__plus_00_dot_19_bar__minus_01_dot_51 loc_bar_0_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_38_bar__plus_00_dot_38_bar__minus_01_dot_51 loc_bar__minus_1_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_38_bar__plus_00_dot_57_bar__minus_01_dot_51 loc_bar_0_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_38_bar__plus_00_dot_77_bar__minus_01_dot_51 loc_bar_0_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__plus_00_dot_70 loc_bar_9_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_41 loc_bar_9_bar_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_78 loc_bar_9_bar_0_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_05_bar__plus_00_dot_19_bar__minus_01_dot_32 loc_bar_4_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_05_bar__plus_00_dot_38_bar__minus_01_dot_32 loc_bar_2_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_05_bar__plus_00_dot_57_bar__minus_01_dot_32 loc_bar_2_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__minus_01_dot_32 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_19_bar__minus_00_dot_70 loc_bar_0_bar_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_39_bar__minus_00_dot_70 loc_bar_0_bar_1_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_58_bar__minus_00_dot_70 loc_bar_0_bar_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_77_bar__minus_00_dot_70 loc_bar__minus_1_bar_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_00_dot_66 loc_bar_0_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_01_dot_43 loc_bar_0_bar_1_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__minus_00_dot_10 loc_bar_0_bar_4_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_00_dot_66 loc_bar_0_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_01_dot_43 loc_bar_0_bar_2_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__minus_00_dot_10 loc_bar_0_bar_4_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_00_dot_66 loc_bar_0_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_01_dot_43 loc_bar_0_bar_1_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__minus_00_dot_10 loc_bar_0_bar_4_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_00_dot_66 loc_bar__minus_1_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_01_dot_43 loc_bar__minus_1_bar_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__minus_00_dot_10 loc_bar__minus_1_bar_3_bar_2_bar_45)\n (receptacleAtLocation Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_03_dot_18_bar__plus_00_dot_03_bar__plus_01_dot_60 loc_bar_11_bar_5_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43 loc_bar__minus_1_bar_5_bar_3_bar_45)\n (receptacleAtLocation Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09_bar_SinkBasin loc_bar_10_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_90_bar__minus_01_dot_09 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_09 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation Toaster_bar__minus_01_dot_04_bar__plus_00_dot_87_bar__minus_00_dot_40 loc_bar__minus_1_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Bowl_bar__plus_01_dot_21_bar__plus_01_dot_67_bar__minus_01_dot_48 loc_bar_4_bar__minus_2_bar_2_bar__minus_15)\n (objectAtLocation Spoon_bar__plus_02_dot_99_bar__plus_00_dot_71_bar__minus_00_dot_82 loc_bar_9_bar_0_bar_2_bar_45)\n (objectAtLocation Tomato_bar__minus_00_dot_89_bar__plus_00_dot_94_bar__minus_00_dot_64 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation DishSponge_bar__plus_03_dot_03_bar__plus_00_dot_75_bar__plus_00_dot_23 loc_bar_10_bar__minus_1_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__plus_00_dot_02_bar__plus_00_dot_90_bar__minus_01_dot_45 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Apple_bar__plus_01_dot_09_bar__plus_01_dot_32_bar__minus_01_dot_50 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation PepperShaker_bar__plus_03_dot_28_bar__plus_00_dot_90_bar__minus_00_dot_90 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (objectAtLocation Egg_bar__plus_00_dot_77_bar__plus_00_dot_94_bar__minus_01_dot_45 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation SaltShaker_bar__minus_00_dot_06_bar__plus_00_dot_90_bar__minus_01_dot_78 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__minus_00_dot_70_bar__plus_00_dot_97_bar__minus_00_dot_73 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation Knife_bar__plus_00_dot_83_bar__plus_00_dot_93_bar__plus_00_dot_29 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Pot_bar__plus_00_dot_42_bar__plus_00_dot_90_bar__plus_00_dot_87 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Ladle_bar__plus_00_dot_53_bar__plus_00_dot_95_bar__plus_00_dot_53 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Fork_bar__plus_00_dot_84_bar__plus_00_dot_91_bar__plus_00_dot_46 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Glassbottle_bar__plus_02_dot_98_bar__plus_01_dot_47_bar__minus_01_dot_55 loc_bar_8_bar__minus_5_bar_1_bar_0)\n (objectAtLocation Plate_bar__plus_03_dot_14_bar__plus_00_dot_19_bar__minus_00_dot_79 loc_bar_8_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Egg_bar__minus_01_dot_05_bar__plus_01_dot_05_bar__plus_01_dot_52 loc_bar__minus_1_bar_5_bar_3_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_03_bar__plus_00_dot_90_bar__minus_01_dot_29 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation SaltShaker_bar__plus_00_dot_33_bar__plus_00_dot_51_bar__minus_01_dot_48 loc_bar_0_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Fork_bar__minus_01_dot_01_bar__plus_00_dot_90_bar__minus_00_dot_05 loc_bar__minus_1_bar__minus_1_bar_3_bar_45)\n (objectAtLocation Pot_bar__plus_03_dot_03_bar__plus_01_dot_46_bar__minus_01_dot_24 loc_bar_9_bar__minus_5_bar_1_bar__minus_15)\n (objectAtLocation Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09 loc_bar_10_bar_0_bar_1_bar_60)\n (objectAtLocation Mirror_bar__minus_01_dot_30_bar__plus_01_dot_63_bar__plus_00_dot_05 loc_bar__minus_1_bar_1_bar_3_bar_0)\n (objectAtLocation Plate_bar__plus_03_dot_03_bar__plus_00_dot_19_bar__minus_00_dot_40 loc_bar_8_bar_0_bar_1_bar_60)\n (objectAtLocation Glassbottle_bar__plus_00_dot_02_bar__plus_00_dot_90_bar__minus_01_dot_59 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__plus_02_dot_92_bar__plus_00_dot_19_bar__plus_00_dot_91 loc_bar_8_bar_1_bar_1_bar_60)\n (objectAtLocation Potato_bar__minus_01_dot_05_bar__plus_01_dot_04_bar__plus_01_dot_42 loc_bar__minus_1_bar_5_bar_3_bar_45)\n (objectAtLocation HousePlant_bar__plus_03_dot_20_bar__plus_00_dot_89_bar__minus_00_dot_37 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_09_bar__plus_00_dot_79_bar__minus_01_dot_01 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_28_bar__plus_00_dot_79_bar__minus_00_dot_82 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_18_bar__plus_00_dot_79_bar__minus_00_dot_92 loc_bar_0_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_00_dot_72 loc_bar__minus_1_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Fork_bar__plus_00_dot_18_bar__plus_00_dot_90_bar__minus_01_dot_73 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Ladle_bar__plus_01_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_32 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Pot_bar__plus_01_dot_23_bar__plus_00_dot_91_bar__plus_00_dot_75 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Kettle_bar__minus_00_dot_24_bar__plus_00_dot_90_bar__minus_01_dot_09 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Window_bar__plus_03_dot_70_bar__plus_01_dot_68_bar__plus_00_dot_05 loc_bar_10_bar_0_bar_1_bar_0)\n (objectAtLocation Spatula_bar__minus_00_dot_95_bar__plus_00_dot_34_bar__plus_01_dot_69 loc_bar_0_bar_2_bar_0_bar_60)\n (objectAtLocation Knife_bar__plus_03_dot_28_bar__plus_00_dot_93_bar__minus_00_dot_70 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (objectAtLocation Lettuce_bar__plus_03_dot_12_bar__plus_00_dot_97_bar__minus_00_dot_80 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (objectAtLocation LightSwitch_bar__plus_02_dot_59_bar__plus_01_dot_31_bar__minus_01_dot_88 loc_bar_9_bar__minus_5_bar_2_bar_30)\n (objectAtLocation Cup_bar__plus_00_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_25 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_98_bar__plus_00_dot_90_bar__minus_00_dot_85 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation Egg_bar__minus_01_dot_09_bar__plus_01_dot_05_bar__plus_01_dot_31 loc_bar__minus_1_bar_5_bar_3_bar_45)\n (objectAtLocation PepperShaker_bar__plus_02_dot_97_bar__plus_00_dot_90_bar__minus_00_dot_90 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__plus_03_dot_03_bar__plus_00_dot_71_bar__minus_00_dot_41 loc_bar_9_bar_2_bar_2_bar_45)\n (objectAtLocation Apple_bar__plus_01_dot_24_bar__plus_00_dot_96_bar__minus_01_dot_48 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Pan_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Bread_bar__plus_00_dot_71_bar__plus_00_dot_99_bar__plus_00_dot_53 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation CellPhone_bar__plus_00_dot_55_bar__plus_00_dot_91_bar__plus_00_dot_26 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation DishSponge_bar__plus_03_dot_08_bar__plus_00_dot_18_bar__plus_00_dot_84 loc_bar_8_bar_1_bar_1_bar_60)\n (objectAtLocation Tomato_bar__plus_03_dot_03_bar__plus_00_dot_78_bar__minus_00_dot_10 loc_bar_10_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Spoon_bar__minus_00_dot_87_bar__plus_00_dot_13_bar__minus_00_dot_10 loc_bar_0_bar_4_bar_2_bar_60)\n (objectAtLocation Bowl_bar__plus_01_dot_23_bar__plus_00_dot_91_bar__plus_00_dot_46 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Mug_bar__plus_02_dot_91_bar__plus_00_dot_17_bar__minus_00_dot_74 loc_bar_8_bar__minus_5_bar_1_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 LettuceType)\n (receptacleType ?r CounterTopType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take lettuce 1 from countertop 1", "go to sinkbasin 1", "clean lettuce 1 with sinkbasin 1", "go to countertop 1", "move lettuce 1 to countertop 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Lettuce-None-CounterTop-30/trial_T20190909_033307_872081/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Lettuce-None-CounterTop-30/trial_T20190909_033307_872081/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..2c2b97231caf21989ea6f22da5550af43c72d3eb --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Lettuce-None-CounterTop-30/trial_T20190909_033307_872081/initial_state.pddl @@ -0,0 +1,1470 @@ + +(define (problem plan_trial_T20190909_033307_872081) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__plus_01_dot_09_bar__plus_01_dot_32_bar__minus_01_dot_50 - object + Apple_bar__plus_01_dot_24_bar__plus_00_dot_96_bar__minus_01_dot_48 - object + Bowl_bar__plus_01_dot_21_bar__plus_01_dot_67_bar__minus_01_dot_48 - object + Bowl_bar__plus_01_dot_23_bar__plus_00_dot_91_bar__plus_00_dot_46 - object + Bowl_bar__minus_00_dot_03_bar__plus_00_dot_90_bar__minus_01_dot_29 - object + Bread_bar__plus_00_dot_71_bar__plus_00_dot_99_bar__plus_00_dot_53 - object + ButterKnife_bar__plus_03_dot_03_bar__plus_00_dot_71_bar__minus_00_dot_41 - object + CellPhone_bar__plus_00_dot_02_bar__plus_00_dot_90_bar__minus_01_dot_45 - object + CellPhone_bar__plus_00_dot_55_bar__plus_00_dot_91_bar__plus_00_dot_26 - object + Cup_bar__plus_00_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_25 - object + DishSponge_bar__plus_03_dot_03_bar__plus_00_dot_75_bar__plus_00_dot_23 - object + DishSponge_bar__plus_03_dot_08_bar__plus_00_dot_18_bar__plus_00_dot_84 - object + Egg_bar__plus_00_dot_77_bar__plus_00_dot_94_bar__minus_01_dot_45 - object + Egg_bar__minus_01_dot_05_bar__plus_01_dot_05_bar__plus_01_dot_52 - object + Egg_bar__minus_01_dot_09_bar__plus_01_dot_05_bar__plus_01_dot_31 - object + Faucet_bar__plus_03_dot_31_bar__plus_00_dot_89_bar__plus_00_dot_09 - object + Fork_bar__plus_00_dot_18_bar__plus_00_dot_90_bar__minus_01_dot_73 - object + Fork_bar__plus_00_dot_84_bar__plus_00_dot_91_bar__plus_00_dot_46 - object + Fork_bar__minus_01_dot_01_bar__plus_00_dot_90_bar__minus_00_dot_05 - object + Glassbottle_bar__plus_00_dot_02_bar__plus_00_dot_90_bar__minus_01_dot_59 - object + Glassbottle_bar__plus_02_dot_98_bar__plus_01_dot_47_bar__minus_01_dot_55 - object + HousePlant_bar__plus_03_dot_20_bar__plus_00_dot_89_bar__minus_00_dot_37 - object + Kettle_bar__minus_00_dot_24_bar__plus_00_dot_90_bar__minus_01_dot_09 - object + Knife_bar__plus_00_dot_83_bar__plus_00_dot_93_bar__plus_00_dot_29 - object + Knife_bar__plus_03_dot_28_bar__plus_00_dot_93_bar__minus_00_dot_70 - object + Ladle_bar__plus_00_dot_53_bar__plus_00_dot_95_bar__plus_00_dot_53 - object + Ladle_bar__plus_01_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_32 - object + 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Pot_bar__plus_01_dot_23_bar__plus_00_dot_91_bar__plus_00_dot_75 - object + Pot_bar__plus_03_dot_03_bar__plus_01_dot_46_bar__minus_01_dot_24 - object + SaltShaker_bar__plus_00_dot_33_bar__plus_00_dot_51_bar__minus_01_dot_48 - object + SaltShaker_bar__minus_00_dot_06_bar__plus_00_dot_90_bar__minus_01_dot_78 - object + SaltShaker_bar__minus_00_dot_98_bar__plus_00_dot_90_bar__minus_00_dot_85 - object + Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09 - object + SoapBottle_bar__plus_02_dot_92_bar__plus_00_dot_19_bar__plus_00_dot_91 - object + Spatula_bar__minus_00_dot_95_bar__plus_00_dot_34_bar__plus_01_dot_69 - object + Spoon_bar__plus_02_dot_99_bar__plus_00_dot_71_bar__minus_00_dot_82 - object + Spoon_bar__minus_00_dot_87_bar__plus_00_dot_13_bar__minus_00_dot_10 - object + StoveKnob_bar__minus_00_dot_09_bar__plus_00_dot_79_bar__minus_01_dot_01 - object + StoveKnob_bar__minus_00_dot_18_bar__plus_00_dot_79_bar__minus_00_dot_92 - object + 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Apple_bar__plus_01_dot_09_bar__plus_01_dot_32_bar__minus_01_dot_50) + (coolable Potato_bar__minus_01_dot_05_bar__plus_01_dot_04_bar__plus_01_dot_42) + (coolable Bread_bar__plus_00_dot_71_bar__plus_00_dot_99_bar__plus_00_dot_53) + (coolable Lettuce_bar__minus_00_dot_70_bar__plus_00_dot_97_bar__minus_00_dot_73) + (coolable Cup_bar__plus_00_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_25) + (coolable Pot_bar__plus_03_dot_03_bar__plus_01_dot_46_bar__minus_01_dot_24) + (coolable Egg_bar__plus_00_dot_77_bar__plus_00_dot_94_bar__minus_01_dot_45) + (coolable Pot_bar__plus_00_dot_42_bar__plus_00_dot_90_bar__plus_00_dot_87) + (coolable Pot_bar__plus_01_dot_23_bar__plus_00_dot_91_bar__plus_00_dot_75) + (coolable Tomato_bar__minus_00_dot_89_bar__plus_00_dot_94_bar__minus_00_dot_64) + + + + + + (sliceable Egg_bar__minus_01_dot_05_bar__plus_01_dot_05_bar__plus_01_dot_52) + (sliceable Egg_bar__minus_01_dot_09_bar__plus_01_dot_05_bar__plus_01_dot_31) + (sliceable Lettuce_bar__plus_03_dot_12_bar__plus_00_dot_97_bar__minus_00_dot_80) + (sliceable Tomato_bar__plus_03_dot_03_bar__plus_00_dot_78_bar__minus_00_dot_10) + (sliceable Apple_bar__plus_01_dot_24_bar__plus_00_dot_96_bar__minus_01_dot_48) + (sliceable Apple_bar__plus_01_dot_09_bar__plus_01_dot_32_bar__minus_01_dot_50) + (sliceable Potato_bar__minus_01_dot_05_bar__plus_01_dot_04_bar__plus_01_dot_42) + (sliceable Bread_bar__plus_00_dot_71_bar__plus_00_dot_99_bar__plus_00_dot_53) + (sliceable Lettuce_bar__minus_00_dot_70_bar__plus_00_dot_97_bar__minus_00_dot_73) + (sliceable Egg_bar__plus_00_dot_77_bar__plus_00_dot_94_bar__minus_01_dot_45) + (sliceable Tomato_bar__minus_00_dot_89_bar__plus_00_dot_94_bar__minus_00_dot_64) + + (inReceptacle SaltShaker_bar__plus_00_dot_33_bar__plus_00_dot_51_bar__minus_01_dot_48 Drawer_bar__plus_00_dot_38_bar__plus_00_dot_57_bar__minus_01_dot_51) + (inReceptacle Spoon_bar__plus_02_dot_99_bar__plus_00_dot_71_bar__minus_00_dot_82 Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_78) + (inReceptacle Bowl_bar__plus_01_dot_21_bar__plus_01_dot_67_bar__minus_01_dot_48 Cabinet_bar__plus_01_dot_40_bar__plus_01_dot_87_bar__minus_01_dot_26) + (inReceptacle ButterKnife_bar__plus_03_dot_03_bar__plus_00_dot_71_bar__minus_00_dot_41 Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_41) + (inReceptacle Glassbottle_bar__plus_02_dot_98_bar__plus_01_dot_47_bar__minus_01_dot_55 Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_85) + (inReceptacle PepperShaker_bar__plus_02_dot_97_bar__plus_00_dot_90_bar__minus_00_dot_90 CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02) + (inReceptacle Knife_bar__plus_03_dot_28_bar__plus_00_dot_93_bar__minus_00_dot_70 CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02) + (inReceptacle Lettuce_bar__plus_03_dot_12_bar__plus_00_dot_97_bar__minus_00_dot_80 CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02) + (inReceptacle HousePlant_bar__plus_03_dot_20_bar__plus_00_dot_89_bar__minus_00_dot_37 CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02) + (inReceptacle PepperShaker_bar__plus_03_dot_28_bar__plus_00_dot_90_bar__minus_00_dot_90 CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02) + (inReceptacle Tomato_bar__minus_00_dot_89_bar__plus_00_dot_94_bar__minus_00_dot_64 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04) + (inReceptacle Lettuce_bar__minus_00_dot_70_bar__plus_00_dot_97_bar__minus_00_dot_73 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04) + (inReceptacle SaltShaker_bar__minus_00_dot_98_bar__plus_00_dot_90_bar__minus_00_dot_85 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04) + (inReceptacle Pan_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27) + (inReceptacle SoapBottle_bar__plus_02_dot_92_bar__plus_00_dot_19_bar__plus_00_dot_91 Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__plus_00_dot_41) + (inReceptacle DishSponge_bar__plus_03_dot_08_bar__plus_00_dot_18_bar__plus_00_dot_84 Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__plus_00_dot_41) + (inReceptacle Plate_bar__plus_03_dot_03_bar__plus_00_dot_19_bar__minus_00_dot_40 Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_61) + (inReceptacle Mug_bar__plus_02_dot_91_bar__plus_00_dot_17_bar__minus_00_dot_74 Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_96) + (inReceptacle Plate_bar__plus_03_dot_14_bar__plus_00_dot_19_bar__minus_00_dot_79 Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_96) + (inReceptacle Pot_bar__plus_03_dot_03_bar__plus_01_dot_46_bar__minus_01_dot_24 Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_05) + (inReceptacle Spoon_bar__minus_00_dot_87_bar__plus_00_dot_13_bar__minus_00_dot_10 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__minus_00_dot_10) + (inReceptacle Pan_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52) + (inReceptacle Glassbottle_bar__plus_00_dot_02_bar__plus_00_dot_90_bar__minus_01_dot_59 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52) + (inReceptacle CellPhone_bar__plus_00_dot_02_bar__plus_00_dot_90_bar__minus_01_dot_45 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52) + (inReceptacle SaltShaker_bar__minus_00_dot_06_bar__plus_00_dot_90_bar__minus_01_dot_78 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52) + (inReceptacle Bowl_bar__minus_00_dot_03_bar__plus_00_dot_90_bar__minus_01_dot_29 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52) + (inReceptacle Kettle_bar__minus_00_dot_24_bar__plus_00_dot_90_bar__minus_01_dot_09 StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_90_bar__minus_01_dot_09) + (inReceptacle Ladle_bar__plus_01_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_32 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46) + (inReceptacle Ladle_bar__plus_00_dot_53_bar__plus_00_dot_95_bar__plus_00_dot_53 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46) + (inReceptacle Pot_bar__plus_00_dot_42_bar__plus_00_dot_90_bar__plus_00_dot_87 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46) + (inReceptacle Fork_bar__plus_00_dot_84_bar__plus_00_dot_91_bar__plus_00_dot_46 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46) + (inReceptacle Bowl_bar__plus_01_dot_23_bar__plus_00_dot_91_bar__plus_00_dot_46 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46) + (inReceptacle Bread_bar__plus_00_dot_71_bar__plus_00_dot_99_bar__plus_00_dot_53 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46) + (inReceptacle CellPhone_bar__plus_00_dot_55_bar__plus_00_dot_91_bar__plus_00_dot_26 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46) + (inReceptacle Cup_bar__plus_00_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_25 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46) + (inReceptacle Pot_bar__plus_01_dot_23_bar__plus_00_dot_91_bar__plus_00_dot_75 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46) + (inReceptacle Knife_bar__plus_00_dot_83_bar__plus_00_dot_93_bar__plus_00_dot_29 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46) + (inReceptacle Spatula_bar__minus_00_dot_95_bar__plus_00_dot_34_bar__plus_01_dot_69 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_01_dot_43) + (inReceptacle DishSponge_bar__plus_03_dot_03_bar__plus_00_dot_75_bar__plus_00_dot_23 Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09_bar_SinkBasin) + (inReceptacle Tomato_bar__plus_03_dot_03_bar__plus_00_dot_78_bar__minus_00_dot_10 Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09_bar_SinkBasin) + (inReceptacle Apple_bar__plus_01_dot_24_bar__plus_00_dot_96_bar__minus_01_dot_48 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47) + (inReceptacle Apple_bar__plus_01_dot_09_bar__plus_01_dot_32_bar__minus_01_dot_50 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47) + (inReceptacle Egg_bar__plus_00_dot_77_bar__plus_00_dot_94_bar__minus_01_dot_45 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47) + (inReceptacle Potato_bar__minus_01_dot_05_bar__plus_01_dot_04_bar__plus_01_dot_42 Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43) + (inReceptacle Egg_bar__minus_01_dot_05_bar__plus_01_dot_05_bar__plus_01_dot_52 Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43) + (inReceptacle Egg_bar__minus_01_dot_09_bar__plus_01_dot_05_bar__plus_01_dot_31 Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_14_bar__plus_01_dot_67_bar__minus_01_dot_56 loc_bar_2_bar__minus_3_bar_2_bar_0) + (receptacleAtLocation Cabinet_bar__plus_00_dot_62_bar__plus_01_dot_87_bar__minus_01_dot_26 loc_bar_4_bar__minus_2_bar_2_bar__minus_15) + (receptacleAtLocation Cabinet_bar__plus_01_dot_40_bar__plus_01_dot_87_bar__minus_01_dot_26 loc_bar_4_bar__minus_2_bar_2_bar__minus_15) + (receptacleAtLocation Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_05 loc_bar_9_bar__minus_5_bar_1_bar__minus_15) + (receptacleAtLocation Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_85 loc_bar_8_bar__minus_5_bar_1_bar_0) + (receptacleAtLocation Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__plus_00_dot_41 loc_bar_8_bar_1_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_61 loc_bar_8_bar_0_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_96 loc_bar_8_bar__minus_5_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_03_dot_07_bar__plus_01_dot_67_bar__minus_00_dot_71 loc_bar_9_bar__minus_4_bar_1_bar_0) + (receptacleAtLocation Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_67_bar__minus_01_dot_34 loc_bar_1_bar__minus_3_bar_2_bar_0) + (receptacleAtLocation Cabinet_bar__minus_00_dot_20_bar__plus_01_dot_96_bar__minus_01_dot_33 loc_bar_0_bar__minus_2_bar_2_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_00_dot_71_bar__plus_01_dot_96_bar__minus_00_dot_82 loc_bar_0_bar__minus_3_bar_3_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_00_dot_92_bar__plus_01_dot_67_bar__minus_00_dot_62 loc_bar__minus_1_bar__minus_2_bar_3_bar_0) + (receptacleAtLocation CoffeeMachine_bar__plus_03_dot_22_bar__plus_00_dot_89_bar__plus_00_dot_70 loc_bar_10_bar_3_bar_1_bar_45) + (receptacleAtLocation CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52 loc_bar_1_bar__minus_3_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46 loc_bar_4_bar__minus_2_bar_0_bar_45) + (receptacleAtLocation CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02 loc_bar_10_bar__minus_2_bar_1_bar_45) + (receptacleAtLocation CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04 loc_bar__minus_1_bar_2_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_38_bar__plus_00_dot_19_bar__minus_01_dot_51 loc_bar_0_bar__minus_1_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_38_bar__plus_00_dot_38_bar__minus_01_dot_51 loc_bar__minus_1_bar__minus_1_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_38_bar__plus_00_dot_57_bar__minus_01_dot_51 loc_bar_0_bar__minus_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_38_bar__plus_00_dot_77_bar__minus_01_dot_51 loc_bar_0_bar__minus_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__plus_00_dot_70 loc_bar_9_bar__minus_1_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_41 loc_bar_9_bar_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__plus_03_dot_02_bar__plus_00_dot_77_bar__minus_00_dot_78 loc_bar_9_bar_0_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_05_bar__plus_00_dot_19_bar__minus_01_dot_32 loc_bar_4_bar__minus_2_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_05_bar__plus_00_dot_38_bar__minus_01_dot_32 loc_bar_2_bar__minus_1_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_05_bar__plus_00_dot_57_bar__minus_01_dot_32 loc_bar_2_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__minus_01_dot_32 loc_bar_2_bar__minus_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_19_bar__minus_00_dot_70 loc_bar_0_bar_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_39_bar__minus_00_dot_70 loc_bar_0_bar_1_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_58_bar__minus_00_dot_70 loc_bar_0_bar_1_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_68_bar__plus_00_dot_77_bar__minus_00_dot_70 loc_bar__minus_1_bar_1_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_00_dot_66 loc_bar_0_bar__minus_2_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_01_dot_43 loc_bar_0_bar_1_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__minus_00_dot_10 loc_bar_0_bar_4_bar_2_bar_60) + 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loc_bar__minus_1_bar_2_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__minus_00_dot_10 loc_bar__minus_1_bar_3_bar_2_bar_45) + (receptacleAtLocation Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47 loc_bar_4_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_03_dot_18_bar__plus_00_dot_03_bar__plus_01_dot_60 loc_bar_11_bar_5_bar_1_bar_60) + (receptacleAtLocation Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43 loc_bar__minus_1_bar_5_bar_3_bar_45) + (receptacleAtLocation Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09_bar_SinkBasin loc_bar_10_bar__minus_1_bar_1_bar_60) + (receptacleAtLocation StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_90_bar__minus_01_dot_09 loc_bar_0_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 loc_bar_0_bar__minus_3_bar_3_bar_60) + (receptacleAtLocation 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the stove top, then turn left and walk forward across the room to the lettuce on the counter.", + "Pick up the lettuce from the counter.", + "Turn left and walk to the sink.", + "Put the lettuce in the sink, rinse it off, and take it back out.", + "Turn right and walk slightly forward, then turn left towards the counter.", + "Put the lettuce on the counter, in front of the large knife." + ], + "task_desc": "Put a cleaned head of lettuce on a counter top.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1OWHPMKE7YAGL_39LOEL67OVWB39IAY4Q2FQLGU93387", + "high_descs": [ + "Go forward to the stove, hang a left, go across the room to the counter where the lettuce is. ", + "Pick up the lettuce that is on the counter. ", + "Turn to the left, go forward to the sink that is on the right. ", + "Put the lettuce in the sink, rinse it off, then pick it back up. ", + "Turn to the right, go back to the counter on the left where the plant is. ", + "Put the lettuce on the counter in front of the yellow handled knife." + ], + "task_desc": "Put clean lettuce on a counter.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1RLO9LNUJIW5S_3IAEQB9FMHBKB2GPPWCK6FAE3SBWDR", + "high_descs": [ + "Walk forward to the stove then turn left and walk to the counter.", + "Pick up the head of lettuce that's in front of you.", + "Move to your left until you're close enough to use the sink.", + "Wash the lettuce in the sink and then pick it back up and shut off the water.", + "Take a step to your right.", + "Put the lettuce on the counter below the knife." + ], + "task_desc": "Put a clean head of lettuce on the sink.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Mug-None-CoffeeMachine-13/trial_T20190907_171959_889613/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Mug-None-CoffeeMachine-13/trial_T20190907_171959_889613/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..674f45c1a5c9299ca1fdab6241e04b179c066dc2 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Mug-None-CoffeeMachine-13/trial_T20190907_171959_889613/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_171959_889613)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__minus_02_dot_74_bar__plus_01_dot_60_bar__plus_01_dot_60 - object\n Apple_bar__minus_03_dot_64_bar__plus_00_dot_12_bar__plus_06_dot_38 - object\n Apple_bar__minus_04_dot_03_bar__plus_00_dot_98_bar__plus_02_dot_18 - object\n Bowl_bar__minus_00_dot_30_bar__plus_01_dot_07_bar__plus_03_dot_48 - object\n Bread_bar__minus_00_dot_41_bar__plus_01_dot_00_bar__plus_05_dot_93 - object\n ButterKnife_bar__minus_00_dot_49_bar__plus_00_dot_93_bar__plus_05_dot_60 - object\n ButterKnife_bar__minus_03_dot_37_bar__plus_00_dot_92_bar__plus_05_dot_49 - object\n Cup_bar__minus_03_dot_93_bar__plus_01_dot_46_bar__plus_05_dot_48 - object\n Curtains_bar__minus_04_dot_52_bar__plus_02_dot_25_bar__plus_03_dot_39 - object\n DishSponge_bar__minus_01_dot_69_bar__plus_00_dot_92_bar__plus_01_dot_95 - object\n Egg_bar__minus_00_dot_30_bar__plus_01_dot_72_bar__plus_03_dot_73 - object\n Egg_bar__minus_02_dot_58_bar__plus_01_dot_58_bar__plus_01_dot_60 - object\n Faucet_bar__minus_04_dot_44_bar__plus_00_dot_91_bar__plus_03_dot_29 - object\n Fork_bar__minus_00_dot_26_bar__plus_00_dot_93_bar__plus_04_dot_62 - object\n Fork_bar__minus_00_dot_49_bar__plus_00_dot_93_bar__plus_06_dot_26 - object\n Fork_bar__minus_04_dot_23_bar__plus_00_dot_79_bar__plus_03_dot_10 - object\n Knife_bar__minus_02_dot_11_bar__plus_00_dot_95_bar__plus_01_dot_65 - object\n Lettuce_bar__minus_00_dot_30_bar__plus_01_dot_17_bar__plus_03_dot_73 - object\n Lettuce_bar__minus_03_dot_49_bar__plus_01_dot_02_bar__plus_05_dot_41 - object\n Lettuce_bar__minus_04_dot_20_bar__plus_01_dot_02_bar__plus_01_dot_95 - object\n LightSwitch_bar__minus_01_dot_59_bar__plus_01_dot_17_bar__plus_01_dot_51 - object\n Mug_bar__minus_00_dot_41_bar__plus_00_dot_96_bar__plus_06_dot_56 - object\n Mug_bar__minus_04_dot_50_bar__plus_00_dot_92_bar__plus_03_dot_08 - object\n Pan_bar__minus_02_dot_47_bar__plus_00_dot_93_bar__plus_02_dot_01 - object\n PaperTowelRoll_bar__minus_01_dot_78_bar__plus_01_dot_03_bar__plus_01_dot_57 - object\n Pencil_bar__minus_00_dot_18_bar__plus_00_dot_93_bar__plus_04_dot_94 - object\n Pencil_bar__minus_03_dot_51_bar__plus_00_dot_75_bar__plus_05_dot_16 - object\n PepperShaker_bar__minus_03_dot_80_bar__plus_00_dot_74_bar__plus_01_dot_93 - object\n PepperShaker_bar__minus_03_dot_83_bar__plus_00_dot_74_bar__plus_02_dot_02 - object\n PepperShaker_bar__minus_04_dot_34_bar__plus_00_dot_92_bar__plus_05_dot_16 - object\n Plate_bar__minus_03_dot_26_bar__plus_00_dot_92_bar__plus_05_dot_41 - object\n Potato_bar__minus_01_dot_61_bar__plus_00_dot_96_bar__plus_01_dot_72 - object\n Potato_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_90 - object\n Pot_bar__minus_02_dot_92_bar__plus_00_dot_93_bar__plus_01_dot_71 - object\n SaltShaker_bar__minus_00_dot_53_bar__plus_00_dot_74_bar__plus_04_dot_85 - object\n SaltShaker_bar__minus_00_dot_57_bar__plus_00_dot_92_bar__plus_06_dot_59 - object\n SaltShaker_bar__minus_04_dot_24_bar__plus_00_dot_92_bar__plus_02_dot_42 - object\n Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28 - object\n SoapBottle_bar__minus_04_dot_10_bar__plus_00_dot_92_bar__plus_02_dot_65 - object\n Spatula_bar__minus_00_dot_18_bar__plus_00_dot_94_bar__plus_05_dot_93 - object\n Spatula_bar__minus_01_dot_86_bar__plus_00_dot_94_bar__plus_01_dot_72 - object\n Spatula_bar__minus_04_dot_48_bar__plus_00_dot_94_bar__plus_03_dot_55 - object\n Spoon_bar__minus_02_dot_03_bar__plus_00_dot_92_bar__plus_02_dot_03 - object\n Spoon_bar__minus_04_dot_23_bar__plus_00_dot_79_bar__plus_03_dot_41 - object\n StoveKnob_bar__minus_02_dot_35_bar__plus_01_dot_10_bar__plus_01_dot_56 - object\n StoveKnob_bar__minus_02_dot_51_bar__plus_01_dot_10_bar__plus_01_dot_56 - object\n StoveKnob_bar__minus_02_dot_79_bar__plus_01_dot_10_bar__plus_01_dot_56 - object\n StoveKnob_bar__minus_02_dot_97_bar__plus_01_dot_10_bar__plus_01_dot_56 - object\n Tomato_bar__minus_00_dot_22_bar__plus_01_dot_39_bar__plus_03_dot_36 - object\n Tomato_bar__minus_00_dot_30_bar__plus_01_dot_64_bar__plus_03_dot_35 - object\n Tomato_bar__minus_04_dot_16_bar__plus_00_dot_85_bar__plus_03_dot_29 - object\n Window_bar__minus_04_dot_87_bar__plus_01_dot_63_bar__plus_03_dot_31 - object\n WineBottle_bar__minus_01_dot_94_bar__plus_00_dot_92_bar__plus_01_dot_65 - object\n WineBottle_bar__minus_03_dot_48_bar__plus_00_dot_08_bar__plus_02_dot_00 - object\n Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_03_dot_01 - receptacle\n Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_04_dot_21 - receptacle\n Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_04_dot_31 - receptacle\n Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_05_dot_51 - receptacle\n Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_05_dot_61 - receptacle\n Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_06_dot_81 - receptacle\n Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_04_dot_30 - receptacle\n Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_05_dot_58 - receptacle\n Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_05_dot_60 - receptacle\n Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_06_dot_88 - receptacle\n Cabinet_bar__minus_01_dot_54_bar__plus_00_dot_39_bar__plus_02_dot_09 - receptacle\n Cabinet_bar__minus_01_dot_58_bar__plus_01_dot_93_bar__plus_01_dot_78 - receptacle\n Cabinet_bar__minus_03_dot_04_bar__plus_00_dot_39_bar__plus_05_dot_03 - receptacle\n Cabinet_bar__minus_03_dot_04_bar__plus_01_dot_94_bar__plus_05_dot_32 - receptacle\n Cabinet_bar__minus_03_dot_19_bar__plus_00_dot_39_bar__plus_02_dot_09 - receptacle\n Cabinet_bar__minus_03_dot_20_bar__plus_01_dot_93_bar__plus_01_dot_78 - receptacle\n Cabinet_bar__minus_03_dot_64_bar__plus_00_dot_39_bar__plus_05_dot_03 - receptacle\n Cabinet_bar__minus_03_dot_67_bar__plus_00_dot_39_bar__plus_05_dot_03 - receptacle\n Cabinet_bar__minus_03_dot_92_bar__plus_00_dot_40_bar__plus_02_dot_09 - receptacle\n Cabinet_bar__minus_03_dot_96_bar__plus_00_dot_39_bar__plus_02_dot_12 - receptacle\n Cabinet_bar__minus_03_dot_96_bar__plus_00_dot_39_bar__plus_02_dot_88 - receptacle\n Cabinet_bar__minus_03_dot_96_bar__plus_00_dot_39_bar__plus_04_dot_34 - receptacle\n Cabinet_bar__minus_03_dot_97_bar__plus_00_dot_39_bar__plus_02_dot_89 - receptacle\n Cabinet_bar__minus_03_dot_97_bar__plus_00_dot_39_bar__plus_03_dot_66 - receptacle\n Cabinet_bar__minus_04_dot_11_bar__plus_01_dot_94_bar__plus_05_dot_32 - receptacle\n Cabinet_bar__minus_04_dot_28_bar__plus_01_dot_93_bar__plus_02_dot_23 - receptacle\n CoffeeMachine_bar__minus_00_dot_28_bar__plus_00_dot_91_bar__plus_06_dot_56 - receptacle\n CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60 - receptacle\n CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80 - receptacle\n CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94 - receptacle\n Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_04_dot_62 - receptacle\n Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_27 - receptacle\n Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_92 - receptacle\n Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_06_dot_57 - receptacle\n Drawer_bar__minus_01_dot_86_bar__plus_00_dot_78_bar__plus_01_dot_96 - receptacle\n Drawer_bar__minus_03_dot_19_bar__plus_00_dot_78_bar__plus_05_dot_16 - receptacle\n Drawer_bar__minus_03_dot_42_bar__plus_00_dot_78_bar__plus_01_dot_96 - receptacle\n Drawer_bar__minus_03_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_16 - receptacle\n Drawer_bar__minus_03_dot_80_bar__plus_00_dot_78_bar__plus_01_dot_96 - receptacle\n Drawer_bar__minus_03_dot_80_bar__plus_00_dot_78_bar__plus_05_dot_16 - receptacle\n Drawer_bar__minus_04_dot_09_bar__plus_00_dot_78_bar__plus_04_dot_66 - receptacle\n Drawer_bar__minus_04_dot_13_bar__plus_00_dot_80_bar__plus_02_dot_50 - receptacle\n Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60 - receptacle\n GarbageCan_bar__minus_03_dot_71_bar_00_dot_00_bar__plus_06_dot_38 - receptacle\n Microwave_bar__minus_02_dot_69_bar__plus_01_dot_43_bar__plus_01_dot_69 - receptacle\n Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_02_dot_47_bar__plus_00_dot_92_bar__plus_01_dot_71 - receptacle\n StoveBurner_bar__minus_02_dot_47_bar__plus_00_dot_92_bar__plus_02_dot_01 - receptacle\n StoveBurner_bar__minus_02_dot_92_bar__plus_00_dot_92_bar__plus_01_dot_71 - receptacle\n StoveBurner_bar__minus_02_dot_92_bar__plus_00_dot_92_bar__plus_02_dot_01 - receptacle\n Toaster_bar__minus_03_dot_58_bar__plus_00_dot_91_bar__plus_01_dot_76 - receptacle\n loc_bar__minus_4_bar_25_bar_1_bar__minus_30 - location\n loc_bar__minus_13_bar_10_bar_2_bar__minus_15 - location\n loc_bar__minus_6_bar_20_bar_1_bar_60 - location\n loc_bar__minus_6_bar_17_bar_1_bar_60 - location\n loc_bar__minus_4_bar_23_bar_0_bar_45 - location\n loc_bar__minus_15_bar_14_bar_3_bar_60 - location\n loc_bar__minus_5_bar_15_bar_1_bar_60 - location\n loc_bar__minus_12_bar_12_bar_2_bar_60 - location\n loc_bar__minus_12_bar_10_bar_2_bar_30 - location\n loc_bar__minus_4_bar_21_bar_2_bar_60 - location\n loc_bar__minus_2_bar_10_bar_0_bar__minus_30 - location\n loc_bar__minus_15_bar_13_bar_3_bar_0 - location\n loc_bar__minus_13_bar_11_bar_3_bar_45 - location\n loc_bar__minus_12_bar_13_bar_3_bar_45 - location\n loc_bar__minus_13_bar_16_bar_0_bar_45 - location\n loc_bar__minus_15_bar_14_bar_3_bar__minus_30 - location\n loc_bar__minus_14_bar_10_bar_3_bar__minus_15 - location\n loc_bar__minus_15_bar_19_bar_0_bar__minus_30 - location\n loc_bar__minus_4_bar_20_bar_1_bar_45 - location\n loc_bar__minus_11_bar_10_bar_2_bar_30 - location\n loc_bar__minus_14_bar_10_bar_2_bar_60 - location\n loc_bar__minus_4_bar_21_bar_0_bar_60 - location\n loc_bar__minus_10_bar_10_bar_2_bar_45 - location\n loc_bar__minus_12_bar_13_bar_3_bar_60 - location\n loc_bar__minus_8_bar_10_bar_2_bar_45 - location\n loc_bar__minus_12_bar_10_bar_3_bar_60 - location\n loc_bar__minus_10_bar_25_bar_3_bar_60 - location\n loc_bar__minus_6_bar_25_bar_1_bar_60 - location\n loc_bar__minus_13_bar_19_bar_0_bar__minus_30 - location\n loc_bar__minus_13_bar_12_bar_2_bar_60 - location\n loc_bar__minus_4_bar_6_bar_3_bar_45 - location\n loc_bar__minus_12_bar_17_bar_0_bar_60 - location\n loc_bar__minus_5_bar_9_bar_3_bar_60 - location\n loc_bar__minus_11_bar_10_bar_2_bar_15 - location\n loc_bar__minus_4_bar_7_bar_3_bar__minus_30 - location\n loc_bar__minus_12_bar_10_bar_2_bar_45 - location\n loc_bar__minus_15_bar_19_bar_0_bar_60 - location\n loc_bar__minus_11_bar_17_bar_0_bar_60 - location\n loc_bar__minus_4_bar_25_bar_1_bar_45 - location\n loc_bar__minus_5_bar_17_bar_1_bar__minus_30 - location\n loc_bar__minus_4_bar_18_bar_1_bar__minus_30 - location\n loc_bar__minus_10_bar_10_bar_2_bar_30 - location\n loc_bar__minus_12_bar_12_bar_3_bar_45 - location\n loc_bar__minus_15_bar_19_bar_3_bar_60 - location\n loc_bar__minus_6_bar_22_bar_1_bar_60 - location\n loc_bar__minus_15_bar_14_bar_0_bar_30 - location\n loc_bar__minus_10_bar_10_bar_2_bar_60 - location\n loc_bar__minus_4_bar_22_bar_1_bar__minus_30 - location\n loc_bar__minus_12_bar_17_bar_3_bar_60 - location\n loc_bar__minus_14_bar_19_bar_0_bar_60 - location\n loc_bar__minus_4_bar_24_bar_2_bar_45 - location\n loc_bar__minus_14_bar_10_bar_2_bar_45 - location\n loc_bar__minus_9_bar_10_bar_2_bar_30 - location\n loc_bar__minus_15_bar_13_bar_3_bar_60 - location\n loc_bar__minus_9_bar_12_bar_2_bar_60 - location\n loc_bar__minus_15_bar_19_bar_1_bar_60 - location\n loc_bar__minus_12_bar_10_bar_2_bar_60 - location\n loc_bar__minus_4_bar_24_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__minus_03_dot_92_bar__plus_00_dot_40_bar__plus_02_dot_09 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_92 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_06_dot_88 CabinetType)\n (receptacleType CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94 CounterTopType)\n (receptacleType Microwave_bar__minus_02_dot_69_bar__plus_01_dot_43_bar__plus_01_dot_69 MicrowaveType)\n (receptacleType Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__minus_01_dot_58_bar__plus_01_dot_93_bar__plus_01_dot_78 CabinetType)\n (receptacleType StoveBurner_bar__minus_02_dot_47_bar__plus_00_dot_92_bar__plus_02_dot_01 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_03_dot_64_bar__plus_00_dot_39_bar__plus_05_dot_03 CabinetType)\n (receptacleType Cabinet_bar__minus_03_dot_97_bar__plus_00_dot_39_bar__plus_02_dot_89 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_06_dot_81 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_05_dot_58 CabinetType)\n (receptacleType 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Apple_bar__minus_02_dot_74_bar__plus_01_dot_60_bar__plus_01_dot_60)\n (coolable Bread_bar__minus_00_dot_41_bar__plus_01_dot_00_bar__plus_05_dot_93)\n (coolable WineBottle_bar__minus_01_dot_94_bar__plus_00_dot_92_bar__plus_01_dot_65)\n (coolable Mug_bar__minus_04_dot_50_bar__plus_00_dot_92_bar__plus_03_dot_08)\n (coolable WineBottle_bar__minus_03_dot_48_bar__plus_00_dot_08_bar__plus_02_dot_00)\n (coolable Tomato_bar__minus_00_dot_30_bar__plus_01_dot_64_bar__plus_03_dot_35)\n (coolable Lettuce_bar__minus_04_dot_20_bar__plus_01_dot_02_bar__plus_01_dot_95)\n (coolable Cup_bar__minus_03_dot_93_bar__plus_01_dot_46_bar__plus_05_dot_48)\n (coolable Potato_bar__minus_01_dot_61_bar__plus_00_dot_96_bar__plus_01_dot_72)\n (coolable Apple_bar__minus_04_dot_03_bar__plus_00_dot_98_bar__plus_02_dot_18)\n (coolable Egg_bar__minus_00_dot_30_bar__plus_01_dot_72_bar__plus_03_dot_73)\n \n \n \n \n \n (sliceable Tomato_bar__minus_04_dot_16_bar__plus_00_dot_85_bar__plus_03_dot_29)\n (sliceable Apple_bar__minus_03_dot_64_bar__plus_00_dot_12_bar__plus_06_dot_38)\n (sliceable Lettuce_bar__minus_00_dot_30_bar__plus_01_dot_17_bar__plus_03_dot_73)\n (sliceable Tomato_bar__minus_00_dot_22_bar__plus_01_dot_39_bar__plus_03_dot_36)\n (sliceable Lettuce_bar__minus_03_dot_49_bar__plus_01_dot_02_bar__plus_05_dot_41)\n (sliceable Potato_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_90)\n (sliceable Egg_bar__minus_02_dot_58_bar__plus_01_dot_58_bar__plus_01_dot_60)\n (sliceable Apple_bar__minus_02_dot_74_bar__plus_01_dot_60_bar__plus_01_dot_60)\n (sliceable Bread_bar__minus_00_dot_41_bar__plus_01_dot_00_bar__plus_05_dot_93)\n (sliceable Tomato_bar__minus_00_dot_30_bar__plus_01_dot_64_bar__plus_03_dot_35)\n (sliceable Lettuce_bar__minus_04_dot_20_bar__plus_01_dot_02_bar__plus_01_dot_95)\n (sliceable Potato_bar__minus_01_dot_61_bar__plus_00_dot_96_bar__plus_01_dot_72)\n (sliceable Apple_bar__minus_04_dot_03_bar__plus_00_dot_98_bar__plus_02_dot_18)\n (sliceable Egg_bar__minus_00_dot_30_bar__plus_01_dot_72_bar__plus_03_dot_73)\n \n (inReceptacle WineBottle_bar__minus_03_dot_48_bar__plus_00_dot_08_bar__plus_02_dot_00 Cabinet_bar__minus_03_dot_19_bar__plus_00_dot_39_bar__plus_02_dot_09)\n (inReceptacle PepperShaker_bar__minus_03_dot_83_bar__plus_00_dot_74_bar__plus_02_dot_02 Drawer_bar__minus_03_dot_80_bar__plus_00_dot_78_bar__plus_01_dot_96)\n (inReceptacle PepperShaker_bar__minus_03_dot_80_bar__plus_00_dot_74_bar__plus_01_dot_93 Drawer_bar__minus_03_dot_80_bar__plus_00_dot_78_bar__plus_01_dot_96)\n (inReceptacle PaperTowelRoll_bar__minus_01_dot_78_bar__plus_01_dot_03_bar__plus_01_dot_57 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80)\n (inReceptacle Spoon_bar__minus_02_dot_03_bar__plus_00_dot_92_bar__plus_02_dot_03 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80)\n (inReceptacle Knife_bar__minus_02_dot_11_bar__plus_00_dot_95_bar__plus_01_dot_65 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80)\n (inReceptacle Spatula_bar__minus_01_dot_86_bar__plus_00_dot_94_bar__plus_01_dot_72 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80)\n (inReceptacle DishSponge_bar__minus_01_dot_69_bar__plus_00_dot_92_bar__plus_01_dot_95 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80)\n (inReceptacle Potato_bar__minus_01_dot_61_bar__plus_00_dot_96_bar__plus_01_dot_72 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80)\n (inReceptacle WineBottle_bar__minus_01_dot_94_bar__plus_00_dot_92_bar__plus_01_dot_65 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80)\n (inReceptacle ButterKnife_bar__minus_00_dot_49_bar__plus_00_dot_93_bar__plus_05_dot_60 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60)\n (inReceptacle Spatula_bar__minus_00_dot_18_bar__plus_00_dot_94_bar__plus_05_dot_93 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60)\n (inReceptacle Fork_bar__minus_00_dot_49_bar__plus_00_dot_93_bar__plus_06_dot_26 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60)\n (inReceptacle Fork_bar__minus_00_dot_26_bar__plus_00_dot_93_bar__plus_04_dot_62 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60)\n (inReceptacle Pencil_bar__minus_00_dot_18_bar__plus_00_dot_93_bar__plus_04_dot_94 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60)\n (inReceptacle Bread_bar__minus_00_dot_41_bar__plus_01_dot_00_bar__plus_05_dot_93 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60)\n (inReceptacle Mug_bar__minus_00_dot_41_bar__plus_00_dot_96_bar__plus_06_dot_56 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60)\n (inReceptacle SaltShaker_bar__minus_00_dot_57_bar__plus_00_dot_92_bar__plus_06_dot_59 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60)\n (inReceptacle Pan_bar__minus_02_dot_47_bar__plus_00_dot_93_bar__plus_02_dot_01 StoveBurner_bar__minus_02_dot_47_bar__plus_00_dot_92_bar__plus_02_dot_01)\n (inReceptacle SaltShaker_bar__minus_00_dot_53_bar__plus_00_dot_74_bar__plus_04_dot_85 Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_04_dot_62)\n (inReceptacle Pencil_bar__minus_03_dot_51_bar__plus_00_dot_75_bar__plus_05_dot_16 Drawer_bar__minus_03_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_16)\n (inReceptacle Pot_bar__minus_02_dot_92_bar__plus_00_dot_93_bar__plus_01_dot_71 StoveBurner_bar__minus_02_dot_92_bar__plus_00_dot_92_bar__plus_01_dot_71)\n (inReceptacle SoapBottle_bar__minus_04_dot_10_bar__plus_00_dot_92_bar__plus_02_dot_65 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle Mug_bar__minus_04_dot_50_bar__plus_00_dot_92_bar__plus_03_dot_08 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle Lettuce_bar__minus_03_dot_49_bar__plus_01_dot_02_bar__plus_05_dot_41 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle Potato_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_90 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle SaltShaker_bar__minus_04_dot_24_bar__plus_00_dot_92_bar__plus_02_dot_42 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle Plate_bar__minus_03_dot_26_bar__plus_00_dot_92_bar__plus_05_dot_41 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle Spatula_bar__minus_04_dot_48_bar__plus_00_dot_94_bar__plus_03_dot_55 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle PepperShaker_bar__minus_04_dot_34_bar__plus_00_dot_92_bar__plus_05_dot_16 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle Lettuce_bar__minus_04_dot_20_bar__plus_01_dot_02_bar__plus_01_dot_95 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle ButterKnife_bar__minus_03_dot_37_bar__plus_00_dot_92_bar__plus_05_dot_49 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle Apple_bar__minus_04_dot_03_bar__plus_00_dot_98_bar__plus_02_dot_18 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle Cup_bar__minus_03_dot_93_bar__plus_01_dot_46_bar__plus_05_dot_48 Cabinet_bar__minus_04_dot_11_bar__plus_01_dot_94_bar__plus_05_dot_32)\n (inReceptacle Pan_bar__minus_02_dot_47_bar__plus_00_dot_93_bar__plus_02_dot_01 StoveBurner_bar__minus_02_dot_47_bar__plus_00_dot_92_bar__plus_01_dot_71)\n (inReceptacle Mug_bar__minus_00_dot_41_bar__plus_00_dot_96_bar__plus_06_dot_56 CoffeeMachine_bar__minus_00_dot_28_bar__plus_00_dot_91_bar__plus_06_dot_56)\n (inReceptacle Apple_bar__minus_03_dot_64_bar__plus_00_dot_12_bar__plus_06_dot_38 GarbageCan_bar__minus_03_dot_71_bar_00_dot_00_bar__plus_06_dot_38)\n (inReceptacle Apple_bar__minus_02_dot_74_bar__plus_01_dot_60_bar__plus_01_dot_60 Microwave_bar__minus_02_dot_69_bar__plus_01_dot_43_bar__plus_01_dot_69)\n (inReceptacle Egg_bar__minus_02_dot_58_bar__plus_01_dot_58_bar__plus_01_dot_60 Microwave_bar__minus_02_dot_69_bar__plus_01_dot_43_bar__plus_01_dot_69)\n (inReceptacle Spoon_bar__minus_04_dot_23_bar__plus_00_dot_79_bar__plus_03_dot_41 Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28_bar_SinkBasin)\n (inReceptacle Fork_bar__minus_04_dot_23_bar__plus_00_dot_79_bar__plus_03_dot_10 Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28_bar_SinkBasin)\n (inReceptacle Tomato_bar__minus_04_dot_16_bar__plus_00_dot_85_bar__plus_03_dot_29 Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28_bar_SinkBasin)\n (inReceptacle Lettuce_bar__minus_00_dot_30_bar__plus_01_dot_17_bar__plus_03_dot_73 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60)\n (inReceptacle Tomato_bar__minus_00_dot_30_bar__plus_01_dot_64_bar__plus_03_dot_35 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60)\n (inReceptacle Bowl_bar__minus_00_dot_30_bar__plus_01_dot_07_bar__plus_03_dot_48 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60)\n (inReceptacle Tomato_bar__minus_00_dot_22_bar__plus_01_dot_39_bar__plus_03_dot_36 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60)\n (inReceptacle Egg_bar__minus_00_dot_30_bar__plus_01_dot_72_bar__plus_03_dot_73 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60)\n \n \n (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_03_dot_01 loc_bar__minus_2_bar_10_bar_0_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_04_dot_21 loc_bar__minus_5_bar_17_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_04_dot_31 loc_bar__minus_4_bar_18_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_05_dot_51 loc_bar__minus_4_bar_22_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_05_dot_61 loc_bar__minus_4_bar_22_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_06_dot_81 loc_bar__minus_4_bar_25_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_04_dot_30 loc_bar__minus_6_bar_17_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_05_dot_58 loc_bar__minus_6_bar_20_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_05_dot_60 loc_bar__minus_6_bar_22_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_06_dot_88 loc_bar__minus_6_bar_25_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_54_bar__plus_00_dot_39_bar__plus_02_dot_09 loc_bar__minus_9_bar_12_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_58_bar__plus_01_dot_93_bar__plus_01_dot_78 loc_bar__minus_4_bar_7_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_04_bar__plus_00_dot_39_bar__plus_05_dot_03 loc_bar__minus_11_bar_17_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_04_bar__plus_01_dot_94_bar__plus_05_dot_32 loc_bar__minus_13_bar_19_bar_0_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_19_bar__plus_00_dot_39_bar__plus_02_dot_09 loc_bar__minus_12_bar_12_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_20_bar__plus_01_dot_93_bar__plus_01_dot_78 loc_bar__minus_13_bar_10_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_64_bar__plus_00_dot_39_bar__plus_05_dot_03 loc_bar__minus_12_bar_17_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_67_bar__plus_00_dot_39_bar__plus_05_dot_03 loc_bar__minus_13_bar_16_bar_0_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_92_bar__plus_00_dot_40_bar__plus_02_dot_09 loc_bar__minus_13_bar_12_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_96_bar__plus_00_dot_39_bar__plus_02_dot_12 loc_bar__minus_12_bar_10_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_96_bar__plus_00_dot_39_bar__plus_02_dot_88 loc_bar__minus_12_bar_13_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_96_bar__plus_00_dot_39_bar__plus_04_dot_34 loc_bar__minus_12_bar_17_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_97_bar__plus_00_dot_39_bar__plus_02_dot_89 loc_bar__minus_12_bar_13_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_97_bar__plus_00_dot_39_bar__plus_03_dot_66 loc_bar__minus_12_bar_12_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_04_dot_11_bar__plus_01_dot_94_bar__plus_05_dot_32 loc_bar__minus_15_bar_19_bar_0_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_04_dot_28_bar__plus_01_dot_93_bar__plus_02_dot_23 loc_bar__minus_14_bar_10_bar_3_bar__minus_15)\n (receptacleAtLocation CoffeeMachine_bar__minus_00_dot_28_bar__plus_00_dot_91_bar__plus_06_dot_56 loc_bar__minus_4_bar_25_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60 loc_bar__minus_4_bar_20_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80 loc_bar__minus_8_bar_10_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_04_dot_62 loc_bar__minus_4_bar_21_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_27 loc_bar__minus_4_bar_24_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_92 loc_bar__minus_4_bar_21_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_06_dot_57 loc_bar__minus_4_bar_23_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_86_bar__plus_00_dot_78_bar__plus_01_dot_96 loc_bar__minus_5_bar_9_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_03_dot_19_bar__plus_00_dot_78_bar__plus_05_dot_16 loc_bar__minus_15_bar_19_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_03_dot_42_bar__plus_00_dot_78_bar__plus_01_dot_96 loc_bar__minus_14_bar_10_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_03_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_16 loc_bar__minus_14_bar_19_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_03_dot_80_bar__plus_00_dot_78_bar__plus_01_dot_96 loc_bar__minus_14_bar_10_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_03_dot_80_bar__plus_00_dot_78_bar__plus_05_dot_16 loc_bar__minus_15_bar_19_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_04_dot_09_bar__plus_00_dot_78_bar__plus_04_dot_66 loc_bar__minus_15_bar_14_bar_0_bar_30)\n (receptacleAtLocation Drawer_bar__minus_04_dot_13_bar__plus_00_dot_80_bar__plus_02_dot_50 loc_bar__minus_13_bar_11_bar_3_bar_45)\n (receptacleAtLocation Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60 loc_bar__minus_5_bar_15_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_03_dot_71_bar_00_dot_00_bar__plus_06_dot_38 loc_bar__minus_10_bar_25_bar_3_bar_60)\n (receptacleAtLocation Microwave_bar__minus_02_dot_69_bar__plus_01_dot_43_bar__plus_01_dot_69 loc_bar__minus_11_bar_10_bar_2_bar_15)\n (receptacleAtLocation Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28_bar_SinkBasin loc_bar__minus_15_bar_14_bar_3_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_47_bar__plus_00_dot_92_bar__plus_01_dot_71 loc_bar__minus_10_bar_10_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_47_bar__plus_00_dot_92_bar__plus_02_dot_01 loc_bar__minus_10_bar_10_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_92_bar__plus_00_dot_92_bar__plus_01_dot_71 loc_bar__minus_12_bar_10_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_92_bar__plus_00_dot_92_bar__plus_02_dot_01 loc_bar__minus_12_bar_10_bar_2_bar_60)\n (receptacleAtLocation Toaster_bar__minus_03_dot_58_bar__plus_00_dot_91_bar__plus_01_dot_76 loc_bar__minus_14_bar_10_bar_2_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_41_bar__plus_00_dot_96_bar__plus_06_dot_56 loc_bar__minus_4_bar_25_bar_1_bar_45)\n (objectAtLocation Spoon_bar__minus_04_dot_23_bar__plus_00_dot_79_bar__plus_03_dot_41 loc_bar__minus_15_bar_14_bar_3_bar_60)\n (objectAtLocation ButterKnife_bar__minus_03_dot_37_bar__plus_00_dot_92_bar__plus_05_dot_49 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation PepperShaker_bar__minus_03_dot_83_bar__plus_00_dot_74_bar__plus_02_dot_02 loc_bar__minus_14_bar_10_bar_2_bar_60)\n (objectAtLocation SaltShaker_bar__minus_00_dot_53_bar__plus_00_dot_74_bar__plus_04_dot_85 loc_bar__minus_4_bar_21_bar_2_bar_60)\n (objectAtLocation Pencil_bar__minus_00_dot_18_bar__plus_00_dot_93_bar__plus_04_dot_94 loc_bar__minus_4_bar_20_bar_1_bar_45)\n (objectAtLocation Spatula_bar__minus_01_dot_86_bar__plus_00_dot_94_bar__plus_01_dot_72 loc_bar__minus_8_bar_10_bar_2_bar_45)\n (objectAtLocation WineBottle_bar__minus_01_dot_94_bar__plus_00_dot_92_bar__plus_01_dot_65 loc_bar__minus_8_bar_10_bar_2_bar_45)\n (objectAtLocation Tomato_bar__minus_04_dot_16_bar__plus_00_dot_85_bar__plus_03_dot_29 loc_bar__minus_15_bar_14_bar_3_bar_60)\n (objectAtLocation Lettuce_bar__minus_00_dot_30_bar__plus_01_dot_17_bar__plus_03_dot_73 loc_bar__minus_5_bar_15_bar_1_bar_60)\n (objectAtLocation Fork_bar__minus_00_dot_26_bar__plus_00_dot_93_bar__plus_04_dot_62 loc_bar__minus_4_bar_20_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_01_dot_61_bar__plus_00_dot_96_bar__plus_01_dot_72 loc_bar__minus_8_bar_10_bar_2_bar_45)\n (objectAtLocation Apple_bar__minus_02_dot_74_bar__plus_01_dot_60_bar__plus_01_dot_60 loc_bar__minus_11_bar_10_bar_2_bar_15)\n (objectAtLocation Egg_bar__minus_02_dot_58_bar__plus_01_dot_58_bar__plus_01_dot_60 loc_bar__minus_11_bar_10_bar_2_bar_15)\n (objectAtLocation Apple_bar__minus_03_dot_64_bar__plus_00_dot_12_bar__plus_06_dot_38 loc_bar__minus_10_bar_25_bar_3_bar_60)\n (objectAtLocation Lettuce_bar__minus_03_dot_49_bar__plus_01_dot_02_bar__plus_05_dot_41 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation PepperShaker_bar__minus_04_dot_34_bar__plus_00_dot_92_bar__plus_05_dot_16 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation SaltShaker_bar__minus_04_dot_24_bar__plus_00_dot_92_bar__plus_02_dot_42 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation Tomato_bar__minus_00_dot_30_bar__plus_01_dot_64_bar__plus_03_dot_35 loc_bar__minus_5_bar_15_bar_1_bar_60)\n (objectAtLocation Spatula_bar__minus_00_dot_18_bar__plus_00_dot_94_bar__plus_05_dot_93 loc_bar__minus_4_bar_20_bar_1_bar_45)\n (objectAtLocation Fork_bar__minus_04_dot_23_bar__plus_00_dot_79_bar__plus_03_dot_10 loc_bar__minus_15_bar_14_bar_3_bar_60)\n (objectAtLocation Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28 loc_bar__minus_15_bar_13_bar_3_bar_60)\n (objectAtLocation Egg_bar__minus_00_dot_30_bar__plus_01_dot_72_bar__plus_03_dot_73 loc_bar__minus_5_bar_15_bar_1_bar_60)\n (objectAtLocation Apple_bar__minus_04_dot_03_bar__plus_00_dot_98_bar__plus_02_dot_18 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation Knife_bar__minus_02_dot_11_bar__plus_00_dot_95_bar__plus_01_dot_65 loc_bar__minus_8_bar_10_bar_2_bar_45)\n (objectAtLocation Potato_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_90 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_02_dot_35_bar__plus_01_dot_10_bar__plus_01_dot_56 loc_bar__minus_9_bar_10_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__minus_02_dot_79_bar__plus_01_dot_10_bar__plus_01_dot_56 loc_bar__minus_11_bar_10_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__minus_02_dot_97_bar__plus_01_dot_10_bar__plus_01_dot_56 loc_bar__minus_12_bar_10_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__minus_02_dot_51_bar__plus_01_dot_10_bar__plus_01_dot_56 loc_bar__minus_10_bar_10_bar_2_bar_30)\n (objectAtLocation Fork_bar__minus_00_dot_49_bar__plus_00_dot_93_bar__plus_06_dot_26 loc_bar__minus_4_bar_20_bar_1_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_30_bar__plus_01_dot_07_bar__plus_03_dot_48 loc_bar__minus_5_bar_15_bar_1_bar_60)\n (objectAtLocation Plate_bar__minus_03_dot_26_bar__plus_00_dot_92_bar__plus_05_dot_41 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation Lettuce_bar__minus_04_dot_20_bar__plus_01_dot_02_bar__plus_01_dot_95 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation Bread_bar__minus_00_dot_41_bar__plus_01_dot_00_bar__plus_05_dot_93 loc_bar__minus_4_bar_20_bar_1_bar_45)\n (objectAtLocation Tomato_bar__minus_00_dot_22_bar__plus_01_dot_39_bar__plus_03_dot_36 loc_bar__minus_5_bar_15_bar_1_bar_60)\n (objectAtLocation Curtains_bar__minus_04_dot_52_bar__plus_02_dot_25_bar__plus_03_dot_39 loc_bar__minus_15_bar_14_bar_3_bar__minus_30)\n (objectAtLocation Window_bar__minus_04_dot_87_bar__plus_01_dot_63_bar__plus_03_dot_31 loc_bar__minus_15_bar_13_bar_3_bar_0)\n (objectAtLocation WineBottle_bar__minus_03_dot_48_bar__plus_00_dot_08_bar__plus_02_dot_00 loc_bar__minus_12_bar_12_bar_2_bar_60)\n (objectAtLocation Spatula_bar__minus_04_dot_48_bar__plus_00_dot_94_bar__plus_03_dot_55 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation PaperTowelRoll_bar__minus_01_dot_78_bar__plus_01_dot_03_bar__plus_01_dot_57 loc_bar__minus_8_bar_10_bar_2_bar_45)\n (objectAtLocation Cup_bar__minus_03_dot_93_bar__plus_01_dot_46_bar__plus_05_dot_48 loc_bar__minus_15_bar_19_bar_0_bar__minus_30)\n (objectAtLocation Pencil_bar__minus_03_dot_51_bar__plus_00_dot_75_bar__plus_05_dot_16 loc_bar__minus_14_bar_19_bar_0_bar_60)\n (objectAtLocation Pan_bar__minus_02_dot_47_bar__plus_00_dot_93_bar__plus_02_dot_01 loc_bar__minus_10_bar_10_bar_2_bar_45)\n (objectAtLocation Pot_bar__minus_02_dot_92_bar__plus_00_dot_93_bar__plus_01_dot_71 loc_bar__minus_12_bar_10_bar_2_bar_45)\n (objectAtLocation LightSwitch_bar__minus_01_dot_59_bar__plus_01_dot_17_bar__plus_01_dot_51 loc_bar__minus_4_bar_6_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_57_bar__plus_00_dot_92_bar__plus_06_dot_59 loc_bar__minus_4_bar_20_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__minus_04_dot_10_bar__plus_00_dot_92_bar__plus_02_dot_65 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation PepperShaker_bar__minus_03_dot_80_bar__plus_00_dot_74_bar__plus_01_dot_93 loc_bar__minus_14_bar_10_bar_2_bar_60)\n (objectAtLocation ButterKnife_bar__minus_00_dot_49_bar__plus_00_dot_93_bar__plus_05_dot_60 loc_bar__minus_4_bar_20_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__minus_01_dot_69_bar__plus_00_dot_92_bar__plus_01_dot_95 loc_bar__minus_8_bar_10_bar_2_bar_45)\n (objectAtLocation Spoon_bar__minus_02_dot_03_bar__plus_00_dot_92_bar__plus_02_dot_03 loc_bar__minus_8_bar_10_bar_2_bar_45)\n (objectAtLocation Mug_bar__minus_04_dot_50_bar__plus_00_dot_92_bar__plus_03_dot_08 loc_bar__minus_15_bar_19_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 MugType)\n (receptacleType ?r CoffeeMachineType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 3", "take mug 2 from countertop 3", "go to sinkbasin 1", "clean mug 2 with sinkbasin 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Mug-None-CoffeeMachine-13/trial_T20190907_171959_889613/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Mug-None-CoffeeMachine-13/trial_T20190907_171959_889613/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..7628cc4a927904528119e16072148d0e8189e1d8 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Mug-None-CoffeeMachine-13/trial_T20190907_171959_889613/initial_state.pddl @@ -0,0 +1,1347 @@ + +(define (problem plan_trial_T20190907_171959_889613) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__minus_02_dot_74_bar__plus_01_dot_60_bar__plus_01_dot_60 - object + Apple_bar__minus_03_dot_64_bar__plus_00_dot_12_bar__plus_06_dot_38 - object + Apple_bar__minus_04_dot_03_bar__plus_00_dot_98_bar__plus_02_dot_18 - object + Bowl_bar__minus_00_dot_30_bar__plus_01_dot_07_bar__plus_03_dot_48 - object + Bread_bar__minus_00_dot_41_bar__plus_01_dot_00_bar__plus_05_dot_93 - object + ButterKnife_bar__minus_00_dot_49_bar__plus_00_dot_93_bar__plus_05_dot_60 - object + ButterKnife_bar__minus_03_dot_37_bar__plus_00_dot_92_bar__plus_05_dot_49 - object + Cup_bar__minus_03_dot_93_bar__plus_01_dot_46_bar__plus_05_dot_48 - object + Curtains_bar__minus_04_dot_52_bar__plus_02_dot_25_bar__plus_03_dot_39 - object + DishSponge_bar__minus_01_dot_69_bar__plus_00_dot_92_bar__plus_01_dot_95 - object + Egg_bar__minus_00_dot_30_bar__plus_01_dot_72_bar__plus_03_dot_73 - object + Egg_bar__minus_02_dot_58_bar__plus_01_dot_58_bar__plus_01_dot_60 - object + Faucet_bar__minus_04_dot_44_bar__plus_00_dot_91_bar__plus_03_dot_29 - object + Fork_bar__minus_00_dot_26_bar__plus_00_dot_93_bar__plus_04_dot_62 - object + Fork_bar__minus_00_dot_49_bar__plus_00_dot_93_bar__plus_06_dot_26 - object + Fork_bar__minus_04_dot_23_bar__plus_00_dot_79_bar__plus_03_dot_10 - object + Knife_bar__minus_02_dot_11_bar__plus_00_dot_95_bar__plus_01_dot_65 - object + Lettuce_bar__minus_00_dot_30_bar__plus_01_dot_17_bar__plus_03_dot_73 - object + Lettuce_bar__minus_03_dot_49_bar__plus_01_dot_02_bar__plus_05_dot_41 - object + Lettuce_bar__minus_04_dot_20_bar__plus_01_dot_02_bar__plus_01_dot_95 - object + LightSwitch_bar__minus_01_dot_59_bar__plus_01_dot_17_bar__plus_01_dot_51 - object + Mug_bar__minus_00_dot_41_bar__plus_00_dot_96_bar__plus_06_dot_56 - object + Mug_bar__minus_04_dot_50_bar__plus_00_dot_92_bar__plus_03_dot_08 - object + Pan_bar__minus_02_dot_47_bar__plus_00_dot_93_bar__plus_02_dot_01 - object + PaperTowelRoll_bar__minus_01_dot_78_bar__plus_01_dot_03_bar__plus_01_dot_57 - object + Pencil_bar__minus_00_dot_18_bar__plus_00_dot_93_bar__plus_04_dot_94 - object + Pencil_bar__minus_03_dot_51_bar__plus_00_dot_75_bar__plus_05_dot_16 - object + PepperShaker_bar__minus_03_dot_80_bar__plus_00_dot_74_bar__plus_01_dot_93 - object + PepperShaker_bar__minus_03_dot_83_bar__plus_00_dot_74_bar__plus_02_dot_02 - object + PepperShaker_bar__minus_04_dot_34_bar__plus_00_dot_92_bar__plus_05_dot_16 - object + Plate_bar__minus_03_dot_26_bar__plus_00_dot_92_bar__plus_05_dot_41 - object + Potato_bar__minus_01_dot_61_bar__plus_00_dot_96_bar__plus_01_dot_72 - object + Potato_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_90 - object + Pot_bar__minus_02_dot_92_bar__plus_00_dot_93_bar__plus_01_dot_71 - object + SaltShaker_bar__minus_00_dot_53_bar__plus_00_dot_74_bar__plus_04_dot_85 - object + SaltShaker_bar__minus_00_dot_57_bar__plus_00_dot_92_bar__plus_06_dot_59 - object + SaltShaker_bar__minus_04_dot_24_bar__plus_00_dot_92_bar__plus_02_dot_42 - object + Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28 - object + SoapBottle_bar__minus_04_dot_10_bar__plus_00_dot_92_bar__plus_02_dot_65 - object + Spatula_bar__minus_00_dot_18_bar__plus_00_dot_94_bar__plus_05_dot_93 - object + Spatula_bar__minus_01_dot_86_bar__plus_00_dot_94_bar__plus_01_dot_72 - object + Spatula_bar__minus_04_dot_48_bar__plus_00_dot_94_bar__plus_03_dot_55 - object + Spoon_bar__minus_02_dot_03_bar__plus_00_dot_92_bar__plus_02_dot_03 - object + Spoon_bar__minus_04_dot_23_bar__plus_00_dot_79_bar__plus_03_dot_41 - object + StoveKnob_bar__minus_02_dot_35_bar__plus_01_dot_10_bar__plus_01_dot_56 - object + StoveKnob_bar__minus_02_dot_51_bar__plus_01_dot_10_bar__plus_01_dot_56 - object + StoveKnob_bar__minus_02_dot_79_bar__plus_01_dot_10_bar__plus_01_dot_56 - object + StoveKnob_bar__minus_02_dot_97_bar__plus_01_dot_10_bar__plus_01_dot_56 - object + Tomato_bar__minus_00_dot_22_bar__plus_01_dot_39_bar__plus_03_dot_36 - object + Tomato_bar__minus_00_dot_30_bar__plus_01_dot_64_bar__plus_03_dot_35 - object + Tomato_bar__minus_04_dot_16_bar__plus_00_dot_85_bar__plus_03_dot_29 - object + Window_bar__minus_04_dot_87_bar__plus_01_dot_63_bar__plus_03_dot_31 - object + WineBottle_bar__minus_01_dot_94_bar__plus_00_dot_92_bar__plus_01_dot_65 - object + WineBottle_bar__minus_03_dot_48_bar__plus_00_dot_08_bar__plus_02_dot_00 - object + Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_03_dot_01 - receptacle + Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_04_dot_21 - receptacle + Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_04_dot_31 - receptacle + Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_05_dot_51 - receptacle + Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_05_dot_61 - receptacle + Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_06_dot_81 - receptacle + 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SaltShaker_bar__minus_00_dot_57_bar__plus_00_dot_92_bar__plus_06_dot_59) + (pickupable Spoon_bar__minus_04_dot_23_bar__plus_00_dot_79_bar__plus_03_dot_41) + (pickupable Lettuce_bar__minus_03_dot_49_bar__plus_01_dot_02_bar__plus_05_dot_41) + (pickupable Potato_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_90) + (pickupable Spoon_bar__minus_02_dot_03_bar__plus_00_dot_92_bar__plus_02_dot_03) + (pickupable Egg_bar__minus_02_dot_58_bar__plus_01_dot_58_bar__plus_01_dot_60) + (pickupable SaltShaker_bar__minus_04_dot_24_bar__plus_00_dot_92_bar__plus_02_dot_42) + (pickupable Fork_bar__minus_04_dot_23_bar__plus_00_dot_79_bar__plus_03_dot_10) + (pickupable Spatula_bar__minus_00_dot_18_bar__plus_00_dot_94_bar__plus_05_dot_93) + (pickupable Knife_bar__minus_02_dot_11_bar__plus_00_dot_95_bar__plus_01_dot_65) + (pickupable Spatula_bar__minus_01_dot_86_bar__plus_00_dot_94_bar__plus_01_dot_72) + (pickupable DishSponge_bar__minus_01_dot_69_bar__plus_00_dot_92_bar__plus_01_dot_95) + (pickupable Pencil_bar__minus_00_dot_18_bar__plus_00_dot_93_bar__plus_04_dot_94) + (pickupable Fork_bar__minus_00_dot_26_bar__plus_00_dot_93_bar__plus_04_dot_62) + (pickupable PepperShaker_bar__minus_04_dot_34_bar__plus_00_dot_92_bar__plus_05_dot_16) + (pickupable Apple_bar__minus_02_dot_74_bar__plus_01_dot_60_bar__plus_01_dot_60) + (pickupable Bread_bar__minus_00_dot_41_bar__plus_01_dot_00_bar__plus_05_dot_93) + (pickupable WineBottle_bar__minus_01_dot_94_bar__plus_00_dot_92_bar__plus_01_dot_65) + (pickupable Mug_bar__minus_04_dot_50_bar__plus_00_dot_92_bar__plus_03_dot_08) + (pickupable WineBottle_bar__minus_03_dot_48_bar__plus_00_dot_08_bar__plus_02_dot_00) + (pickupable Tomato_bar__minus_00_dot_30_bar__plus_01_dot_64_bar__plus_03_dot_35) + (pickupable Lettuce_bar__minus_04_dot_20_bar__plus_01_dot_02_bar__plus_01_dot_95) + (pickupable Cup_bar__minus_03_dot_93_bar__plus_01_dot_46_bar__plus_05_dot_48) + (pickupable Pencil_bar__minus_03_dot_51_bar__plus_00_dot_75_bar__plus_05_dot_16) + (pickupable Potato_bar__minus_01_dot_61_bar__plus_00_dot_96_bar__plus_01_dot_72) + (pickupable Apple_bar__minus_04_dot_03_bar__plus_00_dot_98_bar__plus_02_dot_18) + (pickupable Egg_bar__minus_00_dot_30_bar__plus_01_dot_72_bar__plus_03_dot_73) + (isReceptacleObject Pan_bar__minus_02_dot_47_bar__plus_00_dot_93_bar__plus_02_dot_01) + (isReceptacleObject Bowl_bar__minus_00_dot_30_bar__plus_01_dot_07_bar__plus_03_dot_48) + (isReceptacleObject Plate_bar__minus_03_dot_26_bar__plus_00_dot_92_bar__plus_05_dot_41) + (isReceptacleObject Pot_bar__minus_02_dot_92_bar__plus_00_dot_93_bar__plus_01_dot_71) + (isReceptacleObject Mug_bar__minus_00_dot_41_bar__plus_00_dot_96_bar__plus_06_dot_56) + (isReceptacleObject Mug_bar__minus_04_dot_50_bar__plus_00_dot_92_bar__plus_03_dot_08) + (isReceptacleObject Cup_bar__minus_03_dot_93_bar__plus_01_dot_46_bar__plus_05_dot_48) + (openable Cabinet_bar__minus_03_dot_92_bar__plus_00_dot_40_bar__plus_02_dot_09) + (openable Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_92) + (openable Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_06_dot_88) + (openable Microwave_bar__minus_02_dot_69_bar__plus_01_dot_43_bar__plus_01_dot_69) + (openable Cabinet_bar__minus_03_dot_64_bar__plus_00_dot_39_bar__plus_05_dot_03) + (openable Cabinet_bar__minus_03_dot_97_bar__plus_00_dot_39_bar__plus_02_dot_89) + (openable Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_05_dot_58) + (openable Cabinet_bar__minus_03_dot_96_bar__plus_00_dot_39_bar__plus_02_dot_12) + (openable Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60) + (openable Cabinet_bar__minus_04_dot_11_bar__plus_01_dot_94_bar__plus_05_dot_32) + (openable Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_27) + (openable Cabinet_bar__minus_03_dot_97_bar__plus_00_dot_39_bar__plus_03_dot_66) + (openable Drawer_bar__minus_01_dot_86_bar__plus_00_dot_78_bar__plus_01_dot_96) + (openable Cabinet_bar__minus_03_dot_04_bar__plus_00_dot_39_bar__plus_05_dot_03) + (openable Cabinet_bar__minus_03_dot_96_bar__plus_00_dot_39_bar__plus_02_dot_88) + (openable Cabinet_bar__minus_01_dot_54_bar__plus_00_dot_39_bar__plus_02_dot_09) + (openable Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_05_dot_60) + (openable Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_06_dot_57) + (openable Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_04_dot_62) + (openable Drawer_bar__minus_04_dot_13_bar__plus_00_dot_80_bar__plus_02_dot_50) + (openable Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_04_dot_30) + (openable Drawer_bar__minus_04_dot_09_bar__plus_00_dot_78_bar__plus_04_dot_66) + (openable Cabinet_bar__minus_03_dot_19_bar__plus_00_dot_39_bar__plus_02_dot_09) + (openable Cabinet_bar__minus_03_dot_04_bar__plus_01_dot_94_bar__plus_05_dot_32) + (openable Drawer_bar__minus_03_dot_19_bar__plus_00_dot_78_bar__plus_05_dot_16) + (openable Cabinet_bar__minus_03_dot_67_bar__plus_00_dot_39_bar__plus_05_dot_03) + (openable Cabinet_bar__minus_03_dot_96_bar__plus_00_dot_39_bar__plus_04_dot_34) + + (atLocation agent1 loc_bar__minus_4_bar_24_bar_0_bar_30) + + (cleanable Pan_bar__minus_02_dot_47_bar__plus_00_dot_93_bar__plus_02_dot_01) + (cleanable Tomato_bar__minus_04_dot_16_bar__plus_00_dot_85_bar__plus_03_dot_29) + (cleanable Bowl_bar__minus_00_dot_30_bar__plus_01_dot_07_bar__plus_03_dot_48) + (cleanable ButterKnife_bar__minus_03_dot_37_bar__plus_00_dot_92_bar__plus_05_dot_49) + (cleanable Apple_bar__minus_03_dot_64_bar__plus_00_dot_12_bar__plus_06_dot_38) + (cleanable ButterKnife_bar__minus_00_dot_49_bar__plus_00_dot_93_bar__plus_05_dot_60) + (cleanable Lettuce_bar__minus_00_dot_30_bar__plus_01_dot_17_bar__plus_03_dot_73) + (cleanable Plate_bar__minus_03_dot_26_bar__plus_00_dot_92_bar__plus_05_dot_41) + (cleanable Fork_bar__minus_00_dot_49_bar__plus_00_dot_93_bar__plus_06_dot_26) + (cleanable Spatula_bar__minus_04_dot_48_bar__plus_00_dot_94_bar__plus_03_dot_55) + (cleanable Pot_bar__minus_02_dot_92_bar__plus_00_dot_93_bar__plus_01_dot_71) + (cleanable Tomato_bar__minus_00_dot_22_bar__plus_01_dot_39_bar__plus_03_dot_36) + (cleanable Mug_bar__minus_00_dot_41_bar__plus_00_dot_96_bar__plus_06_dot_56) + (cleanable Spoon_bar__minus_04_dot_23_bar__plus_00_dot_79_bar__plus_03_dot_41) + (cleanable Lettuce_bar__minus_03_dot_49_bar__plus_01_dot_02_bar__plus_05_dot_41) + (cleanable Potato_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_90) + (cleanable Spoon_bar__minus_02_dot_03_bar__plus_00_dot_92_bar__plus_02_dot_03) + (cleanable Egg_bar__minus_02_dot_58_bar__plus_01_dot_58_bar__plus_01_dot_60) + (cleanable Fork_bar__minus_04_dot_23_bar__plus_00_dot_79_bar__plus_03_dot_10) + (cleanable Spatula_bar__minus_00_dot_18_bar__plus_00_dot_94_bar__plus_05_dot_93) + (cleanable Knife_bar__minus_02_dot_11_bar__plus_00_dot_95_bar__plus_01_dot_65) + (cleanable Spatula_bar__minus_01_dot_86_bar__plus_00_dot_94_bar__plus_01_dot_72) + (cleanable DishSponge_bar__minus_01_dot_69_bar__plus_00_dot_92_bar__plus_01_dot_95) + (cleanable Fork_bar__minus_00_dot_26_bar__plus_00_dot_93_bar__plus_04_dot_62) + (cleanable Apple_bar__minus_02_dot_74_bar__plus_01_dot_60_bar__plus_01_dot_60) + (cleanable Mug_bar__minus_04_dot_50_bar__plus_00_dot_92_bar__plus_03_dot_08) + (cleanable Tomato_bar__minus_00_dot_30_bar__plus_01_dot_64_bar__plus_03_dot_35) + (cleanable Lettuce_bar__minus_04_dot_20_bar__plus_01_dot_02_bar__plus_01_dot_95) + (cleanable Cup_bar__minus_03_dot_93_bar__plus_01_dot_46_bar__plus_05_dot_48) + (cleanable Potato_bar__minus_01_dot_61_bar__plus_00_dot_96_bar__plus_01_dot_72) + (cleanable Apple_bar__minus_04_dot_03_bar__plus_00_dot_98_bar__plus_02_dot_18) + (cleanable Egg_bar__minus_00_dot_30_bar__plus_01_dot_72_bar__plus_03_dot_73) + + (heatable Tomato_bar__minus_04_dot_16_bar__plus_00_dot_85_bar__plus_03_dot_29) + (heatable Apple_bar__minus_03_dot_64_bar__plus_00_dot_12_bar__plus_06_dot_38) + (heatable Plate_bar__minus_03_dot_26_bar__plus_00_dot_92_bar__plus_05_dot_41) + (heatable Tomato_bar__minus_00_dot_22_bar__plus_01_dot_39_bar__plus_03_dot_36) + (heatable Mug_bar__minus_00_dot_41_bar__plus_00_dot_96_bar__plus_06_dot_56) + (heatable Potato_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_90) + (heatable Egg_bar__minus_02_dot_58_bar__plus_01_dot_58_bar__plus_01_dot_60) + (heatable Apple_bar__minus_02_dot_74_bar__plus_01_dot_60_bar__plus_01_dot_60) + (heatable Bread_bar__minus_00_dot_41_bar__plus_01_dot_00_bar__plus_05_dot_93) + (heatable Mug_bar__minus_04_dot_50_bar__plus_00_dot_92_bar__plus_03_dot_08) + (heatable Tomato_bar__minus_00_dot_30_bar__plus_01_dot_64_bar__plus_03_dot_35) + (heatable Cup_bar__minus_03_dot_93_bar__plus_01_dot_46_bar__plus_05_dot_48) + (heatable Potato_bar__minus_01_dot_61_bar__plus_00_dot_96_bar__plus_01_dot_72) + (heatable Apple_bar__minus_04_dot_03_bar__plus_00_dot_98_bar__plus_02_dot_18) + (heatable Egg_bar__minus_00_dot_30_bar__plus_01_dot_72_bar__plus_03_dot_73) + (coolable Pan_bar__minus_02_dot_47_bar__plus_00_dot_93_bar__plus_02_dot_01) + (coolable Tomato_bar__minus_04_dot_16_bar__plus_00_dot_85_bar__plus_03_dot_29) + (coolable Bowl_bar__minus_00_dot_30_bar__plus_01_dot_07_bar__plus_03_dot_48) + (coolable Apple_bar__minus_03_dot_64_bar__plus_00_dot_12_bar__plus_06_dot_38) + (coolable Lettuce_bar__minus_00_dot_30_bar__plus_01_dot_17_bar__plus_03_dot_73) + (coolable Plate_bar__minus_03_dot_26_bar__plus_00_dot_92_bar__plus_05_dot_41) + (coolable Pot_bar__minus_02_dot_92_bar__plus_00_dot_93_bar__plus_01_dot_71) + (coolable Tomato_bar__minus_00_dot_22_bar__plus_01_dot_39_bar__plus_03_dot_36) + (coolable Mug_bar__minus_00_dot_41_bar__plus_00_dot_96_bar__plus_06_dot_56) + (coolable Lettuce_bar__minus_03_dot_49_bar__plus_01_dot_02_bar__plus_05_dot_41) + (coolable Potato_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_90) + (coolable Egg_bar__minus_02_dot_58_bar__plus_01_dot_58_bar__plus_01_dot_60) + (coolable Apple_bar__minus_02_dot_74_bar__plus_01_dot_60_bar__plus_01_dot_60) + (coolable Bread_bar__minus_00_dot_41_bar__plus_01_dot_00_bar__plus_05_dot_93) + (coolable WineBottle_bar__minus_01_dot_94_bar__plus_00_dot_92_bar__plus_01_dot_65) + (coolable Mug_bar__minus_04_dot_50_bar__plus_00_dot_92_bar__plus_03_dot_08) + (coolable WineBottle_bar__minus_03_dot_48_bar__plus_00_dot_08_bar__plus_02_dot_00) + (coolable Tomato_bar__minus_00_dot_30_bar__plus_01_dot_64_bar__plus_03_dot_35) + (coolable Lettuce_bar__minus_04_dot_20_bar__plus_01_dot_02_bar__plus_01_dot_95) + (coolable Cup_bar__minus_03_dot_93_bar__plus_01_dot_46_bar__plus_05_dot_48) + (coolable Potato_bar__minus_01_dot_61_bar__plus_00_dot_96_bar__plus_01_dot_72) + (coolable Apple_bar__minus_04_dot_03_bar__plus_00_dot_98_bar__plus_02_dot_18) + (coolable Egg_bar__minus_00_dot_30_bar__plus_01_dot_72_bar__plus_03_dot_73) + + + + + + (sliceable Tomato_bar__minus_04_dot_16_bar__plus_00_dot_85_bar__plus_03_dot_29) + (sliceable Apple_bar__minus_03_dot_64_bar__plus_00_dot_12_bar__plus_06_dot_38) + (sliceable Lettuce_bar__minus_00_dot_30_bar__plus_01_dot_17_bar__plus_03_dot_73) + (sliceable Tomato_bar__minus_00_dot_22_bar__plus_01_dot_39_bar__plus_03_dot_36) + (sliceable Lettuce_bar__minus_03_dot_49_bar__plus_01_dot_02_bar__plus_05_dot_41) + (sliceable Potato_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_90) + (sliceable Egg_bar__minus_02_dot_58_bar__plus_01_dot_58_bar__plus_01_dot_60) + (sliceable Apple_bar__minus_02_dot_74_bar__plus_01_dot_60_bar__plus_01_dot_60) + (sliceable Bread_bar__minus_00_dot_41_bar__plus_01_dot_00_bar__plus_05_dot_93) + (sliceable Tomato_bar__minus_00_dot_30_bar__plus_01_dot_64_bar__plus_03_dot_35) + (sliceable Lettuce_bar__minus_04_dot_20_bar__plus_01_dot_02_bar__plus_01_dot_95) + (sliceable Potato_bar__minus_01_dot_61_bar__plus_00_dot_96_bar__plus_01_dot_72) + (sliceable Apple_bar__minus_04_dot_03_bar__plus_00_dot_98_bar__plus_02_dot_18) + (sliceable Egg_bar__minus_00_dot_30_bar__plus_01_dot_72_bar__plus_03_dot_73) + + (inReceptacle WineBottle_bar__minus_03_dot_48_bar__plus_00_dot_08_bar__plus_02_dot_00 Cabinet_bar__minus_03_dot_19_bar__plus_00_dot_39_bar__plus_02_dot_09) + (inReceptacle PepperShaker_bar__minus_03_dot_83_bar__plus_00_dot_74_bar__plus_02_dot_02 Drawer_bar__minus_03_dot_80_bar__plus_00_dot_78_bar__plus_01_dot_96) + (inReceptacle PepperShaker_bar__minus_03_dot_80_bar__plus_00_dot_74_bar__plus_01_dot_93 Drawer_bar__minus_03_dot_80_bar__plus_00_dot_78_bar__plus_01_dot_96) + (inReceptacle PaperTowelRoll_bar__minus_01_dot_78_bar__plus_01_dot_03_bar__plus_01_dot_57 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80) + (inReceptacle Spoon_bar__minus_02_dot_03_bar__plus_00_dot_92_bar__plus_02_dot_03 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80) + (inReceptacle Knife_bar__minus_02_dot_11_bar__plus_00_dot_95_bar__plus_01_dot_65 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80) + (inReceptacle Spatula_bar__minus_01_dot_86_bar__plus_00_dot_94_bar__plus_01_dot_72 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80) + (inReceptacle DishSponge_bar__minus_01_dot_69_bar__plus_00_dot_92_bar__plus_01_dot_95 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80) + (inReceptacle Potato_bar__minus_01_dot_61_bar__plus_00_dot_96_bar__plus_01_dot_72 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80) + (inReceptacle WineBottle_bar__minus_01_dot_94_bar__plus_00_dot_92_bar__plus_01_dot_65 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80) + (inReceptacle ButterKnife_bar__minus_00_dot_49_bar__plus_00_dot_93_bar__plus_05_dot_60 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60) + (inReceptacle Spatula_bar__minus_00_dot_18_bar__plus_00_dot_94_bar__plus_05_dot_93 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60) + (inReceptacle Fork_bar__minus_00_dot_49_bar__plus_00_dot_93_bar__plus_06_dot_26 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60) + (inReceptacle Fork_bar__minus_00_dot_26_bar__plus_00_dot_93_bar__plus_04_dot_62 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60) + (inReceptacle Pencil_bar__minus_00_dot_18_bar__plus_00_dot_93_bar__plus_04_dot_94 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60) + (inReceptacle Bread_bar__minus_00_dot_41_bar__plus_01_dot_00_bar__plus_05_dot_93 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60) + (inReceptacle Mug_bar__minus_00_dot_41_bar__plus_00_dot_96_bar__plus_06_dot_56 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60) + (inReceptacle SaltShaker_bar__minus_00_dot_57_bar__plus_00_dot_92_bar__plus_06_dot_59 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60) + (inReceptacle Pan_bar__minus_02_dot_47_bar__plus_00_dot_93_bar__plus_02_dot_01 StoveBurner_bar__minus_02_dot_47_bar__plus_00_dot_92_bar__plus_02_dot_01) + (inReceptacle SaltShaker_bar__minus_00_dot_53_bar__plus_00_dot_74_bar__plus_04_dot_85 Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_04_dot_62) + (inReceptacle Pencil_bar__minus_03_dot_51_bar__plus_00_dot_75_bar__plus_05_dot_16 Drawer_bar__minus_03_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_16) + (inReceptacle Pot_bar__minus_02_dot_92_bar__plus_00_dot_93_bar__plus_01_dot_71 StoveBurner_bar__minus_02_dot_92_bar__plus_00_dot_92_bar__plus_01_dot_71) + (inReceptacle SoapBottle_bar__minus_04_dot_10_bar__plus_00_dot_92_bar__plus_02_dot_65 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94) + (inReceptacle Mug_bar__minus_04_dot_50_bar__plus_00_dot_92_bar__plus_03_dot_08 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94) + (inReceptacle Lettuce_bar__minus_03_dot_49_bar__plus_01_dot_02_bar__plus_05_dot_41 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94) + (inReceptacle Potato_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_90 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94) + (inReceptacle SaltShaker_bar__minus_04_dot_24_bar__plus_00_dot_92_bar__plus_02_dot_42 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94) + (inReceptacle Plate_bar__minus_03_dot_26_bar__plus_00_dot_92_bar__plus_05_dot_41 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94) + (inReceptacle Spatula_bar__minus_04_dot_48_bar__plus_00_dot_94_bar__plus_03_dot_55 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94) + (inReceptacle PepperShaker_bar__minus_04_dot_34_bar__plus_00_dot_92_bar__plus_05_dot_16 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94) + (inReceptacle Lettuce_bar__minus_04_dot_20_bar__plus_01_dot_02_bar__plus_01_dot_95 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94) + (inReceptacle ButterKnife_bar__minus_03_dot_37_bar__plus_00_dot_92_bar__plus_05_dot_49 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94) + (inReceptacle Apple_bar__minus_04_dot_03_bar__plus_00_dot_98_bar__plus_02_dot_18 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94) + (inReceptacle Cup_bar__minus_03_dot_93_bar__plus_01_dot_46_bar__plus_05_dot_48 Cabinet_bar__minus_04_dot_11_bar__plus_01_dot_94_bar__plus_05_dot_32) + (inReceptacle Pan_bar__minus_02_dot_47_bar__plus_00_dot_93_bar__plus_02_dot_01 StoveBurner_bar__minus_02_dot_47_bar__plus_00_dot_92_bar__plus_01_dot_71) + (inReceptacle Mug_bar__minus_00_dot_41_bar__plus_00_dot_96_bar__plus_06_dot_56 CoffeeMachine_bar__minus_00_dot_28_bar__plus_00_dot_91_bar__plus_06_dot_56) + (inReceptacle Apple_bar__minus_03_dot_64_bar__plus_00_dot_12_bar__plus_06_dot_38 GarbageCan_bar__minus_03_dot_71_bar_00_dot_00_bar__plus_06_dot_38) + (inReceptacle Apple_bar__minus_02_dot_74_bar__plus_01_dot_60_bar__plus_01_dot_60 Microwave_bar__minus_02_dot_69_bar__plus_01_dot_43_bar__plus_01_dot_69) + (inReceptacle Egg_bar__minus_02_dot_58_bar__plus_01_dot_58_bar__plus_01_dot_60 Microwave_bar__minus_02_dot_69_bar__plus_01_dot_43_bar__plus_01_dot_69) + (inReceptacle Spoon_bar__minus_04_dot_23_bar__plus_00_dot_79_bar__plus_03_dot_41 Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28_bar_SinkBasin) + (inReceptacle Fork_bar__minus_04_dot_23_bar__plus_00_dot_79_bar__plus_03_dot_10 Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28_bar_SinkBasin) + (inReceptacle Tomato_bar__minus_04_dot_16_bar__plus_00_dot_85_bar__plus_03_dot_29 Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28_bar_SinkBasin) + (inReceptacle Lettuce_bar__minus_00_dot_30_bar__plus_01_dot_17_bar__plus_03_dot_73 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60) + (inReceptacle Tomato_bar__minus_00_dot_30_bar__plus_01_dot_64_bar__plus_03_dot_35 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60) + (inReceptacle Bowl_bar__minus_00_dot_30_bar__plus_01_dot_07_bar__plus_03_dot_48 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60) + (inReceptacle Tomato_bar__minus_00_dot_22_bar__plus_01_dot_39_bar__plus_03_dot_36 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60) + (inReceptacle Egg_bar__minus_00_dot_30_bar__plus_01_dot_72_bar__plus_03_dot_73 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60) + + + (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_03_dot_01 loc_bar__minus_2_bar_10_bar_0_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_04_dot_21 loc_bar__minus_5_bar_17_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_04_dot_31 loc_bar__minus_4_bar_18_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_05_dot_51 loc_bar__minus_4_bar_22_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_05_dot_61 loc_bar__minus_4_bar_22_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_06_dot_81 loc_bar__minus_4_bar_25_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_04_dot_30 loc_bar__minus_6_bar_17_bar_1_bar_60) + (receptacleAtLocation 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loc_bar__minus_4_bar_6_bar_3_bar_45) + (objectAtLocation SaltShaker_bar__minus_00_dot_57_bar__plus_00_dot_92_bar__plus_06_dot_59 loc_bar__minus_4_bar_20_bar_1_bar_45) + (objectAtLocation SoapBottle_bar__minus_04_dot_10_bar__plus_00_dot_92_bar__plus_02_dot_65 loc_bar__minus_15_bar_19_bar_3_bar_60) + (objectAtLocation PepperShaker_bar__minus_03_dot_80_bar__plus_00_dot_74_bar__plus_01_dot_93 loc_bar__minus_14_bar_10_bar_2_bar_60) + (objectAtLocation ButterKnife_bar__minus_00_dot_49_bar__plus_00_dot_93_bar__plus_05_dot_60 loc_bar__minus_4_bar_20_bar_1_bar_45) + (objectAtLocation DishSponge_bar__minus_01_dot_69_bar__plus_00_dot_92_bar__plus_01_dot_95 loc_bar__minus_8_bar_10_bar_2_bar_45) + (objectAtLocation Spoon_bar__minus_02_dot_03_bar__plus_00_dot_92_bar__plus_02_dot_03 loc_bar__minus_8_bar_10_bar_2_bar_45) + (objectAtLocation Mug_bar__minus_04_dot_50_bar__plus_00_dot_92_bar__plus_03_dot_08 loc_bar__minus_15_bar_19_bar_3_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + 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around and head for the sink", + "rinse the mug in the sink", + "turn around and head back to the coffee maker", + "place the mug in the coffee maker" + ], + "task_desc": "place a clean mug in the coffee maker", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AJQGWGESKQT4Y_3O6CYIULEGIY7F5DFJDSFTU0VULWUN", + "high_descs": [ + "Turn to face the coffee maker.", + "Pick the cup up from under the coffee maker.", + "GO to the right and the take another right to stand in front of the sink.", + "Put the mug in the sink and turn the water on and then off and pick the mug up.", + "Turn around and cross the room to stand in front of the coffee maker.", + "Put the cup down under the coffee maker on the counter." + ], + "task_desc": "Put a clean mug under a coffee maker.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1MKCTVKE7J0ZP_3SBEHTYCWQKXNT5D0362HNR5C8AIYE", + "high_descs": [ + "Turn right to face the counter with the coffee maker.", + "Pick up the mug at the coffee maker.", + "Turn left, go forward, turn right to go to the sink.", + "Clean the mug in the sink.", + "Turn around, go straight, turn left, go forward, then turn right to return to the coffee maker.", + "Place the mug at the coffee maker." + ], + "task_desc": "Put a clean mug at the coffee maker.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Mug-None-CoffeeMachine-13/trial_T20190907_172113_249829/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Mug-None-CoffeeMachine-13/trial_T20190907_172113_249829/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..4394ddcb59bb544fc58f04b2f97b708b1e1bdf32 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Mug-None-CoffeeMachine-13/trial_T20190907_172113_249829/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 mug 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_172113_249829)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__minus_02_dot_64_bar__plus_01_dot_60_bar__plus_01_dot_73 - object\n Apple_bar__minus_03_dot_64_bar__plus_00_dot_12_bar__plus_06_dot_33 - object\n Apple_bar__minus_03_dot_68_bar__plus_00_dot_12_bar__plus_06_dot_46 - object\n 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Faucet_bar__minus_04_dot_44_bar__plus_00_dot_91_bar__plus_03_dot_29 - object\n Fork_bar__minus_00_dot_41_bar__plus_00_dot_93_bar__plus_05_dot_27 - object\n Fork_bar__minus_01_dot_69_bar__plus_00_dot_92_bar__plus_02_dot_03 - object\n Fork_bar__minus_04_dot_09_bar__plus_00_dot_76_bar__plus_02_dot_68 - object\n Knife_bar__minus_00_dot_41_bar__plus_00_dot_95_bar__plus_04_dot_62 - object\n Knife_bar__minus_00_dot_41_bar__plus_00_dot_95_bar__plus_04_dot_94 - object\n Knife_bar__minus_04_dot_11_bar__plus_00_dot_95_bar__plus_04_dot_90 - object\n Lettuce_bar__minus_00_dot_45_bar__plus_01_dot_17_bar__plus_03_dot_60 - object\n LightSwitch_bar__minus_01_dot_59_bar__plus_01_dot_17_bar__plus_01_dot_51 - object\n Mug_bar__minus_00_dot_26_bar__plus_02_dot_13_bar__plus_05_dot_93 - object\n Mug_bar__minus_01_dot_78_bar__plus_00_dot_92_bar__plus_01_dot_80 - object\n Pan_bar__minus_02_dot_45_bar__plus_00_dot_93_bar__plus_02_dot_02 - object\n Pan_bar__minus_02_dot_92_bar__plus_00_dot_93_bar__plus_01_dot_71 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SoapBottle_bar__minus_00_dot_29_bar__plus_02_dot_13_bar__plus_04_dot_41 - object\n SoapBottle_bar__minus_03_dot_75_bar__plus_00_dot_07_bar__plus_06_dot_29 - object\n SoapBottle_bar__minus_04_dot_26_bar__plus_00_dot_92_bar__plus_04_dot_12 - object\n Spatula_bar__minus_00_dot_18_bar__plus_00_dot_94_bar__plus_05_dot_93 - object\n Spoon_bar__minus_00_dot_26_bar__plus_00_dot_93_bar__plus_05_dot_60 - object\n Spoon_bar__minus_01_dot_86_bar__plus_00_dot_92_bar__plus_01_dot_80 - object\n Spoon_bar__minus_03_dot_73_bar__plus_00_dot_92_bar__plus_05_dot_34 - object\n StoveKnob_bar__minus_02_dot_35_bar__plus_01_dot_10_bar__plus_01_dot_56 - object\n StoveKnob_bar__minus_02_dot_51_bar__plus_01_dot_10_bar__plus_01_dot_56 - object\n StoveKnob_bar__minus_02_dot_79_bar__plus_01_dot_10_bar__plus_01_dot_56 - object\n StoveKnob_bar__minus_02_dot_97_bar__plus_01_dot_10_bar__plus_01_dot_56 - object\n Tomato_bar__minus_04_dot_48_bar__plus_00_dot_98_bar__plus_03_dot_55 - object\n Window_bar__minus_04_dot_87_bar__plus_01_dot_63_bar__plus_03_dot_31 - object\n WineBottle_bar__minus_01_dot_62_bar__plus_00_dot_08_bar__plus_01_dot_85 - object\n Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_03_dot_01 - receptacle\n Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_04_dot_21 - receptacle\n Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_04_dot_31 - receptacle\n Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_05_dot_51 - receptacle\n Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_05_dot_61 - receptacle\n Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_06_dot_81 - receptacle\n Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_04_dot_30 - receptacle\n Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_05_dot_58 - receptacle\n Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_05_dot_60 - receptacle\n Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_06_dot_88 - receptacle\n Cabinet_bar__minus_01_dot_54_bar__plus_00_dot_39_bar__plus_02_dot_09 - receptacle\n Cabinet_bar__minus_01_dot_58_bar__plus_01_dot_93_bar__plus_01_dot_78 - receptacle\n Cabinet_bar__minus_03_dot_04_bar__plus_00_dot_39_bar__plus_05_dot_03 - receptacle\n Cabinet_bar__minus_03_dot_04_bar__plus_01_dot_94_bar__plus_05_dot_32 - receptacle\n Cabinet_bar__minus_03_dot_19_bar__plus_00_dot_39_bar__plus_02_dot_09 - receptacle\n Cabinet_bar__minus_03_dot_20_bar__plus_01_dot_93_bar__plus_01_dot_78 - receptacle\n Cabinet_bar__minus_03_dot_64_bar__plus_00_dot_39_bar__plus_05_dot_03 - receptacle\n Cabinet_bar__minus_03_dot_67_bar__plus_00_dot_39_bar__plus_05_dot_03 - receptacle\n Cabinet_bar__minus_03_dot_92_bar__plus_00_dot_40_bar__plus_02_dot_09 - receptacle\n Cabinet_bar__minus_03_dot_96_bar__plus_00_dot_39_bar__plus_02_dot_12 - receptacle\n Cabinet_bar__minus_03_dot_96_bar__plus_00_dot_39_bar__plus_02_dot_88 - receptacle\n Cabinet_bar__minus_03_dot_96_bar__plus_00_dot_39_bar__plus_04_dot_34 - receptacle\n Cabinet_bar__minus_03_dot_97_bar__plus_00_dot_39_bar__plus_02_dot_89 - receptacle\n Cabinet_bar__minus_03_dot_97_bar__plus_00_dot_39_bar__plus_03_dot_66 - receptacle\n Cabinet_bar__minus_04_dot_11_bar__plus_01_dot_94_bar__plus_05_dot_32 - receptacle\n Cabinet_bar__minus_04_dot_28_bar__plus_01_dot_93_bar__plus_02_dot_23 - receptacle\n CoffeeMachine_bar__minus_00_dot_28_bar__plus_00_dot_91_bar__plus_06_dot_56 - receptacle\n CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60 - receptacle\n CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80 - receptacle\n CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94 - receptacle\n Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_04_dot_62 - receptacle\n Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_27 - receptacle\n Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_92 - receptacle\n Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_06_dot_57 - receptacle\n Drawer_bar__minus_01_dot_86_bar__plus_00_dot_78_bar__plus_01_dot_96 - receptacle\n Drawer_bar__minus_03_dot_19_bar__plus_00_dot_78_bar__plus_05_dot_16 - receptacle\n Drawer_bar__minus_03_dot_42_bar__plus_00_dot_78_bar__plus_01_dot_96 - receptacle\n Drawer_bar__minus_03_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_16 - receptacle\n Drawer_bar__minus_03_dot_80_bar__plus_00_dot_78_bar__plus_01_dot_96 - receptacle\n Drawer_bar__minus_03_dot_80_bar__plus_00_dot_78_bar__plus_05_dot_16 - receptacle\n Drawer_bar__minus_04_dot_09_bar__plus_00_dot_78_bar__plus_04_dot_66 - receptacle\n Drawer_bar__minus_04_dot_13_bar__plus_00_dot_80_bar__plus_02_dot_50 - receptacle\n Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60 - receptacle\n GarbageCan_bar__minus_03_dot_71_bar_00_dot_00_bar__plus_06_dot_38 - receptacle\n Microwave_bar__minus_02_dot_69_bar__plus_01_dot_43_bar__plus_01_dot_69 - receptacle\n Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_02_dot_47_bar__plus_00_dot_92_bar__plus_01_dot_71 - receptacle\n StoveBurner_bar__minus_02_dot_47_bar__plus_00_dot_92_bar__plus_02_dot_01 - receptacle\n StoveBurner_bar__minus_02_dot_92_bar__plus_00_dot_92_bar__plus_01_dot_71 - receptacle\n StoveBurner_bar__minus_02_dot_92_bar__plus_00_dot_92_bar__plus_02_dot_01 - receptacle\n Toaster_bar__minus_03_dot_58_bar__plus_00_dot_91_bar__plus_01_dot_76 - receptacle\n loc_bar__minus_4_bar_25_bar_1_bar__minus_30 - location\n loc_bar__minus_13_bar_10_bar_2_bar__minus_15 - location\n loc_bar__minus_6_bar_20_bar_1_bar_60 - location\n loc_bar__minus_6_bar_17_bar_1_bar_60 - location\n loc_bar__minus_4_bar_23_bar_0_bar_45 - location\n loc_bar__minus_15_bar_14_bar_3_bar_60 - location\n loc_bar__minus_5_bar_15_bar_1_bar_60 - location\n loc_bar__minus_12_bar_12_bar_2_bar_60 - location\n loc_bar__minus_12_bar_10_bar_2_bar_30 - location\n loc_bar__minus_4_bar_21_bar_2_bar_60 - location\n loc_bar__minus_2_bar_10_bar_0_bar__minus_30 - location\n loc_bar__minus_15_bar_13_bar_3_bar_0 - location\n loc_bar__minus_13_bar_11_bar_3_bar_45 - location\n loc_bar__minus_12_bar_13_bar_3_bar_45 - location\n loc_bar__minus_13_bar_16_bar_0_bar_45 - location\n loc_bar__minus_15_bar_14_bar_3_bar__minus_30 - location\n loc_bar__minus_14_bar_10_bar_3_bar__minus_15 - location\n loc_bar__minus_15_bar_19_bar_0_bar__minus_30 - location\n loc_bar__minus_4_bar_20_bar_1_bar_45 - location\n loc_bar__minus_11_bar_10_bar_2_bar_30 - location\n loc_bar__minus_14_bar_10_bar_2_bar_60 - location\n loc_bar__minus_4_bar_21_bar_0_bar_60 - location\n loc_bar__minus_10_bar_10_bar_2_bar_45 - location\n loc_bar__minus_12_bar_13_bar_3_bar_60 - location\n loc_bar__minus_8_bar_10_bar_2_bar_45 - location\n loc_bar__minus_12_bar_10_bar_3_bar_60 - location\n loc_bar__minus_10_bar_25_bar_3_bar_60 - location\n loc_bar__minus_6_bar_25_bar_1_bar_60 - location\n loc_bar__minus_13_bar_19_bar_0_bar__minus_30 - location\n loc_bar__minus_13_bar_12_bar_2_bar_60 - location\n loc_bar__minus_4_bar_6_bar_3_bar_45 - location\n loc_bar__minus_12_bar_17_bar_0_bar_60 - location\n loc_bar__minus_5_bar_9_bar_3_bar_60 - location\n loc_bar__minus_11_bar_10_bar_2_bar_15 - location\n loc_bar__minus_4_bar_7_bar_3_bar__minus_30 - location\n loc_bar__minus_12_bar_10_bar_2_bar_45 - location\n loc_bar__minus_15_bar_19_bar_0_bar_60 - location\n loc_bar__minus_11_bar_17_bar_0_bar_60 - location\n loc_bar__minus_4_bar_25_bar_1_bar_45 - location\n loc_bar__minus_5_bar_17_bar_1_bar__minus_30 - location\n loc_bar__minus_5_bar_16_bar_1_bar_15 - location\n loc_bar__minus_4_bar_18_bar_1_bar__minus_30 - location\n loc_bar__minus_10_bar_10_bar_2_bar_30 - location\n loc_bar__minus_12_bar_12_bar_3_bar_45 - location\n loc_bar__minus_15_bar_19_bar_3_bar_60 - location\n loc_bar__minus_6_bar_22_bar_1_bar_60 - location\n loc_bar__minus_15_bar_14_bar_0_bar_30 - location\n loc_bar__minus_10_bar_10_bar_2_bar_60 - location\n loc_bar__minus_4_bar_22_bar_1_bar__minus_30 - location\n loc_bar__minus_12_bar_17_bar_3_bar_60 - location\n loc_bar__minus_14_bar_19_bar_0_bar_60 - location\n loc_bar__minus_4_bar_24_bar_2_bar_45 - location\n loc_bar__minus_14_bar_10_bar_2_bar_45 - location\n loc_bar__minus_9_bar_10_bar_2_bar_30 - location\n loc_bar__minus_15_bar_13_bar_3_bar_60 - location\n loc_bar__minus_9_bar_12_bar_2_bar_60 - location\n loc_bar__minus_15_bar_19_bar_1_bar_60 - location\n loc_bar__minus_12_bar_10_bar_2_bar_60 - location\n loc_bar__minus_4_bar_3_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__minus_03_dot_92_bar__plus_00_dot_40_bar__plus_02_dot_09 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_92 DrawerType)\n (receptacleType 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Potato_bar__minus_00_dot_49_bar__plus_00_dot_96_bar__plus_05_dot_93)\n (heatable Bread_bar__minus_02_dot_03_bar__plus_01_dot_00_bar__plus_01_dot_88)\n (heatable Mug_bar__minus_00_dot_26_bar__plus_02_dot_13_bar__plus_05_dot_93)\n (heatable Egg_bar__minus_03_dot_68_bar__plus_00_dot_10_bar__plus_06_dot_25)\n (heatable Apple_bar__minus_03_dot_64_bar__plus_00_dot_12_bar__plus_06_dot_33)\n (heatable Apple_bar__minus_02_dot_64_bar__plus_01_dot_60_bar__plus_01_dot_73)\n (heatable Potato_bar__minus_00_dot_24_bar__plus_01_dot_10_bar__plus_03_dot_73)\n (heatable Plate_bar__minus_00_dot_30_bar__plus_01_dot_34_bar__plus_03_dot_97)\n (heatable Cup_bar__minus_00_dot_34_bar__plus_01_dot_33_bar__plus_03_dot_23)\n (heatable Cup_bar__minus_04_dot_12_bar__plus_00_dot_08_bar__plus_03_dot_13)\n (coolable Cup_bar__minus_00_dot_26_bar__plus_01_dot_68_bar__plus_03_dot_98)\n (coolable Mug_bar__minus_01_dot_78_bar__plus_00_dot_92_bar__plus_01_dot_80)\n (coolable Bowl_bar__minus_00_dot_40_bar__plus_01_dot_07_bar__plus_03_dot_97)\n (coolable Tomato_bar__minus_04_dot_48_bar__plus_00_dot_98_bar__plus_03_dot_55)\n (coolable Plate_bar__minus_01_dot_86_bar__plus_00_dot_08_bar__plus_01_dot_97)\n (coolable Pot_bar__minus_02_dot_47_bar__plus_00_dot_93_bar__plus_01_dot_71)\n (coolable WineBottle_bar__minus_01_dot_62_bar__plus_00_dot_08_bar__plus_01_dot_85)\n (coolable Pan_bar__minus_02_dot_45_bar__plus_00_dot_93_bar__plus_02_dot_02)\n (coolable Apple_bar__minus_03_dot_68_bar__plus_00_dot_12_bar__plus_06_dot_46)\n (coolable Plate_bar__minus_04_dot_17_bar__plus_00_dot_08_bar__plus_04_dot_74)\n (coolable Bread_bar__minus_00_dot_26_bar__plus_01_dot_00_bar__plus_05_dot_27)\n (coolable Lettuce_bar__minus_00_dot_45_bar__plus_01_dot_17_bar__plus_03_dot_60)\n (coolable Potato_bar__minus_00_dot_49_bar__plus_00_dot_96_bar__plus_05_dot_93)\n (coolable Bowl_bar__minus_00_dot_30_bar__plus_01_dot_58_bar__plus_03_dot_29)\n (coolable Bread_bar__minus_02_dot_03_bar__plus_01_dot_00_bar__plus_01_dot_88)\n (coolable Mug_bar__minus_00_dot_26_bar__plus_02_dot_13_bar__plus_05_dot_93)\n (coolable Egg_bar__minus_03_dot_68_bar__plus_00_dot_10_bar__plus_06_dot_25)\n (coolable Apple_bar__minus_03_dot_64_bar__plus_00_dot_12_bar__plus_06_dot_33)\n (coolable Apple_bar__minus_02_dot_64_bar__plus_01_dot_60_bar__plus_01_dot_73)\n (coolable Bowl_bar__minus_00_dot_18_bar__plus_00_dot_92_bar__plus_04_dot_94)\n (coolable Potato_bar__minus_00_dot_24_bar__plus_01_dot_10_bar__plus_03_dot_73)\n (coolable Plate_bar__minus_00_dot_30_bar__plus_01_dot_34_bar__plus_03_dot_97)\n (coolable Pan_bar__minus_02_dot_92_bar__plus_00_dot_93_bar__plus_01_dot_71)\n (coolable Cup_bar__minus_00_dot_34_bar__plus_01_dot_33_bar__plus_03_dot_23)\n (coolable Cup_bar__minus_04_dot_12_bar__plus_00_dot_08_bar__plus_03_dot_13)\n \n \n \n \n \n (sliceable Tomato_bar__minus_04_dot_48_bar__plus_00_dot_98_bar__plus_03_dot_55)\n (sliceable Apple_bar__minus_03_dot_68_bar__plus_00_dot_12_bar__plus_06_dot_46)\n (sliceable Bread_bar__minus_00_dot_26_bar__plus_01_dot_00_bar__plus_05_dot_27)\n (sliceable Lettuce_bar__minus_00_dot_45_bar__plus_01_dot_17_bar__plus_03_dot_60)\n (sliceable Potato_bar__minus_00_dot_49_bar__plus_00_dot_96_bar__plus_05_dot_93)\n (sliceable Bread_bar__minus_02_dot_03_bar__plus_01_dot_00_bar__plus_01_dot_88)\n (sliceable Egg_bar__minus_03_dot_68_bar__plus_00_dot_10_bar__plus_06_dot_25)\n (sliceable Apple_bar__minus_03_dot_64_bar__plus_00_dot_12_bar__plus_06_dot_33)\n (sliceable Apple_bar__minus_02_dot_64_bar__plus_01_dot_60_bar__plus_01_dot_73)\n (sliceable Potato_bar__minus_00_dot_24_bar__plus_01_dot_10_bar__plus_03_dot_73)\n \n (inReceptacle Fork_bar__minus_04_dot_09_bar__plus_00_dot_76_bar__plus_02_dot_68 Drawer_bar__minus_04_dot_13_bar__plus_00_dot_80_bar__plus_02_dot_50)\n (inReceptacle SoapBottle_bar__minus_00_dot_29_bar__plus_02_dot_13_bar__plus_04_dot_41 Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_04_dot_31)\n (inReceptacle Mug_bar__minus_01_dot_78_bar__plus_00_dot_92_bar__plus_01_dot_80 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80)\n (inReceptacle Fork_bar__minus_01_dot_69_bar__plus_00_dot_92_bar__plus_02_dot_03 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80)\n (inReceptacle Spoon_bar__minus_01_dot_86_bar__plus_00_dot_92_bar__plus_01_dot_80 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80)\n (inReceptacle ButterKnife_bar__minus_02_dot_11_bar__plus_00_dot_92_bar__plus_01_dot_95 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80)\n (inReceptacle Bread_bar__minus_02_dot_03_bar__plus_01_dot_00_bar__plus_01_dot_88 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80)\n (inReceptacle Pan_bar__minus_02_dot_92_bar__plus_00_dot_93_bar__plus_01_dot_71 StoveBurner_bar__minus_02_dot_92_bar__plus_00_dot_92_bar__plus_02_dot_01)\n (inReceptacle Bowl_bar__minus_00_dot_18_bar__plus_00_dot_92_bar__plus_04_dot_94 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60)\n (inReceptacle Knife_bar__minus_00_dot_41_bar__plus_00_dot_95_bar__plus_04_dot_62 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60)\n (inReceptacle Fork_bar__minus_00_dot_41_bar__plus_00_dot_93_bar__plus_05_dot_27 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60)\n (inReceptacle Spatula_bar__minus_00_dot_18_bar__plus_00_dot_94_bar__plus_05_dot_93 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60)\n (inReceptacle Spoon_bar__minus_00_dot_26_bar__plus_00_dot_93_bar__plus_05_dot_60 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60)\n (inReceptacle Knife_bar__minus_00_dot_41_bar__plus_00_dot_95_bar__plus_04_dot_94 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60)\n (inReceptacle Bread_bar__minus_00_dot_26_bar__plus_01_dot_00_bar__plus_05_dot_27 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60)\n (inReceptacle Potato_bar__minus_00_dot_49_bar__plus_00_dot_96_bar__plus_05_dot_93 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60)\n (inReceptacle Pan_bar__minus_02_dot_45_bar__plus_00_dot_93_bar__plus_02_dot_02 StoveBurner_bar__minus_02_dot_47_bar__plus_00_dot_92_bar__plus_02_dot_01)\n (inReceptacle SaltShaker_bar__minus_00_dot_26_bar__plus_02_dot_13_bar__plus_05_dot_36 Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_05_dot_51)\n (inReceptacle Plate_bar__minus_04_dot_17_bar__plus_00_dot_08_bar__plus_04_dot_74 Cabinet_bar__minus_03_dot_96_bar__plus_00_dot_39_bar__plus_04_dot_34)\n (inReceptacle Pan_bar__minus_02_dot_92_bar__plus_00_dot_93_bar__plus_01_dot_71 StoveBurner_bar__minus_02_dot_92_bar__plus_00_dot_92_bar__plus_01_dot_71)\n (inReceptacle Mug_bar__minus_00_dot_26_bar__plus_02_dot_13_bar__plus_05_dot_93 Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_05_dot_61)\n (inReceptacle Spoon_bar__minus_03_dot_73_bar__plus_00_dot_92_bar__plus_05_dot_34 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle PaperTowelRoll_bar__minus_04_dot_03_bar__plus_01_dot_03_bar__plus_02_dot_53 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle Tomato_bar__minus_04_dot_48_bar__plus_00_dot_98_bar__plus_03_dot_55 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle SoapBottle_bar__minus_04_dot_26_bar__plus_00_dot_92_bar__plus_04_dot_12 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle Knife_bar__minus_04_dot_11_bar__plus_00_dot_95_bar__plus_04_dot_90 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94)\n (inReceptacle DishSponge_bar__minus_03_dot_80_bar__plus_00_dot_75_bar__plus_05_dot_13 Drawer_bar__minus_03_dot_80_bar__plus_00_dot_78_bar__plus_05_dot_16)\n (inReceptacle Pencil_bar__minus_04_dot_07_bar__plus_00_dot_75_bar__plus_04_dot_51 Drawer_bar__minus_04_dot_09_bar__plus_00_dot_78_bar__plus_04_dot_66)\n (inReceptacle Pencil_bar__minus_00_dot_50_bar__plus_00_dot_75_bar__plus_06_dot_15 Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_92)\n (inReceptacle Cup_bar__minus_04_dot_12_bar__plus_00_dot_08_bar__plus_03_dot_13 Cabinet_bar__minus_03_dot_97_bar__plus_00_dot_39_bar__plus_02_dot_89)\n (inReceptacle PepperShaker_bar__minus_03_dot_74_bar__plus_00_dot_08_bar__plus_05_dot_27 Cabinet_bar__minus_03_dot_67_bar__plus_00_dot_39_bar__plus_05_dot_03)\n (inReceptacle Pot_bar__minus_02_dot_47_bar__plus_00_dot_93_bar__plus_01_dot_71 StoveBurner_bar__minus_02_dot_47_bar__plus_00_dot_92_bar__plus_01_dot_71)\n (inReceptacle WineBottle_bar__minus_01_dot_62_bar__plus_00_dot_08_bar__plus_01_dot_85 Cabinet_bar__minus_01_dot_54_bar__plus_00_dot_39_bar__plus_02_dot_09)\n (inReceptacle Plate_bar__minus_01_dot_86_bar__plus_00_dot_08_bar__plus_01_dot_97 Cabinet_bar__minus_01_dot_54_bar__plus_00_dot_39_bar__plus_02_dot_09)\n (inReceptacle Egg_bar__minus_03_dot_68_bar__plus_00_dot_10_bar__plus_06_dot_25 GarbageCan_bar__minus_03_dot_71_bar_00_dot_00_bar__plus_06_dot_38)\n (inReceptacle Apple_bar__minus_03_dot_64_bar__plus_00_dot_12_bar__plus_06_dot_33 GarbageCan_bar__minus_03_dot_71_bar_00_dot_00_bar__plus_06_dot_38)\n (inReceptacle SoapBottle_bar__minus_03_dot_75_bar__plus_00_dot_07_bar__plus_06_dot_29 GarbageCan_bar__minus_03_dot_71_bar_00_dot_00_bar__plus_06_dot_38)\n (inReceptacle Apple_bar__minus_03_dot_68_bar__plus_00_dot_12_bar__plus_06_dot_46 GarbageCan_bar__minus_03_dot_71_bar_00_dot_00_bar__plus_06_dot_38)\n (inReceptacle Apple_bar__minus_02_dot_64_bar__plus_01_dot_60_bar__plus_01_dot_73 Microwave_bar__minus_02_dot_69_bar__plus_01_dot_43_bar__plus_01_dot_69)\n (inReceptacle Potato_bar__minus_00_dot_24_bar__plus_01_dot_10_bar__plus_03_dot_73 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60)\n (inReceptacle Cup_bar__minus_00_dot_26_bar__plus_01_dot_68_bar__plus_03_dot_98 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60)\n (inReceptacle Bowl_bar__minus_00_dot_40_bar__plus_01_dot_07_bar__plus_03_dot_97 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60)\n (inReceptacle Bowl_bar__minus_00_dot_30_bar__plus_01_dot_58_bar__plus_03_dot_29 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60)\n (inReceptacle Cup_bar__minus_00_dot_34_bar__plus_01_dot_33_bar__plus_03_dot_23 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60)\n (inReceptacle Lettuce_bar__minus_00_dot_45_bar__plus_01_dot_17_bar__plus_03_dot_60 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60)\n \n \n (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_03_dot_01 loc_bar__minus_2_bar_10_bar_0_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_04_dot_21 loc_bar__minus_5_bar_17_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_04_dot_31 loc_bar__minus_4_bar_18_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_05_dot_51 loc_bar__minus_4_bar_22_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_05_dot_61 loc_bar__minus_4_bar_22_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_06_dot_81 loc_bar__minus_4_bar_25_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_04_dot_30 loc_bar__minus_6_bar_17_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_05_dot_58 loc_bar__minus_6_bar_20_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_05_dot_60 loc_bar__minus_6_bar_22_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_06_dot_88 loc_bar__minus_6_bar_25_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_54_bar__plus_00_dot_39_bar__plus_02_dot_09 loc_bar__minus_9_bar_12_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_58_bar__plus_01_dot_93_bar__plus_01_dot_78 loc_bar__minus_4_bar_7_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_04_bar__plus_00_dot_39_bar__plus_05_dot_03 loc_bar__minus_11_bar_17_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_04_bar__plus_01_dot_94_bar__plus_05_dot_32 loc_bar__minus_13_bar_19_bar_0_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_19_bar__plus_00_dot_39_bar__plus_02_dot_09 loc_bar__minus_12_bar_12_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_20_bar__plus_01_dot_93_bar__plus_01_dot_78 loc_bar__minus_13_bar_10_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_64_bar__plus_00_dot_39_bar__plus_05_dot_03 loc_bar__minus_12_bar_17_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_67_bar__plus_00_dot_39_bar__plus_05_dot_03 loc_bar__minus_13_bar_16_bar_0_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_92_bar__plus_00_dot_40_bar__plus_02_dot_09 loc_bar__minus_13_bar_12_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_96_bar__plus_00_dot_39_bar__plus_02_dot_12 loc_bar__minus_12_bar_10_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_96_bar__plus_00_dot_39_bar__plus_02_dot_88 loc_bar__minus_12_bar_13_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_96_bar__plus_00_dot_39_bar__plus_04_dot_34 loc_bar__minus_12_bar_17_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_97_bar__plus_00_dot_39_bar__plus_02_dot_89 loc_bar__minus_12_bar_13_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_97_bar__plus_00_dot_39_bar__plus_03_dot_66 loc_bar__minus_12_bar_12_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_04_dot_11_bar__plus_01_dot_94_bar__plus_05_dot_32 loc_bar__minus_15_bar_19_bar_0_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_04_dot_28_bar__plus_01_dot_93_bar__plus_02_dot_23 loc_bar__minus_14_bar_10_bar_3_bar__minus_15)\n (receptacleAtLocation CoffeeMachine_bar__minus_00_dot_28_bar__plus_00_dot_91_bar__plus_06_dot_56 loc_bar__minus_4_bar_25_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60 loc_bar__minus_4_bar_20_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80 loc_bar__minus_8_bar_10_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_04_dot_62 loc_bar__minus_4_bar_21_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_27 loc_bar__minus_4_bar_24_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_92 loc_bar__minus_4_bar_21_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_06_dot_57 loc_bar__minus_4_bar_23_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_86_bar__plus_00_dot_78_bar__plus_01_dot_96 loc_bar__minus_5_bar_9_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_03_dot_19_bar__plus_00_dot_78_bar__plus_05_dot_16 loc_bar__minus_15_bar_19_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_03_dot_42_bar__plus_00_dot_78_bar__plus_01_dot_96 loc_bar__minus_14_bar_10_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_03_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_16 loc_bar__minus_14_bar_19_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_03_dot_80_bar__plus_00_dot_78_bar__plus_01_dot_96 loc_bar__minus_14_bar_10_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_03_dot_80_bar__plus_00_dot_78_bar__plus_05_dot_16 loc_bar__minus_15_bar_19_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_04_dot_09_bar__plus_00_dot_78_bar__plus_04_dot_66 loc_bar__minus_15_bar_14_bar_0_bar_30)\n (receptacleAtLocation Drawer_bar__minus_04_dot_13_bar__plus_00_dot_80_bar__plus_02_dot_50 loc_bar__minus_13_bar_11_bar_3_bar_45)\n (receptacleAtLocation Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60 loc_bar__minus_5_bar_15_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_03_dot_71_bar_00_dot_00_bar__plus_06_dot_38 loc_bar__minus_10_bar_25_bar_3_bar_60)\n (receptacleAtLocation Microwave_bar__minus_02_dot_69_bar__plus_01_dot_43_bar__plus_01_dot_69 loc_bar__minus_11_bar_10_bar_2_bar_15)\n (receptacleAtLocation Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28_bar_SinkBasin loc_bar__minus_15_bar_14_bar_3_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_47_bar__plus_00_dot_92_bar__plus_01_dot_71 loc_bar__minus_10_bar_10_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_47_bar__plus_00_dot_92_bar__plus_02_dot_01 loc_bar__minus_10_bar_10_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_92_bar__plus_00_dot_92_bar__plus_01_dot_71 loc_bar__minus_12_bar_10_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_92_bar__plus_00_dot_92_bar__plus_02_dot_01 loc_bar__minus_12_bar_10_bar_2_bar_60)\n (receptacleAtLocation Toaster_bar__minus_03_dot_58_bar__plus_00_dot_91_bar__plus_01_dot_76 loc_bar__minus_14_bar_10_bar_2_bar_45)\n (objectAtLocation Mug_bar__minus_01_dot_78_bar__plus_00_dot_92_bar__plus_01_dot_80 loc_bar__minus_8_bar_10_bar_2_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_26_bar__plus_00_dot_93_bar__plus_05_dot_60 loc_bar__minus_4_bar_20_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__minus_03_dot_75_bar__plus_00_dot_07_bar__plus_06_dot_29 loc_bar__minus_10_bar_25_bar_3_bar_60)\n (objectAtLocation Pan_bar__minus_02_dot_45_bar__plus_00_dot_93_bar__plus_02_dot_02 loc_bar__minus_10_bar_10_bar_2_bar_60)\n (objectAtLocation Pencil_bar__minus_00_dot_50_bar__plus_00_dot_75_bar__plus_06_dot_15 loc_bar__minus_4_bar_21_bar_0_bar_60)\n (objectAtLocation Cup_bar__minus_04_dot_12_bar__plus_00_dot_08_bar__plus_03_dot_13 loc_bar__minus_12_bar_13_bar_3_bar_45)\n (objectAtLocation Bread_bar__minus_00_dot_26_bar__plus_01_dot_00_bar__plus_05_dot_27 loc_bar__minus_4_bar_20_bar_1_bar_45)\n (objectAtLocation Plate_bar__minus_04_dot_17_bar__plus_00_dot_08_bar__plus_04_dot_74 loc_bar__minus_12_bar_17_bar_3_bar_60)\n (objectAtLocation Bowl_bar__minus_00_dot_30_bar__plus_01_dot_58_bar__plus_03_dot_29 loc_bar__minus_5_bar_15_bar_1_bar_60)\n (objectAtLocation Fork_bar__minus_01_dot_69_bar__plus_00_dot_92_bar__plus_02_dot_03 loc_bar__minus_8_bar_10_bar_2_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_49_bar__plus_00_dot_96_bar__plus_05_dot_93 loc_bar__minus_4_bar_20_bar_1_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_41_bar__plus_00_dot_95_bar__plus_04_dot_62 loc_bar__minus_4_bar_20_bar_1_bar_45)\n (objectAtLocation Apple_bar__minus_03_dot_64_bar__plus_00_dot_12_bar__plus_06_dot_33 loc_bar__minus_10_bar_25_bar_3_bar_60)\n (objectAtLocation Apple_bar__minus_03_dot_68_bar__plus_00_dot_12_bar__plus_06_dot_46 loc_bar__minus_10_bar_25_bar_3_bar_60)\n (objectAtLocation Bowl_bar__minus_00_dot_40_bar__plus_01_dot_07_bar__plus_03_dot_97 loc_bar__minus_5_bar_15_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__minus_04_dot_26_bar__plus_00_dot_92_bar__plus_04_dot_12 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation Knife_bar__minus_00_dot_41_bar__plus_00_dot_95_bar__plus_04_dot_94 loc_bar__minus_4_bar_20_bar_1_bar_45)\n (objectAtLocation Plate_bar__minus_01_dot_86_bar__plus_00_dot_08_bar__plus_01_dot_97 loc_bar__minus_9_bar_12_bar_2_bar_60)\n (objectAtLocation Cup_bar__minus_00_dot_26_bar__plus_01_dot_68_bar__plus_03_dot_98 loc_bar__minus_5_bar_15_bar_1_bar_60)\n (objectAtLocation Spoon_bar__minus_03_dot_73_bar__plus_00_dot_92_bar__plus_05_dot_34 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation Fork_bar__minus_04_dot_09_bar__plus_00_dot_76_bar__plus_02_dot_68 loc_bar__minus_13_bar_11_bar_3_bar_45)\n (objectAtLocation Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28 loc_bar__minus_15_bar_13_bar_3_bar_60)\n (objectAtLocation Egg_bar__minus_03_dot_68_bar__plus_00_dot_10_bar__plus_06_dot_25 loc_bar__minus_10_bar_25_bar_3_bar_60)\n (objectAtLocation Apple_bar__minus_02_dot_64_bar__plus_01_dot_60_bar__plus_01_dot_73 loc_bar__minus_11_bar_10_bar_2_bar_15)\n (objectAtLocation Knife_bar__minus_04_dot_11_bar__plus_00_dot_95_bar__plus_04_dot_90 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation Potato_bar__minus_00_dot_24_bar__plus_01_dot_10_bar__plus_03_dot_73 loc_bar__minus_5_bar_15_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__minus_02_dot_35_bar__plus_01_dot_10_bar__plus_01_dot_56 loc_bar__minus_9_bar_10_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__minus_02_dot_79_bar__plus_01_dot_10_bar__plus_01_dot_56 loc_bar__minus_11_bar_10_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__minus_02_dot_97_bar__plus_01_dot_10_bar__plus_01_dot_56 loc_bar__minus_12_bar_10_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__minus_02_dot_51_bar__plus_01_dot_10_bar__plus_01_dot_56 loc_bar__minus_10_bar_10_bar_2_bar_30)\n (objectAtLocation Fork_bar__minus_00_dot_41_bar__plus_00_dot_93_bar__plus_05_dot_27 loc_bar__minus_4_bar_20_bar_1_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_18_bar__plus_00_dot_92_bar__plus_04_dot_94 loc_bar__minus_4_bar_20_bar_1_bar_45)\n (objectAtLocation Plate_bar__minus_00_dot_30_bar__plus_01_dot_34_bar__plus_03_dot_97 loc_bar__minus_5_bar_16_bar_1_bar_15)\n (objectAtLocation Lettuce_bar__minus_00_dot_45_bar__plus_01_dot_17_bar__plus_03_dot_60 loc_bar__minus_5_bar_15_bar_1_bar_60)\n (objectAtLocation Bread_bar__minus_02_dot_03_bar__plus_01_dot_00_bar__plus_01_dot_88 loc_bar__minus_8_bar_10_bar_2_bar_45)\n (objectAtLocation Tomato_bar__minus_04_dot_48_bar__plus_00_dot_98_bar__plus_03_dot_55 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation Curtains_bar__minus_04_dot_52_bar__plus_02_dot_25_bar__plus_03_dot_39 loc_bar__minus_15_bar_14_bar_3_bar__minus_30)\n (objectAtLocation Window_bar__minus_04_dot_87_bar__plus_01_dot_63_bar__plus_03_dot_31 loc_bar__minus_15_bar_13_bar_3_bar_0)\n (objectAtLocation WineBottle_bar__minus_01_dot_62_bar__plus_00_dot_08_bar__plus_01_dot_85 loc_bar__minus_9_bar_12_bar_2_bar_60)\n (objectAtLocation Spatula_bar__minus_00_dot_18_bar__plus_00_dot_94_bar__plus_05_dot_93 loc_bar__minus_4_bar_20_bar_1_bar_45)\n (objectAtLocation PaperTowelRoll_bar__minus_04_dot_03_bar__plus_01_dot_03_bar__plus_02_dot_53 loc_bar__minus_15_bar_19_bar_3_bar_60)\n (objectAtLocation Cup_bar__minus_00_dot_34_bar__plus_01_dot_33_bar__plus_03_dot_23 loc_bar__minus_5_bar_15_bar_1_bar_60)\n (objectAtLocation Pencil_bar__minus_04_dot_07_bar__plus_00_dot_75_bar__plus_04_dot_51 loc_bar__minus_15_bar_14_bar_0_bar_30)\n (objectAtLocation Pan_bar__minus_02_dot_92_bar__plus_00_dot_93_bar__plus_01_dot_71 loc_bar__minus_12_bar_10_bar_2_bar_45)\n (objectAtLocation Pot_bar__minus_02_dot_47_bar__plus_00_dot_93_bar__plus_01_dot_71 loc_bar__minus_10_bar_10_bar_2_bar_45)\n (objectAtLocation LightSwitch_bar__minus_01_dot_59_bar__plus_01_dot_17_bar__plus_01_dot_51 loc_bar__minus_4_bar_6_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_26_bar__plus_02_dot_13_bar__plus_05_dot_36 loc_bar__minus_4_bar_22_bar_1_bar__minus_30)\n (objectAtLocation SoapBottle_bar__minus_00_dot_29_bar__plus_02_dot_13_bar__plus_04_dot_41 loc_bar__minus_4_bar_18_bar_1_bar__minus_30)\n (objectAtLocation PepperShaker_bar__minus_03_dot_74_bar__plus_00_dot_08_bar__plus_05_dot_27 loc_bar__minus_13_bar_16_bar_0_bar_45)\n (objectAtLocation ButterKnife_bar__minus_02_dot_11_bar__plus_00_dot_92_bar__plus_01_dot_95 loc_bar__minus_8_bar_10_bar_2_bar_45)\n (objectAtLocation DishSponge_bar__minus_03_dot_80_bar__plus_00_dot_75_bar__plus_05_dot_13 loc_bar__minus_15_bar_19_bar_0_bar_60)\n (objectAtLocation Spoon_bar__minus_01_dot_86_bar__plus_00_dot_92_bar__plus_01_dot_80 loc_bar__minus_8_bar_10_bar_2_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_26_bar__plus_02_dot_13_bar__plus_05_dot_93 loc_bar__minus_4_bar_22_bar_1_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 MugType)\n (receptacleType ?r CoffeeMachineType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to cabinet 23", "take mug 2 from cabinet 22", "go to sinkbasin 1", "clean mug 2 with sinkbasin 1", "go to coffeemachine 1", "move mug 2 to coffeemachine 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Mug-None-CoffeeMachine-13/trial_T20190907_172113_249829/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Mug-None-CoffeeMachine-13/trial_T20190907_172113_249829/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..8dad64fc6c0bfdb1f812c03b9a245697bb6a06de --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Mug-None-CoffeeMachine-13/trial_T20190907_172113_249829/initial_state.pddl @@ -0,0 +1,1355 @@ + +(define (problem plan_trial_T20190907_172113_249829) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__minus_02_dot_64_bar__plus_01_dot_60_bar__plus_01_dot_73 - object + Apple_bar__minus_03_dot_64_bar__plus_00_dot_12_bar__plus_06_dot_33 - object + Apple_bar__minus_03_dot_68_bar__plus_00_dot_12_bar__plus_06_dot_46 - object + Bowl_bar__minus_00_dot_18_bar__plus_00_dot_92_bar__plus_04_dot_94 - object + Bowl_bar__minus_00_dot_30_bar__plus_01_dot_58_bar__plus_03_dot_29 - object + Bowl_bar__minus_00_dot_40_bar__plus_01_dot_07_bar__plus_03_dot_97 - object + Bread_bar__minus_00_dot_26_bar__plus_01_dot_00_bar__plus_05_dot_27 - object + Bread_bar__minus_02_dot_03_bar__plus_01_dot_00_bar__plus_01_dot_88 - object + ButterKnife_bar__minus_02_dot_11_bar__plus_00_dot_92_bar__plus_01_dot_95 - object + Cup_bar__minus_00_dot_26_bar__plus_01_dot_68_bar__plus_03_dot_98 - object + Cup_bar__minus_00_dot_34_bar__plus_01_dot_33_bar__plus_03_dot_23 - object + Cup_bar__minus_04_dot_12_bar__plus_00_dot_08_bar__plus_03_dot_13 - object + Curtains_bar__minus_04_dot_52_bar__plus_02_dot_25_bar__plus_03_dot_39 - object + DishSponge_bar__minus_03_dot_80_bar__plus_00_dot_75_bar__plus_05_dot_13 - object + Egg_bar__minus_03_dot_68_bar__plus_00_dot_10_bar__plus_06_dot_25 - object + Faucet_bar__minus_04_dot_44_bar__plus_00_dot_91_bar__plus_03_dot_29 - object + Fork_bar__minus_00_dot_41_bar__plus_00_dot_93_bar__plus_05_dot_27 - object + Fork_bar__minus_01_dot_69_bar__plus_00_dot_92_bar__plus_02_dot_03 - object + Fork_bar__minus_04_dot_09_bar__plus_00_dot_76_bar__plus_02_dot_68 - object + Knife_bar__minus_00_dot_41_bar__plus_00_dot_95_bar__plus_04_dot_62 - object + Knife_bar__minus_00_dot_41_bar__plus_00_dot_95_bar__plus_04_dot_94 - object + Knife_bar__minus_04_dot_11_bar__plus_00_dot_95_bar__plus_04_dot_90 - object + Lettuce_bar__minus_00_dot_45_bar__plus_01_dot_17_bar__plus_03_dot_60 - object + LightSwitch_bar__minus_01_dot_59_bar__plus_01_dot_17_bar__plus_01_dot_51 - object + Mug_bar__minus_00_dot_26_bar__plus_02_dot_13_bar__plus_05_dot_93 - object + Mug_bar__minus_01_dot_78_bar__plus_00_dot_92_bar__plus_01_dot_80 - object + Pan_bar__minus_02_dot_45_bar__plus_00_dot_93_bar__plus_02_dot_02 - object + Pan_bar__minus_02_dot_92_bar__plus_00_dot_93_bar__plus_01_dot_71 - object + PaperTowelRoll_bar__minus_04_dot_03_bar__plus_01_dot_03_bar__plus_02_dot_53 - object + Pencil_bar__minus_00_dot_50_bar__plus_00_dot_75_bar__plus_06_dot_15 - object + Pencil_bar__minus_04_dot_07_bar__plus_00_dot_75_bar__plus_04_dot_51 - object + PepperShaker_bar__minus_03_dot_74_bar__plus_00_dot_08_bar__plus_05_dot_27 - object + Plate_bar__minus_00_dot_30_bar__plus_01_dot_34_bar__plus_03_dot_97 - object + Plate_bar__minus_01_dot_86_bar__plus_00_dot_08_bar__plus_01_dot_97 - object + Plate_bar__minus_04_dot_17_bar__plus_00_dot_08_bar__plus_04_dot_74 - object + Potato_bar__minus_00_dot_24_bar__plus_01_dot_10_bar__plus_03_dot_73 - object + Potato_bar__minus_00_dot_49_bar__plus_00_dot_96_bar__plus_05_dot_93 - object + Pot_bar__minus_02_dot_47_bar__plus_00_dot_93_bar__plus_01_dot_71 - object + SaltShaker_bar__minus_00_dot_26_bar__plus_02_dot_13_bar__plus_05_dot_36 - object + Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28 - object + SoapBottle_bar__minus_00_dot_29_bar__plus_02_dot_13_bar__plus_04_dot_41 - object + SoapBottle_bar__minus_03_dot_75_bar__plus_00_dot_07_bar__plus_06_dot_29 - object + SoapBottle_bar__minus_04_dot_26_bar__plus_00_dot_92_bar__plus_04_dot_12 - object + Spatula_bar__minus_00_dot_18_bar__plus_00_dot_94_bar__plus_05_dot_93 - object + Spoon_bar__minus_00_dot_26_bar__plus_00_dot_93_bar__plus_05_dot_60 - object + Spoon_bar__minus_01_dot_86_bar__plus_00_dot_92_bar__plus_01_dot_80 - object + Spoon_bar__minus_03_dot_73_bar__plus_00_dot_92_bar__plus_05_dot_34 - object + 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Apple_bar__minus_03_dot_64_bar__plus_00_dot_12_bar__plus_06_dot_33) + (cleanable Apple_bar__minus_02_dot_64_bar__plus_01_dot_60_bar__plus_01_dot_73) + (cleanable Bowl_bar__minus_00_dot_18_bar__plus_00_dot_92_bar__plus_04_dot_94) + (cleanable Potato_bar__minus_00_dot_24_bar__plus_01_dot_10_bar__plus_03_dot_73) + (cleanable Plate_bar__minus_00_dot_30_bar__plus_01_dot_34_bar__plus_03_dot_97) + (cleanable Pan_bar__minus_02_dot_92_bar__plus_00_dot_93_bar__plus_01_dot_71) + (cleanable Cup_bar__minus_00_dot_34_bar__plus_01_dot_33_bar__plus_03_dot_23) + (cleanable ButterKnife_bar__minus_02_dot_11_bar__plus_00_dot_92_bar__plus_01_dot_95) + (cleanable Cup_bar__minus_04_dot_12_bar__plus_00_dot_08_bar__plus_03_dot_13) + + (heatable Cup_bar__minus_00_dot_26_bar__plus_01_dot_68_bar__plus_03_dot_98) + (heatable Mug_bar__minus_01_dot_78_bar__plus_00_dot_92_bar__plus_01_dot_80) + (heatable Tomato_bar__minus_04_dot_48_bar__plus_00_dot_98_bar__plus_03_dot_55) + (heatable 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Potato_bar__minus_00_dot_24_bar__plus_01_dot_10_bar__plus_03_dot_73) + + (inReceptacle Fork_bar__minus_04_dot_09_bar__plus_00_dot_76_bar__plus_02_dot_68 Drawer_bar__minus_04_dot_13_bar__plus_00_dot_80_bar__plus_02_dot_50) + (inReceptacle SoapBottle_bar__minus_00_dot_29_bar__plus_02_dot_13_bar__plus_04_dot_41 Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_04_dot_31) + (inReceptacle Mug_bar__minus_01_dot_78_bar__plus_00_dot_92_bar__plus_01_dot_80 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80) + (inReceptacle Fork_bar__minus_01_dot_69_bar__plus_00_dot_92_bar__plus_02_dot_03 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80) + (inReceptacle Spoon_bar__minus_01_dot_86_bar__plus_00_dot_92_bar__plus_01_dot_80 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80) + (inReceptacle ButterKnife_bar__minus_02_dot_11_bar__plus_00_dot_92_bar__plus_01_dot_95 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CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60) + (inReceptacle Spoon_bar__minus_00_dot_26_bar__plus_00_dot_93_bar__plus_05_dot_60 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60) + (inReceptacle Knife_bar__minus_00_dot_41_bar__plus_00_dot_95_bar__plus_04_dot_94 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60) + (inReceptacle Bread_bar__minus_00_dot_26_bar__plus_01_dot_00_bar__plus_05_dot_27 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60) + (inReceptacle Potato_bar__minus_00_dot_49_bar__plus_00_dot_96_bar__plus_05_dot_93 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60) + (inReceptacle Pan_bar__minus_02_dot_45_bar__plus_00_dot_93_bar__plus_02_dot_02 StoveBurner_bar__minus_02_dot_47_bar__plus_00_dot_92_bar__plus_02_dot_01) + (inReceptacle SaltShaker_bar__minus_00_dot_26_bar__plus_02_dot_13_bar__plus_05_dot_36 Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_05_dot_51) + (inReceptacle Plate_bar__minus_04_dot_17_bar__plus_00_dot_08_bar__plus_04_dot_74 Cabinet_bar__minus_03_dot_96_bar__plus_00_dot_39_bar__plus_04_dot_34) + (inReceptacle Pan_bar__minus_02_dot_92_bar__plus_00_dot_93_bar__plus_01_dot_71 StoveBurner_bar__minus_02_dot_92_bar__plus_00_dot_92_bar__plus_01_dot_71) + (inReceptacle Mug_bar__minus_00_dot_26_bar__plus_02_dot_13_bar__plus_05_dot_93 Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_05_dot_61) + (inReceptacle Spoon_bar__minus_03_dot_73_bar__plus_00_dot_92_bar__plus_05_dot_34 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94) + (inReceptacle PaperTowelRoll_bar__minus_04_dot_03_bar__plus_01_dot_03_bar__plus_02_dot_53 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94) + (inReceptacle Tomato_bar__minus_04_dot_48_bar__plus_00_dot_98_bar__plus_03_dot_55 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94) + (inReceptacle SoapBottle_bar__minus_04_dot_26_bar__plus_00_dot_92_bar__plus_04_dot_12 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94) + (inReceptacle Knife_bar__minus_04_dot_11_bar__plus_00_dot_95_bar__plus_04_dot_90 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94) + (inReceptacle DishSponge_bar__minus_03_dot_80_bar__plus_00_dot_75_bar__plus_05_dot_13 Drawer_bar__minus_03_dot_80_bar__plus_00_dot_78_bar__plus_05_dot_16) + (inReceptacle Pencil_bar__minus_04_dot_07_bar__plus_00_dot_75_bar__plus_04_dot_51 Drawer_bar__minus_04_dot_09_bar__plus_00_dot_78_bar__plus_04_dot_66) + (inReceptacle Pencil_bar__minus_00_dot_50_bar__plus_00_dot_75_bar__plus_06_dot_15 Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_92) + (inReceptacle Cup_bar__minus_04_dot_12_bar__plus_00_dot_08_bar__plus_03_dot_13 Cabinet_bar__minus_03_dot_97_bar__plus_00_dot_39_bar__plus_02_dot_89) + (inReceptacle PepperShaker_bar__minus_03_dot_74_bar__plus_00_dot_08_bar__plus_05_dot_27 Cabinet_bar__minus_03_dot_67_bar__plus_00_dot_39_bar__plus_05_dot_03) + (inReceptacle Pot_bar__minus_02_dot_47_bar__plus_00_dot_93_bar__plus_01_dot_71 StoveBurner_bar__minus_02_dot_47_bar__plus_00_dot_92_bar__plus_01_dot_71) + (inReceptacle WineBottle_bar__minus_01_dot_62_bar__plus_00_dot_08_bar__plus_01_dot_85 Cabinet_bar__minus_01_dot_54_bar__plus_00_dot_39_bar__plus_02_dot_09) + (inReceptacle Plate_bar__minus_01_dot_86_bar__plus_00_dot_08_bar__plus_01_dot_97 Cabinet_bar__minus_01_dot_54_bar__plus_00_dot_39_bar__plus_02_dot_09) + (inReceptacle Egg_bar__minus_03_dot_68_bar__plus_00_dot_10_bar__plus_06_dot_25 GarbageCan_bar__minus_03_dot_71_bar_00_dot_00_bar__plus_06_dot_38) + (inReceptacle Apple_bar__minus_03_dot_64_bar__plus_00_dot_12_bar__plus_06_dot_33 GarbageCan_bar__minus_03_dot_71_bar_00_dot_00_bar__plus_06_dot_38) + (inReceptacle SoapBottle_bar__minus_03_dot_75_bar__plus_00_dot_07_bar__plus_06_dot_29 GarbageCan_bar__minus_03_dot_71_bar_00_dot_00_bar__plus_06_dot_38) + (inReceptacle Apple_bar__minus_03_dot_68_bar__plus_00_dot_12_bar__plus_06_dot_46 GarbageCan_bar__minus_03_dot_71_bar_00_dot_00_bar__plus_06_dot_38) + (inReceptacle Apple_bar__minus_02_dot_64_bar__plus_01_dot_60_bar__plus_01_dot_73 Microwave_bar__minus_02_dot_69_bar__plus_01_dot_43_bar__plus_01_dot_69) + (inReceptacle Potato_bar__minus_00_dot_24_bar__plus_01_dot_10_bar__plus_03_dot_73 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60) + (inReceptacle Cup_bar__minus_00_dot_26_bar__plus_01_dot_68_bar__plus_03_dot_98 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60) + (inReceptacle Bowl_bar__minus_00_dot_40_bar__plus_01_dot_07_bar__plus_03_dot_97 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60) + (inReceptacle Bowl_bar__minus_00_dot_30_bar__plus_01_dot_58_bar__plus_03_dot_29 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60) + (inReceptacle Cup_bar__minus_00_dot_34_bar__plus_01_dot_33_bar__plus_03_dot_23 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60) + (inReceptacle Lettuce_bar__minus_00_dot_45_bar__plus_01_dot_17_bar__plus_03_dot_60 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60) + + + (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_03_dot_01 loc_bar__minus_2_bar_10_bar_0_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_04_dot_21 loc_bar__minus_5_bar_17_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_04_dot_31 loc_bar__minus_4_bar_18_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_05_dot_51 loc_bar__minus_4_bar_22_bar_1_bar__minus_30) + (receptacleAtLocation 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loc_bar__minus_4_bar_7_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_03_dot_04_bar__plus_00_dot_39_bar__plus_05_dot_03 loc_bar__minus_11_bar_17_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_03_dot_04_bar__plus_01_dot_94_bar__plus_05_dot_32 loc_bar__minus_13_bar_19_bar_0_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_03_dot_19_bar__plus_00_dot_39_bar__plus_02_dot_09 loc_bar__minus_12_bar_12_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_03_dot_20_bar__plus_01_dot_93_bar__plus_01_dot_78 loc_bar__minus_13_bar_10_bar_2_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_03_dot_64_bar__plus_00_dot_39_bar__plus_05_dot_03 loc_bar__minus_12_bar_17_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_03_dot_67_bar__plus_00_dot_39_bar__plus_05_dot_03 loc_bar__minus_13_bar_16_bar_0_bar_45) + (receptacleAtLocation Cabinet_bar__minus_03_dot_92_bar__plus_00_dot_40_bar__plus_02_dot_09 loc_bar__minus_13_bar_12_bar_2_bar_60) + 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mug in the sink and turn on the water.", + "Take the mug and walk to the counter behind you with the coffee maker on it.", + "Place the mug on the drip tray of the coffee maker under the brewer." + ], + "task_desc": "Take the mug from the cupboard and put it on the coffee maker.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AUTYWXILTACCR_3GLB5JMZF0CGTR4REJJLJQ4OF4VGDP", + "high_descs": [ + "Turn around and walk to the end of the counters on your right, then look up at the cabinet on the right.", + "Grab a mug from the cabinet.", + "Turn right, then turn right at the fridge to reach the sink.", + "Wash the mug in the sink.", + "Turn around and walk back to the counter under the cabinet where you grabbed the mug.", + "Place the mug inside of the coffee machine on the counter." + ], + "task_desc": "Place a washed mug in a coffee machine.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A24RGLS3BRZ60J_3X3OR7WPZ2HKYOM1825LAQVV0UI8LF", + "high_descs": [ + "Turn around go straight back and then turn right to find the coffee maker.", + "Look up, and take out a cup from the cabinet and shut the door.", + "Take the cup and turn around to go straight back and find the sink.", + "Place the cup in the sink, turn the water on and then off. Pick up the cup.", + "Take the cup and turn around. Go straight to the other side, and left to find the coffee maker.", + "Place the cup on the coffee maker." + ], + "task_desc": "Rinse a cup and place it on the coffee maker.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Plate-None-DiningTable-19/trial_T20190909_045331_010733/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Plate-None-DiningTable-19/trial_T20190909_045331_010733/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..38eaf61c06b08d67adadf810dc782f4091ad1d11 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Plate-None-DiningTable-19/trial_T20190909_045331_010733/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 plate 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_T20190909_045331_010733)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__minus_00_dot_16_bar__plus_01_dot_06_bar__minus_00_dot_95 - object\n Bowl_bar__minus_02_dot_80_bar__plus_00_dot_71_bar__minus_00_dot_64 - object\n Bowl_bar__minus_03_dot_08_bar__plus_01_dot_40_bar__minus_01_dot_94 - object\n Bread_bar__minus_00_dot_33_bar__plus_00_dot_95_bar__minus_03_dot_68 - object\n ButterKnife_bar__minus_00_dot_34_bar__plus_00_dot_92_bar__minus_01_dot_43 - object\n ButterKnife_bar__minus_02_dot_58_bar__plus_00_dot_72_bar__minus_00_dot_43 - object\n Chair_bar__minus_02_dot_38_bar__plus_00_dot_02_bar__minus_00_dot_55 - object\n Chair_bar__minus_03_dot_16_bar__plus_00_dot_01_bar__minus_00_dot_99 - object\n Cup_bar__minus_02_dot_62_bar__plus_00_dot_72_bar__minus_00_dot_34 - object\n Cup_bar__minus_03_dot_35_bar__plus_00_dot_91_bar__minus_03_dot_73 - object\n DishSponge_bar__minus_00_dot_44_bar__plus_00_dot_75_bar__minus_03_dot_35 - object\n Egg_bar__minus_01_dot_55_bar__plus_00_dot_95_bar__minus_03_dot_99 - object\n Egg_bar__minus_03_dot_08_bar__plus_01_dot_05_bar__minus_01_dot_82 - object\n Faucet_bar__minus_01_dot_79_bar__plus_01_dot_14_bar__minus_03_dot_91 - object\n Fork_bar__minus_00_dot_01_bar__plus_00_dot_92_bar__minus_01_dot_62 - object\n Fork_bar__minus_02_dot_58_bar__plus_00_dot_71_bar__minus_00_dot_62 - object\n Fork_bar__minus_03_dot_26_bar__plus_00_dot_72_bar__minus_00_dot_28 - object\n Knife_bar__minus_00_dot_34_bar__plus_00_dot_95_bar__minus_00_dot_56 - object\n Knife_bar__minus_03_dot_29_bar__plus_00_dot_75_bar__minus_00_dot_43 - object\n Lettuce_bar__minus_01_dot_32_bar__plus_00_dot_99_bar__minus_03_dot_76 - object\n Lettuce_bar__minus_03_dot_18_bar__plus_00_dot_73_bar__minus_02_dot_06 - object\n LightSwitch_bar__minus_01_dot_11_bar__plus_01_dot_46_bar__plus_00_dot_34 - object\n Mug_bar__minus_00_dot_18_bar__plus_00_dot_91_bar__minus_00_dot_49 - object\n Pan_bar__minus_00_dot_38_bar__plus_00_dot_98_bar__minus_02_dot_03 - object\n PepperShaker_bar__minus_00_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_56 - object\n PepperShaker_bar__minus_00_dot_44_bar__plus_00_dot_74_bar__minus_01_dot_56 - object\n Plate_bar__minus_00_dot_41_bar__plus_00_dot_08_bar__minus_01_dot_41 - object\n Potato_bar__minus_03_dot_01_bar__plus_00_dot_93_bar__minus_02_dot_47 - object\n Pot_bar__minus_02_dot_84_bar__plus_00_dot_90_bar__minus_03_dot_75 - object\n SaltShaker_bar__minus_00_dot_47_bar__plus_00_dot_74_bar__minus_00_dot_84 - object\n Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75 - object\n SoapBottle_bar__minus_00_dot_10_bar__plus_00_dot_92_bar__minus_01_dot_68 - object\n SoapBottle_bar__minus_02_dot_48_bar__plus_00_dot_72_bar__minus_00_dot_71 - object\n SoapBottle_bar__minus_03_dot_11_bar__plus_00_dot_72_bar__minus_00_dot_65 - object\n Spatula_bar__minus_02_dot_87_bar__plus_00_dot_73_bar__minus_00_dot_92 - object\n Spoon_bar__minus_00_dot_04_bar__plus_00_dot_91_bar__minus_03_dot_73 - object\n Spoon_bar__minus_02_dot_80_bar__plus_00_dot_71_bar__minus_00_dot_07 - object\n StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_00 - object\n StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_17 - object\n StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_31 - object\n StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_47 - object\n Tomato_bar__minus_00_dot_16_bar__plus_00_dot_96_bar__minus_03_dot_21 - object\n Tomato_bar__minus_02_dot_74_bar__plus_00_dot_76_bar__minus_00_dot_92 - object\n Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_21_bar__minus_04_dot_24 - receptacle\n Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_00_dot_45 - receptacle\n Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_01_dot_74 - receptacle\n Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_02_dot_73 - receptacle\n Cabinet_bar__minus_00_dot_24_bar__plus_02_dot_10_bar__minus_01_dot_77 - receptacle\n Cabinet_bar__minus_00_dot_24_bar__plus_02_dot_10_bar__minus_02_dot_71 - receptacle\n Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_00_dot_45 - receptacle\n Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_73 - receptacle\n Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_74 - receptacle\n Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_48 - receptacle\n Cabinet_bar__minus_00_dot_61_bar__plus_00_dot_39_bar__minus_03_dot_51 - receptacle\n Cabinet_bar__minus_01_dot_23_bar__plus_01_dot_81_bar__minus_03_dot_76 - receptacle\n Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_39_bar__minus_03_dot_51 - receptacle\n Cabinet_bar__minus_01_dot_38_bar__plus_00_dot_39_bar__minus_03_dot_51 - receptacle\n Cabinet_bar__minus_02_dot_15_bar__plus_00_dot_39_bar__minus_03_dot_51 - receptacle\n Cabinet_bar__minus_02_dot_81_bar__plus_01_dot_81_bar__minus_03_dot_76 - receptacle\n Cabinet_bar__minus_02_dot_98_bar__plus_00_dot_39_bar__minus_03_dot_20 - receptacle\n Cabinet_bar__minus_03_dot_02_bar__plus_02_dot_10_bar__minus_01_dot_74 - receptacle\n Cabinet_bar__minus_03_dot_02_bar__plus_02_dot_10_bar__minus_02_dot_68 - receptacle\n Cabinet_bar__minus_03_dot_23_bar__plus_01_dot_80_bar__minus_03_dot_34 - receptacle\n Cabinet_bar__minus_06_dot_01_bar__plus_01_dot_14_bar__minus_06_dot_02 - receptacle\n CoffeeMachine_bar__minus_03_dot_10_bar__plus_00_dot_71_bar__minus_00_dot_19 - receptacle\n CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09 - receptacle\n CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80 - receptacle\n DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51 - receptacle\n Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_00_dot_76 - receptacle\n Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_01_dot_41 - receptacle\n Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_02_dot_97 - receptacle\n Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_03_dot_35 - receptacle\n Drawer_bar__minus_03_dot_10_bar__plus_00_dot_80_bar__minus_02_dot_97 - receptacle\n Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19 - receptacle\n GarbageCan_bar__minus_00_dot_28_bar__plus_00_dot_00_bar__minus_00_dot_04 - receptacle\n Microwave_bar__minus_00_dot_14_bar__plus_00_dot_90_bar__minus_00_dot_91 - receptacle\n Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_03 - receptacle\n StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_45 - receptacle\n StoveBurner_bar__minus_00_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_03 - receptacle\n StoveBurner_bar__minus_00_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_45 - receptacle\n Toaster_bar__minus_00_dot_23_bar__plus_00_dot_90_bar__minus_03_dot_41 - receptacle\n loc_bar__minus_9_bar__minus_10_bar_2_bar_45 - location\n loc_bar__minus_9_bar__minus_12_bar_2_bar__minus_15 - location\n loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_15 - location\n loc_bar__minus_4_bar__minus_8_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_10_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_13_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_13_bar_3_bar_45 - location\n loc_bar__minus_8_bar__minus_13_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_13_bar_2_bar__minus_15 - location\n loc_bar__minus_9_bar__minus_12_bar_3_bar_45 - location\n loc_bar__minus_8_bar__minus_9_bar_3_bar__minus_30 - location\n loc_bar__minus_4_bar__minus_13_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_3_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_5_bar_1_bar_45 - location\n loc_bar__minus_7_bar__minus_13_bar_2_bar_60 - location\n loc_bar__minus_9_bar__minus_5_bar_3_bar_60 - location\n loc_bar__minus_7_bar__minus_4_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_10_bar_2_bar_45 - location\n loc_bar__minus_8_bar__minus_11_bar_3_bar__minus_30 - location\n loc_bar__minus_5_bar__minus_13_bar_1_bar_30 - location\n loc_bar__minus_6_bar__minus_13_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30 - location\n loc_bar__minus_4_bar__minus_10_bar_1_bar_45 - location\n loc_bar__minus_8_bar__minus_10_bar_2_bar_45 - location\n loc_bar__minus_9_bar__minus_9_bar_3_bar_60 - location\n loc_bar__minus_4_bar__minus_1_bar_0_bar_15 - location\n loc_bar__minus_8_bar__minus_3_bar_3_bar_60 - location\n loc_bar__minus_7_bar__minus_11_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_8_bar_1_bar_60 - location\n loc_bar__minus_5_bar__minus_10_bar_2_bar_45 - location\n loc_bar__minus_9_bar__minus_12_bar_3_bar_60 - location\n loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_30 - location\n loc_bar__minus_4_bar__minus_1_bar_1_bar_60 - location\n loc_bar__minus_6_bar__minus_2_bar_1_bar_60 - location\n loc_bar__minus_8_bar__minus_13_bar_3_bar_0 - location\n loc_bar__minus_4_bar__minus_12_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_2_bar_1_bar__minus_15 - location\n loc_bar__minus_4_bar__minus_3_bar_1_bar_45 - location\n loc_bar__minus_8_bar__minus_1_bar_3_bar_45 - location\n loc_bar__minus_7_bar__minus_2_bar_3_bar_45 - location\n loc_bar__minus_4_bar__minus_6_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_9_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_15 - location\n loc_bar__minus_5_bar__minus_2_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__minus_00_dot_61_bar__plus_00_dot_39_bar__minus_03_dot_51 CabinetType)\n (receptacleType CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80 CounterTopType)\n (receptacleType Cabinet_bar__minus_02_dot_98_bar__plus_00_dot_39_bar__minus_03_dot_20 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_15_bar__plus_00_dot_39_bar__minus_03_dot_51 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_21_bar__minus_04_dot_24 CabinetType)\n (receptacleType CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09 CounterTopType)\n (receptacleType Cabinet_bar__minus_00_dot_24_bar__plus_02_dot_10_bar__minus_02_dot_71 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_02_dot_97 DrawerType)\n (receptacleType Cabinet_bar__minus_02_dot_81_bar__plus_01_dot_81_bar__minus_03_dot_76 CabinetType)\n (receptacleType StoveBurner_bar__minus_00_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_03 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_39_bar__minus_03_dot_51 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_03_dot_35 DrawerType)\n (receptacleType Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19 FridgeType)\n (receptacleType Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_74 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_23_bar__plus_01_dot_81_bar__minus_03_dot_76 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_01_dot_41 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_00_dot_45 CabinetType)\n (receptacleType StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_03 StoveBurnerType)\n (receptacleType DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51 DiningTableType)\n (receptacleType Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_00_dot_76 DrawerType)\n (receptacleType Toaster_bar__minus_00_dot_23_bar__plus_00_dot_90_bar__minus_03_dot_41 ToasterType)\n (receptacleType Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_48 CabinetType)\n (receptacleType StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_45 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_03_dot_23_bar__plus_01_dot_80_bar__minus_03_dot_34 CabinetType)\n (receptacleType GarbageCan_bar__minus_00_dot_28_bar__plus_00_dot_00_bar__minus_00_dot_04 GarbageCanType)\n (receptacleType Cabinet_bar__minus_03_dot_02_bar__plus_02_dot_10_bar__minus_01_dot_74 CabinetType)\n (receptacleType Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__minus_03_dot_02_bar__plus_02_dot_10_bar__minus_02_dot_68 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_01_dot_74 CabinetType)\n (receptacleType Drawer_bar__minus_03_dot_10_bar__plus_00_dot_80_bar__minus_02_dot_97 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_00_dot_45 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_38_bar__plus_00_dot_39_bar__minus_03_dot_51 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_73 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_24_bar__plus_02_dot_10_bar__minus_01_dot_77 CabinetType)\n (receptacleType StoveBurner_bar__minus_00_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_45 StoveBurnerType)\n (receptacleType Microwave_bar__minus_00_dot_14_bar__plus_00_dot_90_bar__minus_00_dot_91 MicrowaveType)\n (receptacleType CoffeeMachine_bar__minus_03_dot_10_bar__plus_00_dot_71_bar__minus_00_dot_19 CoffeeMachineType)\n (receptacleType Cabinet_bar__minus_06_dot_01_bar__plus_01_dot_14_bar__minus_06_dot_02 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_02_dot_73 CabinetType)\n (objectType Bread_bar__minus_00_dot_33_bar__plus_00_dot_95_bar__minus_03_dot_68 BreadType)\n (objectType SoapBottle_bar__minus_02_dot_48_bar__plus_00_dot_72_bar__minus_00_dot_71 SoapBottleType)\n (objectType Lettuce_bar__minus_01_dot_32_bar__plus_00_dot_99_bar__minus_03_dot_76 LettuceType)\n (objectType LightSwitch_bar__minus_01_dot_11_bar__plus_01_dot_46_bar__plus_00_dot_34 LightSwitchType)\n (objectType Fork_bar__minus_02_dot_58_bar__plus_00_dot_71_bar__minus_00_dot_62 ForkType)\n (objectType Fork_bar__minus_00_dot_01_bar__plus_00_dot_92_bar__minus_01_dot_62 ForkType)\n (objectType Spoon_bar__minus_00_dot_04_bar__plus_00_dot_91_bar__minus_03_dot_73 SpoonType)\n (objectType Pot_bar__minus_02_dot_84_bar__plus_00_dot_90_bar__minus_03_dot_75 PotType)\n (objectType StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_17 StoveKnobType)\n (objectType StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_31 StoveKnobType)\n (objectType DishSponge_bar__minus_00_dot_44_bar__plus_00_dot_75_bar__minus_03_dot_35 DishSpongeType)\n (objectType Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75 SinkType)\n (objectType Chair_bar__minus_03_dot_16_bar__plus_00_dot_01_bar__minus_00_dot_99 ChairType)\n (objectType Chair_bar__minus_02_dot_38_bar__plus_00_dot_02_bar__minus_00_dot_55 ChairType)\n (objectType Cup_bar__minus_03_dot_35_bar__plus_00_dot_91_bar__minus_03_dot_73 CupType)\n (objectType Spatula_bar__minus_02_dot_87_bar__plus_00_dot_73_bar__minus_00_dot_92 SpatulaType)\n (objectType Potato_bar__minus_03_dot_01_bar__plus_00_dot_93_bar__minus_02_dot_47 PotatoType)\n (objectType Tomato_bar__minus_00_dot_16_bar__plus_00_dot_96_bar__minus_03_dot_21 TomatoType)\n (objectType ButterKnife_bar__minus_00_dot_34_bar__plus_00_dot_92_bar__minus_01_dot_43 ButterKnifeType)\n (objectType Egg_bar__minus_01_dot_55_bar__plus_00_dot_95_bar__minus_03_dot_99 EggType)\n (objectType Apple_bar__minus_00_dot_16_bar__plus_01_dot_06_bar__minus_00_dot_95 AppleType)\n (objectType SoapBottle_bar__minus_00_dot_10_bar__plus_00_dot_92_bar__minus_01_dot_68 SoapBottleType)\n (objectType Fork_bar__minus_03_dot_26_bar__plus_00_dot_72_bar__minus_00_dot_28 ForkType)\n (objectType StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_00 StoveKnobType)\n (objectType Mug_bar__minus_00_dot_18_bar__plus_00_dot_91_bar__minus_00_dot_49 MugType)\n (objectType Plate_bar__minus_00_dot_41_bar__plus_00_dot_08_bar__minus_01_dot_41 PlateType)\n (objectType ButterKnife_bar__minus_02_dot_58_bar__plus_00_dot_72_bar__minus_00_dot_43 ButterKnifeType)\n (objectType StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_47 StoveKnobType)\n (objectType Pan_bar__minus_00_dot_38_bar__plus_00_dot_98_bar__minus_02_dot_03 PanType)\n (objectType Tomato_bar__minus_02_dot_74_bar__plus_00_dot_76_bar__minus_00_dot_92 TomatoType)\n (objectType PepperShaker_bar__minus_00_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_56 PepperShakerType)\n (objectType SoapBottle_bar__minus_03_dot_11_bar__plus_00_dot_72_bar__minus_00_dot_65 SoapBottleType)\n (objectType Spoon_bar__minus_02_dot_80_bar__plus_00_dot_71_bar__minus_00_dot_07 SpoonType)\n (objectType Egg_bar__minus_03_dot_08_bar__plus_01_dot_05_bar__minus_01_dot_82 EggType)\n (objectType Cup_bar__minus_02_dot_62_bar__plus_00_dot_72_bar__minus_00_dot_34 CupType)\n (objectType Lettuce_bar__minus_03_dot_18_bar__plus_00_dot_73_bar__minus_02_dot_06 LettuceType)\n (objectType PepperShaker_bar__minus_00_dot_44_bar__plus_00_dot_74_bar__minus_01_dot_56 PepperShakerType)\n (objectType Knife_bar__minus_00_dot_34_bar__plus_00_dot_95_bar__minus_00_dot_56 KnifeType)\n (objectType Knife_bar__minus_03_dot_29_bar__plus_00_dot_75_bar__minus_00_dot_43 KnifeType)\n (objectType SaltShaker_bar__minus_00_dot_47_bar__plus_00_dot_74_bar__minus_00_dot_84 SaltShakerType)\n (objectType Bowl_bar__minus_02_dot_80_bar__plus_00_dot_71_bar__minus_00_dot_64 BowlType)\n (objectType Bowl_bar__minus_03_dot_08_bar__plus_01_dot_40_bar__minus_01_dot_94 BowlType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType SoapBottleType)\n (canContain 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(canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain CounterTopType SaltShakerType)\n (canContain CounterTopType BreadType)\n (canContain CounterTopType DishSpongeType)\n (canContain CounterTopType BowlType)\n (canContain CounterTopType PotType)\n (canContain CounterTopType MugType)\n (canContain CounterTopType EggType)\n (canContain CounterTopType ForkType)\n (canContain CounterTopType SpoonType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType LettuceType)\n (canContain CounterTopType PotatoType)\n (canContain CounterTopType ButterKnifeType)\n (canContain CounterTopType CupType)\n (canContain CounterTopType PlateType)\n (canContain CounterTopType PepperShakerType)\n (canContain CounterTopType TomatoType)\n (canContain CounterTopType KnifeType)\n (canContain CounterTopType AppleType)\n (canContain CounterTopType PanType)\n (canContain CounterTopType 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Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_73)\n (inReceptacle SoapBottle_bar__minus_03_dot_11_bar__plus_00_dot_72_bar__minus_00_dot_65 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle Spoon_bar__minus_02_dot_80_bar__plus_00_dot_71_bar__minus_00_dot_07 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle SoapBottle_bar__minus_02_dot_48_bar__plus_00_dot_72_bar__minus_00_dot_71 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle Cup_bar__minus_02_dot_62_bar__plus_00_dot_72_bar__minus_00_dot_34 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle Fork_bar__minus_03_dot_26_bar__plus_00_dot_72_bar__minus_00_dot_28 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle Knife_bar__minus_03_dot_29_bar__plus_00_dot_75_bar__minus_00_dot_43 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle Fork_bar__minus_02_dot_58_bar__plus_00_dot_71_bar__minus_00_dot_62 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle Spatula_bar__minus_02_dot_87_bar__plus_00_dot_73_bar__minus_00_dot_92 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle Bowl_bar__minus_02_dot_80_bar__plus_00_dot_71_bar__minus_00_dot_64 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle ButterKnife_bar__minus_02_dot_58_bar__plus_00_dot_72_bar__minus_00_dot_43 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle Tomato_bar__minus_02_dot_74_bar__plus_00_dot_76_bar__minus_00_dot_92 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle PepperShaker_bar__minus_00_dot_44_bar__plus_00_dot_74_bar__minus_01_dot_56 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_01_dot_41)\n (inReceptacle SaltShaker_bar__minus_00_dot_47_bar__plus_00_dot_74_bar__minus_00_dot_84 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_00_dot_76)\n (inReceptacle SoapBottle_bar__minus_00_dot_10_bar__plus_00_dot_92_bar__minus_01_dot_68 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09)\n (inReceptacle Knife_bar__minus_00_dot_34_bar__plus_00_dot_95_bar__minus_00_dot_56 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09)\n (inReceptacle Mug_bar__minus_00_dot_18_bar__plus_00_dot_91_bar__minus_00_dot_49 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09)\n (inReceptacle Fork_bar__minus_00_dot_01_bar__plus_00_dot_92_bar__minus_01_dot_62 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09)\n (inReceptacle ButterKnife_bar__minus_00_dot_34_bar__plus_00_dot_92_bar__minus_01_dot_43 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09)\n (inReceptacle PepperShaker_bar__minus_00_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_56 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09)\n (inReceptacle DishSponge_bar__minus_00_dot_44_bar__plus_00_dot_75_bar__minus_03_dot_35 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_03_dot_35)\n (inReceptacle Pan_bar__minus_00_dot_38_bar__plus_00_dot_98_bar__minus_02_dot_03 StoveBurner_bar__minus_00_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_03)\n (inReceptacle Pan_bar__minus_00_dot_38_bar__plus_00_dot_98_bar__minus_02_dot_03 StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_03)\n (inReceptacle Apple_bar__minus_00_dot_16_bar__plus_01_dot_06_bar__minus_00_dot_95 Microwave_bar__minus_00_dot_14_bar__plus_00_dot_90_bar__minus_00_dot_91)\n (inReceptacle Potato_bar__minus_03_dot_01_bar__plus_00_dot_93_bar__minus_02_dot_47 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19)\n (inReceptacle Lettuce_bar__minus_03_dot_18_bar__plus_00_dot_73_bar__minus_02_dot_06 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19)\n (inReceptacle Egg_bar__minus_03_dot_08_bar__plus_01_dot_05_bar__minus_01_dot_82 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19)\n (inReceptacle Bowl_bar__minus_03_dot_08_bar__plus_01_dot_40_bar__minus_01_dot_94 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19)\n \n \n (receptacleAtLocation Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_21_bar__minus_04_dot_24 loc_bar__minus_5_bar__minus_13_bar_1_bar_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_00_dot_45 loc_bar__minus_4_bar__minus_2_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_01_dot_74 loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_02_dot_73 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_24_bar__plus_02_dot_10_bar__minus_01_dot_77 loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_24_bar__plus_02_dot_10_bar__minus_02_dot_71 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_00_dot_45 loc_bar__minus_6_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_73 loc_bar__minus_7_bar__minus_4_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_74 loc_bar__minus_6_bar__minus_13_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_48 loc_bar__minus_7_bar__minus_11_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_61_bar__plus_00_dot_39_bar__minus_03_dot_51 loc_bar__minus_5_bar__minus_10_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_23_bar__plus_01_dot_81_bar__minus_03_dot_76 loc_bar__minus_4_bar__minus_13_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_39_bar__minus_03_dot_51 loc_bar__minus_4_bar__minus_10_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_38_bar__plus_00_dot_39_bar__minus_03_dot_51 loc_bar__minus_8_bar__minus_10_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_15_bar__plus_00_dot_39_bar__minus_03_dot_51 loc_bar__minus_9_bar__minus_10_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_81_bar__plus_01_dot_81_bar__minus_03_dot_76 loc_bar__minus_9_bar__minus_12_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_98_bar__plus_00_dot_39_bar__minus_03_dot_20 loc_bar__minus_9_bar__minus_12_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_02_bar__plus_02_dot_10_bar__minus_01_dot_74 loc_bar__minus_8_bar__minus_9_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_02_bar__plus_02_dot_10_bar__minus_02_dot_68 loc_bar__minus_8_bar__minus_11_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_23_bar__plus_01_dot_80_bar__minus_03_dot_34 loc_bar__minus_8_bar__minus_13_bar_3_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_06_dot_01_bar__plus_01_dot_14_bar__minus_06_dot_02 loc_bar__minus_8_bar__minus_13_bar_3_bar_0)\n (receptacleAtLocation CoffeeMachine_bar__minus_03_dot_10_bar__plus_00_dot_71_bar__minus_00_dot_19 loc_bar__minus_8_bar__minus_1_bar_3_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09 loc_bar__minus_4_bar__minus_5_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_00_dot_76 loc_bar__minus_4_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_01_dot_41 loc_bar__minus_4_bar__minus_6_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_02_dot_97 loc_bar__minus_4_bar__minus_12_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_03_dot_35 loc_bar__minus_4_bar__minus_13_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_03_dot_10_bar__plus_00_dot_80_bar__minus_02_dot_97 loc_bar__minus_9_bar__minus_12_bar_3_bar_45)\n (receptacleAtLocation Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19 loc_bar__minus_9_bar__minus_9_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_28_bar__plus_00_dot_00_bar__minus_00_dot_04 loc_bar__minus_4_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__minus_00_dot_14_bar__plus_00_dot_90_bar__minus_00_dot_91 loc_bar__minus_4_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75_bar_SinkBasin loc_bar__minus_8_bar__minus_13_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_03 loc_bar__minus_4_bar__minus_8_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_45 loc_bar__minus_4_bar__minus_10_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_03 loc_bar__minus_4_bar__minus_8_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_45 loc_bar__minus_4_bar__minus_10_bar_1_bar_45)\n (receptacleAtLocation Toaster_bar__minus_00_dot_23_bar__plus_00_dot_90_bar__minus_03_dot_41 loc_bar__minus_4_bar__minus_13_bar_1_bar_45)\n (objectAtLocation Bowl_bar__minus_02_dot_80_bar__plus_00_dot_71_bar__minus_00_dot_64 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Spoon_bar__minus_02_dot_80_bar__plus_00_dot_71_bar__minus_00_dot_07 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_34_bar__plus_00_dot_92_bar__minus_01_dot_43 loc_bar__minus_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation PepperShaker_bar__minus_00_dot_44_bar__plus_00_dot_74_bar__minus_01_dot_56 loc_bar__minus_4_bar__minus_6_bar_1_bar_60)\n (objectAtLocation Knife_bar__minus_00_dot_34_bar__plus_00_dot_95_bar__minus_00_dot_56 loc_bar__minus_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__minus_02_dot_48_bar__plus_00_dot_72_bar__minus_00_dot_71 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Tomato_bar__minus_00_dot_16_bar__plus_00_dot_96_bar__minus_03_dot_21 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Lettuce_bar__minus_01_dot_32_bar__plus_00_dot_99_bar__minus_03_dot_76 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Fork_bar__minus_00_dot_01_bar__plus_00_dot_92_bar__minus_01_dot_62 loc_bar__minus_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Cup_bar__minus_03_dot_35_bar__plus_00_dot_91_bar__minus_03_dot_73 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Egg_bar__minus_01_dot_55_bar__plus_00_dot_95_bar__minus_03_dot_99 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_03_dot_11_bar__plus_00_dot_72_bar__minus_00_dot_65 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Fork_bar__minus_02_dot_58_bar__plus_00_dot_71_bar__minus_00_dot_62 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75 loc_bar__minus_7_bar__minus_13_bar_2_bar_60)\n (objectAtLocation Pot_bar__minus_02_dot_84_bar__plus_00_dot_90_bar__minus_03_dot_75 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Egg_bar__minus_03_dot_08_bar__plus_01_dot_05_bar__minus_01_dot_82 loc_bar__minus_9_bar__minus_9_bar_3_bar_60)\n (objectAtLocation Cup_bar__minus_02_dot_62_bar__plus_00_dot_72_bar__minus_00_dot_34 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_31 loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_47 loc_bar__minus_4_bar__minus_10_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_17 loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_00 loc_bar__minus_4_bar__minus_8_bar_1_bar_60)\n (objectAtLocation Bread_bar__minus_00_dot_33_bar__plus_00_dot_95_bar__minus_03_dot_68 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Fork_bar__minus_03_dot_26_bar__plus_00_dot_72_bar__minus_00_dot_28 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Pan_bar__minus_00_dot_38_bar__plus_00_dot_98_bar__minus_02_dot_03 loc_bar__minus_4_bar__minus_8_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_03_dot_01_bar__plus_00_dot_93_bar__minus_02_dot_47 loc_bar__minus_9_bar__minus_9_bar_3_bar_60)\n (objectAtLocation Lettuce_bar__minus_03_dot_18_bar__plus_00_dot_73_bar__minus_02_dot_06 loc_bar__minus_9_bar__minus_9_bar_3_bar_60)\n (objectAtLocation Tomato_bar__minus_02_dot_74_bar__plus_00_dot_76_bar__minus_00_dot_92 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation LightSwitch_bar__minus_01_dot_11_bar__plus_01_dot_46_bar__plus_00_dot_34 loc_bar__minus_4_bar__minus_1_bar_0_bar_15)\n (objectAtLocation Apple_bar__minus_00_dot_16_bar__plus_01_dot_06_bar__minus_00_dot_95 loc_bar__minus_4_bar__minus_3_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_10_bar__plus_00_dot_92_bar__minus_01_dot_68 loc_bar__minus_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Spatula_bar__minus_02_dot_87_bar__plus_00_dot_73_bar__minus_00_dot_92 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_47_bar__plus_00_dot_74_bar__minus_00_dot_84 loc_bar__minus_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Knife_bar__minus_03_dot_29_bar__plus_00_dot_75_bar__minus_00_dot_43 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation PepperShaker_bar__minus_00_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_56 loc_bar__minus_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__minus_02_dot_58_bar__plus_00_dot_72_bar__minus_00_dot_43 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Plate_bar__minus_00_dot_41_bar__plus_00_dot_08_bar__minus_01_dot_41 loc_bar__minus_7_bar__minus_4_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__minus_00_dot_44_bar__plus_00_dot_75_bar__minus_03_dot_35 loc_bar__minus_4_bar__minus_13_bar_1_bar_60)\n (objectAtLocation Chair_bar__minus_02_dot_38_bar__plus_00_dot_02_bar__minus_00_dot_55 loc_bar__minus_8_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Chair_bar__minus_03_dot_16_bar__plus_00_dot_01_bar__minus_00_dot_99 loc_bar__minus_9_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Spoon_bar__minus_00_dot_04_bar__plus_00_dot_91_bar__minus_03_dot_73 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_18_bar__plus_00_dot_91_bar__minus_00_dot_49 loc_bar__minus_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Bowl_bar__minus_03_dot_08_bar__plus_01_dot_40_bar__minus_01_dot_94 loc_bar__minus_9_bar__minus_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 PlateType)\n (receptacleType ?r DiningTableType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to cabinet 14", "open cabinet 14", "take plate 1 from cabinet 14", "go to sinkbasin 1", "clean plate 1 with sinkbasin 1", "go to diningtable 1", "move plate 1 to diningtable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Plate-None-DiningTable-19/trial_T20190909_045331_010733/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Plate-None-DiningTable-19/trial_T20190909_045331_010733/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..5014d08228d84fa90de16bb3abdacde9e4b1b577 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Plate-None-DiningTable-19/trial_T20190909_045331_010733/initial_state.pddl @@ -0,0 +1,1050 @@ + +(define (problem plan_trial_T20190909_045331_010733) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - 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CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle Spoon_bar__minus_00_dot_04_bar__plus_00_dot_91_bar__minus_03_dot_73 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle Egg_bar__minus_01_dot_55_bar__plus_00_dot_95_bar__minus_03_dot_99 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle Lettuce_bar__minus_01_dot_32_bar__plus_00_dot_99_bar__minus_03_dot_76 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle Pot_bar__minus_02_dot_84_bar__plus_00_dot_90_bar__minus_03_dot_75 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle Cup_bar__minus_03_dot_35_bar__plus_00_dot_91_bar__minus_03_dot_73 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle Tomato_bar__minus_00_dot_16_bar__plus_00_dot_96_bar__minus_03_dot_21 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle Plate_bar__minus_00_dot_41_bar__plus_00_dot_08_bar__minus_01_dot_41 Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_73) + (inReceptacle SoapBottle_bar__minus_03_dot_11_bar__plus_00_dot_72_bar__minus_00_dot_65 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Spoon_bar__minus_02_dot_80_bar__plus_00_dot_71_bar__minus_00_dot_07 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle SoapBottle_bar__minus_02_dot_48_bar__plus_00_dot_72_bar__minus_00_dot_71 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Cup_bar__minus_02_dot_62_bar__plus_00_dot_72_bar__minus_00_dot_34 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Fork_bar__minus_03_dot_26_bar__plus_00_dot_72_bar__minus_00_dot_28 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"objectName": "Spoon_94d2125c", + "position": { + "x": -2.8033, + "y": 0.7148996, + "z": -0.0694375038 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_f4b8ca2f", + "position": { + "x": -0.176295519, + "y": 0.910999954, + "z": -0.490268052 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_697b561f", + "position": { + "x": -2.8033, + "y": 0.711368263, + "z": -0.638187468 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3333923593, + "scene_num": 19 + }, + "task_id": "trial_T20190909_045331_010733", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "ABR580YP0ST7X_37Q970SNZHZXCQJ4PYIO8O6K8I81SN", + "high_descs": [ + "Turn right, walk forward to stove, turn left at cupboard", + "Open lower cupboard, pick up dirty plate in cupboard, close cupboard", + "Turn around, walk forward, turn left at sink, walk to sink", + "Place plate inside sink, turn on water, turn off water, remove plate", + "Turn around, walk past refrigerator, turn left, walk to wall, turn right, ", + "Place plate on top of table" + ], + "task_desc": "Take plate to sink, clean it, move to table", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2A028LRDJB7ZB_3Y4W8Q93L2B7WDGKZM7OKDR0WKSDVJ", + "high_descs": [ + "Turn right then head to the cabinet beside the oven", + "Open the cabinet pull out the dirty plate then close the cabinet again", + "Turn right then head to the sink", + "\nPut the dirty plate in the sink and rinse it", + "Turn right then head to the table ", + "Put the plate on the table" + ], + "task_desc": "Put the clean plate on the table", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3PPLDHC3CG0YN_3FIUS151DYTRQ00GCH9AQXRNMWEGGZ", + "high_descs": [ + "Walk to the counter to the left of the stove and look down at the cabinet. ", + "Open the cabinet door, take out the plate, and close the door. ", + "Walk over to the sink. ", + "Put the plate down in the sink, rinse the plate, pick up the plate. ", + "Walk over to the table in the corner of the room. ", + "Put the plate down on the table to the left of the spatula. " + ], + "task_desc": "To rinse off a plate and put it on the table. ", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Plate-None-DiningTable-19/trial_T20190909_045437_991233/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Plate-None-DiningTable-19/trial_T20190909_045437_991233/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..1f764aebf56d0931b9efd52708306d84d682f60f --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Plate-None-DiningTable-19/trial_T20190909_045437_991233/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 plate 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_045437_991233)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - 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loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_15 - location\n loc_bar__minus_10_bar__minus_11_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__minus_00_dot_61_bar__plus_00_dot_39_bar__minus_03_dot_51 CabinetType)\n (receptacleType CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80 CounterTopType)\n (receptacleType Cabinet_bar__minus_02_dot_98_bar__plus_00_dot_39_bar__minus_03_dot_20 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_15_bar__plus_00_dot_39_bar__minus_03_dot_51 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_21_bar__minus_04_dot_24 CabinetType)\n (receptacleType CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09 CounterTopType)\n (receptacleType Cabinet_bar__minus_00_dot_24_bar__plus_02_dot_10_bar__minus_02_dot_71 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_02_dot_97 DrawerType)\n (receptacleType 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CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80)\n (inReceptacle Bowl_bar__minus_01_dot_06_bar__plus_00_dot_91_bar__minus_03_dot_80 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80)\n (inReceptacle Pan_bar__minus_02_dot_45_bar__plus_00_dot_91_bar__minus_03_dot_95 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80)\n (inReceptacle SaltShaker_bar__minus_00_dot_85_bar__plus_00_dot_08_bar__minus_03_dot_64 Cabinet_bar__minus_00_dot_61_bar__plus_00_dot_39_bar__minus_03_dot_51)\n (inReceptacle PepperShaker_bar__minus_00_dot_45_bar__plus_00_dot_08_bar__minus_00_dot_61 Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_00_dot_45)\n (inReceptacle PepperShaker_bar__minus_00_dot_45_bar__plus_00_dot_08_bar__minus_02_dot_80 Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_74)\n (inReceptacle DishSponge_bar__minus_03_dot_34_bar__plus_01_dot_29_bar__minus_02_dot_81 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DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle Spoon_bar__minus_03_dot_01_bar__plus_00_dot_71_bar__minus_00_dot_62 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle Lettuce_bar__minus_02_dot_48_bar__plus_00_dot_80_bar__minus_00_dot_71 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle SaltShaker_bar__minus_02_dot_44_bar__plus_00_dot_71_bar__minus_00_dot_31 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle Tomato_bar__minus_02_dot_58_bar__plus_00_dot_77_bar__minus_00_dot_43 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle Spatula_bar__minus_03_dot_08_bar__plus_00_dot_76_bar__minus_03_dot_08 Drawer_bar__minus_03_dot_10_bar__plus_00_dot_80_bar__minus_02_dot_97)\n (inReceptacle Pan_bar__minus_00_dot_39_bar__plus_00_dot_97_bar__minus_02_dot_41 StoveBurner_bar__minus_00_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_45)\n (inReceptacle Knife_bar__minus_00_dot_53_bar__plus_00_dot_78_bar__minus_00_dot_84 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_00_dot_76)\n (inReceptacle SoapBottle_bar__minus_00_dot_42_bar__plus_00_dot_92_bar__minus_01_dot_49 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09)\n (inReceptacle Fork_bar__minus_00_dot_34_bar__plus_00_dot_92_bar__minus_00_dot_54 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09)\n (inReceptacle PepperShaker_bar__minus_00_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_56 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09)\n (inReceptacle DishSponge_bar__minus_00_dot_44_bar__plus_00_dot_75_bar__minus_03_dot_38 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_03_dot_35)\n (inReceptacle Pot_bar__minus_00_dot_38_bar__plus_00_dot_98_bar__minus_02_dot_03 StoveBurner_bar__minus_00_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_03)\n (inReceptacle Spatula_bar__minus_00_dot_44_bar__plus_00_dot_76_bar__minus_02_dot_86 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_02_dot_97)\n (inReceptacle Knife_bar__minus_00_dot_50_bar__plus_00_dot_78_bar__minus_02_dot_91 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_02_dot_97)\n (inReceptacle Pot_bar__minus_00_dot_38_bar__plus_00_dot_98_bar__minus_02_dot_03 StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_03)\n (inReceptacle Pan_bar__minus_00_dot_39_bar__plus_00_dot_97_bar__minus_02_dot_41 StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_45)\n (inReceptacle Egg_bar__minus_00_dot_10_bar__plus_01_dot_05_bar__minus_00_dot_95 Microwave_bar__minus_00_dot_14_bar__plus_00_dot_90_bar__minus_00_dot_91)\n (inReceptacle Mug_bar__minus_02_dot_93_bar__plus_00_dot_76_bar__minus_00_dot_36 CoffeeMachine_bar__minus_03_dot_10_bar__plus_00_dot_71_bar__minus_00_dot_19)\n (inReceptacle Plate_bar__minus_03_dot_18_bar__plus_00_dot_64_bar__minus_02_dot_13 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19)\n (inReceptacle Bowl_bar__minus_03_dot_18_bar__plus_01_dot_01_bar__minus_02_dot_13 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19)\n (inReceptacle Cup_bar__minus_03_dot_23_bar__plus_01_dot_40_bar__minus_01_dot_88 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19)\n (inReceptacle Apple_bar__minus_03_dot_08_bar__plus_01_dot_44_bar__minus_01_dot_82 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19)\n \n \n (receptacleAtLocation Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_21_bar__minus_04_dot_24 loc_bar__minus_5_bar__minus_13_bar_1_bar_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_00_dot_45 loc_bar__minus_4_bar__minus_2_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_01_dot_74 loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_02_dot_73 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_24_bar__plus_02_dot_10_bar__minus_01_dot_77 loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_24_bar__plus_02_dot_10_bar__minus_02_dot_71 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_00_dot_45 loc_bar__minus_6_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_73 loc_bar__minus_7_bar__minus_4_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_74 loc_bar__minus_6_bar__minus_13_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_48 loc_bar__minus_7_bar__minus_11_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_61_bar__plus_00_dot_39_bar__minus_03_dot_51 loc_bar__minus_5_bar__minus_10_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_23_bar__plus_01_dot_81_bar__minus_03_dot_76 loc_bar__minus_4_bar__minus_13_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_39_bar__minus_03_dot_51 loc_bar__minus_4_bar__minus_10_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_38_bar__plus_00_dot_39_bar__minus_03_dot_51 loc_bar__minus_8_bar__minus_10_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_15_bar__plus_00_dot_39_bar__minus_03_dot_51 loc_bar__minus_9_bar__minus_10_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_81_bar__plus_01_dot_81_bar__minus_03_dot_76 loc_bar__minus_9_bar__minus_12_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_98_bar__plus_00_dot_39_bar__minus_03_dot_20 loc_bar__minus_9_bar__minus_12_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_02_bar__plus_02_dot_10_bar__minus_01_dot_74 loc_bar__minus_8_bar__minus_9_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_02_bar__plus_02_dot_10_bar__minus_02_dot_68 loc_bar__minus_8_bar__minus_11_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_23_bar__plus_01_dot_80_bar__minus_03_dot_34 loc_bar__minus_8_bar__minus_13_bar_3_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_06_dot_01_bar__plus_01_dot_14_bar__minus_06_dot_02 loc_bar__minus_8_bar__minus_13_bar_3_bar_0)\n (receptacleAtLocation CoffeeMachine_bar__minus_03_dot_10_bar__plus_00_dot_71_bar__minus_00_dot_19 loc_bar__minus_8_bar__minus_1_bar_3_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09 loc_bar__minus_4_bar__minus_5_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_00_dot_76 loc_bar__minus_4_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_01_dot_41 loc_bar__minus_4_bar__minus_6_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_02_dot_97 loc_bar__minus_4_bar__minus_12_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_03_dot_35 loc_bar__minus_4_bar__minus_13_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_03_dot_10_bar__plus_00_dot_80_bar__minus_02_dot_97 loc_bar__minus_9_bar__minus_12_bar_3_bar_45)\n (receptacleAtLocation Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19 loc_bar__minus_9_bar__minus_9_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_28_bar__plus_00_dot_00_bar__minus_00_dot_04 loc_bar__minus_4_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__minus_00_dot_14_bar__plus_00_dot_90_bar__minus_00_dot_91 loc_bar__minus_4_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75_bar_SinkBasin loc_bar__minus_8_bar__minus_13_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_03 loc_bar__minus_4_bar__minus_8_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_45 loc_bar__minus_4_bar__minus_10_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_03 loc_bar__minus_4_bar__minus_8_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_45 loc_bar__minus_4_bar__minus_10_bar_1_bar_45)\n (receptacleAtLocation Toaster_bar__minus_00_dot_23_bar__plus_00_dot_90_bar__minus_03_dot_41 loc_bar__minus_4_bar__minus_13_bar_1_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_24_bar__plus_00_dot_91_bar__minus_03_dot_01 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation DishSponge_bar__minus_03_dot_34_bar__plus_01_dot_29_bar__minus_02_dot_81 loc_bar__minus_8_bar__minus_13_bar_3_bar_0)\n (objectAtLocation Plate_bar__minus_00_dot_65_bar__plus_00_dot_91_bar__minus_03_dot_66 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation PepperShaker_bar__minus_00_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_56 loc_bar__minus_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_53_bar__plus_00_dot_78_bar__minus_00_dot_84 loc_bar__minus_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation SaltShaker_bar__minus_02_dot_44_bar__plus_00_dot_71_bar__minus_00_dot_31 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Spatula_bar__minus_03_dot_08_bar__plus_00_dot_76_bar__minus_03_dot_08 loc_bar__minus_9_bar__minus_12_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_02_dot_87_bar__plus_00_dot_72_bar__minus_00_dot_92 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Apple_bar__minus_03_dot_08_bar__plus_01_dot_44_bar__minus_01_dot_82 loc_bar__minus_9_bar__minus_9_bar_3_bar_60)\n (objectAtLocation Tomato_bar__minus_03_dot_29_bar__plus_00_dot_77_bar__minus_00_dot_43 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Lettuce_bar__minus_02_dot_48_bar__plus_00_dot_80_bar__minus_00_dot_71 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Pan_bar__minus_00_dot_39_bar__plus_00_dot_97_bar__minus_02_dot_41 loc_bar__minus_4_bar__minus_10_bar_1_bar_45)\n (objectAtLocation Fork_bar__minus_00_dot_34_bar__plus_00_dot_92_bar__minus_00_dot_54 loc_bar__minus_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Egg_bar__minus_02_dot_93_bar__plus_00_dot_75_bar__minus_00_dot_78 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Lettuce_bar__minus_03_dot_35_bar__plus_01_dot_00_bar__minus_03_dot_66 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation PepperShaker_bar__minus_00_dot_45_bar__plus_00_dot_08_bar__minus_00_dot_61 loc_bar__minus_6_bar__minus_2_bar_1_bar_60)\n (objectAtLocation Bowl_bar__minus_01_dot_06_bar__plus_00_dot_91_bar__minus_03_dot_80 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_42_bar__plus_00_dot_92_bar__minus_01_dot_49 loc_bar__minus_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Plate_bar__minus_02_dot_52_bar__plus_01_dot_29_bar__minus_03_dot_97 loc_bar__minus_9_bar__minus_12_bar_2_bar__minus_15)\n (objectAtLocation Plate_bar__minus_00_dot_38_bar__plus_01_dot_30_bar__minus_03_dot_70 loc_bar__minus_5_bar__minus_13_bar_1_bar_30)\n (objectAtLocation Spatula_bar__minus_02_dot_87_bar__plus_00_dot_73_bar__minus_00_dot_78 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation DishSponge_bar__minus_02_dot_74_bar__plus_00_dot_72_bar__minus_00_dot_92 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75 loc_bar__minus_7_bar__minus_13_bar_2_bar_60)\n (objectAtLocation Pot_bar__minus_00_dot_38_bar__plus_00_dot_98_bar__minus_02_dot_03 loc_bar__minus_4_bar__minus_8_bar_1_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_10_bar__plus_01_dot_05_bar__minus_00_dot_95 loc_bar__minus_4_bar__minus_3_bar_1_bar_45)\n (objectAtLocation Cup_bar__minus_03_dot_23_bar__plus_01_dot_40_bar__minus_01_dot_88 loc_bar__minus_9_bar__minus_9_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_31 loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_47 loc_bar__minus_4_bar__minus_10_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_17 loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_00 loc_bar__minus_4_bar__minus_8_bar_1_bar_60)\n (objectAtLocation Bread_bar__minus_02_dot_27_bar__plus_00_dot_95_bar__minus_03_dot_73 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Fork_bar__minus_01_dot_26_bar__plus_00_dot_91_bar__minus_03_dot_88 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Pan_bar__minus_02_dot_45_bar__plus_00_dot_91_bar__minus_03_dot_95 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Potato_bar__minus_03_dot_15_bar__plus_00_dot_76_bar__minus_00_dot_50 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Lettuce_bar__minus_02_dot_72_bar__plus_00_dot_80_bar__minus_00_dot_55 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Tomato_bar__minus_02_dot_58_bar__plus_00_dot_77_bar__minus_00_dot_43 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation LightSwitch_bar__minus_01_dot_11_bar__plus_01_dot_46_bar__plus_00_dot_34 loc_bar__minus_4_bar__minus_1_bar_0_bar_15)\n (objectAtLocation Apple_bar__minus_02_dot_66_bar__plus_00_dot_76_bar__minus_00_dot_70 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_03_dot_26_bar__plus_00_dot_72_bar__minus_00_dot_71 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Spatula_bar__minus_00_dot_44_bar__plus_00_dot_76_bar__minus_02_dot_86 loc_bar__minus_4_bar__minus_12_bar_1_bar_60)\n (objectAtLocation SaltShaker_bar__minus_00_dot_85_bar__plus_00_dot_08_bar__minus_03_dot_64 loc_bar__minus_5_bar__minus_10_bar_2_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_50_bar__plus_00_dot_78_bar__minus_02_dot_91 loc_bar__minus_4_bar__minus_12_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__minus_00_dot_45_bar__plus_00_dot_08_bar__minus_02_dot_80 loc_bar__minus_6_bar__minus_13_bar_1_bar_60)\n (objectAtLocation ButterKnife_bar__minus_03_dot_31_bar__plus_00_dot_91_bar__minus_02_dot_93 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Plate_bar__minus_03_dot_18_bar__plus_00_dot_64_bar__minus_02_dot_13 loc_bar__minus_9_bar__minus_9_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__minus_00_dot_44_bar__plus_00_dot_75_bar__minus_03_dot_38 loc_bar__minus_4_bar__minus_13_bar_1_bar_60)\n (objectAtLocation Chair_bar__minus_02_dot_38_bar__plus_00_dot_02_bar__minus_00_dot_55 loc_bar__minus_8_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Chair_bar__minus_03_dot_16_bar__plus_00_dot_01_bar__minus_00_dot_99 loc_bar__minus_9_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Spoon_bar__minus_03_dot_01_bar__plus_00_dot_71_bar__minus_00_dot_62 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Mug_bar__minus_02_dot_93_bar__plus_00_dot_76_bar__minus_00_dot_36 loc_bar__minus_8_bar__minus_1_bar_3_bar_45)\n (objectAtLocation Bowl_bar__minus_03_dot_18_bar__plus_01_dot_01_bar__minus_02_dot_13 loc_bar__minus_9_bar__minus_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 PlateType)\n (receptacleType ?r DiningTableType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take plate 3 from countertop 1", "go to sinkbasin 1", "clean plate 3 with sinkbasin 1", "go to diningtable 1", "move plate 3 to diningtable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Plate-None-DiningTable-19/trial_T20190909_045437_991233/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Plate-None-DiningTable-19/trial_T20190909_045437_991233/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..8ae8553305269fba28f67e31d8bc86372fe86868 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Plate-None-DiningTable-19/trial_T20190909_045437_991233/initial_state.pddl @@ -0,0 +1,1119 @@ + +(define (problem plan_trial_T20190909_045437_991233) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__minus_02_dot_66_bar__plus_00_dot_76_bar__minus_00_dot_70 - object + Apple_bar__minus_03_dot_08_bar__plus_01_dot_44_bar__minus_01_dot_82 - object + Bowl_bar__minus_00_dot_24_bar__plus_00_dot_91_bar__minus_03_dot_01 - object + Bowl_bar__minus_01_dot_06_bar__plus_00_dot_91_bar__minus_03_dot_80 - object + Bowl_bar__minus_03_dot_18_bar__plus_01_dot_01_bar__minus_02_dot_13 - object + Bread_bar__minus_02_dot_27_bar__plus_00_dot_95_bar__minus_03_dot_73 - object + ButterKnife_bar__minus_03_dot_31_bar__plus_00_dot_91_bar__minus_02_dot_93 - object + Chair_bar__minus_02_dot_38_bar__plus_00_dot_02_bar__minus_00_dot_55 - object + Chair_bar__minus_03_dot_16_bar__plus_00_dot_01_bar__minus_00_dot_99 - object + Cup_bar__minus_03_dot_23_bar__plus_01_dot_40_bar__minus_01_dot_88 - object + DishSponge_bar__minus_00_dot_44_bar__plus_00_dot_75_bar__minus_03_dot_38 - object + DishSponge_bar__minus_02_dot_74_bar__plus_00_dot_72_bar__minus_00_dot_92 - object + DishSponge_bar__minus_03_dot_34_bar__plus_01_dot_29_bar__minus_02_dot_81 - object + Egg_bar__minus_00_dot_10_bar__plus_01_dot_05_bar__minus_00_dot_95 - object + Egg_bar__minus_02_dot_93_bar__plus_00_dot_75_bar__minus_00_dot_78 - object + Faucet_bar__minus_01_dot_79_bar__plus_01_dot_14_bar__minus_03_dot_91 - object + Fork_bar__minus_00_dot_34_bar__plus_00_dot_92_bar__minus_00_dot_54 - object + Fork_bar__minus_01_dot_26_bar__plus_00_dot_91_bar__minus_03_dot_88 - object + Knife_bar__minus_00_dot_50_bar__plus_00_dot_78_bar__minus_02_dot_91 - object + Knife_bar__minus_00_dot_53_bar__plus_00_dot_78_bar__minus_00_dot_84 - object + Lettuce_bar__minus_02_dot_48_bar__plus_00_dot_80_bar__minus_00_dot_71 - object + Lettuce_bar__minus_02_dot_72_bar__plus_00_dot_80_bar__minus_00_dot_55 - object + Lettuce_bar__minus_03_dot_35_bar__plus_01_dot_00_bar__minus_03_dot_66 - object + LightSwitch_bar__minus_01_dot_11_bar__plus_01_dot_46_bar__plus_00_dot_34 - object + Mug_bar__minus_02_dot_93_bar__plus_00_dot_76_bar__minus_00_dot_36 - object + Pan_bar__minus_00_dot_39_bar__plus_00_dot_97_bar__minus_02_dot_41 - object + Pan_bar__minus_02_dot_45_bar__plus_00_dot_91_bar__minus_03_dot_95 - object + PepperShaker_bar__minus_00_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_56 - object + PepperShaker_bar__minus_00_dot_45_bar__plus_00_dot_08_bar__minus_00_dot_61 - object + PepperShaker_bar__minus_00_dot_45_bar__plus_00_dot_08_bar__minus_02_dot_80 - object + Plate_bar__minus_00_dot_38_bar__plus_01_dot_30_bar__minus_03_dot_70 - object + Plate_bar__minus_00_dot_65_bar__plus_00_dot_91_bar__minus_03_dot_66 - object + Plate_bar__minus_02_dot_52_bar__plus_01_dot_29_bar__minus_03_dot_97 - object + Plate_bar__minus_03_dot_18_bar__plus_00_dot_64_bar__minus_02_dot_13 - object + Potato_bar__minus_03_dot_15_bar__plus_00_dot_76_bar__minus_00_dot_50 - object + Pot_bar__minus_00_dot_38_bar__plus_00_dot_98_bar__minus_02_dot_03 - object + SaltShaker_bar__minus_00_dot_85_bar__plus_00_dot_08_bar__minus_03_dot_64 - object + SaltShaker_bar__minus_02_dot_44_bar__plus_00_dot_71_bar__minus_00_dot_31 - object + Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75 - object + SoapBottle_bar__minus_00_dot_42_bar__plus_00_dot_92_bar__minus_01_dot_49 - object + SoapBottle_bar__minus_02_dot_87_bar__plus_00_dot_72_bar__minus_00_dot_92 - object + SoapBottle_bar__minus_03_dot_26_bar__plus_00_dot_72_bar__minus_00_dot_71 - object + Spatula_bar__minus_00_dot_44_bar__plus_00_dot_76_bar__minus_02_dot_86 - object + Spatula_bar__minus_02_dot_87_bar__plus_00_dot_73_bar__minus_00_dot_78 - object + Spatula_bar__minus_03_dot_08_bar__plus_00_dot_76_bar__minus_03_dot_08 - object + Spoon_bar__minus_03_dot_01_bar__plus_00_dot_71_bar__minus_00_dot_62 - object + StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_00 - object + StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_17 - object + StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_31 - object + StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_47 - object + Tomato_bar__minus_02_dot_58_bar__plus_00_dot_77_bar__minus_00_dot_43 - object + Tomato_bar__minus_03_dot_29_bar__plus_00_dot_77_bar__minus_00_dot_43 - object + Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_21_bar__minus_04_dot_24 - receptacle + Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_00_dot_45 - receptacle + Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_01_dot_74 - receptacle + Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_02_dot_73 - receptacle + Cabinet_bar__minus_00_dot_24_bar__plus_02_dot_10_bar__minus_01_dot_77 - receptacle + Cabinet_bar__minus_00_dot_24_bar__plus_02_dot_10_bar__minus_02_dot_71 - receptacle + Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_00_dot_45 - receptacle + Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_73 - receptacle + Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_74 - receptacle + Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_48 - receptacle + Cabinet_bar__minus_00_dot_61_bar__plus_00_dot_39_bar__minus_03_dot_51 - receptacle + Cabinet_bar__minus_01_dot_23_bar__plus_01_dot_81_bar__minus_03_dot_76 - receptacle + Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_39_bar__minus_03_dot_51 - receptacle + Cabinet_bar__minus_01_dot_38_bar__plus_00_dot_39_bar__minus_03_dot_51 - receptacle + Cabinet_bar__minus_02_dot_15_bar__plus_00_dot_39_bar__minus_03_dot_51 - receptacle + Cabinet_bar__minus_02_dot_81_bar__plus_01_dot_81_bar__minus_03_dot_76 - receptacle + Cabinet_bar__minus_02_dot_98_bar__plus_00_dot_39_bar__minus_03_dot_20 - receptacle + Cabinet_bar__minus_03_dot_02_bar__plus_02_dot_10_bar__minus_01_dot_74 - receptacle + Cabinet_bar__minus_03_dot_02_bar__plus_02_dot_10_bar__minus_02_dot_68 - receptacle + Cabinet_bar__minus_03_dot_23_bar__plus_01_dot_80_bar__minus_03_dot_34 - receptacle + Cabinet_bar__minus_06_dot_01_bar__plus_01_dot_14_bar__minus_06_dot_02 - receptacle + CoffeeMachine_bar__minus_03_dot_10_bar__plus_00_dot_71_bar__minus_00_dot_19 - receptacle + CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09 - receptacle + CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80 - receptacle + DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51 - receptacle + Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_00_dot_76 - receptacle + Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_01_dot_41 - receptacle + Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_02_dot_97 - receptacle + Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_03_dot_35 - receptacle + Drawer_bar__minus_03_dot_10_bar__plus_00_dot_80_bar__minus_02_dot_97 - receptacle + Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19 - receptacle + GarbageCan_bar__minus_00_dot_28_bar__plus_00_dot_00_bar__minus_00_dot_04 - receptacle + Microwave_bar__minus_00_dot_14_bar__plus_00_dot_90_bar__minus_00_dot_91 - receptacle + Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75_bar_SinkBasin - receptacle + StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_03 - receptacle + StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_45 - receptacle + StoveBurner_bar__minus_00_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_03 - receptacle + StoveBurner_bar__minus_00_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_45 - receptacle + Toaster_bar__minus_00_dot_23_bar__plus_00_dot_90_bar__minus_03_dot_41 - receptacle + loc_bar__minus_9_bar__minus_10_bar_2_bar_45 - location + loc_bar__minus_9_bar__minus_12_bar_2_bar__minus_15 - 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_10_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_13_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_13_bar_3_bar_45 - location + loc_bar__minus_8_bar__minus_13_bar_2_bar_60 - location + loc_bar__minus_4_bar__minus_13_bar_2_bar__minus_15 - location + loc_bar__minus_9_bar__minus_12_bar_3_bar_45 - location + loc_bar__minus_8_bar__minus_9_bar_3_bar__minus_30 - location + loc_bar__minus_4_bar__minus_13_bar_1_bar_45 - location + loc_bar__minus_4_bar__minus_3_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_5_bar_1_bar_45 - location + loc_bar__minus_7_bar__minus_13_bar_2_bar_60 - location + loc_bar__minus_9_bar__minus_5_bar_3_bar_60 - location + loc_bar__minus_7_bar__minus_4_bar_1_bar_45 - location + loc_bar__minus_4_bar__minus_10_bar_2_bar_45 - location + loc_bar__minus_8_bar__minus_11_bar_3_bar__minus_30 - location + loc_bar__minus_5_bar__minus_13_bar_1_bar_30 - location + loc_bar__minus_6_bar__minus_13_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30 - location + loc_bar__minus_4_bar__minus_10_bar_1_bar_45 - location + loc_bar__minus_8_bar__minus_10_bar_2_bar_45 - location + loc_bar__minus_9_bar__minus_9_bar_3_bar_60 - location + loc_bar__minus_4_bar__minus_1_bar_0_bar_15 - location + loc_bar__minus_8_bar__minus_3_bar_3_bar_60 - location + loc_bar__minus_7_bar__minus_11_bar_1_bar_45 - location + loc_bar__minus_4_bar__minus_8_bar_1_bar_60 - location + loc_bar__minus_5_bar__minus_10_bar_2_bar_45 - location + loc_bar__minus_9_bar__minus_12_bar_3_bar_60 - location + loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_30 - location + loc_bar__minus_4_bar__minus_1_bar_1_bar_60 - location + loc_bar__minus_6_bar__minus_2_bar_1_bar_60 - location + loc_bar__minus_8_bar__minus_13_bar_3_bar_0 - location + loc_bar__minus_4_bar__minus_12_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_2_bar_1_bar__minus_15 - location + loc_bar__minus_4_bar__minus_3_bar_1_bar_45 - location + loc_bar__minus_8_bar__minus_1_bar_3_bar_45 - location + loc_bar__minus_7_bar__minus_2_bar_3_bar_45 - location + loc_bar__minus_4_bar__minus_6_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_9_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_15 - location + loc_bar__minus_10_bar__minus_11_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__minus_00_dot_61_bar__plus_00_dot_39_bar__minus_03_dot_51 CabinetType) + (receptacleType CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80 CounterTopType) + (receptacleType Cabinet_bar__minus_02_dot_98_bar__plus_00_dot_39_bar__minus_03_dot_20 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_15_bar__plus_00_dot_39_bar__minus_03_dot_51 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_21_bar__minus_04_dot_24 CabinetType) + (receptacleType CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09 CounterTopType) + (receptacleType Cabinet_bar__minus_00_dot_24_bar__plus_02_dot_10_bar__minus_02_dot_71 CabinetType) + (receptacleType Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_02_dot_97 DrawerType) + (receptacleType Cabinet_bar__minus_02_dot_81_bar__plus_01_dot_81_bar__minus_03_dot_76 CabinetType) + (receptacleType StoveBurner_bar__minus_00_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_03 StoveBurnerType) + (receptacleType Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_39_bar__minus_03_dot_51 CabinetType) + (receptacleType Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_03_dot_35 DrawerType) + (receptacleType Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19 FridgeType) + (receptacleType Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_74 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_23_bar__plus_01_dot_81_bar__minus_03_dot_76 CabinetType) + (receptacleType Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_01_dot_41 DrawerType) + (receptacleType Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_00_dot_45 CabinetType) + (receptacleType StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_03 StoveBurnerType) + (receptacleType DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51 DiningTableType) + (receptacleType Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_00_dot_76 DrawerType) + (receptacleType Toaster_bar__minus_00_dot_23_bar__plus_00_dot_90_bar__minus_03_dot_41 ToasterType) + (receptacleType Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_48 CabinetType) + (receptacleType StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_45 StoveBurnerType) + (receptacleType Cabinet_bar__minus_03_dot_23_bar__plus_01_dot_80_bar__minus_03_dot_34 CabinetType) + (receptacleType GarbageCan_bar__minus_00_dot_28_bar__plus_00_dot_00_bar__minus_00_dot_04 GarbageCanType) + (receptacleType Cabinet_bar__minus_03_dot_02_bar__plus_02_dot_10_bar__minus_01_dot_74 CabinetType) + (receptacleType Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__minus_03_dot_02_bar__plus_02_dot_10_bar__minus_02_dot_68 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_01_dot_74 CabinetType) + (receptacleType Drawer_bar__minus_03_dot_10_bar__plus_00_dot_80_bar__minus_02_dot_97 DrawerType) + (receptacleType Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_00_dot_45 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_38_bar__plus_00_dot_39_bar__minus_03_dot_51 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_73 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_24_bar__plus_02_dot_10_bar__minus_01_dot_77 CabinetType) + (receptacleType StoveBurner_bar__minus_00_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_45 StoveBurnerType) + (receptacleType Microwave_bar__minus_00_dot_14_bar__plus_00_dot_90_bar__minus_00_dot_91 MicrowaveType) + (receptacleType CoffeeMachine_bar__minus_03_dot_10_bar__plus_00_dot_71_bar__minus_00_dot_19 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ButterKnife_bar__minus_03_dot_31_bar__plus_00_dot_91_bar__minus_02_dot_93) + (cleanable Potato_bar__minus_03_dot_15_bar__plus_00_dot_76_bar__minus_00_dot_50) + (cleanable Apple_bar__minus_03_dot_08_bar__plus_01_dot_44_bar__minus_01_dot_82) + (cleanable Spatula_bar__minus_03_dot_08_bar__plus_00_dot_76_bar__minus_03_dot_08) + (cleanable Fork_bar__minus_01_dot_26_bar__plus_00_dot_91_bar__minus_03_dot_88) + (cleanable Pot_bar__minus_00_dot_38_bar__plus_00_dot_98_bar__minus_02_dot_03) + (cleanable DishSponge_bar__minus_03_dot_34_bar__plus_01_dot_29_bar__minus_02_dot_81) + (cleanable Lettuce_bar__minus_02_dot_48_bar__plus_00_dot_80_bar__minus_00_dot_71) + (cleanable Pan_bar__minus_00_dot_39_bar__plus_00_dot_97_bar__minus_02_dot_41) + (cleanable Egg_bar__minus_02_dot_93_bar__plus_00_dot_75_bar__minus_00_dot_78) + (cleanable Egg_bar__minus_00_dot_10_bar__plus_01_dot_05_bar__minus_00_dot_95) + (cleanable Lettuce_bar__minus_02_dot_72_bar__plus_00_dot_80_bar__minus_00_dot_55) + (cleanable DishSponge_bar__minus_02_dot_74_bar__plus_00_dot_72_bar__minus_00_dot_92) + (cleanable Mug_bar__minus_02_dot_93_bar__plus_00_dot_76_bar__minus_00_dot_36) + (cleanable Plate_bar__minus_03_dot_18_bar__plus_00_dot_64_bar__minus_02_dot_13) + (cleanable Fork_bar__minus_00_dot_34_bar__plus_00_dot_92_bar__minus_00_dot_54) + (cleanable Cup_bar__minus_03_dot_23_bar__plus_01_dot_40_bar__minus_01_dot_88) + (cleanable Bowl_bar__minus_00_dot_24_bar__plus_00_dot_91_bar__minus_03_dot_01) + (cleanable Plate_bar__minus_00_dot_65_bar__plus_00_dot_91_bar__minus_03_dot_66) + (cleanable Plate_bar__minus_02_dot_52_bar__plus_01_dot_29_bar__minus_03_dot_97) + (cleanable Spatula_bar__minus_02_dot_87_bar__plus_00_dot_73_bar__minus_00_dot_78) + (cleanable Knife_bar__minus_00_dot_50_bar__plus_00_dot_78_bar__minus_02_dot_91) + (cleanable Knife_bar__minus_00_dot_53_bar__plus_00_dot_78_bar__minus_00_dot_84) + (cleanable Pan_bar__minus_02_dot_45_bar__plus_00_dot_91_bar__minus_03_dot_95) + (cleanable Bowl_bar__minus_03_dot_18_bar__plus_01_dot_01_bar__minus_02_dot_13) + (cleanable DishSponge_bar__minus_00_dot_44_bar__plus_00_dot_75_bar__minus_03_dot_38) + (cleanable Plate_bar__minus_00_dot_38_bar__plus_01_dot_30_bar__minus_03_dot_70) + (cleanable Spoon_bar__minus_03_dot_01_bar__plus_00_dot_71_bar__minus_00_dot_62) + (cleanable Bowl_bar__minus_01_dot_06_bar__plus_00_dot_91_bar__minus_03_dot_80) + (cleanable Lettuce_bar__minus_03_dot_35_bar__plus_01_dot_00_bar__minus_03_dot_66) + (cleanable Spatula_bar__minus_00_dot_44_bar__plus_00_dot_76_bar__minus_02_dot_86) + (cleanable Tomato_bar__minus_03_dot_29_bar__plus_00_dot_77_bar__minus_00_dot_43) + (cleanable Apple_bar__minus_02_dot_66_bar__plus_00_dot_76_bar__minus_00_dot_70) + (cleanable Tomato_bar__minus_02_dot_58_bar__plus_00_dot_77_bar__minus_00_dot_43) + + (heatable Potato_bar__minus_03_dot_15_bar__plus_00_dot_76_bar__minus_00_dot_50) + (heatable Apple_bar__minus_03_dot_08_bar__plus_01_dot_44_bar__minus_01_dot_82) + (heatable Egg_bar__minus_02_dot_93_bar__plus_00_dot_75_bar__minus_00_dot_78) + (heatable Egg_bar__minus_00_dot_10_bar__plus_01_dot_05_bar__minus_00_dot_95) + (heatable Mug_bar__minus_02_dot_93_bar__plus_00_dot_76_bar__minus_00_dot_36) + (heatable Plate_bar__minus_03_dot_18_bar__plus_00_dot_64_bar__minus_02_dot_13) + (heatable Cup_bar__minus_03_dot_23_bar__plus_01_dot_40_bar__minus_01_dot_88) + (heatable Plate_bar__minus_00_dot_65_bar__plus_00_dot_91_bar__minus_03_dot_66) + (heatable Plate_bar__minus_02_dot_52_bar__plus_01_dot_29_bar__minus_03_dot_97) + (heatable Plate_bar__minus_00_dot_38_bar__plus_01_dot_30_bar__minus_03_dot_70) + (heatable Bread_bar__minus_02_dot_27_bar__plus_00_dot_95_bar__minus_03_dot_73) + (heatable Tomato_bar__minus_03_dot_29_bar__plus_00_dot_77_bar__minus_00_dot_43) + (heatable Apple_bar__minus_02_dot_66_bar__plus_00_dot_76_bar__minus_00_dot_70) + (heatable Tomato_bar__minus_02_dot_58_bar__plus_00_dot_77_bar__minus_00_dot_43) + (coolable Potato_bar__minus_03_dot_15_bar__plus_00_dot_76_bar__minus_00_dot_50) + (coolable Apple_bar__minus_03_dot_08_bar__plus_01_dot_44_bar__minus_01_dot_82) + (coolable Pot_bar__minus_00_dot_38_bar__plus_00_dot_98_bar__minus_02_dot_03) + (coolable Lettuce_bar__minus_02_dot_48_bar__plus_00_dot_80_bar__minus_00_dot_71) + (coolable Pan_bar__minus_00_dot_39_bar__plus_00_dot_97_bar__minus_02_dot_41) + (coolable Egg_bar__minus_02_dot_93_bar__plus_00_dot_75_bar__minus_00_dot_78) + (coolable Egg_bar__minus_00_dot_10_bar__plus_01_dot_05_bar__minus_00_dot_95) + (coolable Lettuce_bar__minus_02_dot_72_bar__plus_00_dot_80_bar__minus_00_dot_55) + (coolable Mug_bar__minus_02_dot_93_bar__plus_00_dot_76_bar__minus_00_dot_36) + (coolable Plate_bar__minus_03_dot_18_bar__plus_00_dot_64_bar__minus_02_dot_13) + (coolable Cup_bar__minus_03_dot_23_bar__plus_01_dot_40_bar__minus_01_dot_88) + (coolable Bowl_bar__minus_00_dot_24_bar__plus_00_dot_91_bar__minus_03_dot_01) + (coolable Plate_bar__minus_00_dot_65_bar__plus_00_dot_91_bar__minus_03_dot_66) + (coolable Plate_bar__minus_02_dot_52_bar__plus_01_dot_29_bar__minus_03_dot_97) + (coolable Pan_bar__minus_02_dot_45_bar__plus_00_dot_91_bar__minus_03_dot_95) + (coolable Bowl_bar__minus_03_dot_18_bar__plus_01_dot_01_bar__minus_02_dot_13) + (coolable Plate_bar__minus_00_dot_38_bar__plus_01_dot_30_bar__minus_03_dot_70) + (coolable Bread_bar__minus_02_dot_27_bar__plus_00_dot_95_bar__minus_03_dot_73) + (coolable Bowl_bar__minus_01_dot_06_bar__plus_00_dot_91_bar__minus_03_dot_80) + (coolable Lettuce_bar__minus_03_dot_35_bar__plus_01_dot_00_bar__minus_03_dot_66) + (coolable Tomato_bar__minus_03_dot_29_bar__plus_00_dot_77_bar__minus_00_dot_43) + (coolable Apple_bar__minus_02_dot_66_bar__plus_00_dot_76_bar__minus_00_dot_70) + (coolable Tomato_bar__minus_02_dot_58_bar__plus_00_dot_77_bar__minus_00_dot_43) + + (isCool Plate_bar__minus_03_dot_18_bar__plus_00_dot_64_bar__minus_02_dot_13) + + + + (sliceable Potato_bar__minus_03_dot_15_bar__plus_00_dot_76_bar__minus_00_dot_50) + (sliceable Apple_bar__minus_03_dot_08_bar__plus_01_dot_44_bar__minus_01_dot_82) + (sliceable Lettuce_bar__minus_02_dot_48_bar__plus_00_dot_80_bar__minus_00_dot_71) + (sliceable Egg_bar__minus_02_dot_93_bar__plus_00_dot_75_bar__minus_00_dot_78) + (sliceable Egg_bar__minus_00_dot_10_bar__plus_01_dot_05_bar__minus_00_dot_95) + (sliceable Lettuce_bar__minus_02_dot_72_bar__plus_00_dot_80_bar__minus_00_dot_55) + (sliceable Bread_bar__minus_02_dot_27_bar__plus_00_dot_95_bar__minus_03_dot_73) + (sliceable Lettuce_bar__minus_03_dot_35_bar__plus_01_dot_00_bar__minus_03_dot_66) + (sliceable Tomato_bar__minus_03_dot_29_bar__plus_00_dot_77_bar__minus_00_dot_43) + (sliceable Apple_bar__minus_02_dot_66_bar__plus_00_dot_76_bar__minus_00_dot_70) + (sliceable Tomato_bar__minus_02_dot_58_bar__plus_00_dot_77_bar__minus_00_dot_43) + + (inReceptacle Lettuce_bar__minus_03_dot_35_bar__plus_01_dot_00_bar__minus_03_dot_66 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle ButterKnife_bar__minus_03_dot_31_bar__plus_00_dot_91_bar__minus_02_dot_93 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle Fork_bar__minus_01_dot_26_bar__plus_00_dot_91_bar__minus_03_dot_88 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle Bowl_bar__minus_00_dot_24_bar__plus_00_dot_91_bar__minus_03_dot_01 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle Plate_bar__minus_00_dot_65_bar__plus_00_dot_91_bar__minus_03_dot_66 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle Bread_bar__minus_02_dot_27_bar__plus_00_dot_95_bar__minus_03_dot_73 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle Bowl_bar__minus_01_dot_06_bar__plus_00_dot_91_bar__minus_03_dot_80 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle Pan_bar__minus_02_dot_45_bar__plus_00_dot_91_bar__minus_03_dot_95 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle SaltShaker_bar__minus_00_dot_85_bar__plus_00_dot_08_bar__minus_03_dot_64 Cabinet_bar__minus_00_dot_61_bar__plus_00_dot_39_bar__minus_03_dot_51) + (inReceptacle PepperShaker_bar__minus_00_dot_45_bar__plus_00_dot_08_bar__minus_00_dot_61 Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_00_dot_45) + (inReceptacle PepperShaker_bar__minus_00_dot_45_bar__plus_00_dot_08_bar__minus_02_dot_80 Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_74) + (inReceptacle DishSponge_bar__minus_03_dot_34_bar__plus_01_dot_29_bar__minus_02_dot_81 Cabinet_bar__minus_03_dot_23_bar__plus_01_dot_80_bar__minus_03_dot_34) + (inReceptacle Plate_bar__minus_02_dot_52_bar__plus_01_dot_29_bar__minus_03_dot_97 Cabinet_bar__minus_02_dot_81_bar__plus_01_dot_81_bar__minus_03_dot_76) + (inReceptacle Plate_bar__minus_00_dot_38_bar__plus_01_dot_30_bar__minus_03_dot_70 Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_21_bar__minus_04_dot_24) + (inReceptacle Egg_bar__minus_02_dot_93_bar__plus_00_dot_75_bar__minus_00_dot_78 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle SoapBottle_bar__minus_03_dot_26_bar__plus_00_dot_72_bar__minus_00_dot_71 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Lettuce_bar__minus_02_dot_72_bar__plus_00_dot_80_bar__minus_00_dot_55 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Potato_bar__minus_03_dot_15_bar__plus_00_dot_76_bar__minus_00_dot_50 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle DishSponge_bar__minus_02_dot_74_bar__plus_00_dot_72_bar__minus_00_dot_92 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Mug_bar__minus_02_dot_93_bar__plus_00_dot_76_bar__minus_00_dot_36 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Tomato_bar__minus_03_dot_29_bar__plus_00_dot_77_bar__minus_00_dot_43 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Apple_bar__minus_02_dot_66_bar__plus_00_dot_76_bar__minus_00_dot_70 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle SoapBottle_bar__minus_02_dot_87_bar__plus_00_dot_72_bar__minus_00_dot_92 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Spatula_bar__minus_02_dot_87_bar__plus_00_dot_73_bar__minus_00_dot_78 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Spoon_bar__minus_03_dot_01_bar__plus_00_dot_71_bar__minus_00_dot_62 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", + "Place the plate in the sink and turn the water faucet on and rinse the plate off, after you turn the faucet off pick the plate back up.", + "Turn to your right and head to the table beside the refrigerator.", + "Place the plate down on the table in front of the spoon." + ], + "task_desc": "Clean a plate and put on the dining table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A24RGLS3BRZ60J_3DPNQGW4LO69HRIQ53YN5HHV2DH64F", + "high_descs": [ + "Move a step forward to the counter.", + "Open the cabinet above, and take out a plate. Shut the doors.", + "Hold the plate and take a step to the left, to find the sink.", + "Place the plate in the sink and turn on the water. Turn off the water and pick up the plate.", + "Carry the plate and turn to the right, then right again. Move forward to the round table. Turn left, and face it on the right.", + "Place the plate on the left front side of the table." + ], + "task_desc": "Clean a plate and place it on the table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_3LYA37P8ITE015OOMM2BNESJD0NKB9", + "high_descs": [ + "Walk over to the counter and look up at the upper cabinets.", + "Open the upper cabinet in front of you and take out the dirty grey plate, then close the cabinet.", + "Turn left and walk over to the sink.", + "Put the dirty grey plate in the sink and turn on the water,, after a couple seconds turn the water off and take out the now clean grey plate.", + "Walk over to the round wooden table in the corner of the room behind you.", + "Put the clean grey plate on the wooden table in between the bottles of lotion." + ], + "task_desc": "Put a clean grey plate on a table.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Plate-None-DiningTable-19/trial_T20190909_045558_023687/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Plate-None-DiningTable-19/trial_T20190909_045558_023687/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..34275d9ed8e5cdf58432851a9059d1410285fa2a --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Plate-None-DiningTable-19/trial_T20190909_045558_023687/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 plate 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_T20190909_045558_023687)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__minus_02_dot_58_bar__plus_00_dot_76_bar__minus_00_dot_68 - object\n Apple_bar__minus_02_dot_80_bar__plus_00_dot_76_bar__minus_00_dot_92 - object\n Bowl_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__minus_03_dot_88 - object\n Bowl_bar__minus_02_dot_77_bar__plus_00_dot_71_bar__minus_00_dot_60 - object\n Bowl_bar__minus_03_dot_13_bar__plus_00_dot_64_bar__minus_02_dot_00 - object\n Bread_bar__minus_00_dot_33_bar__plus_00_dot_95_bar__minus_03_dot_68 - object\n ButterKnife_bar__minus_02_dot_24_bar__plus_00_dot_90_bar__minus_03_dot_59 - object\n ButterKnife_bar__minus_02_dot_45_bar__plus_00_dot_91_bar__minus_03_dot_58 - object\n Chair_bar__minus_02_dot_38_bar__plus_00_dot_02_bar__minus_00_dot_55 - object\n Chair_bar__minus_03_dot_16_bar__plus_00_dot_01_bar__minus_00_dot_99 - object\n Cup_bar__minus_00_dot_04_bar__plus_00_dot_91_bar__minus_03_dot_73 - object\n Cup_bar__minus_01_dot_06_bar__plus_00_dot_91_bar__minus_03_dot_80 - object\n Cup_bar__minus_01_dot_61_bar__plus_00_dot_08_bar__minus_03_dot_60 - object\n DishSponge_bar__minus_02_dot_58_bar__plus_00_dot_71_bar__minus_00_dot_50 - object\n DishSponge_bar__minus_02_dot_75_bar__plus_00_dot_71_bar__minus_00_dot_21 - object\n DishSponge_bar__minus_03_dot_06_bar__plus_00_dot_91_bar__minus_03_dot_33 - object\n Egg_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__minus_00_dot_80 - object\n Egg_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__minus_00_dot_90 - object\n Egg_bar__minus_00_dot_42_bar__plus_00_dot_95_bar__minus_01_dot_68 - object\n Faucet_bar__minus_01_dot_79_bar__plus_01_dot_14_bar__minus_03_dot_91 - object\n Fork_bar__minus_00_dot_08_bar__plus_00_dot_91_bar__minus_03_dot_11 - object\n Fork_bar__minus_00_dot_38_bar__plus_00_dot_75_bar__minus_03_dot_08 - object\n Fork_bar__minus_03_dot_20_bar__plus_00_dot_75_bar__minus_03_dot_02 - object\n Knife_bar__minus_01_dot_26_bar__plus_00_dot_95_bar__minus_03_dot_73 - object\n Knife_bar__minus_02_dot_66_bar__plus_00_dot_75_bar__minus_00_dot_29 - object\n Knife_bar__minus_03_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_70 - object\n Lettuce_bar__minus_03_dot_13_bar__plus_01_dot_49_bar__minus_02_dot_00 - object\n Lettuce_bar__minus_03_dot_29_bar__plus_00_dot_80_bar__minus_00_dot_56 - object\n Lettuce_bar__minus_03_dot_31_bar__plus_01_dot_00_bar__minus_02_dot_93 - object\n LightSwitch_bar__minus_01_dot_11_bar__plus_01_dot_46_bar__plus_00_dot_34 - object\n Mug_bar__minus_02_dot_93_bar__plus_00_dot_76_bar__minus_00_dot_36 - object\n Pan_bar__minus_00_dot_24_bar__plus_00_dot_91_bar__minus_03_dot_95 - object\n Pan_bar__minus_00_dot_38_bar__plus_00_dot_98_bar__minus_02_dot_03 - object\n PepperShaker_bar__minus_02_dot_93_bar__plus_00_dot_71_bar__minus_00_dot_83 - object\n PepperShaker_bar__minus_03_dot_08_bar__plus_00_dot_74_bar__minus_03_dot_13 - object\n Plate_bar__minus_02_dot_44_bar__plus_00_dot_71_bar__minus_00_dot_43 - object\n Plate_bar__minus_03_dot_18_bar__plus_01_dot_87_bar__minus_02_dot_33 - object\n Plate_bar__minus_03_dot_28_bar__plus_01_dot_87_bar__minus_02_dot_57 - object\n Plate_bar__minus_03_dot_31_bar__plus_00_dot_91_bar__minus_03_dot_23 - object\n Potato_bar__minus_03_dot_13_bar__plus_01_dot_06_bar__minus_02_dot_00 - object\n Potato_bar__minus_03_dot_23_bar__plus_01_dot_06_bar__minus_02_dot_13 - object\n Pot_bar__minus_02_dot_84_bar__plus_00_dot_90_bar__minus_03_dot_75 - object\n SaltShaker_bar__minus_00_dot_24_bar__plus_00_dot_91_bar__minus_02_dot_91 - object\n Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75 - object\n SoapBottle_bar__minus_00_dot_10_bar__plus_00_dot_92_bar__minus_01_dot_62 - object\n Spatula_bar__minus_03_dot_14_bar__plus_00_dot_76_bar__minus_02_dot_86 - object\n Spoon_bar__minus_02_dot_99_bar__plus_00_dot_71_bar__minus_00_dot_92 - object\n Spoon_bar__minus_03_dot_21_bar__plus_00_dot_71_bar__minus_00_dot_75 - object\n StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_00 - object\n StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_17 - object\n StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_31 - object\n StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_47 - object\n Tomato_bar__minus_00_dot_10_bar__plus_00_dot_97_bar__minus_00_dot_51 - object\n Tomato_bar__minus_00_dot_41_bar__plus_00_dot_96_bar__minus_03_dot_21 - object\n Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_21_bar__minus_04_dot_24 - receptacle\n Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_00_dot_45 - receptacle\n Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_01_dot_74 - receptacle\n Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_02_dot_73 - receptacle\n Cabinet_bar__minus_00_dot_24_bar__plus_02_dot_10_bar__minus_01_dot_77 - receptacle\n Cabinet_bar__minus_00_dot_24_bar__plus_02_dot_10_bar__minus_02_dot_71 - receptacle\n Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_00_dot_45 - receptacle\n Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_73 - receptacle\n Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_74 - receptacle\n Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_48 - receptacle\n Cabinet_bar__minus_00_dot_61_bar__plus_00_dot_39_bar__minus_03_dot_51 - receptacle\n Cabinet_bar__minus_01_dot_23_bar__plus_01_dot_81_bar__minus_03_dot_76 - receptacle\n Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_39_bar__minus_03_dot_51 - receptacle\n Cabinet_bar__minus_01_dot_38_bar__plus_00_dot_39_bar__minus_03_dot_51 - receptacle\n Cabinet_bar__minus_02_dot_15_bar__plus_00_dot_39_bar__minus_03_dot_51 - receptacle\n Cabinet_bar__minus_02_dot_81_bar__plus_01_dot_81_bar__minus_03_dot_76 - receptacle\n Cabinet_bar__minus_02_dot_98_bar__plus_00_dot_39_bar__minus_03_dot_20 - receptacle\n Cabinet_bar__minus_03_dot_02_bar__plus_02_dot_10_bar__minus_01_dot_74 - receptacle\n Cabinet_bar__minus_03_dot_02_bar__plus_02_dot_10_bar__minus_02_dot_68 - receptacle\n Cabinet_bar__minus_03_dot_23_bar__plus_01_dot_80_bar__minus_03_dot_34 - receptacle\n Cabinet_bar__minus_06_dot_01_bar__plus_01_dot_14_bar__minus_06_dot_02 - receptacle\n CoffeeMachine_bar__minus_03_dot_10_bar__plus_00_dot_71_bar__minus_00_dot_19 - receptacle\n CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09 - receptacle\n CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80 - receptacle\n DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51 - receptacle\n Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_00_dot_76 - receptacle\n Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_01_dot_41 - receptacle\n Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_02_dot_97 - receptacle\n Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_03_dot_35 - receptacle\n Drawer_bar__minus_03_dot_10_bar__plus_00_dot_80_bar__minus_02_dot_97 - receptacle\n Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19 - receptacle\n GarbageCan_bar__minus_00_dot_28_bar__plus_00_dot_00_bar__minus_00_dot_04 - receptacle\n Microwave_bar__minus_00_dot_14_bar__plus_00_dot_90_bar__minus_00_dot_91 - receptacle\n Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_03 - receptacle\n StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_45 - receptacle\n StoveBurner_bar__minus_00_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_03 - receptacle\n StoveBurner_bar__minus_00_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_45 - receptacle\n Toaster_bar__minus_00_dot_23_bar__plus_00_dot_90_bar__minus_03_dot_41 - receptacle\n loc_bar__minus_9_bar__minus_10_bar_2_bar_45 - location\n loc_bar__minus_9_bar__minus_12_bar_2_bar__minus_15 - location\n loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_15 - location\n loc_bar__minus_4_bar__minus_8_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_10_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_13_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_13_bar_3_bar_45 - location\n loc_bar__minus_8_bar__minus_13_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_13_bar_2_bar__minus_15 - location\n loc_bar__minus_9_bar__minus_12_bar_3_bar_45 - location\n loc_bar__minus_8_bar__minus_9_bar_3_bar__minus_30 - location\n loc_bar__minus_4_bar__minus_13_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_3_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_5_bar_1_bar_45 - location\n loc_bar__minus_7_bar__minus_13_bar_2_bar_60 - location\n loc_bar__minus_9_bar__minus_5_bar_3_bar_60 - location\n loc_bar__minus_7_bar__minus_4_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_10_bar_2_bar_45 - location\n loc_bar__minus_8_bar__minus_11_bar_3_bar__minus_30 - location\n loc_bar__minus_8_bar__minus_1_bar_3_bar_60 - location\n loc_bar__minus_5_bar__minus_13_bar_1_bar_30 - location\n loc_bar__minus_6_bar__minus_13_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30 - location\n loc_bar__minus_4_bar__minus_10_bar_1_bar_45 - location\n loc_bar__minus_8_bar__minus_10_bar_2_bar_45 - location\n loc_bar__minus_9_bar__minus_9_bar_3_bar_60 - location\n loc_bar__minus_4_bar__minus_1_bar_0_bar_15 - location\n loc_bar__minus_8_bar__minus_3_bar_3_bar_60 - location\n loc_bar__minus_7_bar__minus_11_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_8_bar_1_bar_60 - location\n loc_bar__minus_5_bar__minus_10_bar_2_bar_45 - location\n loc_bar__minus_9_bar__minus_12_bar_3_bar_60 - location\n loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_30 - location\n loc_bar__minus_4_bar__minus_1_bar_1_bar_60 - location\n loc_bar__minus_6_bar__minus_2_bar_1_bar_60 - location\n loc_bar__minus_8_bar__minus_13_bar_3_bar_0 - location\n loc_bar__minus_4_bar__minus_12_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_2_bar_1_bar__minus_15 - location\n loc_bar__minus_4_bar__minus_3_bar_1_bar_45 - location\n loc_bar__minus_8_bar__minus_1_bar_3_bar_45 - location\n loc_bar__minus_7_bar__minus_2_bar_3_bar_45 - location\n loc_bar__minus_4_bar__minus_6_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_9_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_15 - location\n loc_bar__minus_5_bar__minus_7_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__minus_00_dot_61_bar__plus_00_dot_39_bar__minus_03_dot_51 CabinetType)\n (receptacleType CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80 CounterTopType)\n (receptacleType Cabinet_bar__minus_02_dot_98_bar__plus_00_dot_39_bar__minus_03_dot_20 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_15_bar__plus_00_dot_39_bar__minus_03_dot_51 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_21_bar__minus_04_dot_24 CabinetType)\n (receptacleType CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09 CounterTopType)\n (receptacleType 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Apple_bar__minus_02_dot_58_bar__plus_00_dot_76_bar__minus_00_dot_68)\n (sliceable Lettuce_bar__minus_03_dot_31_bar__plus_01_dot_00_bar__minus_02_dot_93)\n (sliceable Lettuce_bar__minus_03_dot_13_bar__plus_01_dot_49_bar__minus_02_dot_00)\n (sliceable Apple_bar__minus_02_dot_80_bar__plus_00_dot_76_bar__minus_00_dot_92)\n (sliceable Tomato_bar__minus_00_dot_10_bar__plus_00_dot_97_bar__minus_00_dot_51)\n (sliceable Egg_bar__minus_00_dot_42_bar__plus_00_dot_95_bar__minus_01_dot_68)\n (sliceable Lettuce_bar__minus_03_dot_29_bar__plus_00_dot_80_bar__minus_00_dot_56)\n (sliceable Potato_bar__minus_03_dot_23_bar__plus_01_dot_06_bar__minus_02_dot_13)\n (sliceable Potato_bar__minus_03_dot_13_bar__plus_01_dot_06_bar__minus_02_dot_00)\n (sliceable Egg_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__minus_00_dot_90)\n (sliceable Tomato_bar__minus_00_dot_41_bar__plus_00_dot_96_bar__minus_03_dot_21)\n (sliceable Egg_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__minus_00_dot_80)\n \n (inReceptacle Bread_bar__minus_00_dot_33_bar__plus_00_dot_95_bar__minus_03_dot_68 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80)\n (inReceptacle Pot_bar__minus_02_dot_84_bar__plus_00_dot_90_bar__minus_03_dot_75 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80)\n (inReceptacle Cup_bar__minus_00_dot_04_bar__plus_00_dot_91_bar__minus_03_dot_73 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80)\n (inReceptacle Lettuce_bar__minus_03_dot_31_bar__plus_01_dot_00_bar__minus_02_dot_93 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80)\n (inReceptacle DishSponge_bar__minus_03_dot_06_bar__plus_00_dot_91_bar__minus_03_dot_33 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80)\n (inReceptacle Cup_bar__minus_01_dot_06_bar__plus_00_dot_91_bar__minus_03_dot_80 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80)\n (inReceptacle SaltShaker_bar__minus_00_dot_24_bar__plus_00_dot_91_bar__minus_02_dot_91 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80)\n (inReceptacle Plate_bar__minus_03_dot_31_bar__plus_00_dot_91_bar__minus_03_dot_23 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80)\n (inReceptacle Knife_bar__minus_01_dot_26_bar__plus_00_dot_95_bar__minus_03_dot_73 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80)\n (inReceptacle ButterKnife_bar__minus_02_dot_45_bar__plus_00_dot_91_bar__minus_03_dot_58 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80)\n (inReceptacle Pan_bar__minus_00_dot_24_bar__plus_00_dot_91_bar__minus_03_dot_95 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80)\n (inReceptacle Bowl_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__minus_03_dot_88 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80)\n (inReceptacle Fork_bar__minus_00_dot_08_bar__plus_00_dot_91_bar__minus_03_dot_11 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80)\n (inReceptacle Tomato_bar__minus_00_dot_41_bar__plus_00_dot_96_bar__minus_03_dot_21 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80)\n (inReceptacle ButterKnife_bar__minus_02_dot_24_bar__plus_00_dot_90_bar__minus_03_dot_59 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80)\n (inReceptacle Plate_bar__minus_03_dot_28_bar__plus_01_dot_87_bar__minus_02_dot_57 Cabinet_bar__minus_03_dot_02_bar__plus_02_dot_10_bar__minus_02_dot_68)\n (inReceptacle Plate_bar__minus_03_dot_18_bar__plus_01_dot_87_bar__minus_02_dot_33 Cabinet_bar__minus_03_dot_02_bar__plus_02_dot_10_bar__minus_02_dot_68)\n (inReceptacle Cup_bar__minus_01_dot_61_bar__plus_00_dot_08_bar__minus_03_dot_60 Cabinet_bar__minus_01_dot_38_bar__plus_00_dot_39_bar__minus_03_dot_51)\n (inReceptacle Spoon_bar__minus_03_dot_21_bar__plus_00_dot_71_bar__minus_00_dot_75 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle Apple_bar__minus_02_dot_58_bar__plus_00_dot_76_bar__minus_00_dot_68 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle Knife_bar__minus_03_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_70 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle Knife_bar__minus_02_dot_66_bar__plus_00_dot_75_bar__minus_00_dot_29 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle PepperShaker_bar__minus_02_dot_93_bar__plus_00_dot_71_bar__minus_00_dot_83 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle Plate_bar__minus_02_dot_44_bar__plus_00_dot_71_bar__minus_00_dot_43 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle Mug_bar__minus_02_dot_93_bar__plus_00_dot_76_bar__minus_00_dot_36 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle Apple_bar__minus_02_dot_80_bar__plus_00_dot_76_bar__minus_00_dot_92 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle DishSponge_bar__minus_02_dot_58_bar__plus_00_dot_71_bar__minus_00_dot_50 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle Lettuce_bar__minus_03_dot_29_bar__plus_00_dot_80_bar__minus_00_dot_56 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle DishSponge_bar__minus_02_dot_75_bar__plus_00_dot_71_bar__minus_00_dot_21 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle Spoon_bar__minus_02_dot_99_bar__plus_00_dot_71_bar__minus_00_dot_92 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle Bowl_bar__minus_02_dot_77_bar__plus_00_dot_71_bar__minus_00_dot_60 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle Spatula_bar__minus_03_dot_14_bar__plus_00_dot_76_bar__minus_02_dot_86 Drawer_bar__minus_03_dot_10_bar__plus_00_dot_80_bar__minus_02_dot_97)\n (inReceptacle PepperShaker_bar__minus_03_dot_08_bar__plus_00_dot_74_bar__minus_03_dot_13 Drawer_bar__minus_03_dot_10_bar__plus_00_dot_80_bar__minus_02_dot_97)\n (inReceptacle Fork_bar__minus_03_dot_20_bar__plus_00_dot_75_bar__minus_03_dot_02 Drawer_bar__minus_03_dot_10_bar__plus_00_dot_80_bar__minus_02_dot_97)\n (inReceptacle Tomato_bar__minus_00_dot_10_bar__plus_00_dot_97_bar__minus_00_dot_51 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09)\n (inReceptacle SoapBottle_bar__minus_00_dot_10_bar__plus_00_dot_92_bar__minus_01_dot_62 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09)\n (inReceptacle Egg_bar__minus_00_dot_42_bar__plus_00_dot_95_bar__minus_01_dot_68 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09)\n (inReceptacle Pan_bar__minus_00_dot_38_bar__plus_00_dot_98_bar__minus_02_dot_03 StoveBurner_bar__minus_00_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_03)\n (inReceptacle Fork_bar__minus_00_dot_38_bar__plus_00_dot_75_bar__minus_03_dot_08 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_02_dot_97)\n (inReceptacle Pan_bar__minus_00_dot_38_bar__plus_00_dot_98_bar__minus_02_dot_03 StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_03)\n (inReceptacle Egg_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__minus_00_dot_90 Microwave_bar__minus_00_dot_14_bar__plus_00_dot_90_bar__minus_00_dot_91)\n (inReceptacle Egg_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__minus_00_dot_80 Microwave_bar__minus_00_dot_14_bar__plus_00_dot_90_bar__minus_00_dot_91)\n (inReceptacle Mug_bar__minus_02_dot_93_bar__plus_00_dot_76_bar__minus_00_dot_36 CoffeeMachine_bar__minus_03_dot_10_bar__plus_00_dot_71_bar__minus_00_dot_19)\n (inReceptacle Lettuce_bar__minus_03_dot_13_bar__plus_01_dot_49_bar__minus_02_dot_00 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19)\n (inReceptacle Potato_bar__minus_03_dot_23_bar__plus_01_dot_06_bar__minus_02_dot_13 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19)\n (inReceptacle Potato_bar__minus_03_dot_13_bar__plus_01_dot_06_bar__minus_02_dot_00 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19)\n (inReceptacle Bowl_bar__minus_03_dot_13_bar__plus_00_dot_64_bar__minus_02_dot_00 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19)\n (inReceptacleObject DishSponge_bar__minus_02_dot_58_bar__plus_00_dot_71_bar__minus_00_dot_50 Plate_bar__minus_02_dot_44_bar__plus_00_dot_71_bar__minus_00_dot_43)\n \n \n (receptacleAtLocation Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_21_bar__minus_04_dot_24 loc_bar__minus_5_bar__minus_13_bar_1_bar_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_00_dot_45 loc_bar__minus_4_bar__minus_2_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_01_dot_74 loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_02_dot_73 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_24_bar__plus_02_dot_10_bar__minus_01_dot_77 loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_24_bar__plus_02_dot_10_bar__minus_02_dot_71 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_00_dot_45 loc_bar__minus_6_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_73 loc_bar__minus_7_bar__minus_4_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_74 loc_bar__minus_6_bar__minus_13_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_48 loc_bar__minus_7_bar__minus_11_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_61_bar__plus_00_dot_39_bar__minus_03_dot_51 loc_bar__minus_5_bar__minus_10_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_23_bar__plus_01_dot_81_bar__minus_03_dot_76 loc_bar__minus_4_bar__minus_13_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_39_bar__minus_03_dot_51 loc_bar__minus_4_bar__minus_10_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_38_bar__plus_00_dot_39_bar__minus_03_dot_51 loc_bar__minus_8_bar__minus_10_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_15_bar__plus_00_dot_39_bar__minus_03_dot_51 loc_bar__minus_9_bar__minus_10_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_81_bar__plus_01_dot_81_bar__minus_03_dot_76 loc_bar__minus_9_bar__minus_12_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_98_bar__plus_00_dot_39_bar__minus_03_dot_20 loc_bar__minus_9_bar__minus_12_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_02_bar__plus_02_dot_10_bar__minus_01_dot_74 loc_bar__minus_8_bar__minus_9_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_02_bar__plus_02_dot_10_bar__minus_02_dot_68 loc_bar__minus_8_bar__minus_11_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_23_bar__plus_01_dot_80_bar__minus_03_dot_34 loc_bar__minus_8_bar__minus_13_bar_3_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_06_dot_01_bar__plus_01_dot_14_bar__minus_06_dot_02 loc_bar__minus_8_bar__minus_13_bar_3_bar_0)\n (receptacleAtLocation CoffeeMachine_bar__minus_03_dot_10_bar__plus_00_dot_71_bar__minus_00_dot_19 loc_bar__minus_8_bar__minus_1_bar_3_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09 loc_bar__minus_4_bar__minus_5_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_00_dot_76 loc_bar__minus_4_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_01_dot_41 loc_bar__minus_4_bar__minus_6_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_02_dot_97 loc_bar__minus_4_bar__minus_12_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_03_dot_35 loc_bar__minus_4_bar__minus_13_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_03_dot_10_bar__plus_00_dot_80_bar__minus_02_dot_97 loc_bar__minus_9_bar__minus_12_bar_3_bar_45)\n (receptacleAtLocation Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19 loc_bar__minus_9_bar__minus_9_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_28_bar__plus_00_dot_00_bar__minus_00_dot_04 loc_bar__minus_4_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__minus_00_dot_14_bar__plus_00_dot_90_bar__minus_00_dot_91 loc_bar__minus_4_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75_bar_SinkBasin loc_bar__minus_8_bar__minus_13_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_03 loc_bar__minus_4_bar__minus_8_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_45 loc_bar__minus_4_bar__minus_10_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_03 loc_bar__minus_4_bar__minus_8_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_45 loc_bar__minus_4_bar__minus_10_bar_1_bar_45)\n (receptacleAtLocation Toaster_bar__minus_00_dot_23_bar__plus_00_dot_90_bar__minus_03_dot_41 loc_bar__minus_4_bar__minus_13_bar_1_bar_45)\n (objectAtLocation Bowl_bar__minus_03_dot_13_bar__plus_00_dot_64_bar__minus_02_dot_00 loc_bar__minus_9_bar__minus_9_bar_3_bar_60)\n (objectAtLocation Spoon_bar__minus_02_dot_99_bar__plus_00_dot_71_bar__minus_00_dot_92 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation DishSponge_bar__minus_02_dot_75_bar__plus_00_dot_71_bar__minus_00_dot_21 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Plate_bar__minus_03_dot_18_bar__plus_01_dot_87_bar__minus_02_dot_33 loc_bar__minus_8_bar__minus_11_bar_3_bar__minus_30)\n (objectAtLocation ButterKnife_bar__minus_02_dot_24_bar__plus_00_dot_90_bar__minus_03_dot_59 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation PepperShaker_bar__minus_02_dot_93_bar__plus_00_dot_71_bar__minus_00_dot_83 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Knife_bar__minus_02_dot_66_bar__plus_00_dot_75_bar__minus_00_dot_29 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Apple_bar__minus_02_dot_58_bar__plus_00_dot_76_bar__minus_00_dot_68 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Tomato_bar__minus_00_dot_41_bar__plus_00_dot_96_bar__minus_03_dot_21 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Lettuce_bar__minus_03_dot_13_bar__plus_01_dot_49_bar__minus_02_dot_00 loc_bar__minus_9_bar__minus_9_bar_3_bar_60)\n (objectAtLocation Potato_bar__minus_03_dot_23_bar__plus_01_dot_06_bar__minus_02_dot_13 loc_bar__minus_9_bar__minus_9_bar_3_bar_60)\n (objectAtLocation Pan_bar__minus_00_dot_24_bar__plus_00_dot_91_bar__minus_03_dot_95 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Fork_bar__minus_03_dot_20_bar__plus_00_dot_75_bar__minus_03_dot_02 loc_bar__minus_9_bar__minus_12_bar_3_bar_45)\n (objectAtLocation Cup_bar__minus_01_dot_06_bar__plus_00_dot_91_bar__minus_03_dot_80 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__minus_00_dot_80 loc_bar__minus_4_bar__minus_3_bar_1_bar_45)\n (objectAtLocation Lettuce_bar__minus_03_dot_29_bar__plus_00_dot_80_bar__minus_00_dot_56 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Bowl_bar__minus_02_dot_77_bar__plus_00_dot_71_bar__minus_00_dot_60 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Knife_bar__minus_03_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_70 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Plate_bar__minus_03_dot_31_bar__plus_00_dot_91_bar__minus_03_dot_23 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Plate_bar__minus_03_dot_28_bar__plus_01_dot_87_bar__minus_02_dot_57 loc_bar__minus_8_bar__minus_11_bar_3_bar__minus_30)\n (objectAtLocation Cup_bar__minus_00_dot_04_bar__plus_00_dot_91_bar__minus_03_dot_73 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_42_bar__plus_00_dot_95_bar__minus_01_dot_68 loc_bar__minus_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Fork_bar__minus_00_dot_38_bar__plus_00_dot_75_bar__minus_03_dot_08 loc_bar__minus_4_bar__minus_12_bar_1_bar_60)\n (objectAtLocation DishSponge_bar__minus_02_dot_58_bar__plus_00_dot_71_bar__minus_00_dot_50 loc_bar__minus_8_bar__minus_1_bar_3_bar_60)\n (objectAtLocation Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75 loc_bar__minus_7_bar__minus_13_bar_2_bar_60)\n (objectAtLocation Pot_bar__minus_02_dot_84_bar__plus_00_dot_90_bar__minus_03_dot_75 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__minus_00_dot_90 loc_bar__minus_4_bar__minus_3_bar_1_bar_45)\n (objectAtLocation Cup_bar__minus_01_dot_61_bar__plus_00_dot_08_bar__minus_03_dot_60 loc_bar__minus_8_bar__minus_10_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_31 loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_47 loc_bar__minus_4_bar__minus_10_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_17 loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_00 loc_bar__minus_4_bar__minus_8_bar_1_bar_60)\n (objectAtLocation Bread_bar__minus_00_dot_33_bar__plus_00_dot_95_bar__minus_03_dot_68 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Fork_bar__minus_00_dot_08_bar__plus_00_dot_91_bar__minus_03_dot_11 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Pan_bar__minus_00_dot_38_bar__plus_00_dot_98_bar__minus_02_dot_03 loc_bar__minus_4_bar__minus_8_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_03_dot_13_bar__plus_01_dot_06_bar__minus_02_dot_00 loc_bar__minus_9_bar__minus_9_bar_3_bar_60)\n (objectAtLocation Lettuce_bar__minus_03_dot_31_bar__plus_01_dot_00_bar__minus_02_dot_93 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Tomato_bar__minus_00_dot_10_bar__plus_00_dot_97_bar__minus_00_dot_51 loc_bar__minus_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation LightSwitch_bar__minus_01_dot_11_bar__plus_01_dot_46_bar__plus_00_dot_34 loc_bar__minus_4_bar__minus_1_bar_0_bar_15)\n (objectAtLocation Apple_bar__minus_02_dot_80_bar__plus_00_dot_76_bar__minus_00_dot_92 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_10_bar__plus_00_dot_92_bar__minus_01_dot_62 loc_bar__minus_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Spatula_bar__minus_03_dot_14_bar__plus_00_dot_76_bar__minus_02_dot_86 loc_bar__minus_9_bar__minus_12_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_24_bar__plus_00_dot_91_bar__minus_02_dot_91 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Knife_bar__minus_01_dot_26_bar__plus_00_dot_95_bar__minus_03_dot_73 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation PepperShaker_bar__minus_03_dot_08_bar__plus_00_dot_74_bar__minus_03_dot_13 loc_bar__minus_9_bar__minus_12_bar_3_bar_45)\n (objectAtLocation ButterKnife_bar__minus_02_dot_45_bar__plus_00_dot_91_bar__minus_03_dot_58 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Plate_bar__minus_02_dot_44_bar__plus_00_dot_71_bar__minus_00_dot_43 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation DishSponge_bar__minus_03_dot_06_bar__plus_00_dot_91_bar__minus_03_dot_33 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Chair_bar__minus_02_dot_38_bar__plus_00_dot_02_bar__minus_00_dot_55 loc_bar__minus_8_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Chair_bar__minus_03_dot_16_bar__plus_00_dot_01_bar__minus_00_dot_99 loc_bar__minus_9_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Spoon_bar__minus_03_dot_21_bar__plus_00_dot_71_bar__minus_00_dot_75 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Mug_bar__minus_02_dot_93_bar__plus_00_dot_76_bar__minus_00_dot_36 loc_bar__minus_8_bar__minus_1_bar_3_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__minus_03_dot_88 loc_bar__minus_4_bar__minus_13_bar_3_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 PlateType)\n (receptacleType ?r DiningTableType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take plate 1 from countertop 1", "go to sinkbasin 1", "clean plate 1 with sinkbasin 1", "go to diningtable 1", "move plate 1 to diningtable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Plate-None-DiningTable-19/trial_T20190909_045558_023687/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Plate-None-DiningTable-19/trial_T20190909_045558_023687/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..4f06c29f3b2cca71abe405c89dad0c813211e011 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Plate-None-DiningTable-19/trial_T20190909_045558_023687/initial_state.pddl @@ -0,0 +1,1148 @@ + +(define (problem plan_trial_T20190909_045558_023687) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__minus_02_dot_58_bar__plus_00_dot_76_bar__minus_00_dot_68 - object + Apple_bar__minus_02_dot_80_bar__plus_00_dot_76_bar__minus_00_dot_92 - object + Bowl_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__minus_03_dot_88 - object + Bowl_bar__minus_02_dot_77_bar__plus_00_dot_71_bar__minus_00_dot_60 - object + Bowl_bar__minus_03_dot_13_bar__plus_00_dot_64_bar__minus_02_dot_00 - object + Bread_bar__minus_00_dot_33_bar__plus_00_dot_95_bar__minus_03_dot_68 - object + ButterKnife_bar__minus_02_dot_24_bar__plus_00_dot_90_bar__minus_03_dot_59 - object + ButterKnife_bar__minus_02_dot_45_bar__plus_00_dot_91_bar__minus_03_dot_58 - object + Chair_bar__minus_02_dot_38_bar__plus_00_dot_02_bar__minus_00_dot_55 - object + Chair_bar__minus_03_dot_16_bar__plus_00_dot_01_bar__minus_00_dot_99 - object + Cup_bar__minus_00_dot_04_bar__plus_00_dot_91_bar__minus_03_dot_73 - object + Cup_bar__minus_01_dot_06_bar__plus_00_dot_91_bar__minus_03_dot_80 - object + Cup_bar__minus_01_dot_61_bar__plus_00_dot_08_bar__minus_03_dot_60 - object + DishSponge_bar__minus_02_dot_58_bar__plus_00_dot_71_bar__minus_00_dot_50 - object + DishSponge_bar__minus_02_dot_75_bar__plus_00_dot_71_bar__minus_00_dot_21 - object + DishSponge_bar__minus_03_dot_06_bar__plus_00_dot_91_bar__minus_03_dot_33 - object + Egg_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__minus_00_dot_80 - object + Egg_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__minus_00_dot_90 - object + Egg_bar__minus_00_dot_42_bar__plus_00_dot_95_bar__minus_01_dot_68 - object + Faucet_bar__minus_01_dot_79_bar__plus_01_dot_14_bar__minus_03_dot_91 - object + Fork_bar__minus_00_dot_08_bar__plus_00_dot_91_bar__minus_03_dot_11 - object + Fork_bar__minus_00_dot_38_bar__plus_00_dot_75_bar__minus_03_dot_08 - object + Fork_bar__minus_03_dot_20_bar__plus_00_dot_75_bar__minus_03_dot_02 - object + Knife_bar__minus_01_dot_26_bar__plus_00_dot_95_bar__minus_03_dot_73 - object + Knife_bar__minus_02_dot_66_bar__plus_00_dot_75_bar__minus_00_dot_29 - object + Knife_bar__minus_03_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_70 - object + Lettuce_bar__minus_03_dot_13_bar__plus_01_dot_49_bar__minus_02_dot_00 - object + Lettuce_bar__minus_03_dot_29_bar__plus_00_dot_80_bar__minus_00_dot_56 - object + Lettuce_bar__minus_03_dot_31_bar__plus_01_dot_00_bar__minus_02_dot_93 - object + LightSwitch_bar__minus_01_dot_11_bar__plus_01_dot_46_bar__plus_00_dot_34 - object + Mug_bar__minus_02_dot_93_bar__plus_00_dot_76_bar__minus_00_dot_36 - object + Pan_bar__minus_00_dot_24_bar__plus_00_dot_91_bar__minus_03_dot_95 - object + Pan_bar__minus_00_dot_38_bar__plus_00_dot_98_bar__minus_02_dot_03 - object + PepperShaker_bar__minus_02_dot_93_bar__plus_00_dot_71_bar__minus_00_dot_83 - object + PepperShaker_bar__minus_03_dot_08_bar__plus_00_dot_74_bar__minus_03_dot_13 - object + Plate_bar__minus_02_dot_44_bar__plus_00_dot_71_bar__minus_00_dot_43 - object + Plate_bar__minus_03_dot_18_bar__plus_01_dot_87_bar__minus_02_dot_33 - object + Plate_bar__minus_03_dot_28_bar__plus_01_dot_87_bar__minus_02_dot_57 - object + Plate_bar__minus_03_dot_31_bar__plus_00_dot_91_bar__minus_03_dot_23 - object + Potato_bar__minus_03_dot_13_bar__plus_01_dot_06_bar__minus_02_dot_00 - object + Potato_bar__minus_03_dot_23_bar__plus_01_dot_06_bar__minus_02_dot_13 - object + Pot_bar__minus_02_dot_84_bar__plus_00_dot_90_bar__minus_03_dot_75 - object + SaltShaker_bar__minus_00_dot_24_bar__plus_00_dot_91_bar__minus_02_dot_91 - object + Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75 - object + SoapBottle_bar__minus_00_dot_10_bar__plus_00_dot_92_bar__minus_01_dot_62 - object + Spatula_bar__minus_03_dot_14_bar__plus_00_dot_76_bar__minus_02_dot_86 - object + Spoon_bar__minus_02_dot_99_bar__plus_00_dot_71_bar__minus_00_dot_92 - object + Spoon_bar__minus_03_dot_21_bar__plus_00_dot_71_bar__minus_00_dot_75 - object + StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_00 - object + StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_17 - object + StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_31 - object + StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_47 - object + Tomato_bar__minus_00_dot_10_bar__plus_00_dot_97_bar__minus_00_dot_51 - object + Tomato_bar__minus_00_dot_41_bar__plus_00_dot_96_bar__minus_03_dot_21 - object + Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_21_bar__minus_04_dot_24 - receptacle + Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_00_dot_45 - receptacle + Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_01_dot_74 - receptacle + Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_02_dot_73 - receptacle + Cabinet_bar__minus_00_dot_24_bar__plus_02_dot_10_bar__minus_01_dot_77 - receptacle + Cabinet_bar__minus_00_dot_24_bar__plus_02_dot_10_bar__minus_02_dot_71 - receptacle 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Cabinet_bar__minus_03_dot_02_bar__plus_02_dot_10_bar__minus_01_dot_74 - receptacle + Cabinet_bar__minus_03_dot_02_bar__plus_02_dot_10_bar__minus_02_dot_68 - receptacle + Cabinet_bar__minus_03_dot_23_bar__plus_01_dot_80_bar__minus_03_dot_34 - receptacle + Cabinet_bar__minus_06_dot_01_bar__plus_01_dot_14_bar__minus_06_dot_02 - receptacle + CoffeeMachine_bar__minus_03_dot_10_bar__plus_00_dot_71_bar__minus_00_dot_19 - receptacle + CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09 - receptacle + CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80 - receptacle + DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51 - receptacle + Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_00_dot_76 - receptacle + Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_01_dot_41 - receptacle + Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_02_dot_97 - receptacle + 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loc_bar__minus_6_bar__minus_2_bar_1_bar_60 - location + loc_bar__minus_8_bar__minus_13_bar_3_bar_0 - location + loc_bar__minus_4_bar__minus_12_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_2_bar_1_bar__minus_15 - location + loc_bar__minus_4_bar__minus_3_bar_1_bar_45 - location + loc_bar__minus_8_bar__minus_1_bar_3_bar_45 - location + loc_bar__minus_7_bar__minus_2_bar_3_bar_45 - location + loc_bar__minus_4_bar__minus_6_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_9_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_15 - location + loc_bar__minus_5_bar__minus_7_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__minus_00_dot_61_bar__plus_00_dot_39_bar__minus_03_dot_51 CabinetType) + (receptacleType CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80 CounterTopType) + (receptacleType Cabinet_bar__minus_02_dot_98_bar__plus_00_dot_39_bar__minus_03_dot_20 CabinetType) + (receptacleType 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Egg_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__minus_00_dot_80) + (coolable Bread_bar__minus_00_dot_33_bar__plus_00_dot_95_bar__minus_03_dot_68) + (coolable Apple_bar__minus_02_dot_58_bar__plus_00_dot_76_bar__minus_00_dot_68) + (coolable Cup_bar__minus_01_dot_06_bar__plus_00_dot_91_bar__minus_03_dot_80) + (coolable Cup_bar__minus_00_dot_04_bar__plus_00_dot_91_bar__minus_03_dot_73) + (coolable Plate_bar__minus_03_dot_31_bar__plus_00_dot_91_bar__minus_03_dot_23) + (coolable Lettuce_bar__minus_03_dot_31_bar__plus_01_dot_00_bar__minus_02_dot_93) + (coolable Pan_bar__minus_00_dot_24_bar__plus_00_dot_91_bar__minus_03_dot_95) + (coolable Plate_bar__minus_02_dot_44_bar__plus_00_dot_71_bar__minus_00_dot_43) + (coolable Lettuce_bar__minus_03_dot_13_bar__plus_01_dot_49_bar__minus_02_dot_00) + (coolable Bowl_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__minus_03_dot_88) + (coolable Apple_bar__minus_02_dot_80_bar__plus_00_dot_76_bar__minus_00_dot_92) + (coolable Tomato_bar__minus_00_dot_10_bar__plus_00_dot_97_bar__minus_00_dot_51) + (coolable Egg_bar__minus_00_dot_42_bar__plus_00_dot_95_bar__minus_01_dot_68) + (coolable Cup_bar__minus_01_dot_61_bar__plus_00_dot_08_bar__minus_03_dot_60) + (coolable Pot_bar__minus_02_dot_84_bar__plus_00_dot_90_bar__minus_03_dot_75) + (coolable Mug_bar__minus_02_dot_93_bar__plus_00_dot_76_bar__minus_00_dot_36) + (coolable Lettuce_bar__minus_03_dot_29_bar__plus_00_dot_80_bar__minus_00_dot_56) + (coolable Potato_bar__minus_03_dot_23_bar__plus_01_dot_06_bar__minus_02_dot_13) + (coolable Bowl_bar__minus_03_dot_13_bar__plus_00_dot_64_bar__minus_02_dot_00) + (coolable Potato_bar__minus_03_dot_13_bar__plus_01_dot_06_bar__minus_02_dot_00) + (coolable Plate_bar__minus_03_dot_28_bar__plus_01_dot_87_bar__minus_02_dot_57) + (coolable Pan_bar__minus_00_dot_38_bar__plus_00_dot_98_bar__minus_02_dot_03) + (coolable Egg_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__minus_00_dot_90) + (coolable Plate_bar__minus_03_dot_18_bar__plus_01_dot_87_bar__minus_02_dot_33) + (coolable Tomato_bar__minus_00_dot_41_bar__plus_00_dot_96_bar__minus_03_dot_21) + (coolable Egg_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__minus_00_dot_80) + (coolable Bowl_bar__minus_02_dot_77_bar__plus_00_dot_71_bar__minus_00_dot_60) + + + + + + (sliceable Bread_bar__minus_00_dot_33_bar__plus_00_dot_95_bar__minus_03_dot_68) + (sliceable Apple_bar__minus_02_dot_58_bar__plus_00_dot_76_bar__minus_00_dot_68) + (sliceable Lettuce_bar__minus_03_dot_31_bar__plus_01_dot_00_bar__minus_02_dot_93) + (sliceable Lettuce_bar__minus_03_dot_13_bar__plus_01_dot_49_bar__minus_02_dot_00) + (sliceable Apple_bar__minus_02_dot_80_bar__plus_00_dot_76_bar__minus_00_dot_92) + (sliceable Tomato_bar__minus_00_dot_10_bar__plus_00_dot_97_bar__minus_00_dot_51) + (sliceable Egg_bar__minus_00_dot_42_bar__plus_00_dot_95_bar__minus_01_dot_68) + (sliceable Lettuce_bar__minus_03_dot_29_bar__plus_00_dot_80_bar__minus_00_dot_56) + (sliceable Potato_bar__minus_03_dot_23_bar__plus_01_dot_06_bar__minus_02_dot_13) + (sliceable Potato_bar__minus_03_dot_13_bar__plus_01_dot_06_bar__minus_02_dot_00) + (sliceable Egg_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__minus_00_dot_90) + (sliceable Tomato_bar__minus_00_dot_41_bar__plus_00_dot_96_bar__minus_03_dot_21) + (sliceable Egg_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__minus_00_dot_80) + + (inReceptacle Bread_bar__minus_00_dot_33_bar__plus_00_dot_95_bar__minus_03_dot_68 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle Pot_bar__minus_02_dot_84_bar__plus_00_dot_90_bar__minus_03_dot_75 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle Cup_bar__minus_00_dot_04_bar__plus_00_dot_91_bar__minus_03_dot_73 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle Lettuce_bar__minus_03_dot_31_bar__plus_01_dot_00_bar__minus_02_dot_93 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle DishSponge_bar__minus_03_dot_06_bar__plus_00_dot_91_bar__minus_03_dot_33 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle Cup_bar__minus_01_dot_06_bar__plus_00_dot_91_bar__minus_03_dot_80 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle SaltShaker_bar__minus_00_dot_24_bar__plus_00_dot_91_bar__minus_02_dot_91 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle Plate_bar__minus_03_dot_31_bar__plus_00_dot_91_bar__minus_03_dot_23 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle Knife_bar__minus_01_dot_26_bar__plus_00_dot_95_bar__minus_03_dot_73 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle ButterKnife_bar__minus_02_dot_45_bar__plus_00_dot_91_bar__minus_03_dot_58 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle Pan_bar__minus_00_dot_24_bar__plus_00_dot_91_bar__minus_03_dot_95 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle Bowl_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__minus_03_dot_88 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle Fork_bar__minus_00_dot_08_bar__plus_00_dot_91_bar__minus_03_dot_11 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle Tomato_bar__minus_00_dot_41_bar__plus_00_dot_96_bar__minus_03_dot_21 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle ButterKnife_bar__minus_02_dot_24_bar__plus_00_dot_90_bar__minus_03_dot_59 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle Plate_bar__minus_03_dot_28_bar__plus_01_dot_87_bar__minus_02_dot_57 Cabinet_bar__minus_03_dot_02_bar__plus_02_dot_10_bar__minus_02_dot_68) + (inReceptacle Plate_bar__minus_03_dot_18_bar__plus_01_dot_87_bar__minus_02_dot_33 Cabinet_bar__minus_03_dot_02_bar__plus_02_dot_10_bar__minus_02_dot_68) + (inReceptacle Cup_bar__minus_01_dot_61_bar__plus_00_dot_08_bar__minus_03_dot_60 Cabinet_bar__minus_01_dot_38_bar__plus_00_dot_39_bar__minus_03_dot_51) + (inReceptacle Spoon_bar__minus_03_dot_21_bar__plus_00_dot_71_bar__minus_00_dot_75 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Apple_bar__minus_02_dot_58_bar__plus_00_dot_76_bar__minus_00_dot_68 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Knife_bar__minus_03_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_70 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Knife_bar__minus_02_dot_66_bar__plus_00_dot_75_bar__minus_00_dot_29 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle PepperShaker_bar__minus_02_dot_93_bar__plus_00_dot_71_bar__minus_00_dot_83 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Plate_bar__minus_02_dot_44_bar__plus_00_dot_71_bar__minus_00_dot_43 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Mug_bar__minus_02_dot_93_bar__plus_00_dot_76_bar__minus_00_dot_36 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Apple_bar__minus_02_dot_80_bar__plus_00_dot_76_bar__minus_00_dot_92 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle DishSponge_bar__minus_02_dot_58_bar__plus_00_dot_71_bar__minus_00_dot_50 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Lettuce_bar__minus_03_dot_29_bar__plus_00_dot_80_bar__minus_00_dot_56 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle DishSponge_bar__minus_02_dot_75_bar__plus_00_dot_71_bar__minus_00_dot_21 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Spoon_bar__minus_02_dot_99_bar__plus_00_dot_71_bar__minus_00_dot_92 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Bowl_bar__minus_02_dot_77_bar__plus_00_dot_71_bar__minus_00_dot_60 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Spatula_bar__minus_03_dot_14_bar__plus_00_dot_76_bar__minus_02_dot_86 Drawer_bar__minus_03_dot_10_bar__plus_00_dot_80_bar__minus_02_dot_97) + (inReceptacle PepperShaker_bar__minus_03_dot_08_bar__plus_00_dot_74_bar__minus_03_dot_13 Drawer_bar__minus_03_dot_10_bar__plus_00_dot_80_bar__minus_02_dot_97) + (inReceptacle Fork_bar__minus_03_dot_20_bar__plus_00_dot_75_bar__minus_03_dot_02 Drawer_bar__minus_03_dot_10_bar__plus_00_dot_80_bar__minus_02_dot_97) + (inReceptacle Tomato_bar__minus_00_dot_10_bar__plus_00_dot_97_bar__minus_00_dot_51 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09) + (inReceptacle SoapBottle_bar__minus_00_dot_10_bar__plus_00_dot_92_bar__minus_01_dot_62 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09) + (inReceptacle Egg_bar__minus_00_dot_42_bar__plus_00_dot_95_bar__minus_01_dot_68 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09) + (inReceptacle Pan_bar__minus_00_dot_38_bar__plus_00_dot_98_bar__minus_02_dot_03 StoveBurner_bar__minus_00_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_03) + (inReceptacle Fork_bar__minus_00_dot_38_bar__plus_00_dot_75_bar__minus_03_dot_08 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_02_dot_97) + (inReceptacle Pan_bar__minus_00_dot_38_bar__plus_00_dot_98_bar__minus_02_dot_03 StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_03) + (inReceptacle Egg_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__minus_00_dot_90 Microwave_bar__minus_00_dot_14_bar__plus_00_dot_90_bar__minus_00_dot_91) + (inReceptacle Egg_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__minus_00_dot_80 Microwave_bar__minus_00_dot_14_bar__plus_00_dot_90_bar__minus_00_dot_91) + (inReceptacle Mug_bar__minus_02_dot_93_bar__plus_00_dot_76_bar__minus_00_dot_36 CoffeeMachine_bar__minus_03_dot_10_bar__plus_00_dot_71_bar__minus_00_dot_19) + (inReceptacle Lettuce_bar__minus_03_dot_13_bar__plus_01_dot_49_bar__minus_02_dot_00 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19) + (inReceptacle Potato_bar__minus_03_dot_23_bar__plus_01_dot_06_bar__minus_02_dot_13 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19) + (inReceptacle Potato_bar__minus_03_dot_13_bar__plus_01_dot_06_bar__minus_02_dot_00 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19) + (inReceptacle Bowl_bar__minus_03_dot_13_bar__plus_00_dot_64_bar__minus_02_dot_00 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19) + (inReceptacleObject DishSponge_bar__minus_02_dot_58_bar__plus_00_dot_71_bar__minus_00_dot_50 Plate_bar__minus_02_dot_44_bar__plus_00_dot_71_bar__minus_00_dot_43) + + + (receptacleAtLocation Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_21_bar__minus_04_dot_24 loc_bar__minus_5_bar__minus_13_bar_1_bar_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_00_dot_45 loc_bar__minus_4_bar__minus_2_bar_1_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_01_dot_74 loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_02_dot_73 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_00_dot_24_bar__plus_02_dot_10_bar__minus_01_dot_77 loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_24_bar__plus_02_dot_10_bar__minus_02_dot_71 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_00_dot_45 loc_bar__minus_6_bar__minus_2_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_73 loc_bar__minus_7_bar__minus_4_bar_1_bar_45) + (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_74 loc_bar__minus_6_bar__minus_13_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_48 loc_bar__minus_7_bar__minus_11_bar_1_bar_45) + (receptacleAtLocation Cabinet_bar__minus_00_dot_61_bar__plus_00_dot_39_bar__minus_03_dot_51 loc_bar__minus_5_bar__minus_10_bar_2_bar_45) + (receptacleAtLocation Cabinet_bar__minus_01_dot_23_bar__plus_01_dot_81_bar__minus_03_dot_76 loc_bar__minus_4_bar__minus_13_bar_2_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_39_bar__minus_03_dot_51 loc_bar__minus_4_bar__minus_10_bar_2_bar_45) + (receptacleAtLocation Cabinet_bar__minus_01_dot_38_bar__plus_00_dot_39_bar__minus_03_dot_51 loc_bar__minus_8_bar__minus_10_bar_2_bar_45) + (receptacleAtLocation Cabinet_bar__minus_02_dot_15_bar__plus_00_dot_39_bar__minus_03_dot_51 loc_bar__minus_9_bar__minus_10_bar_2_bar_45) + (receptacleAtLocation Cabinet_bar__minus_02_dot_81_bar__plus_01_dot_81_bar__minus_03_dot_76 loc_bar__minus_9_bar__minus_12_bar_2_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_02_dot_98_bar__plus_00_dot_39_bar__minus_03_dot_20 loc_bar__minus_9_bar__minus_12_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_03_dot_02_bar__plus_02_dot_10_bar__minus_01_dot_74 loc_bar__minus_8_bar__minus_9_bar_3_bar__minus_30) + (receptacleAtLocation 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"position": { + "x": -2.93075848, + "y": 0.7624277, + "z": -0.358240426 + }, + "rotation": { + "x": -0.002214049, + "y": 134.99968, + "z": -0.00138026872 + } + }, + { + "objectName": "Bowl_697b561f", + "position": { + "x": -3.13095522, + "y": 0.638838, + "z": -2.002616 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 1632360081, + "scene_num": 19 + }, + "task_id": "trial_T20190909_045558_023687", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3F7G1FSFWQPLE_31Q0U3WYDS6BTSZC1VKDDXAOL43178", + "high_descs": [ + "Turn around and walk toward the wall, then hang a left and walk up to the round wooden table.", + "Pick up the dirty grey plate with the sponge on it off of the wooden table.", + "Turn left and walk over to the sink.", + "Put the dirty grey plate with the sponge on it into the sink and turn on the water, after a couple seconds turn the water off and remove the now clean plate and sponge.", + "Turn right and walk towards the counter, then hang a right and walk over to the round wooden table.", + "Put the clean grey plate with the sponge on it onto the round wooden table." + ], + "task_desc": "Put a clean grey plate with a sponge on it on a round wooden table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2RQMEPIHW5BOS_3FDJT1UU77ZYCP7FLCBYKSSR342K59", + "high_descs": [ + "Turn around, walk to the door, turn left, and walk to the table.", + "Pick up the plate with the sponge on it.", + "Turn left and walk to the sink.", + "Put the plate in the sink, turn on the water, turn off the water, and pick up the plate.", + "Turn right, walk to the counter, turn right, and walk to the table.", + "Put the plate on the table." + ], + "task_desc": "Put a clean plate with a clean sponge on it on the table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1RLO9LNUJIW5S_3M81GAB8A3AMC8MJZRM8J04SC6YBQB", + "high_descs": [ + "Turn around and walk to the wall then turn left and walk to the table.", + "Pick up the dirty plate that's in front of you.", + "Turn left and take a step to your left and then walk to the sink.", + "Wash the plate in the sink and then pick it back up and shut off the water.", + "Turn right and walk to the counter then turn right and walk to the table then take a small step to your left.", + "Put the plate back where you got it from." + ], + "task_desc": "Put a clean plate on the table.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Pot-None-DiningTable-26/trial_T20190906_210442_771377/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Pot-None-DiningTable-26/trial_T20190906_210442_771377/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..893cffd0e45a2b50e1b92101b9ba8170a9237f19 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Pot-None-DiningTable-26/trial_T20190906_210442_771377/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 pot 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_T20190906_210442_771377)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__minus_02_dot_72_bar__plus_00_dot_69_bar__plus_04_dot_20 - object\n Bowl_bar__minus_01_dot_64_bar__plus_01_dot_77_bar__plus_00_dot_21 - object\n Bread_bar__minus_02_dot_79_bar__plus_00_dot_36_bar__plus_04_dot_35 - object\n 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LightSwitch_bar__minus_00_dot_07_bar__plus_01_dot_45_bar__plus_02_dot_00 - object\n Mug_bar__minus_02_dot_76_bar__plus_01_dot_18_bar__plus_04_dot_58 - object\n Mug_bar__minus_02_dot_81_bar__plus_01_dot_18_bar__plus_04_dot_20 - object\n Pan_bar__minus_00_dot_25_bar__plus_00_dot_93_bar__plus_04_dot_65 - object\n PepperShaker_bar__minus_01_dot_66_bar__plus_00_dot_66_bar__plus_00_dot_52 - object\n Plate_bar__minus_00_dot_19_bar__plus_01_dot_78_bar__plus_00_dot_16 - object\n Plate_bar__minus_02_dot_19_bar__plus_01_dot_78_bar__plus_00_dot_16 - object\n Potato_bar__minus_00_dot_24_bar__plus_01_dot_04_bar__plus_00_dot_17 - object\n Potato_bar__minus_00_dot_35_bar__plus_01_dot_04_bar__plus_00_dot_17 - object\n Potato_bar__minus_02_dot_79_bar__plus_00_dot_96_bar__plus_03_dot_30 - object\n Pot_bar__minus_00_dot_54_bar__plus_00_dot_93_bar__plus_04_dot_27 - object\n SaltShaker_bar__minus_01_dot_66_bar__plus_00_dot_66_bar__plus_00_dot_30 - object\n SaltShaker_bar__minus_02_dot_63_bar__plus_00_dot_93_bar__plus_03_dot_67 - 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_64_bar__plus_01_dot_77_bar__plus_00_dot_21 - object\n SoapBottle_bar__minus_01_dot_36_bar__plus_01_dot_77_bar__plus_00_dot_30 - object\n SoapBottle_bar__minus_02_dot_94_bar__plus_00_dot_94_bar__plus_03_dot_21 - object\n Spatula_bar__minus_00_dot_49_bar__plus_00_dot_68_bar__plus_00_dot_46 - object\n Spatula_bar__minus_01_dot_93_bar__plus_00_dot_68_bar__plus_00_dot_46 - object\n Spatula_bar__minus_02_dot_49_bar__plus_00_dot_68_bar__plus_00_dot_52 - object\n Spoon_bar__minus_02_dot_04_bar__plus_00_dot_93_bar__plus_00_dot_52 - object\n Spoon_bar__minus_02_dot_27_bar__plus_00_dot_66_bar__plus_00_dot_30 - object\n Spoon_bar__minus_02_dot_71_bar__plus_00_dot_94_bar__plus_03_dot_21 - 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_01_dot_77_bar__plus_00_dot_99_bar__plus_00_dot_52 - object\n Tomato_bar__minus_02_dot_85_bar__plus_00_dot_70_bar__plus_04_dot_35 - 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_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_3_bar_4_bar_2_bar_30 - 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_4_bar_2_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_5_bar_14_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_52_bar__plus_02_dot_05_bar__plus_00_dot_39 CabinetType)\n (receptacleType StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_67 StoveBurnerType)\n (receptacleType CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49 CounterTopType)\n (receptacleType StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_27 StoveBurnerType)\n (receptacleType Microwave_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_22 MicrowaveType)\n (receptacleType 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CabinetType)\n (receptacleType Drawer_bar__minus_02_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_41 DrawerType)\n (receptacleType StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_67 StoveBurnerType)\n (receptacleType Drawer_bar__minus_01_dot_82_bar__plus_00_dot_70_bar__plus_00_dot_41 DrawerType)\n (receptacleType GarbageCan_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_00_dot_37 GarbageCanType)\n (receptacleType CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35 CounterTopType)\n (receptacleType Cabinet_bar__minus_01_dot_59_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_27 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_01_dot_51_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 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Spatula_bar__minus_00_dot_49_bar__plus_00_dot_68_bar__plus_00_dot_46 Drawer_bar__minus_00_dot_33_bar__plus_00_dot_70_bar__plus_00_dot_41)\n (inReceptacle Knife_bar__minus_00_dot_38_bar__plus_00_dot_69_bar__plus_00_dot_36 Drawer_bar__minus_00_dot_33_bar__plus_00_dot_70_bar__plus_00_dot_41)\n (inReceptacle Fork_bar__minus_00_dot_22_bar__plus_00_dot_66_bar__plus_00_dot_41 Drawer_bar__minus_00_dot_33_bar__plus_00_dot_70_bar__plus_00_dot_41)\n (inReceptacle Bowl_bar__minus_01_dot_64_bar__plus_01_dot_77_bar__plus_00_dot_21 Cabinet_bar__minus_01_dot_51_bar__plus_02_dot_05_bar__plus_00_dot_39)\n (inReceptacle SoapBottle_bar__minus_01_dot_36_bar__plus_01_dot_77_bar__plus_00_dot_30 Cabinet_bar__minus_01_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39)\n (inReceptacle SoapBottle_bar__minus_00_dot_64_bar__plus_01_dot_77_bar__plus_00_dot_21 Cabinet_bar__minus_00_dot_52_bar__plus_02_dot_05_bar__plus_00_dot_39)\n (inReceptacle Plate_bar__minus_02_dot_19_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 Tomato_bar__minus_01_dot_77_bar__plus_00_dot_99_bar__plus_00_dot_52 CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35)\n (inReceptacle Cup_bar__minus_01_dot_77_bar__plus_00_dot_93_bar__plus_00_dot_26 CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35)\n (inReceptacle Spoon_bar__minus_02_dot_04_bar__plus_00_dot_93_bar__plus_00_dot_52 CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35)\n (inReceptacle ButterKnife_bar__minus_02_dot_30_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 Pan_bar__minus_00_dot_25_bar__plus_00_dot_93_bar__plus_04_dot_65 StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_67)\n (inReceptacle PepperShaker_bar__minus_01_dot_66_bar__plus_00_dot_66_bar__plus_00_dot_52 Drawer_bar__minus_01_dot_82_bar__plus_00_dot_70_bar__plus_00_dot_41)\n (inReceptacle Spatula_bar__minus_01_dot_93_bar__plus_00_dot_68_bar__plus_00_dot_46 Drawer_bar__minus_01_dot_82_bar__plus_00_dot_70_bar__plus_00_dot_41)\n (inReceptacle SaltShaker_bar__minus_01_dot_66_bar__plus_00_dot_66_bar__plus_00_dot_30 Drawer_bar__minus_01_dot_82_bar__plus_00_dot_70_bar__plus_00_dot_41)\n (inReceptacle Pot_bar__minus_00_dot_54_bar__plus_00_dot_93_bar__plus_04_dot_27 StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_27)\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 Pan_bar__minus_00_dot_25_bar__plus_00_dot_93_bar__plus_04_dot_65 StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_27)\n (inReceptacle SoapBottle_bar__minus_02_dot_94_bar__plus_00_dot_94_bar__plus_03_dot_21 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49)\n (inReceptacle Potato_bar__minus_02_dot_79_bar__plus_00_dot_96_bar__plus_03_dot_30 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49)\n (inReceptacle Knife_bar__minus_02_dot_55_bar__plus_00_dot_96_bar__plus_03_dot_49 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_21 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49)\n (inReceptacle SaltShaker_bar__minus_02_dot_63_bar__plus_00_dot_93_bar__plus_03_dot_67 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49)\n (inReceptacle Spoon_bar__minus_02_dot_27_bar__plus_00_dot_66_bar__plus_00_dot_30 Drawer_bar__minus_02_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_41)\n (inReceptacle DishSponge_bar__minus_02_dot_27_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 Spatula_bar__minus_02_dot_49_bar__plus_00_dot_68_bar__plus_00_dot_52 Drawer_bar__minus_02_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_41)\n (inReceptacle DishSponge_bar__minus_02_dot_80_bar__plus_00_dot_05_bar__plus_00_dot_40 GarbageCan_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_00_dot_37)\n (inReceptacle Egg_bar__minus_02_dot_90_bar__plus_00_dot_09_bar__plus_00_dot_45 GarbageCan_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_00_dot_37)\n (inReceptacle Bread_bar__minus_02_dot_79_bar__plus_00_dot_36_bar__plus_04_dot_35 Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43)\n (inReceptacle Apple_bar__minus_02_dot_72_bar__plus_00_dot_69_bar__plus_04_dot_20 Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43)\n (inReceptacle Lettuce_bar__minus_02_dot_80_bar__plus_00_dot_59_bar__plus_04_dot_58 Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43)\n (inReceptacle Mug_bar__minus_02_dot_76_bar__plus_01_dot_18_bar__plus_04_dot_58 Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43)\n (inReceptacle Tomato_bar__minus_02_dot_85_bar__plus_00_dot_70_bar__plus_04_dot_35 Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43)\n (inReceptacle Mug_bar__minus_02_dot_81_bar__plus_01_dot_18_bar__plus_04_dot_20 Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43)\n (inReceptacle Potato_bar__minus_00_dot_35_bar__plus_01_dot_04_bar__plus_00_dot_17 Microwave_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_22)\n (inReceptacle Potato_bar__minus_00_dot_24_bar__plus_01_dot_04_bar__plus_00_dot_17 Microwave_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_22)\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 loc_bar__minus_3_bar_5_bar_2_bar_30)\n (receptacleAtLocation Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34_bar_SinkBasin loc_bar__minus_3_bar_5_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_27 loc_bar__minus_4_bar_17_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_67 loc_bar__minus_4_bar_17_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_27 loc_bar__minus_4_bar_17_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_67 loc_bar__minus_4_bar_17_bar_1_bar_60)\n (receptacleAtLocation Toaster_bar__minus_00_dot_29_bar__plus_00_dot_89_bar__plus_03_dot_56 loc_bar__minus_4_bar_14_bar_1_bar_45)\n (objectAtLocation Mug_bar__minus_02_dot_81_bar__plus_01_dot_18_bar__plus_04_dot_20 loc_bar__minus_7_bar_17_bar_3_bar_60)\n (objectAtLocation Spoon_bar__minus_02_dot_27_bar__plus_00_dot_66_bar__plus_00_dot_30 loc_bar__minus_6_bar_5_bar_2_bar_45)\n (objectAtLocation DishSponge_bar__minus_02_dot_27_bar__plus_00_dot_66_bar__plus_00_dot_41 loc_bar__minus_6_bar_5_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_64_bar__plus_01_dot_77_bar__plus_00_dot_21 loc_bar__minus_3_bar_4_bar_2_bar__minus_30)\n (objectAtLocation SaltShaker_bar__minus_02_dot_63_bar__plus_00_dot_93_bar__plus_03_dot_67 loc_bar__minus_8_bar_14_bar_3_bar_45)\n (objectAtLocation Tomato_bar__minus_02_dot_85_bar__plus_00_dot_70_bar__plus_04_dot_35 loc_bar__minus_7_bar_17_bar_3_bar_60)\n (objectAtLocation Potato_bar__minus_00_dot_24_bar__plus_01_dot_04_bar__plus_00_dot_17 loc_bar__minus_3_bar_5_bar_2_bar_30)\n (objectAtLocation Knife_bar__minus_02_dot_55_bar__plus_00_dot_96_bar__plus_03_dot_49 loc_bar__minus_8_bar_14_bar_3_bar_45)\n (objectAtLocation Spatula_bar__minus_01_dot_93_bar__plus_00_dot_68_bar__plus_00_dot_46 loc_bar__minus_4_bar_5_bar_2_bar_45)\n (objectAtLocation Bread_bar__minus_02_dot_86_bar__plus_00_dot_94_bar__plus_01_dot_98 loc_bar__minus_8_bar_10_bar_3_bar_60)\n (objectAtLocation Plate_bar__minus_00_dot_19_bar__plus_01_dot_78_bar__plus_00_dot_16 loc_bar__minus_3_bar_4_bar_2_bar_30)\n (objectAtLocation SoapBottle_bar__minus_02_dot_94_bar__plus_00_dot_94_bar__plus_03_dot_21 loc_bar__minus_8_bar_14_bar_3_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_27_bar__plus_00_dot_69_bar__plus_00_dot_36 loc_bar__minus_3_bar_6_bar_2_bar_45)\n (objectAtLocation Spoon_bar__minus_02_dot_71_bar__plus_00_dot_94_bar__plus_03_dot_21 loc_bar__minus_8_bar_14_bar_3_bar_45)\n (objectAtLocation Spatula_bar__minus_02_dot_49_bar__plus_00_dot_68_bar__plus_00_dot_52 loc_bar__minus_6_bar_5_bar_2_bar_45)\n (objectAtLocation Potato_bar__minus_02_dot_79_bar__plus_00_dot_96_bar__plus_03_dot_30 loc_bar__minus_8_bar_14_bar_3_bar_45)\n (objectAtLocation Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Egg_bar__minus_02_dot_90_bar__plus_00_dot_09_bar__plus_00_dot_45 loc_bar__minus_10_bar_4_bar_2_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_63 loc_bar__minus_4_bar_17_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_78 loc_bar__minus_4_bar_17_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_38 loc_bar__minus_4_bar_17_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_22 loc_bar__minus_4_bar_17_bar_1_bar_30)\n (objectAtLocation Plate_bar__minus_02_dot_19_bar__plus_01_dot_78_bar__plus_00_dot_16 loc_bar__minus_8_bar_5_bar_2_bar_45)\n (objectAtLocation Fork_bar__minus_00_dot_22_bar__plus_00_dot_66_bar__plus_00_dot_41 loc_bar__minus_3_bar_6_bar_2_bar_45)\n (objectAtLocation Bread_bar__minus_02_dot_79_bar__plus_00_dot_36_bar__plus_04_dot_35 loc_bar__minus_7_bar_17_bar_3_bar_60)\n (objectAtLocation Apple_bar__minus_02_dot_72_bar__plus_00_dot_69_bar__plus_04_dot_20 loc_bar__minus_7_bar_17_bar_3_bar_60)\n (objectAtLocation Lettuce_bar__minus_02_dot_80_bar__plus_00_dot_59_bar__plus_04_dot_58 loc_bar__minus_7_bar_17_bar_3_bar_60)\n (objectAtLocation LightSwitch_bar__minus_00_dot_07_bar__plus_01_dot_45_bar__plus_02_dot_00 loc_bar__minus_3_bar_7_bar_1_bar_15)\n (objectAtLocation Window_bar__minus_03_dot_08_bar__plus_01_dot_59_bar__plus_01_dot_36 loc_bar__minus_10_bar_5_bar_3_bar_0)\n (objectAtLocation Spatula_bar__minus_00_dot_49_bar__plus_00_dot_68_bar__plus_00_dot_46 loc_bar__minus_3_bar_6_bar_2_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_38_bar__plus_00_dot_69_bar__plus_00_dot_36 loc_bar__minus_3_bar_6_bar_2_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_35_bar__plus_01_dot_04_bar__plus_00_dot_17 loc_bar__minus_3_bar_5_bar_2_bar_30)\n (objectAtLocation Tomato_bar__minus_01_dot_77_bar__plus_00_dot_99_bar__plus_00_dot_52 loc_bar__minus_8_bar_5_bar_2_bar_45)\n (objectAtLocation Cup_bar__minus_01_dot_77_bar__plus_00_dot_93_bar__plus_00_dot_26 loc_bar__minus_8_bar_5_bar_2_bar_45)\n (objectAtLocation SaltShaker_bar__minus_01_dot_66_bar__plus_00_dot_66_bar__plus_00_dot_30 loc_bar__minus_4_bar_5_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__minus_01_dot_66_bar__plus_00_dot_66_bar__plus_00_dot_52 loc_bar__minus_4_bar_5_bar_2_bar_45)\n (objectAtLocation ButterKnife_bar__minus_02_dot_30_bar__plus_00_dot_93_bar__plus_00_dot_60 loc_bar__minus_8_bar_5_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_36_bar__plus_01_dot_77_bar__plus_00_dot_30 loc_bar__minus_5_bar_4_bar_2_bar__minus_30)\n (objectAtLocation Pan_bar__minus_00_dot_25_bar__plus_00_dot_93_bar__plus_04_dot_65 loc_bar__minus_4_bar_17_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__minus_02_dot_80_bar__plus_00_dot_05_bar__plus_00_dot_40 loc_bar__minus_10_bar_4_bar_2_bar_60)\n (objectAtLocation Pot_bar__minus_00_dot_54_bar__plus_00_dot_93_bar__plus_04_dot_27 loc_bar__minus_4_bar_17_bar_1_bar_60)\n (objectAtLocation Spoon_bar__minus_02_dot_04_bar__plus_00_dot_93_bar__plus_00_dot_52 loc_bar__minus_8_bar_5_bar_2_bar_45)\n (objectAtLocation Mug_bar__minus_02_dot_76_bar__plus_01_dot_18_bar__plus_04_dot_58 loc_bar__minus_7_bar_17_bar_3_bar_60)\n (objectAtLocation Bowl_bar__minus_01_dot_64_bar__plus_01_dot_77_bar__plus_00_dot_21 loc_bar__minus_7_bar_4_bar_2_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 PotType)\n (receptacleType ?r DiningTableType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to stoveburner 2", "take pot 1 from stoveburner 2", "go to sinkbasin 1", "clean pot 1 with sinkbasin 1", "go to diningtable 2", "move pot 1 to diningtable 2"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Pot-None-DiningTable-26/trial_T20190906_210442_771377/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Pot-None-DiningTable-26/trial_T20190906_210442_771377/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..7049d56d2aca096620eaa734c9b57c40752a3c04 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Pot-None-DiningTable-26/trial_T20190906_210442_771377/initial_state.pddl @@ -0,0 +1,904 @@ + +(define (problem plan_trial_T20190906_210442_771377) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__minus_02_dot_72_bar__plus_00_dot_69_bar__plus_04_dot_20 - object + Bowl_bar__minus_01_dot_64_bar__plus_01_dot_77_bar__plus_00_dot_21 - object + Bread_bar__minus_02_dot_79_bar__plus_00_dot_36_bar__plus_04_dot_35 - object + Bread_bar__minus_02_dot_86_bar__plus_00_dot_94_bar__plus_01_dot_98 - object + ButterKnife_bar__minus_02_dot_30_bar__plus_00_dot_93_bar__plus_00_dot_60 - object + Cup_bar__minus_01_dot_77_bar__plus_00_dot_93_bar__plus_00_dot_26 - object + DishSponge_bar__minus_02_dot_27_bar__plus_00_dot_66_bar__plus_00_dot_41 - object + DishSponge_bar__minus_02_dot_80_bar__plus_00_dot_05_bar__plus_00_dot_40 - object + Egg_bar__minus_02_dot_90_bar__plus_00_dot_09_bar__plus_00_dot_45 - object + Faucet_bar__minus_01_dot_08_bar__plus_00_dot_92_bar__plus_00_dot_03 - object + Fork_bar__minus_00_dot_22_bar__plus_00_dot_66_bar__plus_00_dot_41 - object + Knife_bar__minus_00_dot_27_bar__plus_00_dot_69_bar__plus_00_dot_36 - object + Knife_bar__minus_00_dot_38_bar__plus_00_dot_69_bar__plus_00_dot_36 - object + Knife_bar__minus_02_dot_55_bar__plus_00_dot_96_bar__plus_03_dot_49 - object + Lettuce_bar__minus_02_dot_80_bar__plus_00_dot_59_bar__plus_04_dot_58 - object + LightSwitch_bar__minus_00_dot_07_bar__plus_01_dot_45_bar__plus_02_dot_00 - object + Mug_bar__minus_02_dot_76_bar__plus_01_dot_18_bar__plus_04_dot_58 - object + Mug_bar__minus_02_dot_81_bar__plus_01_dot_18_bar__plus_04_dot_20 - object + Pan_bar__minus_00_dot_25_bar__plus_00_dot_93_bar__plus_04_dot_65 - object + PepperShaker_bar__minus_01_dot_66_bar__plus_00_dot_66_bar__plus_00_dot_52 - object + Plate_bar__minus_00_dot_19_bar__plus_01_dot_78_bar__plus_00_dot_16 - object + Plate_bar__minus_02_dot_19_bar__plus_01_dot_78_bar__plus_00_dot_16 - object + Potato_bar__minus_00_dot_24_bar__plus_01_dot_04_bar__plus_00_dot_17 - object + Potato_bar__minus_00_dot_35_bar__plus_01_dot_04_bar__plus_00_dot_17 - object + Potato_bar__minus_02_dot_79_bar__plus_00_dot_96_bar__plus_03_dot_30 - object + Pot_bar__minus_00_dot_54_bar__plus_00_dot_93_bar__plus_04_dot_27 - object + SaltShaker_bar__minus_01_dot_66_bar__plus_00_dot_66_bar__plus_00_dot_30 - object + SaltShaker_bar__minus_02_dot_63_bar__plus_00_dot_93_bar__plus_03_dot_67 - object + Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34 - object + SoapBottle_bar__minus_00_dot_64_bar__plus_01_dot_77_bar__plus_00_dot_21 - object + SoapBottle_bar__minus_01_dot_36_bar__plus_01_dot_77_bar__plus_00_dot_30 - object + SoapBottle_bar__minus_02_dot_94_bar__plus_00_dot_94_bar__plus_03_dot_21 - object + Spatula_bar__minus_00_dot_49_bar__plus_00_dot_68_bar__plus_00_dot_46 - object + Spatula_bar__minus_01_dot_93_bar__plus_00_dot_68_bar__plus_00_dot_46 - object + Spatula_bar__minus_02_dot_49_bar__plus_00_dot_68_bar__plus_00_dot_52 - object + Spoon_bar__minus_02_dot_04_bar__plus_00_dot_93_bar__plus_00_dot_52 - object + Spoon_bar__minus_02_dot_27_bar__plus_00_dot_66_bar__plus_00_dot_30 - object + Spoon_bar__minus_02_dot_71_bar__plus_00_dot_94_bar__plus_03_dot_21 - object + StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_22 - object + StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_38 - object + StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_63 - object + StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_78 - object + Tomato_bar__minus_01_dot_77_bar__plus_00_dot_99_bar__plus_00_dot_52 - object + Tomato_bar__minus_02_dot_85_bar__plus_00_dot_70_bar__plus_04_dot_35 - object + Window_bar__minus_03_dot_08_bar__plus_01_dot_59_bar__plus_01_dot_36 - object + Cabinet_bar__minus_00_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle + Cabinet_bar__minus_00_dot_52_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle + Cabinet_bar__minus_00_dot_56_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle + Cabinet_bar__minus_00_dot_60_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle + Cabinet_bar__minus_01_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle + Cabinet_bar__minus_01_dot_51_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle + Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle + Cabinet_bar__minus_01_dot_59_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle + Cabinet_bar__minus_02_dot_47_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle + Cabinet_bar__minus_02_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle + CoffeeMachine_bar__minus_02_dot_96_bar__plus_00_dot_93_bar__plus_03_dot_61 - receptacle + CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35 - receptacle + CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49 - receptacle + DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00 - receptacle + DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36 - receptacle + Drawer_bar__minus_00_dot_33_bar__plus_00_dot_70_bar__plus_00_dot_41 - receptacle + Drawer_bar__minus_01_dot_82_bar__plus_00_dot_70_bar__plus_00_dot_41 - receptacle + Drawer_bar__minus_02_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_41 - receptacle + Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43 - receptacle + GarbageCan_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_00_dot_37 - receptacle + Microwave_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_22 - receptacle + Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34_bar_SinkBasin - receptacle + StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_27 - receptacle + StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_67 - receptacle + StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_27 - receptacle + StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_67 - receptacle + Toaster_bar__minus_00_dot_29_bar__plus_00_dot_89_bar__plus_03_dot_56 - receptacle + loc_bar__minus_5_bar_4_bar_2_bar__minus_30 - location + loc_bar__minus_4_bar_17_bar_1_bar_60 - location + loc_bar__minus_6_bar_5_bar_2_bar_45 - location + loc_bar__minus_8_bar_4_bar_2_bar__minus_30 - location + loc_bar__minus_7_bar_4_bar_2_bar__minus_30 - location + loc_bar__minus_3_bar_5_bar_2_bar_30 - location + loc_bar__minus_3_bar_6_bar_2_bar_45 - location + loc_bar__minus_8_bar_14_bar_3_bar_45 - location + loc_bar__minus_3_bar_4_bar_2_bar_30 - location + loc_bar__minus_10_bar_5_bar_3_bar_0 - location + loc_bar__minus_3_bar_7_bar_1_bar_15 - location + loc_bar__minus_7_bar_4_bar_2_bar_60 - location + loc_bar__minus_4_bar_14_bar_1_bar_45 - location + loc_bar__minus_4_bar_4_bar_2_bar_45 - location + loc_bar__minus_4_bar_5_bar_2_bar_45 - location + loc_bar__minus_3_bar_4_bar_2_bar_60 - location + loc_bar__minus_4_bar_17_bar_1_bar_30 - location + loc_bar__minus_8_bar_14_bar_3_bar_30 - location + loc_bar__minus_3_bar_5_bar_2_bar__minus_30 - location + loc_bar__minus_7_bar_17_bar_3_bar_60 - location + loc_bar__minus_8_bar_5_bar_2_bar_45 - location + loc_bar__minus_3_bar_5_bar_2_bar_45 - location + loc_bar__minus_4_bar_17_bar_1_bar_45 - location + loc_bar__minus_5_bar_11_bar_1_bar_60 - location + loc_bar__minus_8_bar_10_bar_3_bar_60 - location + loc_bar__minus_10_bar_4_bar_2_bar_60 - location + loc_bar__minus_3_bar_4_bar_2_bar__minus_30 - location + loc_bar__minus_5_bar_14_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_52_bar__plus_02_dot_05_bar__plus_00_dot_39 CabinetType) + (receptacleType StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_67 StoveBurnerType) + (receptacleType CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49 CounterTopType) + (receptacleType StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_27 StoveBurnerType) + (receptacleType Microwave_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_22 MicrowaveType) + (receptacleType DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00 DiningTableType) + (receptacleType CoffeeMachine_bar__minus_02_dot_96_bar__plus_00_dot_93_bar__plus_03_dot_61 CoffeeMachineType) + (receptacleType Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__minus_00_dot_60_bar__plus_00_dot_49_bar__plus_00_dot_65 CabinetType) + (receptacleType Toaster_bar__minus_00_dot_29_bar__plus_00_dot_89_bar__plus_03_dot_56 ToasterType) + (receptacleType Cabinet_bar__minus_00_dot_56_bar__plus_00_dot_49_bar__plus_00_dot_65 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 CabinetType) + (receptacleType Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43 FridgeType) + (receptacleType Cabinet_bar__minus_02_dot_47_bar__plus_02_dot_05_bar__plus_00_dot_39 CabinetType) + (receptacleType Drawer_bar__minus_02_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_41 DrawerType) + (receptacleType StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_67 StoveBurnerType) + (receptacleType Drawer_bar__minus_01_dot_82_bar__plus_00_dot_70_bar__plus_00_dot_41 DrawerType) + (receptacleType GarbageCan_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_00_dot_37 GarbageCanType) + (receptacleType CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35 CounterTopType) + (receptacleType Cabinet_bar__minus_01_dot_59_bar__plus_00_dot_49_bar__plus_00_dot_65 CabinetType) + (receptacleType StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_27 StoveBurnerType) + (receptacleType Cabinet_bar__minus_01_dot_51_bar__plus_02_dot_05_bar__plus_00_dot_39 CabinetType) + (receptacleType DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36 DiningTableType) + (receptacleType Drawer_bar__minus_00_dot_33_bar__plus_00_dot_70_bar__plus_00_dot_41 DrawerType) + (receptacleType Cabinet_bar__minus_02_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 CabinetType) + (objectType Potato_bar__minus_02_dot_79_bar__plus_00_dot_96_bar__plus_03_dot_30 PotatoType) + (objectType Plate_bar__minus_00_dot_19_bar__plus_01_dot_78_bar__plus_00_dot_16 PlateType) + (objectType Cup_bar__minus_01_dot_77_bar__plus_00_dot_93_bar__plus_00_dot_26 CupType) + (objectType Apple_bar__minus_02_dot_72_bar__plus_00_dot_69_bar__plus_04_dot_20 AppleType) + (objectType Window_bar__minus_03_dot_08_bar__plus_01_dot_59_bar__plus_01_dot_36 WindowType) + (objectType SoapBottle_bar__minus_01_dot_36_bar__plus_01_dot_77_bar__plus_00_dot_30 SoapBottleType) + (objectType Mug_bar__minus_02_dot_76_bar__plus_01_dot_18_bar__plus_04_dot_58 MugType) + (objectType Spatula_bar__minus_01_dot_93_bar__plus_00_dot_68_bar__plus_00_dot_46 SpatulaType) + (objectType SaltShaker_bar__minus_02_dot_63_bar__plus_00_dot_93_bar__plus_03_dot_67 SaltShakerType) + (objectType Fork_bar__minus_00_dot_22_bar__plus_00_dot_66_bar__plus_00_dot_41 ForkType) + (objectType SoapBottle_bar__minus_02_dot_94_bar__plus_00_dot_94_bar__plus_03_dot_21 SoapBottleType) + (objectType Pan_bar__minus_00_dot_25_bar__plus_00_dot_93_bar__plus_04_dot_65 PanType) + (objectType Potato_bar__minus_00_dot_35_bar__plus_01_dot_04_bar__plus_00_dot_17 PotatoType) + (objectType Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34 SinkType) + (objectType Knife_bar__minus_00_dot_27_bar__plus_00_dot_69_bar__plus_00_dot_36 KnifeType) + (objectType Spoon_bar__minus_02_dot_71_bar__plus_00_dot_94_bar__plus_03_dot_21 SpoonType) + (objectType DishSponge_bar__minus_02_dot_27_bar__plus_00_dot_66_bar__plus_00_dot_41 DishSpongeType) + (objectType Spatula_bar__minus_02_dot_49_bar__plus_00_dot_68_bar__plus_00_dot_52 SpatulaType) + (objectType Plate_bar__minus_02_dot_19_bar__plus_01_dot_78_bar__plus_00_dot_16 PlateType) + (objectType Spoon_bar__minus_02_dot_27_bar__plus_00_dot_66_bar__plus_00_dot_30 SpoonType) + (objectType Bowl_bar__minus_01_dot_64_bar__plus_01_dot_77_bar__plus_00_dot_21 BowlType) + (objectType Knife_bar__minus_02_dot_55_bar__plus_00_dot_96_bar__plus_03_dot_49 KnifeType) + (objectType Tomato_bar__minus_01_dot_77_bar__plus_00_dot_99_bar__plus_00_dot_52 TomatoType) + (objectType Bread_bar__minus_02_dot_86_bar__plus_00_dot_94_bar__plus_01_dot_98 BreadType) + (objectType LightSwitch_bar__minus_00_dot_07_bar__plus_01_dot_45_bar__plus_02_dot_00 LightSwitchType) + (objectType DishSponge_bar__minus_02_dot_80_bar__plus_00_dot_05_bar__plus_00_dot_40 DishSpongeType) + (objectType StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_63 StoveKnobType) + (objectType StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_78 StoveKnobType) + (objectType Lettuce_bar__minus_02_dot_80_bar__plus_00_dot_59_bar__plus_04_dot_58 LettuceType) + (objectType ButterKnife_bar__minus_02_dot_30_bar__plus_00_dot_93_bar__plus_00_dot_60 ButterKnifeType) + (objectType 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Mug_bar__minus_02_dot_81_bar__plus_01_dot_18_bar__plus_04_dot_20) + + (heatable Potato_bar__minus_02_dot_79_bar__plus_00_dot_96_bar__plus_03_dot_30) + (heatable Plate_bar__minus_00_dot_19_bar__plus_01_dot_78_bar__plus_00_dot_16) + (heatable Cup_bar__minus_01_dot_77_bar__plus_00_dot_93_bar__plus_00_dot_26) + (heatable Apple_bar__minus_02_dot_72_bar__plus_00_dot_69_bar__plus_04_dot_20) + (heatable Mug_bar__minus_02_dot_76_bar__plus_01_dot_18_bar__plus_04_dot_58) + (heatable Potato_bar__minus_00_dot_35_bar__plus_01_dot_04_bar__plus_00_dot_17) + (heatable Plate_bar__minus_02_dot_19_bar__plus_01_dot_78_bar__plus_00_dot_16) + (heatable Tomato_bar__minus_01_dot_77_bar__plus_00_dot_99_bar__plus_00_dot_52) + (heatable Bread_bar__minus_02_dot_86_bar__plus_00_dot_94_bar__plus_01_dot_98) + (heatable Tomato_bar__minus_02_dot_85_bar__plus_00_dot_70_bar__plus_04_dot_35) + (heatable Egg_bar__minus_02_dot_90_bar__plus_00_dot_09_bar__plus_00_dot_45) + (heatable Bread_bar__minus_02_dot_79_bar__plus_00_dot_36_bar__plus_04_dot_35) + (heatable Potato_bar__minus_00_dot_24_bar__plus_01_dot_04_bar__plus_00_dot_17) + (heatable Mug_bar__minus_02_dot_81_bar__plus_01_dot_18_bar__plus_04_dot_20) + (coolable Potato_bar__minus_02_dot_79_bar__plus_00_dot_96_bar__plus_03_dot_30) + (coolable Plate_bar__minus_00_dot_19_bar__plus_01_dot_78_bar__plus_00_dot_16) + (coolable Cup_bar__minus_01_dot_77_bar__plus_00_dot_93_bar__plus_00_dot_26) + (coolable Apple_bar__minus_02_dot_72_bar__plus_00_dot_69_bar__plus_04_dot_20) + (coolable Mug_bar__minus_02_dot_76_bar__plus_01_dot_18_bar__plus_04_dot_58) + (coolable Pan_bar__minus_00_dot_25_bar__plus_00_dot_93_bar__plus_04_dot_65) + (coolable Potato_bar__minus_00_dot_35_bar__plus_01_dot_04_bar__plus_00_dot_17) + (coolable Plate_bar__minus_02_dot_19_bar__plus_01_dot_78_bar__plus_00_dot_16) + (coolable Bowl_bar__minus_01_dot_64_bar__plus_01_dot_77_bar__plus_00_dot_21) + (coolable Tomato_bar__minus_01_dot_77_bar__plus_00_dot_99_bar__plus_00_dot_52) + (coolable Bread_bar__minus_02_dot_86_bar__plus_00_dot_94_bar__plus_01_dot_98) + (coolable Lettuce_bar__minus_02_dot_80_bar__plus_00_dot_59_bar__plus_04_dot_58) + (coolable Tomato_bar__minus_02_dot_85_bar__plus_00_dot_70_bar__plus_04_dot_35) + (coolable Egg_bar__minus_02_dot_90_bar__plus_00_dot_09_bar__plus_00_dot_45) + (coolable Bread_bar__minus_02_dot_79_bar__plus_00_dot_36_bar__plus_04_dot_35) + (coolable Pot_bar__minus_00_dot_54_bar__plus_00_dot_93_bar__plus_04_dot_27) + (coolable Potato_bar__minus_00_dot_24_bar__plus_01_dot_04_bar__plus_00_dot_17) + (coolable Mug_bar__minus_02_dot_81_bar__plus_01_dot_18_bar__plus_04_dot_20) + + + + + + (sliceable Potato_bar__minus_02_dot_79_bar__plus_00_dot_96_bar__plus_03_dot_30) + (sliceable Apple_bar__minus_02_dot_72_bar__plus_00_dot_69_bar__plus_04_dot_20) + (sliceable Potato_bar__minus_00_dot_35_bar__plus_01_dot_04_bar__plus_00_dot_17) + (sliceable Tomato_bar__minus_01_dot_77_bar__plus_00_dot_99_bar__plus_00_dot_52) + (sliceable Bread_bar__minus_02_dot_86_bar__plus_00_dot_94_bar__plus_01_dot_98) + (sliceable Lettuce_bar__minus_02_dot_80_bar__plus_00_dot_59_bar__plus_04_dot_58) + (sliceable Tomato_bar__minus_02_dot_85_bar__plus_00_dot_70_bar__plus_04_dot_35) + (sliceable Egg_bar__minus_02_dot_90_bar__plus_00_dot_09_bar__plus_00_dot_45) + (sliceable Bread_bar__minus_02_dot_79_bar__plus_00_dot_36_bar__plus_04_dot_35) + (sliceable Potato_bar__minus_00_dot_24_bar__plus_01_dot_04_bar__plus_00_dot_17) + + (inReceptacle Knife_bar__minus_00_dot_27_bar__plus_00_dot_69_bar__plus_00_dot_36 Drawer_bar__minus_00_dot_33_bar__plus_00_dot_70_bar__plus_00_dot_41) + (inReceptacle Spatula_bar__minus_00_dot_49_bar__plus_00_dot_68_bar__plus_00_dot_46 Drawer_bar__minus_00_dot_33_bar__plus_00_dot_70_bar__plus_00_dot_41) + (inReceptacle Knife_bar__minus_00_dot_38_bar__plus_00_dot_69_bar__plus_00_dot_36 Drawer_bar__minus_00_dot_33_bar__plus_00_dot_70_bar__plus_00_dot_41) + (inReceptacle Fork_bar__minus_00_dot_22_bar__plus_00_dot_66_bar__plus_00_dot_41 Drawer_bar__minus_00_dot_33_bar__plus_00_dot_70_bar__plus_00_dot_41) + (inReceptacle Bowl_bar__minus_01_dot_64_bar__plus_01_dot_77_bar__plus_00_dot_21 Cabinet_bar__minus_01_dot_51_bar__plus_02_dot_05_bar__plus_00_dot_39) + (inReceptacle SoapBottle_bar__minus_01_dot_36_bar__plus_01_dot_77_bar__plus_00_dot_30 Cabinet_bar__minus_01_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39) + (inReceptacle SoapBottle_bar__minus_00_dot_64_bar__plus_01_dot_77_bar__plus_00_dot_21 Cabinet_bar__minus_00_dot_52_bar__plus_02_dot_05_bar__plus_00_dot_39) + (inReceptacle Plate_bar__minus_02_dot_19_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) + (inReceptacle Tomato_bar__minus_01_dot_77_bar__plus_00_dot_99_bar__plus_00_dot_52 CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35) + (inReceptacle Cup_bar__minus_01_dot_77_bar__plus_00_dot_93_bar__plus_00_dot_26 CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35) + (inReceptacle Spoon_bar__minus_02_dot_04_bar__plus_00_dot_93_bar__plus_00_dot_52 CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35) + (inReceptacle ButterKnife_bar__minus_02_dot_30_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) + (inReceptacle Pan_bar__minus_00_dot_25_bar__plus_00_dot_93_bar__plus_04_dot_65 StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_67) + (inReceptacle PepperShaker_bar__minus_01_dot_66_bar__plus_00_dot_66_bar__plus_00_dot_52 Drawer_bar__minus_01_dot_82_bar__plus_00_dot_70_bar__plus_00_dot_41) + (inReceptacle Spatula_bar__minus_01_dot_93_bar__plus_00_dot_68_bar__plus_00_dot_46 Drawer_bar__minus_01_dot_82_bar__plus_00_dot_70_bar__plus_00_dot_41) + (inReceptacle SaltShaker_bar__minus_01_dot_66_bar__plus_00_dot_66_bar__plus_00_dot_30 Drawer_bar__minus_01_dot_82_bar__plus_00_dot_70_bar__plus_00_dot_41) + (inReceptacle Pot_bar__minus_00_dot_54_bar__plus_00_dot_93_bar__plus_04_dot_27 StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_27) + (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) + (inReceptacle Pan_bar__minus_00_dot_25_bar__plus_00_dot_93_bar__plus_04_dot_65 StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_27) + (inReceptacle SoapBottle_bar__minus_02_dot_94_bar__plus_00_dot_94_bar__plus_03_dot_21 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49) + (inReceptacle Potato_bar__minus_02_dot_79_bar__plus_00_dot_96_bar__plus_03_dot_30 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49) + (inReceptacle Knife_bar__minus_02_dot_55_bar__plus_00_dot_96_bar__plus_03_dot_49 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49) + (inReceptacle Spoon_bar__minus_02_dot_71_bar__plus_00_dot_94_bar__plus_03_dot_21 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49) + (inReceptacle SaltShaker_bar__minus_02_dot_63_bar__plus_00_dot_93_bar__plus_03_dot_67 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49) + (inReceptacle Spoon_bar__minus_02_dot_27_bar__plus_00_dot_66_bar__plus_00_dot_30 Drawer_bar__minus_02_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_41) + (inReceptacle DishSponge_bar__minus_02_dot_27_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) + (inReceptacle Spatula_bar__minus_02_dot_49_bar__plus_00_dot_68_bar__plus_00_dot_52 Drawer_bar__minus_02_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_41) + (inReceptacle DishSponge_bar__minus_02_dot_80_bar__plus_00_dot_05_bar__plus_00_dot_40 GarbageCan_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_00_dot_37) + (inReceptacle Egg_bar__minus_02_dot_90_bar__plus_00_dot_09_bar__plus_00_dot_45 GarbageCan_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_00_dot_37) + (inReceptacle Bread_bar__minus_02_dot_79_bar__plus_00_dot_36_bar__plus_04_dot_35 Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43) + (inReceptacle Apple_bar__minus_02_dot_72_bar__plus_00_dot_69_bar__plus_04_dot_20 Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43) + (inReceptacle Lettuce_bar__minus_02_dot_80_bar__plus_00_dot_59_bar__plus_04_dot_58 Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43) + (inReceptacle Mug_bar__minus_02_dot_76_bar__plus_01_dot_18_bar__plus_04_dot_58 Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43) + (inReceptacle Tomato_bar__minus_02_dot_85_bar__plus_00_dot_70_bar__plus_04_dot_35 Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43) + (inReceptacle Mug_bar__minus_02_dot_81_bar__plus_01_dot_18_bar__plus_04_dot_20 Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43) + (inReceptacle Potato_bar__minus_00_dot_35_bar__plus_01_dot_04_bar__plus_00_dot_17 Microwave_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_22) + (inReceptacle Potato_bar__minus_00_dot_24_bar__plus_01_dot_04_bar__plus_00_dot_17 Microwave_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_22) + + + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (receptacleAtLocation Microwave_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_22 loc_bar__minus_3_bar_5_bar_2_bar_30) + (receptacleAtLocation Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34_bar_SinkBasin loc_bar__minus_3_bar_5_bar_2_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_27 loc_bar__minus_4_bar_17_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_67 loc_bar__minus_4_bar_17_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_27 loc_bar__minus_4_bar_17_bar_1_bar_60) + (receptacleAtLocation StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_67 loc_bar__minus_4_bar_17_bar_1_bar_60) + (receptacleAtLocation Toaster_bar__minus_00_dot_29_bar__plus_00_dot_89_bar__plus_03_dot_56 loc_bar__minus_4_bar_14_bar_1_bar_45) + (objectAtLocation Mug_bar__minus_02_dot_81_bar__plus_01_dot_18_bar__plus_04_dot_20 loc_bar__minus_7_bar_17_bar_3_bar_60) + (objectAtLocation Spoon_bar__minus_02_dot_27_bar__plus_00_dot_66_bar__plus_00_dot_30 loc_bar__minus_6_bar_5_bar_2_bar_45) + (objectAtLocation DishSponge_bar__minus_02_dot_27_bar__plus_00_dot_66_bar__plus_00_dot_41 loc_bar__minus_6_bar_5_bar_2_bar_45) + (objectAtLocation SoapBottle_bar__minus_00_dot_64_bar__plus_01_dot_77_bar__plus_00_dot_21 loc_bar__minus_3_bar_4_bar_2_bar__minus_30) + (objectAtLocation SaltShaker_bar__minus_02_dot_63_bar__plus_00_dot_93_bar__plus_03_dot_67 loc_bar__minus_8_bar_14_bar_3_bar_45) + (objectAtLocation Tomato_bar__minus_02_dot_85_bar__plus_00_dot_70_bar__plus_04_dot_35 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Turn right and face the center of the table.", + "Place the pan of water in the center of the table next to the oven." + ], + "task_desc": "Place a clean pan of water on the table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1MKCTVKE7J0ZP_3ZSY5X72N0SYME4UK3RDTOUUKSNOR1", + "high_descs": [ + "Turn around and go to the stove to your left.", + "Take the pan nearest to you from the stove.", + "Turn to your right and go to the sink in front of you.", + "Fill the pan in the sink with water.", + "Turn around and go to the table ahead of you and to the right.", + "Place the pan on the center of the table." + ], + "task_desc": "Place a water-filled pan on a table.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Pot-None-DiningTable-26/trial_T20190906_210555_837468/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Pot-None-DiningTable-26/trial_T20190906_210555_837468/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..566620a72fdbe3d1816be1596720cb772194517f --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Pot-None-DiningTable-26/trial_T20190906_210555_837468/initial_state.pddl @@ -0,0 +1,913 @@ + +(define (problem plan_trial_T20190906_210555_837468) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__minus_02_dot_44_bar__plus_00_dot_98_bar__plus_00_dot_43 - object + Apple_bar__minus_02_dot_89_bar__plus_01_dot_24_bar__plus_04_dot_43 - object + Bowl_bar__minus_01_dot_36_bar__plus_01_dot_77_bar__plus_00_dot_30 - object + Bread_bar__minus_02_dot_79_bar__plus_00_dot_36_bar__plus_04_dot_50 - object + ButterKnife_bar__minus_02_dot_21_bar__plus_00_dot_92_bar__plus_00_dot_62 - object + Cup_bar__minus_00_dot_40_bar__plus_01_dot_02_bar__plus_00_dot_17 - object + Cup_bar__minus_02_dot_17_bar__plus_00_dot_93_bar__plus_00_dot_35 - object + Cup_bar__minus_02_dot_71_bar__plus_00_dot_94_bar__plus_03_dot_21 - object + DishSponge_bar__minus_01_dot_69_bar__plus_01_dot_77_bar__plus_00_dot_30 - object + DishSponge_bar__minus_01_dot_93_bar__plus_00_dot_66_bar__plus_00_dot_52 - object + DishSponge_bar__minus_02_dot_36_bar__plus_01_dot_77_bar__plus_00_dot_21 - object + Egg_bar__minus_01_dot_64_bar__plus_00_dot_96_bar__plus_00_dot_43 - object + Egg_bar__minus_02_dot_80_bar__plus_00_dot_09_bar__plus_00_dot_23 - object + Faucet_bar__minus_01_dot_08_bar__plus_00_dot_92_bar__plus_00_dot_03 - object + Fork_bar__minus_00_dot_22_bar__plus_00_dot_66_bar__plus_00_dot_30 - object + Knife_bar__minus_00_dot_43_bar__plus_00_dot_69_bar__plus_00_dot_36 - object + Knife_bar__minus_02_dot_43_bar__plus_00_dot_69_bar__plus_00_dot_46 - object + Lettuce_bar__minus_02_dot_80_bar__plus_00_dot_59_bar__plus_04_dot_58 - object + LightSwitch_bar__minus_00_dot_07_bar__plus_01_dot_45_bar__plus_02_dot_00 - object + Mug_bar__minus_02_dot_78_bar__plus_01_dot_00_bar__plus_03_dot_71 - object + Mug_bar__minus_02_dot_89_bar__plus_00_dot_63_bar__plus_04_dot_35 - object + Pan_bar__minus_00_dot_25_bar__plus_00_dot_93_bar__plus_04_dot_65 - object + PepperShaker_bar__minus_00_dot_30_bar__plus_01_dot_77_bar__plus_00_dot_11 - object + PepperShaker_bar__minus_02_dot_04_bar__plus_00_dot_92_bar__plus_00_dot_60 - object + PepperShaker_bar__minus_02_dot_94_bar__plus_00_dot_93_bar__plus_03_dot_21 - object + Plate_bar__minus_00_dot_45_bar__plus_00_dot_89_bar__plus_02_dot_93 - object + Potato_bar__minus_00_dot_30_bar__plus_01_dot_04_bar__plus_00_dot_27 - object + Potato_bar__minus_02_dot_44_bar__plus_00_dot_95_bar__plus_00_dot_52 - object + Potato_bar__minus_02_dot_71_bar__plus_00_dot_96_bar__plus_03_dot_40 - object + Pot_bar__minus_00_dot_54_bar__plus_00_dot_93_bar__plus_04_dot_27 - object + SaltShaker_bar__minus_00_dot_49_bar__plus_00_dot_66_bar__plus_00_dot_25 - object + SaltShaker_bar__minus_00_dot_49_bar__plus_00_dot_66_bar__plus_00_dot_52 - object + SaltShaker_bar__minus_00_dot_69_bar__plus_01_dot_77_bar__plus_00_dot_16 - object + Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34 - object + SoapBottle_bar__minus_00_dot_64_bar__plus_01_dot_77_bar__plus_00_dot_30 - object + SoapBottle_bar__minus_02_dot_63_bar__plus_00_dot_94_bar__plus_03_dot_58 - object + Spatula_bar__minus_02_dot_49_bar__plus_00_dot_68_bar__plus_00_dot_52 - object + Spatula_bar__minus_02_dot_79_bar__plus_00_dot_95_bar__plus_03_dot_21 - object + Spoon_bar__minus_01_dot_82_bar__plus_00_dot_66_bar__plus_00_dot_30 - object + Spoon_bar__minus_02_dot_55_bar__plus_00_dot_94_bar__plus_03_dot_67 - object + StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_22 - object + StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_38 - object + StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_63 - object + StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_78 - object + Tomato_bar__minus_02_dot_55_bar__plus_01_dot_00_bar__plus_03_dot_30 - object + Window_bar__minus_03_dot_08_bar__plus_01_dot_59_bar__plus_01_dot_36 - object + Cabinet_bar__minus_00_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle + Cabinet_bar__minus_00_dot_52_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle + Cabinet_bar__minus_00_dot_56_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle + Cabinet_bar__minus_00_dot_60_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle + Cabinet_bar__minus_01_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle + Cabinet_bar__minus_01_dot_51_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle + Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle + Cabinet_bar__minus_01_dot_59_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle + Cabinet_bar__minus_02_dot_47_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle + Cabinet_bar__minus_02_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle + CoffeeMachine_bar__minus_02_dot_96_bar__plus_00_dot_93_bar__plus_03_dot_61 - receptacle + CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35 - receptacle + CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49 - receptacle + DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00 - receptacle + DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36 - receptacle + Drawer_bar__minus_00_dot_33_bar__plus_00_dot_70_bar__plus_00_dot_41 - receptacle + Drawer_bar__minus_01_dot_82_bar__plus_00_dot_70_bar__plus_00_dot_41 - receptacle + Drawer_bar__minus_02_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_41 - receptacle + Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43 - receptacle + GarbageCan_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_00_dot_37 - receptacle + Microwave_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_22 - receptacle + Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34_bar_SinkBasin - receptacle + StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_27 - receptacle + StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_67 - receptacle + StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_27 - receptacle + StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_67 - receptacle + Toaster_bar__minus_00_dot_29_bar__plus_00_dot_89_bar__plus_03_dot_56 - receptacle + loc_bar__minus_5_bar_4_bar_2_bar__minus_30 - location + loc_bar__minus_4_bar_17_bar_1_bar_60 - location + loc_bar__minus_6_bar_5_bar_2_bar_45 - location + loc_bar__minus_8_bar_4_bar_2_bar__minus_30 - location + loc_bar__minus_7_bar_4_bar_2_bar__minus_30 - location + loc_bar__minus_3_bar_5_bar_2_bar_30 - location + loc_bar__minus_3_bar_6_bar_2_bar_45 - location + loc_bar__minus_8_bar_14_bar_3_bar_45 - location + loc_bar__minus_10_bar_5_bar_3_bar_0 - location + loc_bar__minus_3_bar_7_bar_1_bar_15 - location + loc_bar__minus_7_bar_4_bar_2_bar_60 - location + loc_bar__minus_4_bar_14_bar_1_bar_45 - location + loc_bar__minus_4_bar_4_bar_2_bar_45 - location + loc_bar__minus_4_bar_5_bar_2_bar_45 - location + loc_bar__minus_3_bar_4_bar_2_bar_60 - location + loc_bar__minus_4_bar_17_bar_1_bar_30 - location + loc_bar__minus_8_bar_14_bar_3_bar_30 - location + loc_bar__minus_3_bar_5_bar_2_bar__minus_30 - location + loc_bar__minus_7_bar_17_bar_3_bar_60 - location + loc_bar__minus_8_bar_5_bar_2_bar_45 - location + loc_bar__minus_3_bar_5_bar_2_bar_45 - location + loc_bar__minus_4_bar_17_bar_1_bar_45 - location + loc_bar__minus_5_bar_11_bar_1_bar_60 - location + loc_bar__minus_8_bar_10_bar_3_bar_60 - location + loc_bar__minus_10_bar_4_bar_2_bar_60 - location + loc_bar__minus_3_bar_4_bar_2_bar__minus_30 - location + loc_bar__minus_4_bar_17_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_52_bar__plus_02_dot_05_bar__plus_00_dot_39 CabinetType) + (receptacleType StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_67 StoveBurnerType) + (receptacleType CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49 CounterTopType) + (receptacleType StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_27 StoveBurnerType) + (receptacleType Microwave_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_22 MicrowaveType) + (receptacleType DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00 DiningTableType) + (receptacleType CoffeeMachine_bar__minus_02_dot_96_bar__plus_00_dot_93_bar__plus_03_dot_61 CoffeeMachineType) + (receptacleType Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__minus_00_dot_60_bar__plus_00_dot_49_bar__plus_00_dot_65 CabinetType) + (receptacleType Toaster_bar__minus_00_dot_29_bar__plus_00_dot_89_bar__plus_03_dot_56 ToasterType) + (receptacleType Cabinet_bar__minus_00_dot_56_bar__plus_00_dot_49_bar__plus_00_dot_65 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 CabinetType) + (receptacleType Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43 FridgeType) + (receptacleType Cabinet_bar__minus_02_dot_47_bar__plus_02_dot_05_bar__plus_00_dot_39 CabinetType) + (receptacleType Drawer_bar__minus_02_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_41 DrawerType) + (receptacleType StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_67 StoveBurnerType) + (receptacleType Drawer_bar__minus_01_dot_82_bar__plus_00_dot_70_bar__plus_00_dot_41 DrawerType) + (receptacleType GarbageCan_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_00_dot_37 GarbageCanType) + (receptacleType CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35 CounterTopType) + (receptacleType Cabinet_bar__minus_01_dot_59_bar__plus_00_dot_49_bar__plus_00_dot_65 CabinetType) + (receptacleType StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_27 StoveBurnerType) + (receptacleType Cabinet_bar__minus_01_dot_51_bar__plus_02_dot_05_bar__plus_00_dot_39 CabinetType) + (receptacleType DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36 DiningTableType) + (receptacleType Drawer_bar__minus_00_dot_33_bar__plus_00_dot_70_bar__plus_00_dot_41 DrawerType) + (receptacleType Cabinet_bar__minus_02_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 CabinetType) + (objectType Plate_bar__minus_00_dot_45_bar__plus_00_dot_89_bar__plus_02_dot_93 PlateType) + (objectType Knife_bar__minus_00_dot_43_bar__plus_00_dot_69_bar__plus_00_dot_36 KnifeType) + (objectType SoapBottle_bar__minus_00_dot_64_bar__plus_01_dot_77_bar__plus_00_dot_30 SoapBottleType) + (objectType Apple_bar__minus_02_dot_89_bar__plus_01_dot_24_bar__plus_04_dot_43 AppleType) + (objectType Window_bar__minus_03_dot_08_bar__plus_01_dot_59_bar__plus_01_dot_36 WindowType) + (objectType Tomato_bar__minus_02_dot_55_bar__plus_01_dot_00_bar__plus_03_dot_30 TomatoType) + (objectType Bowl_bar__minus_01_dot_36_bar__plus_01_dot_77_bar__plus_00_dot_30 BowlType) + (objectType DishSponge_bar__minus_02_dot_36_bar__plus_01_dot_77_bar__plus_00_dot_21 DishSpongeType) + (objectType Potato_bar__minus_02_dot_44_bar__plus_00_dot_95_bar__plus_00_dot_52 PotatoType) + (objectType 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Cup_bar__minus_00_dot_40_bar__plus_01_dot_02_bar__plus_00_dot_17) + (heatable Potato_bar__minus_00_dot_30_bar__plus_01_dot_04_bar__plus_00_dot_27) + (heatable Potato_bar__minus_02_dot_71_bar__plus_00_dot_96_bar__plus_03_dot_40) + (heatable Egg_bar__minus_02_dot_80_bar__plus_00_dot_09_bar__plus_00_dot_23) + (heatable Egg_bar__minus_01_dot_64_bar__plus_00_dot_96_bar__plus_00_dot_43) + (heatable Cup_bar__minus_02_dot_71_bar__plus_00_dot_94_bar__plus_03_dot_21) + (heatable Mug_bar__minus_02_dot_78_bar__plus_01_dot_00_bar__plus_03_dot_71) + (heatable Apple_bar__minus_02_dot_44_bar__plus_00_dot_98_bar__plus_00_dot_43) + (heatable Cup_bar__minus_02_dot_17_bar__plus_00_dot_93_bar__plus_00_dot_35) + (coolable Plate_bar__minus_00_dot_45_bar__plus_00_dot_89_bar__plus_02_dot_93) + (coolable Apple_bar__minus_02_dot_89_bar__plus_01_dot_24_bar__plus_04_dot_43) + (coolable Tomato_bar__minus_02_dot_55_bar__plus_01_dot_00_bar__plus_03_dot_30) + (coolable Bowl_bar__minus_01_dot_36_bar__plus_01_dot_77_bar__plus_00_dot_30) + (coolable Potato_bar__minus_02_dot_44_bar__plus_00_dot_95_bar__plus_00_dot_52) + (coolable Pan_bar__minus_00_dot_25_bar__plus_00_dot_93_bar__plus_04_dot_65) + (coolable Mug_bar__minus_02_dot_89_bar__plus_00_dot_63_bar__plus_04_dot_35) + (coolable Bread_bar__minus_02_dot_79_bar__plus_00_dot_36_bar__plus_04_dot_50) + (coolable Cup_bar__minus_00_dot_40_bar__plus_01_dot_02_bar__plus_00_dot_17) + (coolable Potato_bar__minus_00_dot_30_bar__plus_01_dot_04_bar__plus_00_dot_27) + (coolable Potato_bar__minus_02_dot_71_bar__plus_00_dot_96_bar__plus_03_dot_40) + (coolable Lettuce_bar__minus_02_dot_80_bar__plus_00_dot_59_bar__plus_04_dot_58) + (coolable Egg_bar__minus_02_dot_80_bar__plus_00_dot_09_bar__plus_00_dot_23) + (coolable Egg_bar__minus_01_dot_64_bar__plus_00_dot_96_bar__plus_00_dot_43) + (coolable Cup_bar__minus_02_dot_71_bar__plus_00_dot_94_bar__plus_03_dot_21) + (coolable 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Egg_bar__minus_01_dot_64_bar__plus_00_dot_96_bar__plus_00_dot_43) + (sliceable Apple_bar__minus_02_dot_44_bar__plus_00_dot_98_bar__plus_00_dot_43) + + (inReceptacle SaltShaker_bar__minus_00_dot_49_bar__plus_00_dot_66_bar__plus_00_dot_25 Drawer_bar__minus_00_dot_33_bar__plus_00_dot_70_bar__plus_00_dot_41) + (inReceptacle Knife_bar__minus_00_dot_43_bar__plus_00_dot_69_bar__plus_00_dot_36 Drawer_bar__minus_00_dot_33_bar__plus_00_dot_70_bar__plus_00_dot_41) + (inReceptacle SaltShaker_bar__minus_00_dot_49_bar__plus_00_dot_66_bar__plus_00_dot_52 Drawer_bar__minus_00_dot_33_bar__plus_00_dot_70_bar__plus_00_dot_41) + (inReceptacle Fork_bar__minus_00_dot_22_bar__plus_00_dot_66_bar__plus_00_dot_30 Drawer_bar__minus_00_dot_33_bar__plus_00_dot_70_bar__plus_00_dot_41) + (inReceptacle DishSponge_bar__minus_01_dot_69_bar__plus_01_dot_77_bar__plus_00_dot_30 Cabinet_bar__minus_01_dot_51_bar__plus_02_dot_05_bar__plus_00_dot_39) + (inReceptacle DishSponge_bar__minus_02_dot_36_bar__plus_01_dot_77_bar__plus_00_dot_21 Cabinet_bar__minus_02_dot_47_bar__plus_02_dot_05_bar__plus_00_dot_39) + (inReceptacle Bowl_bar__minus_01_dot_36_bar__plus_01_dot_77_bar__plus_00_dot_30 Cabinet_bar__minus_01_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39) + (inReceptacle SaltShaker_bar__minus_00_dot_69_bar__plus_01_dot_77_bar__plus_00_dot_16 Cabinet_bar__minus_00_dot_52_bar__plus_02_dot_05_bar__plus_00_dot_39) + (inReceptacle SoapBottle_bar__minus_00_dot_64_bar__plus_01_dot_77_bar__plus_00_dot_30 Cabinet_bar__minus_00_dot_52_bar__plus_02_dot_05_bar__plus_00_dot_39) + (inReceptacle PepperShaker_bar__minus_00_dot_30_bar__plus_01_dot_77_bar__plus_00_dot_11 Cabinet_bar__minus_00_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39) + (inReceptacle Potato_bar__minus_02_dot_44_bar__plus_00_dot_95_bar__plus_00_dot_52 CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35) + (inReceptacle ButterKnife_bar__minus_02_dot_21_bar__plus_00_dot_92_bar__plus_00_dot_62 CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35) + (inReceptacle Apple_bar__minus_02_dot_44_bar__plus_00_dot_98_bar__plus_00_dot_43 CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35) + (inReceptacle Egg_bar__minus_01_dot_64_bar__plus_00_dot_96_bar__plus_00_dot_43 CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35) + (inReceptacle PepperShaker_bar__minus_02_dot_04_bar__plus_00_dot_92_bar__plus_00_dot_60 CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35) + (inReceptacle Cup_bar__minus_02_dot_17_bar__plus_00_dot_93_bar__plus_00_dot_35 CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35) + (inReceptacle Pan_bar__minus_00_dot_25_bar__plus_00_dot_93_bar__plus_04_dot_65 StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_67) + (inReceptacle DishSponge_bar__minus_01_dot_93_bar__plus_00_dot_66_bar__plus_00_dot_52 Drawer_bar__minus_01_dot_82_bar__plus_00_dot_70_bar__plus_00_dot_41) + (inReceptacle Spoon_bar__minus_01_dot_82_bar__plus_00_dot_66_bar__plus_00_dot_30 Drawer_bar__minus_01_dot_82_bar__plus_00_dot_70_bar__plus_00_dot_41) + (inReceptacle Pot_bar__minus_00_dot_54_bar__plus_00_dot_93_bar__plus_04_dot_27 StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_27) + (inReceptacle Plate_bar__minus_00_dot_45_bar__plus_00_dot_89_bar__plus_02_dot_93 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00) + (inReceptacle Pan_bar__minus_00_dot_25_bar__plus_00_dot_93_bar__plus_04_dot_65 StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_27) + (inReceptacle Spoon_bar__minus_02_dot_55_bar__plus_00_dot_94_bar__plus_03_dot_67 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49) + (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) + (inReceptacle PepperShaker_bar__minus_02_dot_94_bar__plus_00_dot_93_bar__plus_03_dot_21 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49) + (inReceptacle SoapBottle_bar__minus_02_dot_63_bar__plus_00_dot_94_bar__plus_03_dot_58 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49) + (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) + (inReceptacle Tomato_bar__minus_02_dot_55_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) + (inReceptacle Spatula_bar__minus_02_dot_79_bar__plus_00_dot_95_bar__plus_03_dot_21 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49) + (inReceptacle Cup_bar__minus_02_dot_71_bar__plus_00_dot_94_bar__plus_03_dot_21 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49) + (inReceptacle Spatula_bar__minus_02_dot_49_bar__plus_00_dot_68_bar__plus_00_dot_52 Drawer_bar__minus_02_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_41) + (inReceptacle Knife_bar__minus_02_dot_43_bar__plus_00_dot_69_bar__plus_00_dot_46 Drawer_bar__minus_02_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_41) + (inReceptacle Egg_bar__minus_02_dot_80_bar__plus_00_dot_09_bar__plus_00_dot_23 GarbageCan_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_00_dot_37) + (inReceptacle Bread_bar__minus_02_dot_79_bar__plus_00_dot_36_bar__plus_04_dot_50 Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43) + (inReceptacle Apple_bar__minus_02_dot_89_bar__plus_01_dot_24_bar__plus_04_dot_43 Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43) + (inReceptacle Lettuce_bar__minus_02_dot_80_bar__plus_00_dot_59_bar__plus_04_dot_58 Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43) + 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loc_bar__minus_3_bar_4_bar_2_bar_60) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (receptacleAtLocation Microwave_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_22 loc_bar__minus_3_bar_5_bar_2_bar_30) + (receptacleAtLocation Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34_bar_SinkBasin loc_bar__minus_3_bar_5_bar_2_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_27 loc_bar__minus_4_bar_17_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_67 loc_bar__minus_4_bar_17_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_27 loc_bar__minus_4_bar_17_bar_1_bar_60) + 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", + "Bring the pan to the sink.", + "Fill the pan with water in the sink. ", + "Bring the filled pan to the table next to the stove. ", + "Put the pan down on the table next to the stove. " + ], + "task_desc": "Put a pan filled with water on the table next to the stove. ", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1HKHM4NVAO98H_3NAPMVF0ZZWAXOVAORVAHU0RIAY279", + "high_descs": [ + "look down at the stove in front of you", + "grab the closest pan off the top of the stove", + "walk over to the kitchen sink", + "place the pan inside of the sink to fill it with water, then pick it back up", + "bring the pan over to the kitchen table", + "place the pan on the kitchen table" + ], + "task_desc": "place a pan filled with water on top of the kitchen table", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1ELPYAFO7MANS_3S96KQ6I9PLKYWQXYJISI9JD4Y5DTW", + "high_descs": [ + "Look down.", + "Pick up the pot on the counter.", + "Turn right and walk to the sink.", + "Fill the pot with water.", + "Turn around and walk to the white table.", + "Place the pot on the table to the right of the plate." + ], + "task_desc": "Place a pot filled with water on a table.", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-CounterTop-418/trial_T20190908_161520_346247/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-CounterTop-418/trial_T20190908_161520_346247/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..83437173fba06388ca0616bccfca9b6cc3985651 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-CounterTop-418/trial_T20190908_161520_346247/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 soapbar and put it in countertop.\"\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_161520_346247)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Candle_bar__minus_00_dot_10_bar__plus_01_dot_05_bar__minus_02_dot_98 - object\n Candle_bar__minus_02_dot_80_bar__plus_00_dot_82_bar__minus_03_dot_53 - object\n Cloth_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_02_dot_44 - object\n Faucet_bar__minus_00_dot_61_bar__plus_01_dot_94_bar__minus_00_dot_01 - object\n Faucet_bar__minus_03_dot_00_bar__plus_01_dot_17_bar__minus_03_dot_07 - object\n HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_02_dot_57 - object\n LightSwitch_bar__minus_01_dot_95_bar__plus_01_dot_50_bar__plus_00_dot_00 - object\n Mirror_bar__minus_03_dot_00_bar__plus_01_dot_66_bar__minus_03_dot_07 - object\n Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49 - object\n ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34 - object\n ShowerDoor_bar__minus_01_dot_18_bar__plus_01_dot_09_bar__minus_01_dot_22 - object\n ShowerGlass_bar__minus_00_dot_60_bar__plus_01_dot_10_bar__minus_01_dot_12 - object\n Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07 - object\n SoapBar_bar__minus_00_dot_10_bar__plus_01_dot_05_bar__minus_02_dot_85 - object\n SoapBar_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__minus_03_dot_11 - object\n SoapBar_bar__minus_02_dot_39_bar__plus_00_dot_07_bar__minus_02_dot_38 - object\n SoapBar_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_02_dot_53 - object\n SoapBottle_bar__minus_00_dot_13_bar__plus_01_dot_05_bar__minus_03_dot_18 - object\n SoapBottle_bar__minus_02_dot_71_bar__plus_00_dot_81_bar__minus_02_dot_39 - object\n SoapBottle_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_51 - object\n SprayBottle_bar__minus_00_dot_39_bar__plus_00_dot_06_bar__minus_03_dot_80 - object\n SprayBottle_bar__minus_02_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_66 - object\n SprayBottle_bar__minus_02_dot_84_bar__plus_00_dot_07_bar__minus_03_dot_76 - object\n ToiletPaper_bar__minus_02_dot_36_bar__plus_00_dot_80_bar__minus_03_dot_77 - object\n ToiletPaper_bar__minus_02_dot_46_bar__plus_00_dot_06_bar__minus_03_dot_02 - object\n ToiletPaper_bar__minus_02_dot_53_bar__plus_00_dot_80_bar__minus_03_dot_47 - object\n Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 - object\n Window_bar__minus_00_dot_57_bar__plus_01_dot_71_bar__minus_04_dot_00 - object\n Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25 - receptacle\n Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81 - receptacle\n Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25 - receptacle\n CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04 - receptacle\n GarbageCan_bar__minus_00_dot_35_bar__plus_00_dot_00_bar__minus_03_dot_85 - receptacle\n HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_02_dot_57 - receptacle\n HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_03_dot_55 - receptacle\n Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_02_dot_54 - receptacle\n Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05 - receptacle\n TowelHolder_bar__minus_01_dot_19_bar__plus_01_dot_37_bar__minus_00_dot_63 - receptacle\n loc_bar__minus_3_bar__minus_14_bar_2_bar_0 - location\n loc_bar__minus_7_bar__minus_4_bar_1_bar_30 - location\n loc_bar__minus_7_bar__minus_5_bar_1_bar_45 - location\n loc_bar__minus_7_bar__minus_2_bar_0_bar_15 - location\n loc_bar__minus_8_bar__minus_14_bar_3_bar_0 - location\n loc_bar__minus_8_bar__minus_12_bar_3_bar_0 - location\n loc_bar__minus_7_bar__minus_12_bar_3_bar_45 - location\n loc_bar__minus_3_bar__minus_14_bar_1_bar_60 - location\n loc_bar__minus_5_bar__minus_11_bar_1_bar_30 - location\n loc_bar__minus_3_bar__minus_14_bar_0_bar_60 - location\n loc_bar__minus_8_bar__minus_10_bar_3_bar_0 - location\n loc_bar__minus_8_bar__minus_12_bar_3_bar_45 - location\n loc_bar__minus_7_bar__minus_3_bar_1_bar_30 - location\n loc_bar__minus_5_bar__minus_12_bar_3_bar_45 - location\n loc_bar__minus_8_bar__minus_12_bar_3_bar_60 - location\n loc_bar__minus_5_bar__minus_14_bar_3_bar_45 - location\n loc_bar__minus_8_bar__minus_8_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_02_dot_54 ToiletPaperHangerType)\n (receptacleType GarbageCan_bar__minus_00_dot_35_bar__plus_00_dot_00_bar__minus_03_dot_85 GarbageCanType)\n (receptacleType HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_03_dot_55 HandTowelHolderType)\n (receptacleType Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05 ToiletType)\n (receptacleType Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81 CabinetType)\n (receptacleType CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04 CounterTopType)\n (receptacleType HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_02_dot_57 HandTowelHolderType)\n (receptacleType Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07_bar_SinkBasin SinkBasinType)\n (receptacleType TowelHolder_bar__minus_01_dot_19_bar__plus_01_dot_37_bar__minus_00_dot_63 TowelHolderType)\n (receptacleType Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25 CabinetType)\n (objectType Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 TowelType)\n (objectType SoapBar_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_02_dot_53 SoapBarType)\n (objectType LightSwitch_bar__minus_01_dot_95_bar__plus_01_dot_50_bar__plus_00_dot_00 LightSwitchType)\n (objectType Window_bar__minus_00_dot_57_bar__plus_01_dot_71_bar__minus_04_dot_00 WindowType)\n (objectType Candle_bar__minus_02_dot_80_bar__plus_00_dot_82_bar__minus_03_dot_53 CandleType)\n (objectType SoapBottle_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_51 SoapBottleType)\n (objectType Candle_bar__minus_00_dot_10_bar__plus_01_dot_05_bar__minus_02_dot_98 CandleType)\n (objectType Mirror_bar__minus_03_dot_00_bar__plus_01_dot_66_bar__minus_03_dot_07 MirrorType)\n (objectType ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34 ScrubBrushType)\n (objectType Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07 SinkType)\n (objectType SoapBar_bar__minus_00_dot_10_bar__plus_01_dot_05_bar__minus_02_dot_85 SoapBarType)\n (objectType ToiletPaper_bar__minus_02_dot_46_bar__plus_00_dot_06_bar__minus_03_dot_02 ToiletPaperType)\n (objectType SprayBottle_bar__minus_00_dot_39_bar__plus_00_dot_06_bar__minus_03_dot_80 SprayBottleType)\n (objectType SoapBar_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__minus_03_dot_11 SoapBarType)\n (objectType SprayBottle_bar__minus_02_dot_84_bar__plus_00_dot_07_bar__minus_03_dot_76 SprayBottleType)\n (objectType HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_02_dot_57 HandTowelType)\n (objectType SprayBottle_bar__minus_02_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_66 SprayBottleType)\n (objectType SoapBottle_bar__minus_02_dot_71_bar__plus_00_dot_81_bar__minus_02_dot_39 SoapBottleType)\n (objectType Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49 PlungerType)\n (objectType SoapBottle_bar__minus_00_dot_13_bar__plus_01_dot_05_bar__minus_03_dot_18 SoapBottleType)\n (objectType ToiletPaper_bar__minus_02_dot_53_bar__plus_00_dot_80_bar__minus_03_dot_47 ToiletPaperType)\n (objectType ShowerDoor_bar__minus_01_dot_18_bar__plus_01_dot_09_bar__minus_01_dot_22 ShowerDoorType)\n (objectType SoapBar_bar__minus_02_dot_39_bar__plus_00_dot_07_bar__minus_02_dot_38 SoapBarType)\n (objectType ToiletPaper_bar__minus_02_dot_36_bar__plus_00_dot_80_bar__minus_03_dot_77 ToiletPaperType)\n (objectType Cloth_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_02_dot_44 ClothType)\n (objectType ShowerGlass_bar__minus_00_dot_60_bar__plus_01_dot_10_bar__minus_01_dot_12 ShowerGlassType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType SprayBottleType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain TowelHolderType TowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (pickupable Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63)\n (pickupable SoapBar_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_02_dot_53)\n (pickupable Candle_bar__minus_02_dot_80_bar__plus_00_dot_82_bar__minus_03_dot_53)\n (pickupable SoapBottle_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_51)\n (pickupable Candle_bar__minus_00_dot_10_bar__plus_01_dot_05_bar__minus_02_dot_98)\n (pickupable ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34)\n (pickupable SoapBar_bar__minus_00_dot_10_bar__plus_01_dot_05_bar__minus_02_dot_85)\n (pickupable ToiletPaper_bar__minus_02_dot_46_bar__plus_00_dot_06_bar__minus_03_dot_02)\n (pickupable SprayBottle_bar__minus_00_dot_39_bar__plus_00_dot_06_bar__minus_03_dot_80)\n (pickupable SoapBar_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__minus_03_dot_11)\n (pickupable SprayBottle_bar__minus_02_dot_84_bar__plus_00_dot_07_bar__minus_03_dot_76)\n (pickupable HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_02_dot_57)\n (pickupable SprayBottle_bar__minus_02_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_66)\n (pickupable SoapBottle_bar__minus_02_dot_71_bar__plus_00_dot_81_bar__minus_02_dot_39)\n (pickupable Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49)\n (pickupable SoapBottle_bar__minus_00_dot_13_bar__plus_01_dot_05_bar__minus_03_dot_18)\n (pickupable ToiletPaper_bar__minus_02_dot_53_bar__plus_00_dot_80_bar__minus_03_dot_47)\n (pickupable SoapBar_bar__minus_02_dot_39_bar__plus_00_dot_07_bar__minus_02_dot_38)\n (pickupable ToiletPaper_bar__minus_02_dot_36_bar__plus_00_dot_80_bar__minus_03_dot_77)\n (pickupable Cloth_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_02_dot_44)\n \n (openable Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25)\n (openable Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81)\n (openable Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25)\n \n (atLocation agent1 loc_bar__minus_8_bar__minus_8_bar_3_bar_30)\n \n (cleanable SoapBar_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_02_dot_53)\n (cleanable SoapBar_bar__minus_00_dot_10_bar__plus_01_dot_05_bar__minus_02_dot_85)\n (cleanable SoapBar_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__minus_03_dot_11)\n (cleanable SoapBar_bar__minus_02_dot_39_bar__plus_00_dot_07_bar__minus_02_dot_38)\n (cleanable Cloth_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_02_dot_44)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle ToiletPaper_bar__minus_02_dot_46_bar__plus_00_dot_06_bar__minus_03_dot_02 Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25)\n (inReceptacle Cloth_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_02_dot_44 Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25)\n (inReceptacle SoapBar_bar__minus_02_dot_39_bar__plus_00_dot_07_bar__minus_02_dot_38 Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25)\n (inReceptacle SoapBottle_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_51 Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81)\n (inReceptacle SprayBottle_bar__minus_02_dot_84_bar__plus_00_dot_07_bar__minus_03_dot_76 Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81)\n (inReceptacle ToiletPaper_bar__minus_02_dot_53_bar__plus_00_dot_80_bar__minus_03_dot_47 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04)\n (inReceptacle Candle_bar__minus_02_dot_80_bar__plus_00_dot_82_bar__minus_03_dot_53 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04)\n (inReceptacle SoapBar_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_02_dot_53 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04)\n (inReceptacle SoapBottle_bar__minus_02_dot_71_bar__plus_00_dot_81_bar__minus_02_dot_39 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04)\n (inReceptacle ToiletPaper_bar__minus_02_dot_36_bar__plus_00_dot_80_bar__minus_03_dot_77 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04)\n (inReceptacle SprayBottle_bar__minus_02_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_66 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04)\n (inReceptacle Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 TowelHolder_bar__minus_01_dot_19_bar__plus_01_dot_37_bar__minus_00_dot_63)\n (inReceptacle SprayBottle_bar__minus_00_dot_39_bar__plus_00_dot_06_bar__minus_03_dot_80 GarbageCan_bar__minus_00_dot_35_bar__plus_00_dot_00_bar__minus_03_dot_85)\n (inReceptacle HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_02_dot_57 HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_02_dot_57)\n (inReceptacle SoapBar_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__minus_03_dot_11 Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05)\n (inReceptacle Candle_bar__minus_00_dot_10_bar__plus_01_dot_05_bar__minus_02_dot_98 Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05)\n (inReceptacle SoapBottle_bar__minus_00_dot_13_bar__plus_01_dot_05_bar__minus_03_dot_18 Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05)\n (inReceptacle SoapBar_bar__minus_00_dot_10_bar__plus_01_dot_05_bar__minus_02_dot_85 Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05)\n \n \n (receptacleAtLocation Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25 loc_bar__minus_5_bar__minus_14_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81 loc_bar__minus_5_bar__minus_12_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25 loc_bar__minus_5_bar__minus_12_bar_3_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04 loc_bar__minus_7_bar__minus_12_bar_3_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_35_bar__plus_00_dot_00_bar__minus_03_dot_85 loc_bar__minus_3_bar__minus_14_bar_1_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_02_dot_57 loc_bar__minus_8_bar__minus_10_bar_3_bar_0)\n (receptacleAtLocation HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_03_dot_55 loc_bar__minus_8_bar__minus_14_bar_3_bar_0)\n (receptacleAtLocation Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07_bar_SinkBasin loc_bar__minus_8_bar__minus_12_bar_3_bar_45)\n (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_02_dot_54 loc_bar__minus_5_bar__minus_11_bar_1_bar_30)\n (receptacleAtLocation Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05 loc_bar__minus_3_bar__minus_14_bar_0_bar_60)\n (receptacleAtLocation TowelHolder_bar__minus_01_dot_19_bar__plus_01_dot_37_bar__minus_00_dot_63 loc_bar__minus_7_bar__minus_3_bar_1_bar_30)\n (objectAtLocation SprayBottle_bar__minus_02_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_66 loc_bar__minus_7_bar__minus_12_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_02_dot_71_bar__plus_00_dot_81_bar__minus_02_dot_39 loc_bar__minus_7_bar__minus_12_bar_3_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_02_dot_46_bar__plus_00_dot_06_bar__minus_03_dot_02 loc_bar__minus_5_bar__minus_14_bar_3_bar_45)\n (objectAtLocation SoapBar_bar__minus_02_dot_39_bar__plus_00_dot_07_bar__minus_02_dot_38 loc_bar__minus_5_bar__minus_12_bar_3_bar_45)\n (objectAtLocation Candle_bar__minus_02_dot_80_bar__plus_00_dot_82_bar__minus_03_dot_53 loc_bar__minus_7_bar__minus_12_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_51 loc_bar__minus_5_bar__minus_12_bar_3_bar_45)\n (objectAtLocation SprayBottle_bar__minus_00_dot_39_bar__plus_00_dot_06_bar__minus_03_dot_80 loc_bar__minus_3_bar__minus_14_bar_1_bar_60)\n (objectAtLocation SoapBar_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__minus_03_dot_11 loc_bar__minus_3_bar__minus_14_bar_0_bar_60)\n (objectAtLocation SoapBar_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_02_dot_53 loc_bar__minus_7_bar__minus_12_bar_3_bar_45)\n (objectAtLocation Mirror_bar__minus_03_dot_00_bar__plus_01_dot_66_bar__minus_03_dot_07 loc_bar__minus_8_bar__minus_12_bar_3_bar_0)\n (objectAtLocation Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07 loc_bar__minus_8_bar__minus_12_bar_3_bar_60)\n (objectAtLocation ShowerGlass_bar__minus_00_dot_60_bar__plus_01_dot_10_bar__minus_01_dot_12 loc_bar__minus_7_bar__minus_4_bar_1_bar_30)\n (objectAtLocation ShowerDoor_bar__minus_01_dot_18_bar__plus_01_dot_09_bar__minus_01_dot_22 loc_bar__minus_7_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Candle_bar__minus_00_dot_10_bar__plus_01_dot_05_bar__minus_02_dot_98 loc_bar__minus_3_bar__minus_14_bar_0_bar_60)\n (objectAtLocation Cloth_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_02_dot_44 loc_bar__minus_5_bar__minus_12_bar_3_bar_45)\n (objectAtLocation HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_02_dot_57 loc_bar__minus_8_bar__minus_10_bar_3_bar_0)\n (objectAtLocation Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49 loc_bar__minus_3_bar__minus_14_bar_1_bar_60)\n (objectAtLocation SoapBar_bar__minus_00_dot_10_bar__plus_01_dot_05_bar__minus_02_dot_85 loc_bar__minus_3_bar__minus_14_bar_0_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_02_dot_36_bar__plus_00_dot_80_bar__minus_03_dot_77 loc_bar__minus_7_bar__minus_12_bar_3_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_02_dot_53_bar__plus_00_dot_80_bar__minus_03_dot_47 loc_bar__minus_7_bar__minus_12_bar_3_bar_45)\n (objectAtLocation Window_bar__minus_00_dot_57_bar__plus_01_dot_71_bar__minus_04_dot_00 loc_bar__minus_3_bar__minus_14_bar_2_bar_0)\n (objectAtLocation Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 loc_bar__minus_7_bar__minus_3_bar_1_bar_30)\n (objectAtLocation SoapBottle_bar__minus_00_dot_13_bar__plus_01_dot_05_bar__minus_03_dot_18 loc_bar__minus_3_bar__minus_14_bar_0_bar_60)\n (objectAtLocation SprayBottle_bar__minus_02_dot_84_bar__plus_00_dot_07_bar__minus_03_dot_76 loc_bar__minus_5_bar__minus_12_bar_3_bar_45)\n (objectAtLocation ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34 loc_bar__minus_3_bar__minus_14_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__minus_01_dot_95_bar__plus_01_dot_50_bar__plus_00_dot_00 loc_bar__minus_7_bar__minus_2_bar_0_bar_15)\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 CounterTopType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to toilet 1", "take soapbar 4 from toilet 1", "go to sinkbasin 1", "clean soapbar 4 with sinkbasin 1", "go to countertop 1", "move soapbar 4 to countertop 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-CounterTop-418/trial_T20190908_161520_346247/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-CounterTop-418/trial_T20190908_161520_346247/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..3d6a1705b6aed27a8918657995804ab7bdf28e32 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-CounterTop-418/trial_T20190908_161520_346247/initial_state.pddl @@ -0,0 +1,464 @@ + +(define (problem plan_trial_T20190908_161520_346247) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Candle_bar__minus_00_dot_10_bar__plus_01_dot_05_bar__minus_02_dot_98 - object + Candle_bar__minus_02_dot_80_bar__plus_00_dot_82_bar__minus_03_dot_53 - object + Cloth_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_02_dot_44 - object + Faucet_bar__minus_00_dot_61_bar__plus_01_dot_94_bar__minus_00_dot_01 - object + Faucet_bar__minus_03_dot_00_bar__plus_01_dot_17_bar__minus_03_dot_07 - object + HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_02_dot_57 - object + LightSwitch_bar__minus_01_dot_95_bar__plus_01_dot_50_bar__plus_00_dot_00 - object + Mirror_bar__minus_03_dot_00_bar__plus_01_dot_66_bar__minus_03_dot_07 - object + Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49 - object + ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34 - object + ShowerDoor_bar__minus_01_dot_18_bar__plus_01_dot_09_bar__minus_01_dot_22 - object + ShowerGlass_bar__minus_00_dot_60_bar__plus_01_dot_10_bar__minus_01_dot_12 - object + Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07 - object + SoapBar_bar__minus_00_dot_10_bar__plus_01_dot_05_bar__minus_02_dot_85 - object + SoapBar_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__minus_03_dot_11 - object + SoapBar_bar__minus_02_dot_39_bar__plus_00_dot_07_bar__minus_02_dot_38 - object + SoapBar_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_02_dot_53 - object + SoapBottle_bar__minus_00_dot_13_bar__plus_01_dot_05_bar__minus_03_dot_18 - object + SoapBottle_bar__minus_02_dot_71_bar__plus_00_dot_81_bar__minus_02_dot_39 - object + SoapBottle_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_51 - object + SprayBottle_bar__minus_00_dot_39_bar__plus_00_dot_06_bar__minus_03_dot_80 - object + SprayBottle_bar__minus_02_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_66 - object + SprayBottle_bar__minus_02_dot_84_bar__plus_00_dot_07_bar__minus_03_dot_76 - object + ToiletPaper_bar__minus_02_dot_36_bar__plus_00_dot_80_bar__minus_03_dot_77 - object + ToiletPaper_bar__minus_02_dot_46_bar__plus_00_dot_06_bar__minus_03_dot_02 - object + ToiletPaper_bar__minus_02_dot_53_bar__plus_00_dot_80_bar__minus_03_dot_47 - object + Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 - object + Window_bar__minus_00_dot_57_bar__plus_01_dot_71_bar__minus_04_dot_00 - object + Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25 - receptacle + Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81 - receptacle + Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25 - receptacle + CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04 - receptacle + GarbageCan_bar__minus_00_dot_35_bar__plus_00_dot_00_bar__minus_03_dot_85 - receptacle + HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_02_dot_57 - receptacle + HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_03_dot_55 - receptacle + Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_02_dot_54 - receptacle + Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05 - receptacle + TowelHolder_bar__minus_01_dot_19_bar__plus_01_dot_37_bar__minus_00_dot_63 - receptacle + loc_bar__minus_3_bar__minus_14_bar_2_bar_0 - location + loc_bar__minus_7_bar__minus_4_bar_1_bar_30 - location + loc_bar__minus_7_bar__minus_5_bar_1_bar_45 - location + loc_bar__minus_7_bar__minus_2_bar_0_bar_15 - location + loc_bar__minus_8_bar__minus_14_bar_3_bar_0 - location + loc_bar__minus_8_bar__minus_12_bar_3_bar_0 - location + loc_bar__minus_7_bar__minus_12_bar_3_bar_45 - location + loc_bar__minus_3_bar__minus_14_bar_1_bar_60 - location + loc_bar__minus_5_bar__minus_11_bar_1_bar_30 - location + loc_bar__minus_3_bar__minus_14_bar_0_bar_60 - location + loc_bar__minus_8_bar__minus_10_bar_3_bar_0 - location + loc_bar__minus_8_bar__minus_12_bar_3_bar_45 - location + loc_bar__minus_7_bar__minus_3_bar_1_bar_30 - location + loc_bar__minus_5_bar__minus_12_bar_3_bar_45 - location + loc_bar__minus_8_bar__minus_12_bar_3_bar_60 - location + loc_bar__minus_5_bar__minus_14_bar_3_bar_45 - location + loc_bar__minus_8_bar__minus_8_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_02_dot_54 ToiletPaperHangerType) + (receptacleType GarbageCan_bar__minus_00_dot_35_bar__plus_00_dot_00_bar__minus_03_dot_85 GarbageCanType) + (receptacleType HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_03_dot_55 HandTowelHolderType) + (receptacleType Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05 ToiletType) + (receptacleType Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81 CabinetType) + (receptacleType CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04 CounterTopType) + (receptacleType HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_02_dot_57 HandTowelHolderType) + (receptacleType Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07_bar_SinkBasin SinkBasinType) + (receptacleType TowelHolder_bar__minus_01_dot_19_bar__plus_01_dot_37_bar__minus_00_dot_63 TowelHolderType) + (receptacleType Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25 CabinetType) + (objectType Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 TowelType) + (objectType SoapBar_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_02_dot_53 SoapBarType) + (objectType LightSwitch_bar__minus_01_dot_95_bar__plus_01_dot_50_bar__plus_00_dot_00 LightSwitchType) + (objectType Window_bar__minus_00_dot_57_bar__plus_01_dot_71_bar__minus_04_dot_00 WindowType) + (objectType Candle_bar__minus_02_dot_80_bar__plus_00_dot_82_bar__minus_03_dot_53 CandleType) + (objectType SoapBottle_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_51 SoapBottleType) + (objectType Candle_bar__minus_00_dot_10_bar__plus_01_dot_05_bar__minus_02_dot_98 CandleType) + (objectType Mirror_bar__minus_03_dot_00_bar__plus_01_dot_66_bar__minus_03_dot_07 MirrorType) + (objectType ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34 ScrubBrushType) + (objectType Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07 SinkType) + (objectType SoapBar_bar__minus_00_dot_10_bar__plus_01_dot_05_bar__minus_02_dot_85 SoapBarType) + (objectType ToiletPaper_bar__minus_02_dot_46_bar__plus_00_dot_06_bar__minus_03_dot_02 ToiletPaperType) + (objectType SprayBottle_bar__minus_00_dot_39_bar__plus_00_dot_06_bar__minus_03_dot_80 SprayBottleType) + (objectType SoapBar_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__minus_03_dot_11 SoapBarType) + (objectType SprayBottle_bar__minus_02_dot_84_bar__plus_00_dot_07_bar__minus_03_dot_76 SprayBottleType) + (objectType HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_02_dot_57 HandTowelType) + (objectType SprayBottle_bar__minus_02_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_66 SprayBottleType) + (objectType SoapBottle_bar__minus_02_dot_71_bar__plus_00_dot_81_bar__minus_02_dot_39 SoapBottleType) + (objectType Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49 PlungerType) + (objectType SoapBottle_bar__minus_00_dot_13_bar__plus_01_dot_05_bar__minus_03_dot_18 SoapBottleType) + (objectType ToiletPaper_bar__minus_02_dot_53_bar__plus_00_dot_80_bar__minus_03_dot_47 ToiletPaperType) + (objectType ShowerDoor_bar__minus_01_dot_18_bar__plus_01_dot_09_bar__minus_01_dot_22 ShowerDoorType) + (objectType SoapBar_bar__minus_02_dot_39_bar__plus_00_dot_07_bar__minus_02_dot_38 SoapBarType) + (objectType ToiletPaper_bar__minus_02_dot_36_bar__plus_00_dot_80_bar__minus_03_dot_77 ToiletPaperType) + (objectType Cloth_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_02_dot_44 ClothType) + (objectType ShowerGlass_bar__minus_00_dot_60_bar__plus_01_dot_10_bar__minus_01_dot_12 ShowerGlassType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType ClothType) + (canContain ToiletType CandleType) + (canContain ToiletType SoapBarType) + (canContain ToiletType SprayBottleType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain CounterTopType CandleType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain TowelHolderType TowelType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (pickupable Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63) + (pickupable SoapBar_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_02_dot_53) + (pickupable Candle_bar__minus_02_dot_80_bar__plus_00_dot_82_bar__minus_03_dot_53) + (pickupable SoapBottle_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_51) + (pickupable Candle_bar__minus_00_dot_10_bar__plus_01_dot_05_bar__minus_02_dot_98) + (pickupable ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34) + (pickupable SoapBar_bar__minus_00_dot_10_bar__plus_01_dot_05_bar__minus_02_dot_85) + (pickupable ToiletPaper_bar__minus_02_dot_46_bar__plus_00_dot_06_bar__minus_03_dot_02) + (pickupable SprayBottle_bar__minus_00_dot_39_bar__plus_00_dot_06_bar__minus_03_dot_80) + (pickupable SoapBar_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__minus_03_dot_11) + (pickupable SprayBottle_bar__minus_02_dot_84_bar__plus_00_dot_07_bar__minus_03_dot_76) + (pickupable HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_02_dot_57) + (pickupable SprayBottle_bar__minus_02_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_66) + (pickupable SoapBottle_bar__minus_02_dot_71_bar__plus_00_dot_81_bar__minus_02_dot_39) + (pickupable Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49) + (pickupable SoapBottle_bar__minus_00_dot_13_bar__plus_01_dot_05_bar__minus_03_dot_18) + (pickupable ToiletPaper_bar__minus_02_dot_53_bar__plus_00_dot_80_bar__minus_03_dot_47) + (pickupable SoapBar_bar__minus_02_dot_39_bar__plus_00_dot_07_bar__minus_02_dot_38) + (pickupable ToiletPaper_bar__minus_02_dot_36_bar__plus_00_dot_80_bar__minus_03_dot_77) + (pickupable Cloth_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_02_dot_44) + + (openable Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25) + (openable Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81) + (openable Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25) + + (atLocation agent1 loc_bar__minus_8_bar__minus_8_bar_3_bar_30) + + (cleanable SoapBar_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_02_dot_53) + (cleanable SoapBar_bar__minus_00_dot_10_bar__plus_01_dot_05_bar__minus_02_dot_85) + (cleanable SoapBar_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__minus_03_dot_11) + (cleanable SoapBar_bar__minus_02_dot_39_bar__plus_00_dot_07_bar__minus_02_dot_38) + (cleanable Cloth_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_02_dot_44) + + + + + + + + + + + (inReceptacle ToiletPaper_bar__minus_02_dot_46_bar__plus_00_dot_06_bar__minus_03_dot_02 Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25) + (inReceptacle Cloth_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_02_dot_44 Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25) + (inReceptacle SoapBar_bar__minus_02_dot_39_bar__plus_00_dot_07_bar__minus_02_dot_38 Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25) + (inReceptacle SoapBottle_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_51 Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81) + (inReceptacle SprayBottle_bar__minus_02_dot_84_bar__plus_00_dot_07_bar__minus_03_dot_76 Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81) + (inReceptacle ToiletPaper_bar__minus_02_dot_53_bar__plus_00_dot_80_bar__minus_03_dot_47 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04) + (inReceptacle Candle_bar__minus_02_dot_80_bar__plus_00_dot_82_bar__minus_03_dot_53 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04) + (inReceptacle SoapBar_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_02_dot_53 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04) + (inReceptacle SoapBottle_bar__minus_02_dot_71_bar__plus_00_dot_81_bar__minus_02_dot_39 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04) + (inReceptacle ToiletPaper_bar__minus_02_dot_36_bar__plus_00_dot_80_bar__minus_03_dot_77 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04) + (inReceptacle SprayBottle_bar__minus_02_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_66 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04) + (inReceptacle Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 TowelHolder_bar__minus_01_dot_19_bar__plus_01_dot_37_bar__minus_00_dot_63) + (inReceptacle SprayBottle_bar__minus_00_dot_39_bar__plus_00_dot_06_bar__minus_03_dot_80 GarbageCan_bar__minus_00_dot_35_bar__plus_00_dot_00_bar__minus_03_dot_85) + (inReceptacle HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_02_dot_57 HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_02_dot_57) + (inReceptacle SoapBar_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__minus_03_dot_11 Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05) + (inReceptacle Candle_bar__minus_00_dot_10_bar__plus_01_dot_05_bar__minus_02_dot_98 Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05) + (inReceptacle SoapBottle_bar__minus_00_dot_13_bar__plus_01_dot_05_bar__minus_03_dot_18 Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05) + (inReceptacle SoapBar_bar__minus_00_dot_10_bar__plus_01_dot_05_bar__minus_02_dot_85 Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05) + + + (receptacleAtLocation Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25 loc_bar__minus_5_bar__minus_14_bar_3_bar_45) + (receptacleAtLocation Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81 loc_bar__minus_5_bar__minus_12_bar_3_bar_45) + (receptacleAtLocation Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25 loc_bar__minus_5_bar__minus_12_bar_3_bar_45) + (receptacleAtLocation CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04 loc_bar__minus_7_bar__minus_12_bar_3_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_35_bar__plus_00_dot_00_bar__minus_03_dot_85 loc_bar__minus_3_bar__minus_14_bar_1_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_02_dot_57 loc_bar__minus_8_bar__minus_10_bar_3_bar_0) + (receptacleAtLocation HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_03_dot_55 loc_bar__minus_8_bar__minus_14_bar_3_bar_0) + (receptacleAtLocation Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07_bar_SinkBasin loc_bar__minus_8_bar__minus_12_bar_3_bar_45) + (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_02_dot_54 loc_bar__minus_5_bar__minus_11_bar_1_bar_30) + (receptacleAtLocation Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05 loc_bar__minus_3_bar__minus_14_bar_0_bar_60) + (receptacleAtLocation TowelHolder_bar__minus_01_dot_19_bar__plus_01_dot_37_bar__minus_00_dot_63 loc_bar__minus_7_bar__minus_3_bar_1_bar_30) + (objectAtLocation SprayBottle_bar__minus_02_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_66 loc_bar__minus_7_bar__minus_12_bar_3_bar_45) + (objectAtLocation SoapBottle_bar__minus_02_dot_71_bar__plus_00_dot_81_bar__minus_02_dot_39 loc_bar__minus_7_bar__minus_12_bar_3_bar_45) + (objectAtLocation ToiletPaper_bar__minus_02_dot_46_bar__plus_00_dot_06_bar__minus_03_dot_02 loc_bar__minus_5_bar__minus_14_bar_3_bar_45) + (objectAtLocation SoapBar_bar__minus_02_dot_39_bar__plus_00_dot_07_bar__minus_02_dot_38 loc_bar__minus_5_bar__minus_12_bar_3_bar_45) + (objectAtLocation Candle_bar__minus_02_dot_80_bar__plus_00_dot_82_bar__minus_03_dot_53 loc_bar__minus_7_bar__minus_12_bar_3_bar_45) + (objectAtLocation SoapBottle_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_51 loc_bar__minus_5_bar__minus_12_bar_3_bar_45) + (objectAtLocation SprayBottle_bar__minus_00_dot_39_bar__plus_00_dot_06_bar__minus_03_dot_80 loc_bar__minus_3_bar__minus_14_bar_1_bar_60) + (objectAtLocation SoapBar_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__minus_03_dot_11 loc_bar__minus_3_bar__minus_14_bar_0_bar_60) + (objectAtLocation SoapBar_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_02_dot_53 loc_bar__minus_7_bar__minus_12_bar_3_bar_45) + (objectAtLocation 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SprayBottle_bar__minus_02_dot_84_bar__plus_00_dot_07_bar__minus_03_dot_76 loc_bar__minus_5_bar__minus_12_bar_3_bar_45) + (objectAtLocation ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34 loc_bar__minus_3_bar__minus_14_bar_1_bar_60) + (objectAtLocation LightSwitch_bar__minus_01_dot_95_bar__plus_01_dot_50_bar__plus_00_dot_00 loc_bar__minus_7_bar__minus_2_bar_0_bar_15) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (cleanable ?o) + (objectType ?o SoapBarType) + (receptacleType ?r CounterTopType) + (isClean ?o) + (inReceptacle ?o ?r) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-CounterTop-418/trial_T20190908_161520_346247/traj_data.json b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-CounterTop-418/trial_T20190908_161520_346247/traj_data.json new file mode 100644 index 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{ + "x": -2.38711047, + "y": 0.06581825, + "z": -2.37839031 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ToiletPaper_0ae85b0d", + "position": { + "x": -2.355834, + "y": 0.8035, + "z": -3.7653923 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ToiletPaper_1963f6ed", + "position": { + "x": -2.46253157, + "y": 0.06344348, + "z": -3.02324867 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Towel_c13c7186", + "position": { + "x": -1.29189992, + "y": 1.386, + "z": -0.63 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_94c9196d", + "position": { + "x": -2.70846272, + "y": 0.80856204, + "z": -2.39438677 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SprayBottle_ea8e94da", + "position": { + "x": -2.35583282, + "y": 0.807904, + "z": -2.65618539 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ScrubBrush_d4414847", + "position": { + "x": -0.325021982, + "y": 0.0006431546, + "z": -3.342877 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 879525907, + "scene_num": 418 + }, + "task_id": "trial_T20190908_161520_346247", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "ALKQPW0O9C98N_37UQDCYH60MRF4FA8942KLH4A55V7G", + "high_descs": [ + "Face the right side of the bathroom counter", + "Open the door on the far right under the sink and take out a pink bar of soap", + "Move left to the sink", + "Put the soap in the sink and turn on the water. Then turn the water off and remove the soap.", + "Turn right and go to the far right side of the counter", + "Place the soap near the edge of the counter in front of the other bar of soap" + ], + "task_desc": "Wash a bar of soap and put it on the bathroom counter", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2871R3LEPWMMK_3NS0A6KXC7ZRHHVL29XZB47TXJXZGQ", + "high_descs": [ + "Turn left and walk to the vanity with the sink on the right.", + "Open the lower right cabinet under the vanity, pick up the bar of soap from inside and close the door.", + "Turn left and walk to the sink on the vanity on the right.", + "Put the bar of soap inside the sink, rinse it for a few seconds and pick it back up.", + "Turn right and walk to the side of the vanity counter on the left.", + "Put the rinsed bar of soap near the edge of the counter in front of the yellow soap bottle." + ], + "task_desc": "Place a rinsed bar of soap on a counter.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AJQGWGESKQT4Y_3ZGVPD4G6W8VMMHRM9W6ANMINDJTZ7", + "high_descs": [ + "Turn to face the counter to the right of the sink.", + "Open the lower cabinet on the far right, below the sink and pick up the soap.", + "Move to the left to face the sink.", + "Put the soap in the sink and turn the water on and then off and pick the soap up again.", + "Go right and then left and turn to face the end of the counter to the right of the sink.", + "Put the soap on the counter." + ], + "task_desc": "Put a clean soap on the counter.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-CounterTop-418/trial_T20190908_220910_082834/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-CounterTop-418/trial_T20190908_220910_082834/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..c8d2af9d7a8757f0c6bb006ab1c9246be92b91f5 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-CounterTop-418/trial_T20190908_220910_082834/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 soapbar and put it in countertop.\"\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_220910_082834)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Candle_bar__minus_02_dot_39_bar__plus_00_dot_08_bar__minus_02_dot_55 - object\n Candle_bar__minus_02_dot_44_bar__plus_00_dot_82_bar__minus_02_dot_26 - object\n Candle_bar__minus_02_dot_88_bar__plus_00_dot_82_bar__minus_03_dot_82 - object\n Cloth_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_57 - object\n Faucet_bar__minus_00_dot_61_bar__plus_01_dot_94_bar__minus_00_dot_01 - object\n Faucet_bar__minus_03_dot_00_bar__plus_01_dot_17_bar__minus_03_dot_07 - object\n HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_03_dot_55 - object\n LightSwitch_bar__minus_01_dot_95_bar__plus_01_dot_50_bar__plus_00_dot_00 - object\n Mirror_bar__minus_03_dot_00_bar__plus_01_dot_66_bar__minus_03_dot_07 - object\n Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49 - object\n ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34 - object\n ShowerDoor_bar__minus_01_dot_18_bar__plus_01_dot_09_bar__minus_01_dot_22 - object\n ShowerGlass_bar__minus_00_dot_60_bar__plus_01_dot_10_bar__minus_01_dot_12 - object\n Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07 - object\n SoapBar_bar__minus_02_dot_53_bar__plus_00_dot_81_bar__minus_02_dot_39 - object\n SoapBar_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_03_dot_57 - object\n SoapBottle_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_02_dot_98 - object\n SoapBottle_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_03_dot_53 - object\n SprayBottle_bar__minus_00_dot_07_bar__plus_01_dot_05_bar__minus_03_dot_11 - object\n SprayBottle_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_02_dot_66 - object\n ToiletPaper_bar__minus_00_dot_37_bar__plus_00_dot_05_bar__minus_03_dot_86 - object\n ToiletPaper_bar__minus_02_dot_46_bar__plus_00_dot_06_bar__minus_02_dot_55 - object\n Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 - object\n Window_bar__minus_00_dot_57_bar__plus_01_dot_71_bar__minus_04_dot_00 - object\n Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25 - receptacle\n Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81 - receptacle\n Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25 - receptacle\n CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04 - receptacle\n GarbageCan_bar__minus_00_dot_35_bar__plus_00_dot_00_bar__minus_03_dot_85 - receptacle\n HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_02_dot_57 - receptacle\n HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_03_dot_55 - receptacle\n Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_02_dot_54 - receptacle\n Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05 - receptacle\n TowelHolder_bar__minus_01_dot_19_bar__plus_01_dot_37_bar__minus_00_dot_63 - receptacle\n loc_bar__minus_3_bar__minus_14_bar_2_bar_0 - location\n loc_bar__minus_7_bar__minus_4_bar_1_bar_30 - location\n loc_bar__minus_7_bar__minus_5_bar_1_bar_45 - location\n loc_bar__minus_7_bar__minus_2_bar_0_bar_15 - location\n loc_bar__minus_8_bar__minus_14_bar_3_bar_0 - location\n loc_bar__minus_8_bar__minus_12_bar_3_bar_0 - location\n loc_bar__minus_7_bar__minus_12_bar_3_bar_45 - location\n loc_bar__minus_3_bar__minus_14_bar_1_bar_60 - location\n loc_bar__minus_5_bar__minus_11_bar_1_bar_30 - location\n loc_bar__minus_3_bar__minus_14_bar_0_bar_60 - location\n loc_bar__minus_8_bar__minus_10_bar_3_bar_0 - location\n loc_bar__minus_8_bar__minus_12_bar_3_bar_45 - location\n loc_bar__minus_7_bar__minus_3_bar_1_bar_30 - location\n loc_bar__minus_5_bar__minus_12_bar_3_bar_45 - location\n loc_bar__minus_8_bar__minus_12_bar_3_bar_60 - location\n loc_bar__minus_5_bar__minus_14_bar_3_bar_45 - location\n loc_bar__minus_7_bar__minus_9_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_02_dot_54 ToiletPaperHangerType)\n (receptacleType GarbageCan_bar__minus_00_dot_35_bar__plus_00_dot_00_bar__minus_03_dot_85 GarbageCanType)\n (receptacleType HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_03_dot_55 HandTowelHolderType)\n (receptacleType Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05 ToiletType)\n (receptacleType Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81 CabinetType)\n (receptacleType CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04 CounterTopType)\n (receptacleType HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_02_dot_57 HandTowelHolderType)\n (receptacleType Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07_bar_SinkBasin SinkBasinType)\n (receptacleType TowelHolder_bar__minus_01_dot_19_bar__plus_01_dot_37_bar__minus_00_dot_63 TowelHolderType)\n (receptacleType Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25 CabinetType)\n (objectType Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 TowelType)\n (objectType LightSwitch_bar__minus_01_dot_95_bar__plus_01_dot_50_bar__plus_00_dot_00 LightSwitchType)\n (objectType Window_bar__minus_00_dot_57_bar__plus_01_dot_71_bar__minus_04_dot_00 WindowType)\n (objectType Candle_bar__minus_02_dot_44_bar__plus_00_dot_82_bar__minus_02_dot_26 CandleType)\n (objectType Candle_bar__minus_02_dot_39_bar__plus_00_dot_08_bar__minus_02_dot_55 CandleType)\n (objectType HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_03_dot_55 HandTowelType)\n (objectType Mirror_bar__minus_03_dot_00_bar__plus_01_dot_66_bar__minus_03_dot_07 MirrorType)\n (objectType ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34 ScrubBrushType)\n (objectType Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07 SinkType)\n (objectType Cloth_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_57 ClothType)\n (objectType SoapBottle_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_02_dot_98 SoapBottleType)\n (objectType SprayBottle_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_02_dot_66 SprayBottleType)\n (objectType Candle_bar__minus_02_dot_88_bar__plus_00_dot_82_bar__minus_03_dot_82 CandleType)\n (objectType Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49 PlungerType)\n (objectType ToiletPaper_bar__minus_02_dot_46_bar__plus_00_dot_06_bar__minus_02_dot_55 ToiletPaperType)\n (objectType SoapBottle_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_03_dot_53 SoapBottleType)\n (objectType ShowerDoor_bar__minus_01_dot_18_bar__plus_01_dot_09_bar__minus_01_dot_22 ShowerDoorType)\n (objectType ToiletPaper_bar__minus_00_dot_37_bar__plus_00_dot_05_bar__minus_03_dot_86 ToiletPaperType)\n (objectType SoapBar_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_03_dot_57 SoapBarType)\n (objectType SoapBar_bar__minus_02_dot_53_bar__plus_00_dot_81_bar__minus_02_dot_39 SoapBarType)\n (objectType SprayBottle_bar__minus_00_dot_07_bar__plus_01_dot_05_bar__minus_03_dot_11 SprayBottleType)\n (objectType ShowerGlass_bar__minus_00_dot_60_bar__plus_01_dot_10_bar__minus_01_dot_12 ShowerGlassType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType SprayBottleType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain TowelHolderType TowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (pickupable Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63)\n (pickupable Candle_bar__minus_02_dot_44_bar__plus_00_dot_82_bar__minus_02_dot_26)\n (pickupable Candle_bar__minus_02_dot_39_bar__plus_00_dot_08_bar__minus_02_dot_55)\n (pickupable HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_03_dot_55)\n (pickupable ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34)\n (pickupable Cloth_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_57)\n (pickupable SoapBottle_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_02_dot_98)\n (pickupable SprayBottle_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_02_dot_66)\n (pickupable Candle_bar__minus_02_dot_88_bar__plus_00_dot_82_bar__minus_03_dot_82)\n (pickupable Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49)\n (pickupable ToiletPaper_bar__minus_02_dot_46_bar__plus_00_dot_06_bar__minus_02_dot_55)\n (pickupable SoapBottle_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_03_dot_53)\n (pickupable ToiletPaper_bar__minus_00_dot_37_bar__plus_00_dot_05_bar__minus_03_dot_86)\n (pickupable SoapBar_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_03_dot_57)\n (pickupable SoapBar_bar__minus_02_dot_53_bar__plus_00_dot_81_bar__minus_02_dot_39)\n (pickupable SprayBottle_bar__minus_00_dot_07_bar__plus_01_dot_05_bar__minus_03_dot_11)\n \n (openable Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25)\n (openable Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81)\n (openable Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25)\n \n (atLocation agent1 loc_bar__minus_7_bar__minus_9_bar_0_bar_30)\n \n (cleanable Cloth_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_57)\n (cleanable SoapBar_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_03_dot_57)\n (cleanable SoapBar_bar__minus_02_dot_53_bar__plus_00_dot_81_bar__minus_02_dot_39)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle Candle_bar__minus_02_dot_39_bar__plus_00_dot_08_bar__minus_02_dot_55 Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25)\n (inReceptacle ToiletPaper_bar__minus_02_dot_46_bar__plus_00_dot_06_bar__minus_02_dot_55 Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25)\n (inReceptacle SoapBar_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_03_dot_57 Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81)\n (inReceptacle Cloth_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_57 Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81)\n (inReceptacle SoapBottle_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_03_dot_53 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04)\n (inReceptacle Candle_bar__minus_02_dot_44_bar__plus_00_dot_82_bar__minus_02_dot_26 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04)\n (inReceptacle SprayBottle_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_02_dot_66 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04)\n (inReceptacle Candle_bar__minus_02_dot_88_bar__plus_00_dot_82_bar__minus_03_dot_82 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04)\n (inReceptacle SoapBar_bar__minus_02_dot_53_bar__plus_00_dot_81_bar__minus_02_dot_39 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04)\n (inReceptacle Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 TowelHolder_bar__minus_01_dot_19_bar__plus_01_dot_37_bar__minus_00_dot_63)\n (inReceptacle ToiletPaper_bar__minus_00_dot_37_bar__plus_00_dot_05_bar__minus_03_dot_86 GarbageCan_bar__minus_00_dot_35_bar__plus_00_dot_00_bar__minus_03_dot_85)\n (inReceptacle HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_03_dot_55 HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_03_dot_55)\n (inReceptacle SoapBottle_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_02_dot_98 Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05)\n (inReceptacle SprayBottle_bar__minus_00_dot_07_bar__plus_01_dot_05_bar__minus_03_dot_11 Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05)\n \n \n (receptacleAtLocation Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25 loc_bar__minus_5_bar__minus_14_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81 loc_bar__minus_5_bar__minus_12_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25 loc_bar__minus_5_bar__minus_12_bar_3_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04 loc_bar__minus_7_bar__minus_12_bar_3_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_35_bar__plus_00_dot_00_bar__minus_03_dot_85 loc_bar__minus_3_bar__minus_14_bar_1_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_02_dot_57 loc_bar__minus_8_bar__minus_10_bar_3_bar_0)\n (receptacleAtLocation HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_03_dot_55 loc_bar__minus_8_bar__minus_14_bar_3_bar_0)\n (receptacleAtLocation Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07_bar_SinkBasin loc_bar__minus_8_bar__minus_12_bar_3_bar_45)\n (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_02_dot_54 loc_bar__minus_5_bar__minus_11_bar_1_bar_30)\n (receptacleAtLocation Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05 loc_bar__minus_3_bar__minus_14_bar_0_bar_60)\n (receptacleAtLocation TowelHolder_bar__minus_01_dot_19_bar__plus_01_dot_37_bar__minus_00_dot_63 loc_bar__minus_7_bar__minus_3_bar_1_bar_30)\n (objectAtLocation SprayBottle_bar__minus_00_dot_07_bar__plus_01_dot_05_bar__minus_03_dot_11 loc_bar__minus_3_bar__minus_14_bar_0_bar_60)\n (objectAtLocation SoapBottle_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_02_dot_98 loc_bar__minus_3_bar__minus_14_bar_0_bar_60)\n (objectAtLocation SoapBar_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_03_dot_57 loc_bar__minus_5_bar__minus_12_bar_3_bar_45)\n (objectAtLocation Candle_bar__minus_02_dot_39_bar__plus_00_dot_08_bar__minus_02_dot_55 loc_bar__minus_5_bar__minus_12_bar_3_bar_45)\n (objectAtLocation Candle_bar__minus_02_dot_88_bar__plus_00_dot_82_bar__minus_03_dot_82 loc_bar__minus_7_bar__minus_12_bar_3_bar_45)\n (objectAtLocation Mirror_bar__minus_03_dot_00_bar__plus_01_dot_66_bar__minus_03_dot_07 loc_bar__minus_8_bar__minus_12_bar_3_bar_0)\n (objectAtLocation Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07 loc_bar__minus_8_bar__minus_12_bar_3_bar_60)\n (objectAtLocation ShowerGlass_bar__minus_00_dot_60_bar__plus_01_dot_10_bar__minus_01_dot_12 loc_bar__minus_7_bar__minus_4_bar_1_bar_30)\n (objectAtLocation ShowerDoor_bar__minus_01_dot_18_bar__plus_01_dot_09_bar__minus_01_dot_22 loc_bar__minus_7_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Candle_bar__minus_02_dot_44_bar__plus_00_dot_82_bar__minus_02_dot_26 loc_bar__minus_7_bar__minus_12_bar_3_bar_45)\n (objectAtLocation Cloth_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_57 loc_bar__minus_5_bar__minus_12_bar_3_bar_45)\n (objectAtLocation HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_03_dot_55 loc_bar__minus_8_bar__minus_14_bar_3_bar_0)\n (objectAtLocation Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49 loc_bar__minus_3_bar__minus_14_bar_1_bar_60)\n (objectAtLocation SoapBar_bar__minus_02_dot_53_bar__plus_00_dot_81_bar__minus_02_dot_39 loc_bar__minus_7_bar__minus_12_bar_3_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_37_bar__plus_00_dot_05_bar__minus_03_dot_86 loc_bar__minus_3_bar__minus_14_bar_1_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_02_dot_46_bar__plus_00_dot_06_bar__minus_02_dot_55 loc_bar__minus_5_bar__minus_12_bar_3_bar_45)\n (objectAtLocation Window_bar__minus_00_dot_57_bar__plus_01_dot_71_bar__minus_04_dot_00 loc_bar__minus_3_bar__minus_14_bar_2_bar_0)\n (objectAtLocation Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 loc_bar__minus_7_bar__minus_3_bar_1_bar_30)\n (objectAtLocation SoapBottle_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_03_dot_53 loc_bar__minus_7_bar__minus_12_bar_3_bar_45)\n (objectAtLocation SprayBottle_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_02_dot_66 loc_bar__minus_7_bar__minus_12_bar_3_bar_45)\n (objectAtLocation ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34 loc_bar__minus_3_bar__minus_14_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__minus_01_dot_95_bar__plus_01_dot_50_bar__plus_00_dot_00 loc_bar__minus_7_bar__minus_2_bar_0_bar_15)\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 CounterTopType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take soapbar 2 from countertop 1", "go to sinkbasin 1", "clean soapbar 2 with sinkbasin 1", "go to countertop 1", "move soapbar 2 to countertop 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-CounterTop-418/trial_T20190908_220910_082834/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-CounterTop-418/trial_T20190908_220910_082834/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..699acbfa13cb049fc753eccab22f4b6be825e543 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-CounterTop-418/trial_T20190908_220910_082834/initial_state.pddl @@ -0,0 +1,442 @@ + +(define (problem plan_trial_T20190908_220910_082834) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Candle_bar__minus_02_dot_39_bar__plus_00_dot_08_bar__minus_02_dot_55 - object + Candle_bar__minus_02_dot_44_bar__plus_00_dot_82_bar__minus_02_dot_26 - object + Candle_bar__minus_02_dot_88_bar__plus_00_dot_82_bar__minus_03_dot_82 - object + Cloth_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_57 - object + Faucet_bar__minus_00_dot_61_bar__plus_01_dot_94_bar__minus_00_dot_01 - object + Faucet_bar__minus_03_dot_00_bar__plus_01_dot_17_bar__minus_03_dot_07 - object + HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_03_dot_55 - object + LightSwitch_bar__minus_01_dot_95_bar__plus_01_dot_50_bar__plus_00_dot_00 - object + Mirror_bar__minus_03_dot_00_bar__plus_01_dot_66_bar__minus_03_dot_07 - object + Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49 - object + ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34 - object + ShowerDoor_bar__minus_01_dot_18_bar__plus_01_dot_09_bar__minus_01_dot_22 - object + ShowerGlass_bar__minus_00_dot_60_bar__plus_01_dot_10_bar__minus_01_dot_12 - object + Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07 - object + SoapBar_bar__minus_02_dot_53_bar__plus_00_dot_81_bar__minus_02_dot_39 - object + SoapBar_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_03_dot_57 - object + SoapBottle_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_02_dot_98 - object + SoapBottle_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_03_dot_53 - object + SprayBottle_bar__minus_00_dot_07_bar__plus_01_dot_05_bar__minus_03_dot_11 - object + SprayBottle_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_02_dot_66 - object + ToiletPaper_bar__minus_00_dot_37_bar__plus_00_dot_05_bar__minus_03_dot_86 - object + ToiletPaper_bar__minus_02_dot_46_bar__plus_00_dot_06_bar__minus_02_dot_55 - object + Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 - object + Window_bar__minus_00_dot_57_bar__plus_01_dot_71_bar__minus_04_dot_00 - object + Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25 - receptacle + Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81 - receptacle + Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25 - receptacle + CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04 - receptacle + GarbageCan_bar__minus_00_dot_35_bar__plus_00_dot_00_bar__minus_03_dot_85 - receptacle + HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_02_dot_57 - receptacle + HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_03_dot_55 - receptacle + Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_02_dot_54 - receptacle + Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05 - receptacle + TowelHolder_bar__minus_01_dot_19_bar__plus_01_dot_37_bar__minus_00_dot_63 - receptacle + loc_bar__minus_3_bar__minus_14_bar_2_bar_0 - location + loc_bar__minus_7_bar__minus_4_bar_1_bar_30 - location + loc_bar__minus_7_bar__minus_5_bar_1_bar_45 - location + loc_bar__minus_7_bar__minus_2_bar_0_bar_15 - location + loc_bar__minus_8_bar__minus_14_bar_3_bar_0 - location + loc_bar__minus_8_bar__minus_12_bar_3_bar_0 - location + loc_bar__minus_7_bar__minus_12_bar_3_bar_45 - location + loc_bar__minus_3_bar__minus_14_bar_1_bar_60 - location + loc_bar__minus_5_bar__minus_11_bar_1_bar_30 - location + loc_bar__minus_3_bar__minus_14_bar_0_bar_60 - location + loc_bar__minus_8_bar__minus_10_bar_3_bar_0 - location + loc_bar__minus_8_bar__minus_12_bar_3_bar_45 - location + loc_bar__minus_7_bar__minus_3_bar_1_bar_30 - location + loc_bar__minus_5_bar__minus_12_bar_3_bar_45 - location + loc_bar__minus_8_bar__minus_12_bar_3_bar_60 - location + loc_bar__minus_5_bar__minus_14_bar_3_bar_45 - location + loc_bar__minus_7_bar__minus_9_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_02_dot_54 ToiletPaperHangerType) + (receptacleType GarbageCan_bar__minus_00_dot_35_bar__plus_00_dot_00_bar__minus_03_dot_85 GarbageCanType) + (receptacleType HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_03_dot_55 HandTowelHolderType) + (receptacleType Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05 ToiletType) + (receptacleType Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81 CabinetType) + (receptacleType CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04 CounterTopType) + (receptacleType HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_02_dot_57 HandTowelHolderType) + (receptacleType Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07_bar_SinkBasin SinkBasinType) + (receptacleType TowelHolder_bar__minus_01_dot_19_bar__plus_01_dot_37_bar__minus_00_dot_63 TowelHolderType) + (receptacleType Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25 CabinetType) + (objectType Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 TowelType) + (objectType LightSwitch_bar__minus_01_dot_95_bar__plus_01_dot_50_bar__plus_00_dot_00 LightSwitchType) + (objectType Window_bar__minus_00_dot_57_bar__plus_01_dot_71_bar__minus_04_dot_00 WindowType) + (objectType Candle_bar__minus_02_dot_44_bar__plus_00_dot_82_bar__minus_02_dot_26 CandleType) + (objectType Candle_bar__minus_02_dot_39_bar__plus_00_dot_08_bar__minus_02_dot_55 CandleType) + (objectType HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_03_dot_55 HandTowelType) + (objectType Mirror_bar__minus_03_dot_00_bar__plus_01_dot_66_bar__minus_03_dot_07 MirrorType) + (objectType ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34 ScrubBrushType) + (objectType Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07 SinkType) + (objectType Cloth_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_57 ClothType) + (objectType SoapBottle_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_02_dot_98 SoapBottleType) + (objectType SprayBottle_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_02_dot_66 SprayBottleType) + (objectType Candle_bar__minus_02_dot_88_bar__plus_00_dot_82_bar__minus_03_dot_82 CandleType) + (objectType Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49 PlungerType) + (objectType ToiletPaper_bar__minus_02_dot_46_bar__plus_00_dot_06_bar__minus_02_dot_55 ToiletPaperType) + (objectType SoapBottle_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_03_dot_53 SoapBottleType) + (objectType ShowerDoor_bar__minus_01_dot_18_bar__plus_01_dot_09_bar__minus_01_dot_22 ShowerDoorType) + (objectType ToiletPaper_bar__minus_00_dot_37_bar__plus_00_dot_05_bar__minus_03_dot_86 ToiletPaperType) + (objectType SoapBar_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_03_dot_57 SoapBarType) + (objectType SoapBar_bar__minus_02_dot_53_bar__plus_00_dot_81_bar__minus_02_dot_39 SoapBarType) + (objectType SprayBottle_bar__minus_00_dot_07_bar__plus_01_dot_05_bar__minus_03_dot_11 SprayBottleType) + (objectType ShowerGlass_bar__minus_00_dot_60_bar__plus_01_dot_10_bar__minus_01_dot_12 ShowerGlassType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType ClothType) + (canContain ToiletType CandleType) + (canContain ToiletType SoapBarType) + (canContain ToiletType SprayBottleType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain CounterTopType CandleType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain TowelHolderType TowelType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (pickupable Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63) + (pickupable Candle_bar__minus_02_dot_44_bar__plus_00_dot_82_bar__minus_02_dot_26) + (pickupable Candle_bar__minus_02_dot_39_bar__plus_00_dot_08_bar__minus_02_dot_55) + (pickupable HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_03_dot_55) + (pickupable ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34) + (pickupable Cloth_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_57) + (pickupable SoapBottle_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_02_dot_98) + (pickupable SprayBottle_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_02_dot_66) + (pickupable Candle_bar__minus_02_dot_88_bar__plus_00_dot_82_bar__minus_03_dot_82) + (pickupable Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49) + (pickupable ToiletPaper_bar__minus_02_dot_46_bar__plus_00_dot_06_bar__minus_02_dot_55) + (pickupable SoapBottle_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_03_dot_53) + (pickupable ToiletPaper_bar__minus_00_dot_37_bar__plus_00_dot_05_bar__minus_03_dot_86) + (pickupable SoapBar_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_03_dot_57) + (pickupable SoapBar_bar__minus_02_dot_53_bar__plus_00_dot_81_bar__minus_02_dot_39) + (pickupable SprayBottle_bar__minus_00_dot_07_bar__plus_01_dot_05_bar__minus_03_dot_11) + + (openable Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25) + (openable Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81) + (openable Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25) + + (atLocation agent1 loc_bar__minus_7_bar__minus_9_bar_0_bar_30) + + (cleanable Cloth_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_57) + (cleanable SoapBar_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_03_dot_57) + (cleanable SoapBar_bar__minus_02_dot_53_bar__plus_00_dot_81_bar__minus_02_dot_39) + + + + + + + + + + + (inReceptacle Candle_bar__minus_02_dot_39_bar__plus_00_dot_08_bar__minus_02_dot_55 Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25) + (inReceptacle ToiletPaper_bar__minus_02_dot_46_bar__plus_00_dot_06_bar__minus_02_dot_55 Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25) + (inReceptacle SoapBar_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_03_dot_57 Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81) + (inReceptacle Cloth_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_57 Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81) + (inReceptacle SoapBottle_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_03_dot_53 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04) + (inReceptacle Candle_bar__minus_02_dot_44_bar__plus_00_dot_82_bar__minus_02_dot_26 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04) + (inReceptacle SprayBottle_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_02_dot_66 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04) + (inReceptacle Candle_bar__minus_02_dot_88_bar__plus_00_dot_82_bar__minus_03_dot_82 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04) + (inReceptacle SoapBar_bar__minus_02_dot_53_bar__plus_00_dot_81_bar__minus_02_dot_39 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04) + (inReceptacle Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 TowelHolder_bar__minus_01_dot_19_bar__plus_01_dot_37_bar__minus_00_dot_63) + (inReceptacle ToiletPaper_bar__minus_00_dot_37_bar__plus_00_dot_05_bar__minus_03_dot_86 GarbageCan_bar__minus_00_dot_35_bar__plus_00_dot_00_bar__minus_03_dot_85) + (inReceptacle HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_03_dot_55 HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_03_dot_55) + (inReceptacle SoapBottle_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_02_dot_98 Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05) + (inReceptacle SprayBottle_bar__minus_00_dot_07_bar__plus_01_dot_05_bar__minus_03_dot_11 Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05) + + + (receptacleAtLocation Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25 loc_bar__minus_5_bar__minus_14_bar_3_bar_45) + (receptacleAtLocation Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81 loc_bar__minus_5_bar__minus_12_bar_3_bar_45) + (receptacleAtLocation Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25 loc_bar__minus_5_bar__minus_12_bar_3_bar_45) + (receptacleAtLocation CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04 loc_bar__minus_7_bar__minus_12_bar_3_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_35_bar__plus_00_dot_00_bar__minus_03_dot_85 loc_bar__minus_3_bar__minus_14_bar_1_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_02_dot_57 loc_bar__minus_8_bar__minus_10_bar_3_bar_0) + (receptacleAtLocation HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_03_dot_55 loc_bar__minus_8_bar__minus_14_bar_3_bar_0) + (receptacleAtLocation Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07_bar_SinkBasin loc_bar__minus_8_bar__minus_12_bar_3_bar_45) + (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_02_dot_54 loc_bar__minus_5_bar__minus_11_bar_1_bar_30) + (receptacleAtLocation Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05 loc_bar__minus_3_bar__minus_14_bar_0_bar_60) + (receptacleAtLocation TowelHolder_bar__minus_01_dot_19_bar__plus_01_dot_37_bar__minus_00_dot_63 loc_bar__minus_7_bar__minus_3_bar_1_bar_30) + (objectAtLocation SprayBottle_bar__minus_00_dot_07_bar__plus_01_dot_05_bar__minus_03_dot_11 loc_bar__minus_3_bar__minus_14_bar_0_bar_60) + (objectAtLocation SoapBottle_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_02_dot_98 loc_bar__minus_3_bar__minus_14_bar_0_bar_60) + (objectAtLocation SoapBar_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_03_dot_57 loc_bar__minus_5_bar__minus_12_bar_3_bar_45) + (objectAtLocation Candle_bar__minus_02_dot_39_bar__plus_00_dot_08_bar__minus_02_dot_55 loc_bar__minus_5_bar__minus_12_bar_3_bar_45) + (objectAtLocation Candle_bar__minus_02_dot_88_bar__plus_00_dot_82_bar__minus_03_dot_82 loc_bar__minus_7_bar__minus_12_bar_3_bar_45) + (objectAtLocation Mirror_bar__minus_03_dot_00_bar__plus_01_dot_66_bar__minus_03_dot_07 loc_bar__minus_8_bar__minus_12_bar_3_bar_0) + (objectAtLocation Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07 loc_bar__minus_8_bar__minus_12_bar_3_bar_60) + (objectAtLocation ShowerGlass_bar__minus_00_dot_60_bar__plus_01_dot_10_bar__minus_01_dot_12 loc_bar__minus_7_bar__minus_4_bar_1_bar_30) + (objectAtLocation ShowerDoor_bar__minus_01_dot_18_bar__plus_01_dot_09_bar__minus_01_dot_22 loc_bar__minus_7_bar__minus_5_bar_1_bar_45) + (objectAtLocation Candle_bar__minus_02_dot_44_bar__plus_00_dot_82_bar__minus_02_dot_26 loc_bar__minus_7_bar__minus_12_bar_3_bar_45) + (objectAtLocation Cloth_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_57 loc_bar__minus_5_bar__minus_12_bar_3_bar_45) + (objectAtLocation HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_03_dot_55 loc_bar__minus_8_bar__minus_14_bar_3_bar_0) + (objectAtLocation Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49 loc_bar__minus_3_bar__minus_14_bar_1_bar_60) + (objectAtLocation SoapBar_bar__minus_02_dot_53_bar__plus_00_dot_81_bar__minus_02_dot_39 loc_bar__minus_7_bar__minus_12_bar_3_bar_45) + (objectAtLocation ToiletPaper_bar__minus_00_dot_37_bar__plus_00_dot_05_bar__minus_03_dot_86 loc_bar__minus_3_bar__minus_14_bar_1_bar_60) + (objectAtLocation ToiletPaper_bar__minus_02_dot_46_bar__plus_00_dot_06_bar__minus_02_dot_55 loc_bar__minus_5_bar__minus_12_bar_3_bar_45) + (objectAtLocation Window_bar__minus_00_dot_57_bar__plus_01_dot_71_bar__minus_04_dot_00 loc_bar__minus_3_bar__minus_14_bar_2_bar_0) + (objectAtLocation Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 loc_bar__minus_7_bar__minus_3_bar_1_bar_30) + (objectAtLocation SoapBottle_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_03_dot_53 loc_bar__minus_7_bar__minus_12_bar_3_bar_45) + (objectAtLocation SprayBottle_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_02_dot_66 loc_bar__minus_7_bar__minus_12_bar_3_bar_45) + (objectAtLocation ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34 loc_bar__minus_3_bar__minus_14_bar_1_bar_60) + (objectAtLocation LightSwitch_bar__minus_01_dot_95_bar__plus_01_dot_50_bar__plus_00_dot_00 loc_bar__minus_7_bar__minus_2_bar_0_bar_15) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (cleanable ?o) + (objectType ?o SoapBarType) + (receptacleType ?r CounterTopType) + (isClean ?o) + (inReceptacle ?o ?r) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-CounterTop-418/trial_T20190908_220910_082834/traj_data.json 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"Towel_c13c7186", + "position": { + "x": -1.29189992, + "y": 1.386, + "z": -0.63 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_94c9196d", + "position": { + "x": -0.160342753, + "y": 1.04740262, + "z": -2.98336434 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "SprayBottle_ea8e94da", + "position": { + "x": -0.06844288, + "y": 1.04674459, + "z": -3.11450839 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "ScrubBrush_d4414847", + "position": { + "x": -0.325021982, + "y": 0.0006431546, + "z": -3.342877 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 1664680071, + "scene_num": 418 + }, + "task_id": "trial_T20190908_220910_082834", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "ACSS93E03ZUGX_38F5OAUN5Q3MX3KQ3KNY5KQV2QNH75", + "high_descs": [ + "Move to the left to face the counter top to the right of the sink.", + "Pick the pink soap up from off of the counter.", + "Move to the left to face the sink.", + "Place the soap in the sink, run some water, and pick up the soap.", + "Move to the right to face the end of the counter top.", + "Place the soap on the end of the counter top." + ], + "task_desc": "Place the wet soap on the end of the counter top.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2KAGFQU28JY43_3CCZ6YKWRAAEVTOOHFK9UJEBS7P95X", + "high_descs": [ + "Turn around and go to the sink on your right. ", + "Pick up the bar of soap to the right of the spray bottle on the counter. ", + "Go to the sink ahead of you. ", + "Place the bar of soap in the sink, turn the water on, rinse off the bar of soap, turn the water off, and remove the bar of soap from the sink. ", + "Turn to your right and go around the counter so that you are facing the sink from the end of the counter. ", + "Place the bar of soap back on the counter, near the edge. " + ], + "task_desc": "Put a clean bar of soap on the counter. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1RLO9LNUJIW5S_3JNQLM5FT7DHXY6AOTL11L2U8RE2LL", + "high_descs": [ + "Turn left and take a step to your left.", + "Pick up the pink bar of soap that's in front of you.", + "Take a step left to stand in front of the sink,", + "Get the soap wet in the sink and then pick it back up and shut off the water.", + "Turn right and walk past the counter then turn left and walk to the wall then turn left to face the length of the counter.", + "Put the soap on the counter to the right of the candle." + ], + "task_desc": "Put a wet bar of soap on the counter.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-CounterTop-418/trial_T20190908_225804_452583/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-CounterTop-418/trial_T20190908_225804_452583/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..27fed8d88586329a38c227b52105f65b545573f9 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-CounterTop-418/trial_T20190908_225804_452583/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 soapbar and put it in countertop.\"\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_225804_452583)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Candle_bar__minus_00_dot_13_bar__plus_01_dot_05_bar__minus_03_dot_05 - object\n Candle_bar__minus_02_dot_76_bar__plus_00_dot_08_bar__minus_03_dot_02 - object\n Cloth_bar__minus_02_dot_46_bar__plus_00_dot_07_bar__minus_03_dot_51 - object\n Faucet_bar__minus_00_dot_61_bar__plus_01_dot_94_bar__minus_00_dot_01 - object\n Faucet_bar__minus_03_dot_00_bar__plus_01_dot_17_bar__minus_03_dot_07 - object\n HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_02_dot_57 - object\n LightSwitch_bar__minus_01_dot_95_bar__plus_01_dot_50_bar__plus_00_dot_00 - object\n Mirror_bar__minus_03_dot_00_bar__plus_01_dot_66_bar__minus_03_dot_07 - object\n Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49 - object\n ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34 - object\n ShowerDoor_bar__minus_01_dot_18_bar__plus_01_dot_09_bar__minus_01_dot_22 - object\n ShowerGlass_bar__minus_00_dot_60_bar__plus_01_dot_10_bar__minus_01_dot_12 - object\n Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07 - object\n SoapBar_bar__minus_02_dot_88_bar__plus_00_dot_81_bar__minus_03_dot_71 - object\n SoapBottle_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_02_dot_33 - object\n SoapBottle_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_02_dot_39 - object\n SoapBottle_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_03_dot_82 - object\n SprayBottle_bar__minus_00_dot_35_bar__plus_00_dot_06_bar__minus_03_dot_85 - object\n SprayBottle_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_69 - object\n ToiletPaper_bar__minus_00_dot_07_bar__plus_01_dot_04_bar__minus_02_dot_85 - object\n ToiletPaper_bar__minus_00_dot_07_bar__plus_01_dot_04_bar__minus_03_dot_11 - object\n ToiletPaper_bar__minus_00_dot_16_bar__plus_01_dot_04_bar__minus_02_dot_92 - object\n Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 - object\n Window_bar__minus_00_dot_57_bar__plus_01_dot_71_bar__minus_04_dot_00 - object\n Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25 - receptacle\n Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81 - receptacle\n Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25 - receptacle\n CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04 - receptacle\n GarbageCan_bar__minus_00_dot_35_bar__plus_00_dot_00_bar__minus_03_dot_85 - receptacle\n HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_02_dot_57 - receptacle\n HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_03_dot_55 - receptacle\n Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_02_dot_54 - receptacle\n Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05 - receptacle\n TowelHolder_bar__minus_01_dot_19_bar__plus_01_dot_37_bar__minus_00_dot_63 - receptacle\n loc_bar__minus_3_bar__minus_14_bar_2_bar_0 - location\n loc_bar__minus_7_bar__minus_4_bar_1_bar_30 - location\n loc_bar__minus_7_bar__minus_5_bar_1_bar_45 - location\n loc_bar__minus_7_bar__minus_2_bar_0_bar_15 - location\n loc_bar__minus_8_bar__minus_14_bar_3_bar_0 - location\n loc_bar__minus_8_bar__minus_12_bar_3_bar_0 - location\n loc_bar__minus_7_bar__minus_12_bar_3_bar_45 - location\n loc_bar__minus_3_bar__minus_14_bar_1_bar_60 - location\n loc_bar__minus_5_bar__minus_11_bar_1_bar_30 - location\n loc_bar__minus_3_bar__minus_14_bar_0_bar_60 - location\n loc_bar__minus_8_bar__minus_10_bar_3_bar_0 - location\n loc_bar__minus_8_bar__minus_12_bar_3_bar_45 - location\n loc_bar__minus_7_bar__minus_3_bar_1_bar_30 - location\n loc_bar__minus_5_bar__minus_12_bar_3_bar_45 - location\n loc_bar__minus_8_bar__minus_12_bar_3_bar_60 - location\n loc_bar__minus_5_bar__minus_14_bar_3_bar_45 - location\n loc_bar__minus_10_bar__minus_2_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_02_dot_54 ToiletPaperHangerType)\n (receptacleType GarbageCan_bar__minus_00_dot_35_bar__plus_00_dot_00_bar__minus_03_dot_85 GarbageCanType)\n (receptacleType HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_03_dot_55 HandTowelHolderType)\n (receptacleType Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05 ToiletType)\n (receptacleType Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81 CabinetType)\n (receptacleType CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04 CounterTopType)\n (receptacleType HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_02_dot_57 HandTowelHolderType)\n (receptacleType Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07_bar_SinkBasin SinkBasinType)\n (receptacleType TowelHolder_bar__minus_01_dot_19_bar__plus_01_dot_37_bar__minus_00_dot_63 TowelHolderType)\n (receptacleType Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25 CabinetType)\n (objectType Cloth_bar__minus_02_dot_46_bar__plus_00_dot_07_bar__minus_03_dot_51 ClothType)\n (objectType Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 TowelType)\n (objectType LightSwitch_bar__minus_01_dot_95_bar__plus_01_dot_50_bar__plus_00_dot_00 LightSwitchType)\n (objectType Window_bar__minus_00_dot_57_bar__plus_01_dot_71_bar__minus_04_dot_00 WindowType)\n (objectType ToiletPaper_bar__minus_00_dot_07_bar__plus_01_dot_04_bar__minus_02_dot_85 ToiletPaperType)\n (objectType Mirror_bar__minus_03_dot_00_bar__plus_01_dot_66_bar__minus_03_dot_07 MirrorType)\n (objectType ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34 ScrubBrushType)\n (objectType Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07 SinkType)\n (objectType SoapBottle_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_02_dot_39 SoapBottleType)\n (objectType HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_02_dot_57 HandTowelType)\n (objectType SprayBottle_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_69 SprayBottleType)\n (objectType Candle_bar__minus_02_dot_76_bar__plus_00_dot_08_bar__minus_03_dot_02 CandleType)\n (objectType SprayBottle_bar__minus_00_dot_35_bar__plus_00_dot_06_bar__minus_03_dot_85 SprayBottleType)\n (objectType Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49 PlungerType)\n (objectType Candle_bar__minus_00_dot_13_bar__plus_01_dot_05_bar__minus_03_dot_05 CandleType)\n (objectType ToiletPaper_bar__minus_00_dot_07_bar__plus_01_dot_04_bar__minus_03_dot_11 ToiletPaperType)\n (objectType ShowerDoor_bar__minus_01_dot_18_bar__plus_01_dot_09_bar__minus_01_dot_22 ShowerDoorType)\n (objectType ToiletPaper_bar__minus_00_dot_16_bar__plus_01_dot_04_bar__minus_02_dot_92 ToiletPaperType)\n (objectType SoapBar_bar__minus_02_dot_88_bar__plus_00_dot_81_bar__minus_03_dot_71 SoapBarType)\n (objectType SoapBottle_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_02_dot_33 SoapBottleType)\n (objectType SoapBottle_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_03_dot_82 SoapBottleType)\n (objectType ShowerGlass_bar__minus_00_dot_60_bar__plus_01_dot_10_bar__minus_01_dot_12 ShowerGlassType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType SprayBottleType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain TowelHolderType TowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (pickupable Cloth_bar__minus_02_dot_46_bar__plus_00_dot_07_bar__minus_03_dot_51)\n (pickupable Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63)\n (pickupable ToiletPaper_bar__minus_00_dot_07_bar__plus_01_dot_04_bar__minus_02_dot_85)\n (pickupable ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34)\n (pickupable SoapBottle_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_02_dot_39)\n (pickupable HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_02_dot_57)\n (pickupable SprayBottle_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_69)\n (pickupable Candle_bar__minus_02_dot_76_bar__plus_00_dot_08_bar__minus_03_dot_02)\n (pickupable SprayBottle_bar__minus_00_dot_35_bar__plus_00_dot_06_bar__minus_03_dot_85)\n (pickupable Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49)\n (pickupable Candle_bar__minus_00_dot_13_bar__plus_01_dot_05_bar__minus_03_dot_05)\n (pickupable ToiletPaper_bar__minus_00_dot_07_bar__plus_01_dot_04_bar__minus_03_dot_11)\n (pickupable ToiletPaper_bar__minus_00_dot_16_bar__plus_01_dot_04_bar__minus_02_dot_92)\n (pickupable SoapBar_bar__minus_02_dot_88_bar__plus_00_dot_81_bar__minus_03_dot_71)\n (pickupable SoapBottle_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_02_dot_33)\n (pickupable SoapBottle_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_03_dot_82)\n \n (openable Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25)\n (openable Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81)\n (openable Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25)\n \n (atLocation agent1 loc_bar__minus_10_bar__minus_2_bar_2_bar_30)\n \n (cleanable Cloth_bar__minus_02_dot_46_bar__plus_00_dot_07_bar__minus_03_dot_51)\n (cleanable SoapBar_bar__minus_02_dot_88_bar__plus_00_dot_81_bar__minus_03_dot_71)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle Candle_bar__minus_02_dot_76_bar__plus_00_dot_08_bar__minus_03_dot_02 Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25)\n (inReceptacle Cloth_bar__minus_02_dot_46_bar__plus_00_dot_07_bar__minus_03_dot_51 Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81)\n (inReceptacle SprayBottle_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_69 Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81)\n (inReceptacle SoapBottle_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_02_dot_33 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04)\n (inReceptacle SoapBottle_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_02_dot_39 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04)\n (inReceptacle SoapBottle_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_03_dot_82 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04)\n (inReceptacle SoapBar_bar__minus_02_dot_88_bar__plus_00_dot_81_bar__minus_03_dot_71 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04)\n (inReceptacle Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 TowelHolder_bar__minus_01_dot_19_bar__plus_01_dot_37_bar__minus_00_dot_63)\n (inReceptacle SprayBottle_bar__minus_00_dot_35_bar__plus_00_dot_06_bar__minus_03_dot_85 GarbageCan_bar__minus_00_dot_35_bar__plus_00_dot_00_bar__minus_03_dot_85)\n (inReceptacle HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_02_dot_57 HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_02_dot_57)\n (inReceptacle ToiletPaper_bar__minus_00_dot_07_bar__plus_01_dot_04_bar__minus_03_dot_11 Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05)\n (inReceptacle ToiletPaper_bar__minus_00_dot_07_bar__plus_01_dot_04_bar__minus_02_dot_85 Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05)\n (inReceptacle Candle_bar__minus_00_dot_13_bar__plus_01_dot_05_bar__minus_03_dot_05 Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05)\n (inReceptacle ToiletPaper_bar__minus_00_dot_16_bar__plus_01_dot_04_bar__minus_02_dot_92 Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05)\n \n \n (receptacleAtLocation Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25 loc_bar__minus_5_bar__minus_14_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81 loc_bar__minus_5_bar__minus_12_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25 loc_bar__minus_5_bar__minus_12_bar_3_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04 loc_bar__minus_7_bar__minus_12_bar_3_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_35_bar__plus_00_dot_00_bar__minus_03_dot_85 loc_bar__minus_3_bar__minus_14_bar_1_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_02_dot_57 loc_bar__minus_8_bar__minus_10_bar_3_bar_0)\n (receptacleAtLocation HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_03_dot_55 loc_bar__minus_8_bar__minus_14_bar_3_bar_0)\n (receptacleAtLocation Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07_bar_SinkBasin loc_bar__minus_8_bar__minus_12_bar_3_bar_45)\n (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_02_dot_54 loc_bar__minus_5_bar__minus_11_bar_1_bar_30)\n (receptacleAtLocation Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05 loc_bar__minus_3_bar__minus_14_bar_0_bar_60)\n (receptacleAtLocation TowelHolder_bar__minus_01_dot_19_bar__plus_01_dot_37_bar__minus_00_dot_63 loc_bar__minus_7_bar__minus_3_bar_1_bar_30)\n (objectAtLocation SprayBottle_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_69 loc_bar__minus_5_bar__minus_12_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_02_dot_33 loc_bar__minus_7_bar__minus_12_bar_3_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_16_bar__plus_01_dot_04_bar__minus_02_dot_92 loc_bar__minus_3_bar__minus_14_bar_0_bar_60)\n (objectAtLocation Candle_bar__minus_02_dot_76_bar__plus_00_dot_08_bar__minus_03_dot_02 loc_bar__minus_5_bar__minus_14_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_02_dot_39 loc_bar__minus_7_bar__minus_12_bar_3_bar_45)\n (objectAtLocation Mirror_bar__minus_03_dot_00_bar__plus_01_dot_66_bar__minus_03_dot_07 loc_bar__minus_8_bar__minus_12_bar_3_bar_0)\n (objectAtLocation Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07 loc_bar__minus_8_bar__minus_12_bar_3_bar_60)\n (objectAtLocation ShowerGlass_bar__minus_00_dot_60_bar__plus_01_dot_10_bar__minus_01_dot_12 loc_bar__minus_7_bar__minus_4_bar_1_bar_30)\n (objectAtLocation ShowerDoor_bar__minus_01_dot_18_bar__plus_01_dot_09_bar__minus_01_dot_22 loc_bar__minus_7_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Candle_bar__minus_00_dot_13_bar__plus_01_dot_05_bar__minus_03_dot_05 loc_bar__minus_3_bar__minus_14_bar_0_bar_60)\n (objectAtLocation Cloth_bar__minus_02_dot_46_bar__plus_00_dot_07_bar__minus_03_dot_51 loc_bar__minus_5_bar__minus_12_bar_3_bar_45)\n (objectAtLocation HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_02_dot_57 loc_bar__minus_8_bar__minus_10_bar_3_bar_0)\n (objectAtLocation Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49 loc_bar__minus_3_bar__minus_14_bar_1_bar_60)\n (objectAtLocation SoapBar_bar__minus_02_dot_88_bar__plus_00_dot_81_bar__minus_03_dot_71 loc_bar__minus_7_bar__minus_12_bar_3_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_07_bar__plus_01_dot_04_bar__minus_03_dot_11 loc_bar__minus_3_bar__minus_14_bar_0_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_07_bar__plus_01_dot_04_bar__minus_02_dot_85 loc_bar__minus_3_bar__minus_14_bar_0_bar_60)\n (objectAtLocation Window_bar__minus_00_dot_57_bar__plus_01_dot_71_bar__minus_04_dot_00 loc_bar__minus_3_bar__minus_14_bar_2_bar_0)\n (objectAtLocation Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 loc_bar__minus_7_bar__minus_3_bar_1_bar_30)\n (objectAtLocation SoapBottle_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_03_dot_82 loc_bar__minus_7_bar__minus_12_bar_3_bar_45)\n (objectAtLocation SprayBottle_bar__minus_00_dot_35_bar__plus_00_dot_06_bar__minus_03_dot_85 loc_bar__minus_3_bar__minus_14_bar_1_bar_60)\n (objectAtLocation ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34 loc_bar__minus_3_bar__minus_14_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__minus_01_dot_95_bar__plus_01_dot_50_bar__plus_00_dot_00 loc_bar__minus_7_bar__minus_2_bar_0_bar_15)\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 CounterTopType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take soapbar 1 from countertop 1", "go to sinkbasin 1", "clean soapbar 1 with sinkbasin 1", "go to countertop 1", "move soapbar 1 to countertop 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-CounterTop-418/trial_T20190908_225804_452583/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-CounterTop-418/trial_T20190908_225804_452583/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..9879ded80fae1b5bd34ef034b031ad434aeec15a --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-CounterTop-418/trial_T20190908_225804_452583/initial_state.pddl @@ -0,0 +1,441 @@ + +(define (problem plan_trial_T20190908_225804_452583) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Candle_bar__minus_00_dot_13_bar__plus_01_dot_05_bar__minus_03_dot_05 - object + Candle_bar__minus_02_dot_76_bar__plus_00_dot_08_bar__minus_03_dot_02 - object + Cloth_bar__minus_02_dot_46_bar__plus_00_dot_07_bar__minus_03_dot_51 - object + Faucet_bar__minus_00_dot_61_bar__plus_01_dot_94_bar__minus_00_dot_01 - object + Faucet_bar__minus_03_dot_00_bar__plus_01_dot_17_bar__minus_03_dot_07 - object + HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_02_dot_57 - object + LightSwitch_bar__minus_01_dot_95_bar__plus_01_dot_50_bar__plus_00_dot_00 - object + Mirror_bar__minus_03_dot_00_bar__plus_01_dot_66_bar__minus_03_dot_07 - object + Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49 - object + ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34 - object + ShowerDoor_bar__minus_01_dot_18_bar__plus_01_dot_09_bar__minus_01_dot_22 - object + ShowerGlass_bar__minus_00_dot_60_bar__plus_01_dot_10_bar__minus_01_dot_12 - object + Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07 - object + SoapBar_bar__minus_02_dot_88_bar__plus_00_dot_81_bar__minus_03_dot_71 - object + SoapBottle_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_02_dot_33 - object + SoapBottle_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_02_dot_39 - object + SoapBottle_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_03_dot_82 - object + SprayBottle_bar__minus_00_dot_35_bar__plus_00_dot_06_bar__minus_03_dot_85 - object + SprayBottle_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_69 - object + ToiletPaper_bar__minus_00_dot_07_bar__plus_01_dot_04_bar__minus_02_dot_85 - object + ToiletPaper_bar__minus_00_dot_07_bar__plus_01_dot_04_bar__minus_03_dot_11 - object + ToiletPaper_bar__minus_00_dot_16_bar__plus_01_dot_04_bar__minus_02_dot_92 - object + Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 - object + Window_bar__minus_00_dot_57_bar__plus_01_dot_71_bar__minus_04_dot_00 - object + Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25 - receptacle + Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81 - receptacle + Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25 - receptacle + CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04 - receptacle + GarbageCan_bar__minus_00_dot_35_bar__plus_00_dot_00_bar__minus_03_dot_85 - receptacle + HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_02_dot_57 - receptacle + HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_03_dot_55 - receptacle + Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_02_dot_54 - receptacle + Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05 - receptacle + TowelHolder_bar__minus_01_dot_19_bar__plus_01_dot_37_bar__minus_00_dot_63 - receptacle + loc_bar__minus_3_bar__minus_14_bar_2_bar_0 - location + loc_bar__minus_7_bar__minus_4_bar_1_bar_30 - location + loc_bar__minus_7_bar__minus_5_bar_1_bar_45 - location + loc_bar__minus_7_bar__minus_2_bar_0_bar_15 - location + loc_bar__minus_8_bar__minus_14_bar_3_bar_0 - location + loc_bar__minus_8_bar__minus_12_bar_3_bar_0 - location + loc_bar__minus_7_bar__minus_12_bar_3_bar_45 - location + loc_bar__minus_3_bar__minus_14_bar_1_bar_60 - location + loc_bar__minus_5_bar__minus_11_bar_1_bar_30 - location + loc_bar__minus_3_bar__minus_14_bar_0_bar_60 - location + loc_bar__minus_8_bar__minus_10_bar_3_bar_0 - location + loc_bar__minus_8_bar__minus_12_bar_3_bar_45 - location + loc_bar__minus_7_bar__minus_3_bar_1_bar_30 - location + loc_bar__minus_5_bar__minus_12_bar_3_bar_45 - location + loc_bar__minus_8_bar__minus_12_bar_3_bar_60 - location + loc_bar__minus_5_bar__minus_14_bar_3_bar_45 - location + loc_bar__minus_10_bar__minus_2_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_02_dot_54 ToiletPaperHangerType) + (receptacleType GarbageCan_bar__minus_00_dot_35_bar__plus_00_dot_00_bar__minus_03_dot_85 GarbageCanType) + (receptacleType HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_03_dot_55 HandTowelHolderType) + (receptacleType Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05 ToiletType) + (receptacleType Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81 CabinetType) + (receptacleType CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04 CounterTopType) + (receptacleType HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_02_dot_57 HandTowelHolderType) + (receptacleType Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07_bar_SinkBasin SinkBasinType) + (receptacleType TowelHolder_bar__minus_01_dot_19_bar__plus_01_dot_37_bar__minus_00_dot_63 TowelHolderType) + (receptacleType Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25 CabinetType) + (objectType Cloth_bar__minus_02_dot_46_bar__plus_00_dot_07_bar__minus_03_dot_51 ClothType) + (objectType Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 TowelType) + (objectType LightSwitch_bar__minus_01_dot_95_bar__plus_01_dot_50_bar__plus_00_dot_00 LightSwitchType) + (objectType Window_bar__minus_00_dot_57_bar__plus_01_dot_71_bar__minus_04_dot_00 WindowType) + (objectType ToiletPaper_bar__minus_00_dot_07_bar__plus_01_dot_04_bar__minus_02_dot_85 ToiletPaperType) + (objectType Mirror_bar__minus_03_dot_00_bar__plus_01_dot_66_bar__minus_03_dot_07 MirrorType) + (objectType ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34 ScrubBrushType) + (objectType Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07 SinkType) + (objectType SoapBottle_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_02_dot_39 SoapBottleType) + (objectType HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_02_dot_57 HandTowelType) + (objectType SprayBottle_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_69 SprayBottleType) + (objectType Candle_bar__minus_02_dot_76_bar__plus_00_dot_08_bar__minus_03_dot_02 CandleType) + (objectType SprayBottle_bar__minus_00_dot_35_bar__plus_00_dot_06_bar__minus_03_dot_85 SprayBottleType) + (objectType Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49 PlungerType) + (objectType Candle_bar__minus_00_dot_13_bar__plus_01_dot_05_bar__minus_03_dot_05 CandleType) + (objectType ToiletPaper_bar__minus_00_dot_07_bar__plus_01_dot_04_bar__minus_03_dot_11 ToiletPaperType) + (objectType ShowerDoor_bar__minus_01_dot_18_bar__plus_01_dot_09_bar__minus_01_dot_22 ShowerDoorType) + (objectType ToiletPaper_bar__minus_00_dot_16_bar__plus_01_dot_04_bar__minus_02_dot_92 ToiletPaperType) + (objectType SoapBar_bar__minus_02_dot_88_bar__plus_00_dot_81_bar__minus_03_dot_71 SoapBarType) + (objectType SoapBottle_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_02_dot_33 SoapBottleType) + (objectType SoapBottle_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_03_dot_82 SoapBottleType) + (objectType ShowerGlass_bar__minus_00_dot_60_bar__plus_01_dot_10_bar__minus_01_dot_12 ShowerGlassType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType ClothType) + (canContain ToiletType CandleType) + (canContain ToiletType SoapBarType) + (canContain ToiletType SprayBottleType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain CounterTopType CandleType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain TowelHolderType TowelType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (pickupable Cloth_bar__minus_02_dot_46_bar__plus_00_dot_07_bar__minus_03_dot_51) + (pickupable Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63) + (pickupable ToiletPaper_bar__minus_00_dot_07_bar__plus_01_dot_04_bar__minus_02_dot_85) + (pickupable ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34) + (pickupable SoapBottle_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_02_dot_39) + (pickupable HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_02_dot_57) + (pickupable SprayBottle_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_69) + (pickupable Candle_bar__minus_02_dot_76_bar__plus_00_dot_08_bar__minus_03_dot_02) + (pickupable SprayBottle_bar__minus_00_dot_35_bar__plus_00_dot_06_bar__minus_03_dot_85) + (pickupable Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49) + (pickupable Candle_bar__minus_00_dot_13_bar__plus_01_dot_05_bar__minus_03_dot_05) + (pickupable ToiletPaper_bar__minus_00_dot_07_bar__plus_01_dot_04_bar__minus_03_dot_11) + (pickupable ToiletPaper_bar__minus_00_dot_16_bar__plus_01_dot_04_bar__minus_02_dot_92) + (pickupable SoapBar_bar__minus_02_dot_88_bar__plus_00_dot_81_bar__minus_03_dot_71) + (pickupable SoapBottle_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_02_dot_33) + (pickupable SoapBottle_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_03_dot_82) + + (openable Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25) + (openable Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81) + (openable Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25) + + (atLocation agent1 loc_bar__minus_10_bar__minus_2_bar_2_bar_30) + + (cleanable Cloth_bar__minus_02_dot_46_bar__plus_00_dot_07_bar__minus_03_dot_51) + (cleanable SoapBar_bar__minus_02_dot_88_bar__plus_00_dot_81_bar__minus_03_dot_71) + + + + + + + + + + + (inReceptacle Candle_bar__minus_02_dot_76_bar__plus_00_dot_08_bar__minus_03_dot_02 Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25) + (inReceptacle Cloth_bar__minus_02_dot_46_bar__plus_00_dot_07_bar__minus_03_dot_51 Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81) + (inReceptacle SprayBottle_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_69 Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81) + (inReceptacle SoapBottle_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_02_dot_33 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04) + (inReceptacle SoapBottle_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_02_dot_39 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04) + (inReceptacle SoapBottle_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_03_dot_82 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04) + (inReceptacle SoapBar_bar__minus_02_dot_88_bar__plus_00_dot_81_bar__minus_03_dot_71 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04) + (inReceptacle Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 TowelHolder_bar__minus_01_dot_19_bar__plus_01_dot_37_bar__minus_00_dot_63) + (inReceptacle SprayBottle_bar__minus_00_dot_35_bar__plus_00_dot_06_bar__minus_03_dot_85 GarbageCan_bar__minus_00_dot_35_bar__plus_00_dot_00_bar__minus_03_dot_85) + (inReceptacle HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_02_dot_57 HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_02_dot_57) + (inReceptacle ToiletPaper_bar__minus_00_dot_07_bar__plus_01_dot_04_bar__minus_03_dot_11 Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05) + (inReceptacle ToiletPaper_bar__minus_00_dot_07_bar__plus_01_dot_04_bar__minus_02_dot_85 Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05) + (inReceptacle Candle_bar__minus_00_dot_13_bar__plus_01_dot_05_bar__minus_03_dot_05 Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05) + (inReceptacle ToiletPaper_bar__minus_00_dot_16_bar__plus_01_dot_04_bar__minus_02_dot_92 Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05) + + + (receptacleAtLocation Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25 loc_bar__minus_5_bar__minus_14_bar_3_bar_45) + (receptacleAtLocation Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81 loc_bar__minus_5_bar__minus_12_bar_3_bar_45) + (receptacleAtLocation Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25 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"dirty_and_empty": true, + "floor_plan": "FloorPlan418", + "init_action": { + "action": "TeleportFull", + "horizon": 30, + "rotateOnTeleport": true, + "rotation": 180, + "x": -2.5, + "y": 0.901641965, + "z": -0.5 + }, + "object_poses": [ + { + "objectName": "Candle_f876c62f", + "position": { + "x": -0.129709512, + "y": 1.05469859, + "z": -3.04893637 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "SprayBottle_ea8e94da", + "position": { + "x": -0.349253535, + "y": 0.06303481, + "z": -3.84825563 + }, + "rotation": { + "x": 0.0, + "y": 5.122642e-06, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_94c9196d", + "position": { + "x": -2.6203053, + "y": 0.8085621, + "z": -3.823504 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_94c9196d", + "position": { + "x": -2.6203053, + "y": 0.80856204, + "z": -2.39438677 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": 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"rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ToiletPaper_0ae85b0d", + "position": { + "x": -0.06844288, + "y": 1.04234052, + "z": -3.11450839 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "ToiletPaper_1963f6ed", + "position": { + "x": -0.160342544, + "y": 1.04234052, + "z": -2.91779256 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Towel_c13c7186", + "position": { + "x": -1.29189992, + "y": 1.386, + "z": -0.63 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_94c9196d", + "position": { + "x": -2.44399023, + "y": 0.80856204, + "z": -2.328937 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SprayBottle_ea8e94da", + "position": { + "x": -2.764503, + "y": 0.06784755, + "z": -3.692929 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ScrubBrush_d4414847", + "position": { + "x": -0.325021982, + "y": 0.0006431546, + "z": -3.342877 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3883046969, + "scene_num": 418 + }, + "task_id": "trial_T20190908_225804_452583", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3PPLDHC3CG0YN_39K0FND3AK6Q8JJZ1KFV7G0HKK6AMC", + "high_descs": [ + "Turn left, turn right at the shower, turn right to face the counter to the left of the sink. ", + "Pick up the bar of soap from the counter. ", + "Move to the front of the sink. ", + "Put the soap inside of the sink, rinse it off with water, take the soap out of the sink. ", + "Walk to face the right edge of the sink. ", + "Put the soap down on the edge of the counter. " + ], + "task_desc": "Rinse off a bar of soap and put it on the counter. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2871R3LEPWMMK_3AUQQEL7U8KDXTFQNAJT567H2R9V0Q", + "high_descs": [ + "Turn left, hang a right at the shower and turn right at the wall to face the vanity.", + "Pick up the bar of soap on the counter at the far left corner.", + "Turn right and walk to the sink on the left.", + "Put the bar of soap inside the sink, rinse it for a few seconds and pick it back up.", + "Turn right and walk to the side of the vanity on the left.", + "Put the rinsed bar of soap in front of the right perfume bottle near the edge of the counter." + ], + "task_desc": "Place a bar of soap on a counter.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1RLO9LNUJIW5S_3OF2M9AATJFWJ3R4S0IE9WZM40EZKT", + "high_descs": [ + "Take a big step to your left then walk to the wall in front of you then turn right to face the sink's counter.", + "Pick up the pink bar of soap that's in front of you.", + "Take a step to your right to face the sink please.", + "Get the soap wet in the sink and then pick it back up and shut off the water.", + "Turn right and walk past the counter on your left then turn left and wlak to the wall then turn left to face the counter.", + "Put the soap on the counter under the right soap dispenser." + ], + "task_desc": "Put a wet bar of soap on the counter.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-Drawer-423/trial_T20190906_202403_601985/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-Drawer-423/trial_T20190906_202403_601985/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..9c7ac9d58984254a438efb28528af1da2c84bc24 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-Drawer-423/trial_T20190906_202403_601985/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 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_T20190906_202403_601985)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Bathtub_bar__minus_03_dot_59_bar__plus_00_dot_11_bar__plus_01_dot_52 - object\n Candle_bar__minus_03_dot_12_bar__plus_00_dot_81_bar__plus_00_dot_41 - object\n Cloth_bar__minus_00_dot_26_bar__plus_00_dot_22_bar__plus_03_dot_08 - object\n Cloth_bar__minus_02_dot_08_bar__plus_00_dot_81_bar__plus_00_dot_16 - object\n Faucet_bar__minus_00_dot_11_bar__plus_00_dot_79_bar__plus_01_dot_92 - object\n Faucet_bar__minus_02_dot_54_bar__plus_00_dot_79_bar__plus_00_dot_11 - object\n Faucet_bar__minus_03_dot_61_bar__plus_01_dot_78_bar__plus_02_dot_30 - object\n HandTowel_bar__minus_00_dot_03_bar__plus_01_dot_54_bar__plus_02_dot_31 - object\n LightSwitch_bar__minus_00_dot_78_bar__plus_01_dot_37_bar__plus_03_dot_30 - object\n Mirror_bar__plus_00_dot_00_bar__plus_01_dot_47_bar__plus_01_dot_92 - object\n Mirror_bar__plus_00_dot_00_bar__plus_01_dot_47_bar__plus_02_dot_70 - object\n Plunger_bar__minus_02_dot_53_bar__plus_00_dot_00_bar__plus_03_dot_03 - object\n ScrubBrush_bar__minus_02_dot_33_bar__plus_00_dot_00_bar__plus_03_dot_16 - object\n ShowerCurtain_bar__minus_03_dot_21_bar__plus_02_dot_10_bar__plus_02_dot_19 - object\n ShowerDoor_bar__minus_01_dot_07_bar__plus_01_dot_03_bar__plus_00_dot_52 - object\n ShowerGlass_bar__minus_00_dot_49_bar__plus_01_dot_49_bar__plus_00_dot_53 - object\n ShowerHead_bar__minus_00_dot_08_bar__plus_01_dot_15_bar__plus_00_dot_66 - object\n Sink_bar__minus_00_dot_26_bar__plus_00_dot_66_bar__plus_01_dot_92 - object\n Sink_bar__minus_02_dot_54_bar__plus_00_dot_66_bar__plus_00_dot_25 - object\n SoapBar_bar__minus_03_dot_02_bar__plus_00_dot_95_bar__plus_03_dot_17 - object\n SoapBar_bar__minus_03_dot_28_bar__plus_00_dot_54_bar__plus_00_dot_91 - object\n SoapBar_bar__minus_03_dot_51_bar__plus_00_dot_19_bar__plus_01_dot_13 - object\n SoapBar_bar__minus_03_dot_70_bar__plus_00_dot_19_bar__plus_01_dot_84 - object\n SoapBottle_bar__minus_00_dot_42_bar__plus_00_dot_22_bar__plus_02_dot_59 - object\n SoapBottle_bar__minus_02_dot_78_bar__plus_00_dot_20_bar__plus_00_dot_22 - object\n SoapBottle_bar__minus_02_dot_83_bar__plus_00_dot_95_bar__plus_03_dot_19 - object\n SprayBottle_bar__minus_01_dot_77_bar__plus_00_dot_02_bar__plus_00_dot_17 - object\n SprayBottle_bar__minus_01_dot_84_bar__plus_00_dot_02_bar__plus_00_dot_17 - object\n ToiletPaper_bar__minus_00_dot_20_bar__plus_00_dot_52_bar__plus_02_dot_64 - object\n ToiletPaper_bar__minus_00_dot_22_bar__plus_00_dot_81_bar__plus_03_dot_00 - object\n ToiletPaper_bar__minus_02_dot_29_bar__plus_00_dot_83_bar__plus_03_dot_22 - object\n Towel_bar__minus_01_dot_51_bar__plus_01_dot_50_bar__plus_00_dot_11 - object\n Window_bar__minus_04_dot_13_bar__plus_01_dot_52_bar__plus_01_dot_50 - object\n Bathtub_bar__minus_03_dot_59_bar__plus_00_dot_11_bar__plus_01_dot_52_bar_BathtubBasin - receptacle\n CounterTop_bar__minus_00_dot_28_bar__plus_00_dot_79_bar__plus_01_dot_93 - receptacle\n CounterTop_bar__minus_02_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_28 - receptacle\n Drawer_bar__minus_00_dot_33_bar__plus_00_dot_32_bar__plus_01_dot_72 - receptacle\n Drawer_bar__minus_00_dot_33_bar__plus_00_dot_32_bar__plus_02_dot_16 - receptacle\n Drawer_bar__minus_00_dot_33_bar__plus_00_dot_32_bar__plus_02_dot_59 - receptacle\n Drawer_bar__minus_00_dot_33_bar__plus_00_dot_32_bar__plus_03_dot_03 - receptacle\n Drawer_bar__minus_00_dot_33_bar__plus_00_dot_62_bar__plus_02_dot_59 - receptacle\n Drawer_bar__minus_00_dot_33_bar__plus_00_dot_62_bar__plus_03_dot_03 - receptacle\n Drawer_bar__minus_02_dot_25_bar__plus_00_dot_32_bar__plus_00_dot_28 - receptacle\n Drawer_bar__minus_02_dot_84_bar__plus_00_dot_32_bar__plus_00_dot_28 - receptacle\n GarbageCan_bar__minus_01_dot_79_bar__plus_00_dot_00_bar__plus_00_dot_17 - receptacle\n HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_64_bar__plus_01_dot_54 - receptacle\n HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_64_bar__plus_02_dot_31 - receptacle\n HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_64_bar__plus_03_dot_11 - receptacle\n HandTowelHolder_bar__minus_03_dot_21_bar__plus_01_dot_59_bar__plus_00_dot_34 - receptacle\n Sink_bar__minus_00_dot_26_bar__plus_00_dot_66_bar__plus_01_dot_92_bar_SinkBasin - receptacle\n Sink_bar__minus_02_dot_54_bar__plus_00_dot_66_bar__plus_00_dot_25_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_02_dot_35_bar__plus_00_dot_83_bar__plus_03_dot_30 - receptacle\n Toilet_bar__minus_02_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_76 - receptacle\n TowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_48_bar__plus_00_dot_00 - receptacle\n loc_bar__minus_6_bar_11_bar_1_bar_45 - location\n loc_bar__minus_7_bar_3_bar_2_bar_60 - location\n loc_bar__minus_12_bar_5_bar_3_bar_60 - location\n loc_bar__minus_10_bar_3_bar_3_bar_0 - location\n loc_bar__minus_6_bar_8_bar_1_bar_45 - location\n loc_bar__minus_9_bar_7_bar_2_bar_45 - location\n loc_bar__minus_4_bar_11_bar_1_bar_15 - location\n loc_bar__minus_11_bar_4_bar_3_bar_60 - location\n loc_bar__minus_4_bar_11_bar_2_bar_45 - location\n loc_bar__minus_6_bar_9_bar_1_bar_45 - location\n loc_bar__minus_6_bar_7_bar_2_bar_45 - location\n loc_bar__minus_12_bar_5_bar_3_bar_0 - location\n loc_bar__minus_7_bar_3_bar_1_bar_0 - location\n loc_bar__minus_9_bar_11_bar_3_bar_60 - location\n loc_bar__minus_4_bar_9_bar_1_bar_0 - location\n loc_bar__minus_4_bar_8_bar_1_bar_15 - location\n loc_bar__minus_7_bar_3_bar_3_bar_45 - location\n loc_bar__minus_7_bar_4_bar_3_bar_45 - location\n loc_bar__minus_4_bar_9_bar_1_bar_45 - location\n loc_bar__minus_4_bar_11_bar_0_bar_30 - location\n loc_bar__minus_10_bar_3_bar_2_bar_60 - location\n loc_bar__minus_6_bar_10_bar_1_bar_45 - location\n loc_bar__minus_4_bar_7_bar_1_bar_0 - location\n loc_bar__minus_5_bar_9_bar_1_bar_45 - location\n loc_bar__minus_7_bar_3_bar_1_bar_45 - location\n loc_bar__minus_9_bar_11_bar_0_bar_60 - location\n loc_bar__minus_4_bar_11_bar_1_bar_0 - location\n loc_bar__minus_7_bar_3_bar_2_bar_15 - location\n loc_bar__minus_9_bar_9_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType GarbageCan_bar__minus_01_dot_79_bar__plus_00_dot_00_bar__plus_00_dot_17 GarbageCanType)\n (receptacleType Drawer_bar__minus_02_dot_25_bar__plus_00_dot_32_bar__plus_00_dot_28 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_33_bar__plus_00_dot_32_bar__plus_01_dot_72 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_33_bar__plus_00_dot_32_bar__plus_02_dot_16 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_33_bar__plus_00_dot_32_bar__plus_03_dot_03 DrawerType)\n (receptacleType HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_64_bar__plus_02_dot_31 HandTowelHolderType)\n (receptacleType Sink_bar__minus_00_dot_26_bar__plus_00_dot_66_bar__plus_01_dot_92_bar_SinkBasin SinkBasinType)\n (receptacleType Toilet_bar__minus_02_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_76 ToiletType)\n (receptacleType Sink_bar__minus_02_dot_54_bar__plus_00_dot_66_bar__plus_00_dot_25_bar_SinkBasin SinkBasinType)\n (receptacleType ToiletPaperHanger_bar__minus_02_dot_35_bar__plus_00_dot_83_bar__plus_03_dot_30 ToiletPaperHangerType)\n (receptacleType CounterTop_bar__minus_02_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_28 CounterTopType)\n (receptacleType Bathtub_bar__minus_03_dot_59_bar__plus_00_dot_11_bar__plus_01_dot_52_bar_BathtubBasin BathtubBasinType)\n (receptacleType Drawer_bar__minus_00_dot_33_bar__plus_00_dot_62_bar__plus_03_dot_03 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_33_bar__plus_00_dot_62_bar__plus_02_dot_59 DrawerType)\n (receptacleType HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_64_bar__plus_03_dot_11 HandTowelHolderType)\n (receptacleType Drawer_bar__minus_02_dot_84_bar__plus_00_dot_32_bar__plus_00_dot_28 DrawerType)\n (receptacleType TowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_48_bar__plus_00_dot_00 TowelHolderType)\n (receptacleType HandTowelHolder_bar__minus_03_dot_21_bar__plus_01_dot_59_bar__plus_00_dot_34 HandTowelHolderType)\n (receptacleType HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_64_bar__plus_01_dot_54 HandTowelHolderType)\n (receptacleType CounterTop_bar__minus_00_dot_28_bar__plus_00_dot_79_bar__plus_01_dot_93 CounterTopType)\n (receptacleType Drawer_bar__minus_00_dot_33_bar__plus_00_dot_32_bar__plus_02_dot_59 DrawerType)\n (objectType Mirror_bar__plus_00_dot_00_bar__plus_01_dot_47_bar__plus_02_dot_70 MirrorType)\n (objectType Window_bar__minus_04_dot_13_bar__plus_01_dot_52_bar__plus_01_dot_50 WindowType)\n (objectType ToiletPaper_bar__minus_02_dot_29_bar__plus_00_dot_83_bar__plus_03_dot_22 ToiletPaperType)\n (objectType SoapBar_bar__minus_03_dot_02_bar__plus_00_dot_95_bar__plus_03_dot_17 SoapBarType)\n (objectType SprayBottle_bar__minus_01_dot_84_bar__plus_00_dot_02_bar__plus_00_dot_17 SprayBottleType)\n (objectType SoapBar_bar__minus_03_dot_51_bar__plus_00_dot_19_bar__plus_01_dot_13 SoapBarType)\n (objectType SprayBottle_bar__minus_01_dot_77_bar__plus_00_dot_02_bar__plus_00_dot_17 SprayBottleType)\n (objectType Mirror_bar__plus_00_dot_00_bar__plus_01_dot_47_bar__plus_01_dot_92 MirrorType)\n (objectType Towel_bar__minus_01_dot_51_bar__plus_01_dot_50_bar__plus_00_dot_11 TowelType)\n (objectType SoapBottle_bar__minus_02_dot_83_bar__plus_00_dot_95_bar__plus_03_dot_19 SoapBottleType)\n (objectType SoapBottle_bar__minus_02_dot_78_bar__plus_00_dot_20_bar__plus_00_dot_22 SoapBottleType)\n (objectType SoapBar_bar__minus_03_dot_28_bar__plus_00_dot_54_bar__plus_00_dot_91 SoapBarType)\n (objectType Cloth_bar__minus_02_dot_08_bar__plus_00_dot_81_bar__plus_00_dot_16 ClothType)\n (objectType SoapBar_bar__minus_03_dot_70_bar__plus_00_dot_19_bar__plus_01_dot_84 SoapBarType)\n (objectType Candle_bar__minus_03_dot_12_bar__plus_00_dot_81_bar__plus_00_dot_41 CandleType)\n (objectType ShowerDoor_bar__minus_01_dot_07_bar__plus_01_dot_03_bar__plus_00_dot_52 ShowerDoorType)\n (objectType HandTowel_bar__minus_00_dot_03_bar__plus_01_dot_54_bar__plus_02_dot_31 HandTowelType)\n (objectType ToiletPaper_bar__minus_00_dot_20_bar__plus_00_dot_52_bar__plus_02_dot_64 ToiletPaperType)\n (objectType Cloth_bar__minus_00_dot_26_bar__plus_00_dot_22_bar__plus_03_dot_08 ClothType)\n (objectType Bathtub_bar__minus_03_dot_59_bar__plus_00_dot_11_bar__plus_01_dot_52 BathtubType)\n (objectType ToiletPaper_bar__minus_00_dot_22_bar__plus_00_dot_81_bar__plus_03_dot_00 ToiletPaperType)\n (objectType Sink_bar__minus_02_dot_54_bar__plus_00_dot_66_bar__plus_00_dot_25 SinkType)\n (objectType Sink_bar__minus_00_dot_26_bar__plus_00_dot_66_bar__plus_01_dot_92 SinkType)\n (objectType Plunger_bar__minus_02_dot_53_bar__plus_00_dot_00_bar__plus_03_dot_03 PlungerType)\n (objectType ShowerGlass_bar__minus_00_dot_49_bar__plus_01_dot_49_bar__plus_00_dot_53 ShowerGlassType)\n (objectType SoapBottle_bar__minus_00_dot_42_bar__plus_00_dot_22_bar__plus_02_dot_59 SoapBottleType)\n (objectType ScrubBrush_bar__minus_02_dot_33_bar__plus_00_dot_00_bar__plus_03_dot_16 ScrubBrushType)\n (objectType LightSwitch_bar__minus_00_dot_78_bar__plus_01_dot_37_bar__plus_03_dot_30 LightSwitchType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType SprayBottleType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain TowelHolderType TowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (pickupable ToiletPaper_bar__minus_02_dot_29_bar__plus_00_dot_83_bar__plus_03_dot_22)\n (pickupable SoapBar_bar__minus_03_dot_02_bar__plus_00_dot_95_bar__plus_03_dot_17)\n (pickupable SprayBottle_bar__minus_01_dot_84_bar__plus_00_dot_02_bar__plus_00_dot_17)\n (pickupable SoapBar_bar__minus_03_dot_51_bar__plus_00_dot_19_bar__plus_01_dot_13)\n (pickupable SprayBottle_bar__minus_01_dot_77_bar__plus_00_dot_02_bar__plus_00_dot_17)\n (pickupable Towel_bar__minus_01_dot_51_bar__plus_01_dot_50_bar__plus_00_dot_11)\n (pickupable SoapBottle_bar__minus_02_dot_83_bar__plus_00_dot_95_bar__plus_03_dot_19)\n (pickupable SoapBottle_bar__minus_02_dot_78_bar__plus_00_dot_20_bar__plus_00_dot_22)\n (pickupable SoapBar_bar__minus_03_dot_28_bar__plus_00_dot_54_bar__plus_00_dot_91)\n (pickupable Cloth_bar__minus_02_dot_08_bar__plus_00_dot_81_bar__plus_00_dot_16)\n (pickupable SoapBar_bar__minus_03_dot_70_bar__plus_00_dot_19_bar__plus_01_dot_84)\n (pickupable Candle_bar__minus_03_dot_12_bar__plus_00_dot_81_bar__plus_00_dot_41)\n (pickupable HandTowel_bar__minus_00_dot_03_bar__plus_01_dot_54_bar__plus_02_dot_31)\n (pickupable ToiletPaper_bar__minus_00_dot_20_bar__plus_00_dot_52_bar__plus_02_dot_64)\n (pickupable Cloth_bar__minus_00_dot_26_bar__plus_00_dot_22_bar__plus_03_dot_08)\n (pickupable ToiletPaper_bar__minus_00_dot_22_bar__plus_00_dot_81_bar__plus_03_dot_00)\n (pickupable Plunger_bar__minus_02_dot_53_bar__plus_00_dot_00_bar__plus_03_dot_03)\n (pickupable SoapBottle_bar__minus_00_dot_42_bar__plus_00_dot_22_bar__plus_02_dot_59)\n (pickupable ScrubBrush_bar__minus_02_dot_33_bar__plus_00_dot_00_bar__plus_03_dot_16)\n \n (openable Drawer_bar__minus_02_dot_25_bar__plus_00_dot_32_bar__plus_00_dot_28)\n (openable Drawer_bar__minus_00_dot_33_bar__plus_00_dot_32_bar__plus_01_dot_72)\n (openable Drawer_bar__minus_00_dot_33_bar__plus_00_dot_32_bar__plus_02_dot_16)\n (openable Drawer_bar__minus_00_dot_33_bar__plus_00_dot_32_bar__plus_03_dot_03)\n (openable Drawer_bar__minus_00_dot_33_bar__plus_00_dot_62_bar__plus_03_dot_03)\n (openable Drawer_bar__minus_00_dot_33_bar__plus_00_dot_62_bar__plus_02_dot_59)\n (openable Drawer_bar__minus_02_dot_84_bar__plus_00_dot_32_bar__plus_00_dot_28)\n (openable Drawer_bar__minus_00_dot_33_bar__plus_00_dot_32_bar__plus_02_dot_59)\n \n (atLocation agent1 loc_bar__minus_9_bar_9_bar_3_bar_30)\n \n (cleanable SoapBar_bar__minus_03_dot_02_bar__plus_00_dot_95_bar__plus_03_dot_17)\n (cleanable SoapBar_bar__minus_03_dot_51_bar__plus_00_dot_19_bar__plus_01_dot_13)\n (cleanable SoapBar_bar__minus_03_dot_28_bar__plus_00_dot_54_bar__plus_00_dot_91)\n (cleanable Cloth_bar__minus_02_dot_08_bar__plus_00_dot_81_bar__plus_00_dot_16)\n (cleanable SoapBar_bar__minus_03_dot_70_bar__plus_00_dot_19_bar__plus_01_dot_84)\n (cleanable Cloth_bar__minus_00_dot_26_bar__plus_00_dot_22_bar__plus_03_dot_08)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle Sink_bar__minus_00_dot_26_bar__plus_00_dot_66_bar__plus_01_dot_92 Sink_bar__minus_00_dot_26_bar__plus_00_dot_66_bar__plus_01_dot_92_bar_SinkBasin)\n (inReceptacle SoapBottle_bar__minus_00_dot_42_bar__plus_00_dot_22_bar__plus_02_dot_59 Drawer_bar__minus_00_dot_33_bar__plus_00_dot_32_bar__plus_02_dot_59)\n (inReceptacle ToiletPaper_bar__minus_00_dot_20_bar__plus_00_dot_52_bar__plus_02_dot_64 Drawer_bar__minus_00_dot_33_bar__plus_00_dot_62_bar__plus_02_dot_59)\n (inReceptacle Cloth_bar__minus_00_dot_26_bar__plus_00_dot_22_bar__plus_03_dot_08 Drawer_bar__minus_00_dot_33_bar__plus_00_dot_32_bar__plus_03_dot_03)\n (inReceptacle Cloth_bar__minus_02_dot_08_bar__plus_00_dot_81_bar__plus_00_dot_16 CounterTop_bar__minus_02_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_28)\n (inReceptacle Candle_bar__minus_03_dot_12_bar__plus_00_dot_81_bar__plus_00_dot_41 CounterTop_bar__minus_02_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_28)\n (inReceptacle SoapBottle_bar__minus_02_dot_78_bar__plus_00_dot_20_bar__plus_00_dot_22 Drawer_bar__minus_02_dot_84_bar__plus_00_dot_32_bar__plus_00_dot_28)\n (inReceptacle ToiletPaper_bar__minus_00_dot_22_bar__plus_00_dot_81_bar__plus_03_dot_00 CounterTop_bar__minus_00_dot_28_bar__plus_00_dot_79_bar__plus_01_dot_93)\n (inReceptacle Towel_bar__minus_01_dot_51_bar__plus_01_dot_50_bar__plus_00_dot_11 TowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_48_bar__plus_00_dot_00)\n (inReceptacle SprayBottle_bar__minus_01_dot_77_bar__plus_00_dot_02_bar__plus_00_dot_17 GarbageCan_bar__minus_01_dot_79_bar__plus_00_dot_00_bar__plus_00_dot_17)\n (inReceptacle SprayBottle_bar__minus_01_dot_84_bar__plus_00_dot_02_bar__plus_00_dot_17 GarbageCan_bar__minus_01_dot_79_bar__plus_00_dot_00_bar__plus_00_dot_17)\n (inReceptacle HandTowel_bar__minus_00_dot_03_bar__plus_01_dot_54_bar__plus_02_dot_31 HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_64_bar__plus_02_dot_31)\n (inReceptacle SoapBottle_bar__minus_02_dot_83_bar__plus_00_dot_95_bar__plus_03_dot_19 Toilet_bar__minus_02_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_76)\n (inReceptacle SoapBar_bar__minus_03_dot_02_bar__plus_00_dot_95_bar__plus_03_dot_17 Toilet_bar__minus_02_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_76)\n (inReceptacle SoapBar_bar__minus_03_dot_51_bar__plus_00_dot_19_bar__plus_01_dot_13 Bathtub_bar__minus_03_dot_59_bar__plus_00_dot_11_bar__plus_01_dot_52_bar_BathtubBasin)\n (inReceptacle SoapBar_bar__minus_03_dot_70_bar__plus_00_dot_19_bar__plus_01_dot_84 Bathtub_bar__minus_03_dot_59_bar__plus_00_dot_11_bar__plus_01_dot_52_bar_BathtubBasin)\n (inReceptacle ToiletPaper_bar__minus_02_dot_29_bar__plus_00_dot_83_bar__plus_03_dot_22 ToiletPaperHanger_bar__minus_02_dot_35_bar__plus_00_dot_83_bar__plus_03_dot_30)\n \n \n (receptacleAtLocation Bathtub_bar__minus_03_dot_59_bar__plus_00_dot_11_bar__plus_01_dot_52_bar_BathtubBasin loc_bar__minus_11_bar_4_bar_3_bar_60)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_28_bar__plus_00_dot_79_bar__plus_01_dot_93 loc_bar__minus_4_bar_11_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_28 loc_bar__minus_7_bar_4_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_33_bar__plus_00_dot_32_bar__plus_01_dot_72 loc_bar__minus_6_bar_9_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_33_bar__plus_00_dot_32_bar__plus_02_dot_16 loc_bar__minus_6_bar_11_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_33_bar__plus_00_dot_32_bar__plus_02_dot_59 loc_bar__minus_6_bar_8_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_33_bar__plus_00_dot_32_bar__plus_03_dot_03 loc_bar__minus_6_bar_10_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_33_bar__plus_00_dot_62_bar__plus_02_dot_59 loc_bar__minus_5_bar_9_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_33_bar__plus_00_dot_62_bar__plus_03_dot_03 loc_bar__minus_6_bar_10_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_25_bar__plus_00_dot_32_bar__plus_00_dot_28 loc_bar__minus_6_bar_7_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_84_bar__plus_00_dot_32_bar__plus_00_dot_28 loc_bar__minus_9_bar_7_bar_2_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_79_bar__plus_00_dot_00_bar__plus_00_dot_17 loc_bar__minus_7_bar_3_bar_2_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_64_bar__plus_01_dot_54 loc_bar__minus_4_bar_7_bar_1_bar_0)\n (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_64_bar__plus_02_dot_31 loc_bar__minus_4_bar_9_bar_1_bar_0)\n (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_64_bar__plus_03_dot_11 loc_bar__minus_4_bar_11_bar_1_bar_0)\n (receptacleAtLocation HandTowelHolder_bar__minus_03_dot_21_bar__plus_01_dot_59_bar__plus_00_dot_34 loc_bar__minus_10_bar_3_bar_3_bar_0)\n (receptacleAtLocation Sink_bar__minus_00_dot_26_bar__plus_00_dot_66_bar__plus_01_dot_92_bar_SinkBasin loc_bar__minus_4_bar_9_bar_1_bar_45)\n (receptacleAtLocation Sink_bar__minus_02_dot_54_bar__plus_00_dot_66_bar__plus_00_dot_25_bar_SinkBasin loc_bar__minus_7_bar_3_bar_3_bar_45)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_02_dot_35_bar__plus_00_dot_83_bar__plus_03_dot_30 loc_bar__minus_9_bar_11_bar_0_bar_60)\n (receptacleAtLocation Toilet_bar__minus_02_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_76 loc_bar__minus_9_bar_11_bar_3_bar_60)\n (receptacleAtLocation TowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_48_bar__plus_00_dot_00 loc_bar__minus_7_bar_3_bar_2_bar_15)\n (objectAtLocation SprayBottle_bar__minus_01_dot_77_bar__plus_00_dot_02_bar__plus_00_dot_17 loc_bar__minus_7_bar_3_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__minus_02_dot_78_bar__plus_00_dot_20_bar__plus_00_dot_22 loc_bar__minus_9_bar_7_bar_2_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_20_bar__plus_00_dot_52_bar__plus_02_dot_64 loc_bar__minus_5_bar_9_bar_1_bar_45)\n (objectAtLocation SoapBar_bar__minus_03_dot_70_bar__plus_00_dot_19_bar__plus_01_dot_84 loc_bar__minus_11_bar_4_bar_3_bar_60)\n (objectAtLocation Cloth_bar__minus_02_dot_08_bar__plus_00_dot_81_bar__plus_00_dot_16 loc_bar__minus_7_bar_4_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_02_dot_83_bar__plus_00_dot_95_bar__plus_03_dot_19 loc_bar__minus_9_bar_11_bar_3_bar_60)\n (objectAtLocation SoapBar_bar__minus_03_dot_28_bar__plus_00_dot_54_bar__plus_00_dot_91 loc_bar__minus_11_bar_4_bar_3_bar_60)\n (objectAtLocation SoapBar_bar__minus_03_dot_51_bar__plus_00_dot_19_bar__plus_01_dot_13 loc_bar__minus_11_bar_4_bar_3_bar_60)\n (objectAtLocation Mirror_bar__plus_00_dot_00_bar__plus_01_dot_47_bar__plus_01_dot_92 loc_bar__minus_4_bar_8_bar_1_bar_15)\n (objectAtLocation Bathtub_bar__minus_03_dot_59_bar__plus_00_dot_11_bar__plus_01_dot_52 loc_bar__minus_12_bar_5_bar_3_bar_60)\n (objectAtLocation Mirror_bar__plus_00_dot_00_bar__plus_01_dot_47_bar__plus_02_dot_70 loc_bar__minus_4_bar_11_bar_1_bar_15)\n (objectAtLocation ShowerGlass_bar__minus_00_dot_49_bar__plus_01_dot_49_bar__plus_00_dot_53 loc_bar__minus_7_bar_3_bar_1_bar_0)\n (objectAtLocation Sink_bar__minus_02_dot_54_bar__plus_00_dot_66_bar__plus_00_dot_25 loc_bar__minus_10_bar_3_bar_2_bar_60)\n (objectAtLocation Sink_bar__minus_00_dot_26_bar__plus_00_dot_66_bar__plus_01_dot_92 loc_bar__minus_4_bar_9_bar_1_bar_45)\n (objectAtLocation ShowerDoor_bar__minus_01_dot_07_bar__plus_01_dot_03_bar__plus_00_dot_52 loc_bar__minus_7_bar_3_bar_1_bar_45)\n (objectAtLocation HandTowel_bar__minus_00_dot_03_bar__plus_01_dot_54_bar__plus_02_dot_31 loc_bar__minus_4_bar_9_bar_1_bar_0)\n (objectAtLocation Towel_bar__minus_01_dot_51_bar__plus_01_dot_50_bar__plus_00_dot_11 loc_bar__minus_7_bar_3_bar_2_bar_15)\n (objectAtLocation Cloth_bar__minus_00_dot_26_bar__plus_00_dot_22_bar__plus_03_dot_08 loc_bar__minus_6_bar_10_bar_1_bar_45)\n (objectAtLocation SoapBar_bar__minus_03_dot_02_bar__plus_00_dot_95_bar__plus_03_dot_17 loc_bar__minus_9_bar_11_bar_3_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_02_dot_29_bar__plus_00_dot_83_bar__plus_03_dot_22 loc_bar__minus_9_bar_11_bar_0_bar_60)\n (objectAtLocation Plunger_bar__minus_02_dot_53_bar__plus_00_dot_00_bar__plus_03_dot_03 loc_bar__minus_9_bar_11_bar_3_bar_60)\n (objectAtLocation Candle_bar__minus_03_dot_12_bar__plus_00_dot_81_bar__plus_00_dot_41 loc_bar__minus_7_bar_4_bar_3_bar_45)\n (objectAtLocation LightSwitch_bar__minus_00_dot_78_bar__plus_01_dot_37_bar__plus_03_dot_30 loc_bar__minus_4_bar_11_bar_0_bar_30)\n (objectAtLocation SoapBottle_bar__minus_00_dot_42_bar__plus_00_dot_22_bar__plus_02_dot_59 loc_bar__minus_6_bar_8_bar_1_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_22_bar__plus_00_dot_81_bar__plus_03_dot_00 loc_bar__minus_4_bar_11_bar_2_bar_45)\n (objectAtLocation Window_bar__minus_04_dot_13_bar__plus_01_dot_52_bar__plus_01_dot_50 loc_bar__minus_12_bar_5_bar_3_bar_0)\n (objectAtLocation SprayBottle_bar__minus_01_dot_84_bar__plus_00_dot_02_bar__plus_00_dot_17 loc_bar__minus_7_bar_3_bar_2_bar_60)\n (objectAtLocation ScrubBrush_bar__minus_02_dot_33_bar__plus_00_dot_00_bar__plus_03_dot_16 loc_bar__minus_9_bar_11_bar_0_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 DrawerType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to bathtubbasin 1", "take soapbar 2 from bathtubbasin 1", "go to sinkbasin 2", "clean soapbar 2 with sinkbasin 2", "go to drawer 4", "open drawer 4", "move soapbar 2 to drawer 4"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-Drawer-423/trial_T20190906_202403_601985/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-Drawer-423/trial_T20190906_202403_601985/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..736ba2956379ebf58635f068df47984774ac935d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-Drawer-423/trial_T20190906_202403_601985/initial_state.pddl @@ -0,0 +1,566 @@ + +(define (problem plan_trial_T20190906_202403_601985) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Bathtub_bar__minus_03_dot_59_bar__plus_00_dot_11_bar__plus_01_dot_52 - object + Candle_bar__minus_03_dot_12_bar__plus_00_dot_81_bar__plus_00_dot_41 - object + Cloth_bar__minus_00_dot_26_bar__plus_00_dot_22_bar__plus_03_dot_08 - object + Cloth_bar__minus_02_dot_08_bar__plus_00_dot_81_bar__plus_00_dot_16 - object + Faucet_bar__minus_00_dot_11_bar__plus_00_dot_79_bar__plus_01_dot_92 - object + Faucet_bar__minus_02_dot_54_bar__plus_00_dot_79_bar__plus_00_dot_11 - object + Faucet_bar__minus_03_dot_61_bar__plus_01_dot_78_bar__plus_02_dot_30 - object + HandTowel_bar__minus_00_dot_03_bar__plus_01_dot_54_bar__plus_02_dot_31 - object + LightSwitch_bar__minus_00_dot_78_bar__plus_01_dot_37_bar__plus_03_dot_30 - object + Mirror_bar__plus_00_dot_00_bar__plus_01_dot_47_bar__plus_01_dot_92 - object + Mirror_bar__plus_00_dot_00_bar__plus_01_dot_47_bar__plus_02_dot_70 - object + Plunger_bar__minus_02_dot_53_bar__plus_00_dot_00_bar__plus_03_dot_03 - object + ScrubBrush_bar__minus_02_dot_33_bar__plus_00_dot_00_bar__plus_03_dot_16 - object + ShowerCurtain_bar__minus_03_dot_21_bar__plus_02_dot_10_bar__plus_02_dot_19 - object + ShowerDoor_bar__minus_01_dot_07_bar__plus_01_dot_03_bar__plus_00_dot_52 - object + ShowerGlass_bar__minus_00_dot_49_bar__plus_01_dot_49_bar__plus_00_dot_53 - object + ShowerHead_bar__minus_00_dot_08_bar__plus_01_dot_15_bar__plus_00_dot_66 - object + Sink_bar__minus_00_dot_26_bar__plus_00_dot_66_bar__plus_01_dot_92 - object + Sink_bar__minus_02_dot_54_bar__plus_00_dot_66_bar__plus_00_dot_25 - object + SoapBar_bar__minus_03_dot_02_bar__plus_00_dot_95_bar__plus_03_dot_17 - object + SoapBar_bar__minus_03_dot_28_bar__plus_00_dot_54_bar__plus_00_dot_91 - object + SoapBar_bar__minus_03_dot_51_bar__plus_00_dot_19_bar__plus_01_dot_13 - object + SoapBar_bar__minus_03_dot_70_bar__plus_00_dot_19_bar__plus_01_dot_84 - object + SoapBottle_bar__minus_00_dot_42_bar__plus_00_dot_22_bar__plus_02_dot_59 - object + SoapBottle_bar__minus_02_dot_78_bar__plus_00_dot_20_bar__plus_00_dot_22 - object + SoapBottle_bar__minus_02_dot_83_bar__plus_00_dot_95_bar__plus_03_dot_19 - object + SprayBottle_bar__minus_01_dot_77_bar__plus_00_dot_02_bar__plus_00_dot_17 - object + SprayBottle_bar__minus_01_dot_84_bar__plus_00_dot_02_bar__plus_00_dot_17 - object + ToiletPaper_bar__minus_00_dot_20_bar__plus_00_dot_52_bar__plus_02_dot_64 - object + ToiletPaper_bar__minus_00_dot_22_bar__plus_00_dot_81_bar__plus_03_dot_00 - object + ToiletPaper_bar__minus_02_dot_29_bar__plus_00_dot_83_bar__plus_03_dot_22 - object + Towel_bar__minus_01_dot_51_bar__plus_01_dot_50_bar__plus_00_dot_11 - object + Window_bar__minus_04_dot_13_bar__plus_01_dot_52_bar__plus_01_dot_50 - object + Bathtub_bar__minus_03_dot_59_bar__plus_00_dot_11_bar__plus_01_dot_52_bar_BathtubBasin - receptacle + CounterTop_bar__minus_00_dot_28_bar__plus_00_dot_79_bar__plus_01_dot_93 - receptacle + CounterTop_bar__minus_02_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_28 - receptacle + Drawer_bar__minus_00_dot_33_bar__plus_00_dot_32_bar__plus_01_dot_72 - receptacle + Drawer_bar__minus_00_dot_33_bar__plus_00_dot_32_bar__plus_02_dot_16 - receptacle + Drawer_bar__minus_00_dot_33_bar__plus_00_dot_32_bar__plus_02_dot_59 - receptacle + Drawer_bar__minus_00_dot_33_bar__plus_00_dot_32_bar__plus_03_dot_03 - receptacle + Drawer_bar__minus_00_dot_33_bar__plus_00_dot_62_bar__plus_02_dot_59 - receptacle + Drawer_bar__minus_00_dot_33_bar__plus_00_dot_62_bar__plus_03_dot_03 - receptacle + Drawer_bar__minus_02_dot_25_bar__plus_00_dot_32_bar__plus_00_dot_28 - receptacle + Drawer_bar__minus_02_dot_84_bar__plus_00_dot_32_bar__plus_00_dot_28 - receptacle + GarbageCan_bar__minus_01_dot_79_bar__plus_00_dot_00_bar__plus_00_dot_17 - receptacle + HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_64_bar__plus_01_dot_54 - receptacle + HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_64_bar__plus_02_dot_31 - receptacle + HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_64_bar__plus_03_dot_11 - receptacle + HandTowelHolder_bar__minus_03_dot_21_bar__plus_01_dot_59_bar__plus_00_dot_34 - receptacle + Sink_bar__minus_00_dot_26_bar__plus_00_dot_66_bar__plus_01_dot_92_bar_SinkBasin - receptacle + Sink_bar__minus_02_dot_54_bar__plus_00_dot_66_bar__plus_00_dot_25_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__minus_02_dot_35_bar__plus_00_dot_83_bar__plus_03_dot_30 - receptacle + Toilet_bar__minus_02_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_76 - receptacle + TowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_48_bar__plus_00_dot_00 - receptacle + loc_bar__minus_6_bar_11_bar_1_bar_45 - location + loc_bar__minus_7_bar_3_bar_2_bar_60 - location + loc_bar__minus_12_bar_5_bar_3_bar_60 - location + loc_bar__minus_10_bar_3_bar_3_bar_0 - location + loc_bar__minus_6_bar_8_bar_1_bar_45 - location + loc_bar__minus_9_bar_7_bar_2_bar_45 - location + loc_bar__minus_4_bar_11_bar_1_bar_15 - location + loc_bar__minus_11_bar_4_bar_3_bar_60 - location + loc_bar__minus_4_bar_11_bar_2_bar_45 - location + loc_bar__minus_6_bar_9_bar_1_bar_45 - location + loc_bar__minus_6_bar_7_bar_2_bar_45 - location + loc_bar__minus_12_bar_5_bar_3_bar_0 - location + loc_bar__minus_7_bar_3_bar_1_bar_0 - location + loc_bar__minus_9_bar_11_bar_3_bar_60 - location + loc_bar__minus_4_bar_9_bar_1_bar_0 - location + loc_bar__minus_4_bar_8_bar_1_bar_15 - location + loc_bar__minus_7_bar_3_bar_3_bar_45 - location + loc_bar__minus_7_bar_4_bar_3_bar_45 - location + loc_bar__minus_4_bar_9_bar_1_bar_45 - location + loc_bar__minus_4_bar_11_bar_0_bar_30 - location + loc_bar__minus_10_bar_3_bar_2_bar_60 - location + loc_bar__minus_6_bar_10_bar_1_bar_45 - location + loc_bar__minus_4_bar_7_bar_1_bar_0 - location + loc_bar__minus_5_bar_9_bar_1_bar_45 - location + loc_bar__minus_7_bar_3_bar_1_bar_45 - location + loc_bar__minus_9_bar_11_bar_0_bar_60 - location + loc_bar__minus_4_bar_11_bar_1_bar_0 - location + loc_bar__minus_7_bar_3_bar_2_bar_15 - location + loc_bar__minus_9_bar_9_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType GarbageCan_bar__minus_01_dot_79_bar__plus_00_dot_00_bar__plus_00_dot_17 GarbageCanType) + (receptacleType Drawer_bar__minus_02_dot_25_bar__plus_00_dot_32_bar__plus_00_dot_28 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_33_bar__plus_00_dot_32_bar__plus_01_dot_72 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_33_bar__plus_00_dot_32_bar__plus_02_dot_16 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_33_bar__plus_00_dot_32_bar__plus_03_dot_03 DrawerType) + (receptacleType HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_64_bar__plus_02_dot_31 HandTowelHolderType) + (receptacleType Sink_bar__minus_00_dot_26_bar__plus_00_dot_66_bar__plus_01_dot_92_bar_SinkBasin SinkBasinType) + (receptacleType Toilet_bar__minus_02_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_76 ToiletType) + (receptacleType Sink_bar__minus_02_dot_54_bar__plus_00_dot_66_bar__plus_00_dot_25_bar_SinkBasin SinkBasinType) + (receptacleType ToiletPaperHanger_bar__minus_02_dot_35_bar__plus_00_dot_83_bar__plus_03_dot_30 ToiletPaperHangerType) + (receptacleType CounterTop_bar__minus_02_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_28 CounterTopType) + (receptacleType Bathtub_bar__minus_03_dot_59_bar__plus_00_dot_11_bar__plus_01_dot_52_bar_BathtubBasin BathtubBasinType) + (receptacleType Drawer_bar__minus_00_dot_33_bar__plus_00_dot_62_bar__plus_03_dot_03 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_33_bar__plus_00_dot_62_bar__plus_02_dot_59 DrawerType) + (receptacleType HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_64_bar__plus_03_dot_11 HandTowelHolderType) + (receptacleType Drawer_bar__minus_02_dot_84_bar__plus_00_dot_32_bar__plus_00_dot_28 DrawerType) + (receptacleType TowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_48_bar__plus_00_dot_00 TowelHolderType) + (receptacleType HandTowelHolder_bar__minus_03_dot_21_bar__plus_01_dot_59_bar__plus_00_dot_34 HandTowelHolderType) + (receptacleType HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_64_bar__plus_01_dot_54 HandTowelHolderType) + (receptacleType CounterTop_bar__minus_00_dot_28_bar__plus_00_dot_79_bar__plus_01_dot_93 CounterTopType) + (receptacleType Drawer_bar__minus_00_dot_33_bar__plus_00_dot_32_bar__plus_02_dot_59 DrawerType) + (objectType Mirror_bar__plus_00_dot_00_bar__plus_01_dot_47_bar__plus_02_dot_70 MirrorType) + (objectType Window_bar__minus_04_dot_13_bar__plus_01_dot_52_bar__plus_01_dot_50 WindowType) + (objectType ToiletPaper_bar__minus_02_dot_29_bar__plus_00_dot_83_bar__plus_03_dot_22 ToiletPaperType) + (objectType SoapBar_bar__minus_03_dot_02_bar__plus_00_dot_95_bar__plus_03_dot_17 SoapBarType) + (objectType SprayBottle_bar__minus_01_dot_84_bar__plus_00_dot_02_bar__plus_00_dot_17 SprayBottleType) + (objectType SoapBar_bar__minus_03_dot_51_bar__plus_00_dot_19_bar__plus_01_dot_13 SoapBarType) + (objectType SprayBottle_bar__minus_01_dot_77_bar__plus_00_dot_02_bar__plus_00_dot_17 SprayBottleType) + (objectType Mirror_bar__plus_00_dot_00_bar__plus_01_dot_47_bar__plus_01_dot_92 MirrorType) + (objectType Towel_bar__minus_01_dot_51_bar__plus_01_dot_50_bar__plus_00_dot_11 TowelType) + (objectType SoapBottle_bar__minus_02_dot_83_bar__plus_00_dot_95_bar__plus_03_dot_19 SoapBottleType) + (objectType SoapBottle_bar__minus_02_dot_78_bar__plus_00_dot_20_bar__plus_00_dot_22 SoapBottleType) + (objectType SoapBar_bar__minus_03_dot_28_bar__plus_00_dot_54_bar__plus_00_dot_91 SoapBarType) + (objectType Cloth_bar__minus_02_dot_08_bar__plus_00_dot_81_bar__plus_00_dot_16 ClothType) + (objectType SoapBar_bar__minus_03_dot_70_bar__plus_00_dot_19_bar__plus_01_dot_84 SoapBarType) + (objectType Candle_bar__minus_03_dot_12_bar__plus_00_dot_81_bar__plus_00_dot_41 CandleType) + (objectType ShowerDoor_bar__minus_01_dot_07_bar__plus_01_dot_03_bar__plus_00_dot_52 ShowerDoorType) + (objectType HandTowel_bar__minus_00_dot_03_bar__plus_01_dot_54_bar__plus_02_dot_31 HandTowelType) + (objectType ToiletPaper_bar__minus_00_dot_20_bar__plus_00_dot_52_bar__plus_02_dot_64 ToiletPaperType) + (objectType Cloth_bar__minus_00_dot_26_bar__plus_00_dot_22_bar__plus_03_dot_08 ClothType) + (objectType Bathtub_bar__minus_03_dot_59_bar__plus_00_dot_11_bar__plus_01_dot_52 BathtubType) + (objectType ToiletPaper_bar__minus_00_dot_22_bar__plus_00_dot_81_bar__plus_03_dot_00 ToiletPaperType) + (objectType Sink_bar__minus_02_dot_54_bar__plus_00_dot_66_bar__plus_00_dot_25 SinkType) + (objectType Sink_bar__minus_00_dot_26_bar__plus_00_dot_66_bar__plus_01_dot_92 SinkType) + (objectType Plunger_bar__minus_02_dot_53_bar__plus_00_dot_00_bar__plus_03_dot_03 PlungerType) + (objectType ShowerGlass_bar__minus_00_dot_49_bar__plus_01_dot_49_bar__plus_00_dot_53 ShowerGlassType) + (objectType SoapBottle_bar__minus_00_dot_42_bar__plus_00_dot_22_bar__plus_02_dot_59 SoapBottleType) + (objectType ScrubBrush_bar__minus_02_dot_33_bar__plus_00_dot_00_bar__plus_03_dot_16 ScrubBrushType) + (objectType LightSwitch_bar__minus_00_dot_78_bar__plus_01_dot_37_bar__plus_03_dot_30 LightSwitchType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType ClothType) + (canContain ToiletType CandleType) + (canContain ToiletType SoapBarType) + (canContain ToiletType SprayBottleType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain CounterTopType CandleType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType HandTowelType) + (canContain BathtubBasinType ClothType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType 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SprayBottle_bar__minus_01_dot_84_bar__plus_00_dot_02_bar__plus_00_dot_17) + (pickupable SoapBar_bar__minus_03_dot_51_bar__plus_00_dot_19_bar__plus_01_dot_13) + (pickupable SprayBottle_bar__minus_01_dot_77_bar__plus_00_dot_02_bar__plus_00_dot_17) + (pickupable Towel_bar__minus_01_dot_51_bar__plus_01_dot_50_bar__plus_00_dot_11) + (pickupable SoapBottle_bar__minus_02_dot_83_bar__plus_00_dot_95_bar__plus_03_dot_19) + (pickupable SoapBottle_bar__minus_02_dot_78_bar__plus_00_dot_20_bar__plus_00_dot_22) + (pickupable SoapBar_bar__minus_03_dot_28_bar__plus_00_dot_54_bar__plus_00_dot_91) + (pickupable Cloth_bar__minus_02_dot_08_bar__plus_00_dot_81_bar__plus_00_dot_16) + (pickupable SoapBar_bar__minus_03_dot_70_bar__plus_00_dot_19_bar__plus_01_dot_84) + (pickupable Candle_bar__minus_03_dot_12_bar__plus_00_dot_81_bar__plus_00_dot_41) + (pickupable HandTowel_bar__minus_00_dot_03_bar__plus_01_dot_54_bar__plus_02_dot_31) + (pickupable ToiletPaper_bar__minus_00_dot_20_bar__plus_00_dot_52_bar__plus_02_dot_64) + (pickupable Cloth_bar__minus_00_dot_26_bar__plus_00_dot_22_bar__plus_03_dot_08) + (pickupable ToiletPaper_bar__minus_00_dot_22_bar__plus_00_dot_81_bar__plus_03_dot_00) + (pickupable Plunger_bar__minus_02_dot_53_bar__plus_00_dot_00_bar__plus_03_dot_03) + (pickupable SoapBottle_bar__minus_00_dot_42_bar__plus_00_dot_22_bar__plus_02_dot_59) + (pickupable ScrubBrush_bar__minus_02_dot_33_bar__plus_00_dot_00_bar__plus_03_dot_16) + + (openable Drawer_bar__minus_02_dot_25_bar__plus_00_dot_32_bar__plus_00_dot_28) + (openable Drawer_bar__minus_00_dot_33_bar__plus_00_dot_32_bar__plus_01_dot_72) + (openable Drawer_bar__minus_00_dot_33_bar__plus_00_dot_32_bar__plus_02_dot_16) + (openable Drawer_bar__minus_00_dot_33_bar__plus_00_dot_32_bar__plus_03_dot_03) + (openable Drawer_bar__minus_00_dot_33_bar__plus_00_dot_62_bar__plus_03_dot_03) + (openable Drawer_bar__minus_00_dot_33_bar__plus_00_dot_62_bar__plus_02_dot_59) + (openable Drawer_bar__minus_02_dot_84_bar__plus_00_dot_32_bar__plus_00_dot_28) + (openable Drawer_bar__minus_00_dot_33_bar__plus_00_dot_32_bar__plus_02_dot_59) + + (atLocation agent1 loc_bar__minus_9_bar_9_bar_3_bar_30) + + (cleanable SoapBar_bar__minus_03_dot_02_bar__plus_00_dot_95_bar__plus_03_dot_17) + (cleanable SoapBar_bar__minus_03_dot_51_bar__plus_00_dot_19_bar__plus_01_dot_13) + (cleanable SoapBar_bar__minus_03_dot_28_bar__plus_00_dot_54_bar__plus_00_dot_91) + (cleanable Cloth_bar__minus_02_dot_08_bar__plus_00_dot_81_bar__plus_00_dot_16) + (cleanable SoapBar_bar__minus_03_dot_70_bar__plus_00_dot_19_bar__plus_01_dot_84) + (cleanable Cloth_bar__minus_00_dot_26_bar__plus_00_dot_22_bar__plus_03_dot_08) + + + + + + + + + + + (inReceptacle Sink_bar__minus_00_dot_26_bar__plus_00_dot_66_bar__plus_01_dot_92 Sink_bar__minus_00_dot_26_bar__plus_00_dot_66_bar__plus_01_dot_92_bar_SinkBasin) + (inReceptacle SoapBottle_bar__minus_00_dot_42_bar__plus_00_dot_22_bar__plus_02_dot_59 Drawer_bar__minus_00_dot_33_bar__plus_00_dot_32_bar__plus_02_dot_59) + (inReceptacle ToiletPaper_bar__minus_00_dot_20_bar__plus_00_dot_52_bar__plus_02_dot_64 Drawer_bar__minus_00_dot_33_bar__plus_00_dot_62_bar__plus_02_dot_59) + (inReceptacle Cloth_bar__minus_00_dot_26_bar__plus_00_dot_22_bar__plus_03_dot_08 Drawer_bar__minus_00_dot_33_bar__plus_00_dot_32_bar__plus_03_dot_03) + (inReceptacle Cloth_bar__minus_02_dot_08_bar__plus_00_dot_81_bar__plus_00_dot_16 CounterTop_bar__minus_02_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_28) + (inReceptacle Candle_bar__minus_03_dot_12_bar__plus_00_dot_81_bar__plus_00_dot_41 CounterTop_bar__minus_02_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_28) + (inReceptacle SoapBottle_bar__minus_02_dot_78_bar__plus_00_dot_20_bar__plus_00_dot_22 Drawer_bar__minus_02_dot_84_bar__plus_00_dot_32_bar__plus_00_dot_28) + (inReceptacle ToiletPaper_bar__minus_00_dot_22_bar__plus_00_dot_81_bar__plus_03_dot_00 CounterTop_bar__minus_00_dot_28_bar__plus_00_dot_79_bar__plus_01_dot_93) + (inReceptacle Towel_bar__minus_01_dot_51_bar__plus_01_dot_50_bar__plus_00_dot_11 TowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_48_bar__plus_00_dot_00) + (inReceptacle SprayBottle_bar__minus_01_dot_77_bar__plus_00_dot_02_bar__plus_00_dot_17 GarbageCan_bar__minus_01_dot_79_bar__plus_00_dot_00_bar__plus_00_dot_17) + (inReceptacle SprayBottle_bar__minus_01_dot_84_bar__plus_00_dot_02_bar__plus_00_dot_17 GarbageCan_bar__minus_01_dot_79_bar__plus_00_dot_00_bar__plus_00_dot_17) + (inReceptacle HandTowel_bar__minus_00_dot_03_bar__plus_01_dot_54_bar__plus_02_dot_31 HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_64_bar__plus_02_dot_31) + (inReceptacle SoapBottle_bar__minus_02_dot_83_bar__plus_00_dot_95_bar__plus_03_dot_19 Toilet_bar__minus_02_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_76) + (inReceptacle SoapBar_bar__minus_03_dot_02_bar__plus_00_dot_95_bar__plus_03_dot_17 Toilet_bar__minus_02_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_76) + (inReceptacle SoapBar_bar__minus_03_dot_51_bar__plus_00_dot_19_bar__plus_01_dot_13 Bathtub_bar__minus_03_dot_59_bar__plus_00_dot_11_bar__plus_01_dot_52_bar_BathtubBasin) + (inReceptacle SoapBar_bar__minus_03_dot_70_bar__plus_00_dot_19_bar__plus_01_dot_84 Bathtub_bar__minus_03_dot_59_bar__plus_00_dot_11_bar__plus_01_dot_52_bar_BathtubBasin) + (inReceptacle ToiletPaper_bar__minus_02_dot_29_bar__plus_00_dot_83_bar__plus_03_dot_22 ToiletPaperHanger_bar__minus_02_dot_35_bar__plus_00_dot_83_bar__plus_03_dot_30) + + + (receptacleAtLocation Bathtub_bar__minus_03_dot_59_bar__plus_00_dot_11_bar__plus_01_dot_52_bar_BathtubBasin loc_bar__minus_11_bar_4_bar_3_bar_60) + (receptacleAtLocation CounterTop_bar__minus_00_dot_28_bar__plus_00_dot_79_bar__plus_01_dot_93 loc_bar__minus_4_bar_11_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__minus_02_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_28 loc_bar__minus_7_bar_4_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_33_bar__plus_00_dot_32_bar__plus_01_dot_72 loc_bar__minus_6_bar_9_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_33_bar__plus_00_dot_32_bar__plus_02_dot_16 loc_bar__minus_6_bar_11_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_33_bar__plus_00_dot_32_bar__plus_02_dot_59 loc_bar__minus_6_bar_8_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_33_bar__plus_00_dot_32_bar__plus_03_dot_03 loc_bar__minus_6_bar_10_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_33_bar__plus_00_dot_62_bar__plus_02_dot_59 loc_bar__minus_5_bar_9_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_33_bar__plus_00_dot_62_bar__plus_03_dot_03 loc_bar__minus_6_bar_10_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_25_bar__plus_00_dot_32_bar__plus_00_dot_28 loc_bar__minus_6_bar_7_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_84_bar__plus_00_dot_32_bar__plus_00_dot_28 loc_bar__minus_9_bar_7_bar_2_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_01_dot_79_bar__plus_00_dot_00_bar__plus_00_dot_17 loc_bar__minus_7_bar_3_bar_2_bar_60) + (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_64_bar__plus_01_dot_54 loc_bar__minus_4_bar_7_bar_1_bar_0) + (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_64_bar__plus_02_dot_31 loc_bar__minus_4_bar_9_bar_1_bar_0) + (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_64_bar__plus_03_dot_11 loc_bar__minus_4_bar_11_bar_1_bar_0) + (receptacleAtLocation HandTowelHolder_bar__minus_03_dot_21_bar__plus_01_dot_59_bar__plus_00_dot_34 loc_bar__minus_10_bar_3_bar_3_bar_0) + (receptacleAtLocation Sink_bar__minus_00_dot_26_bar__plus_00_dot_66_bar__plus_01_dot_92_bar_SinkBasin loc_bar__minus_4_bar_9_bar_1_bar_45) + (receptacleAtLocation Sink_bar__minus_02_dot_54_bar__plus_00_dot_66_bar__plus_00_dot_25_bar_SinkBasin loc_bar__minus_7_bar_3_bar_3_bar_45) + (receptacleAtLocation ToiletPaperHanger_bar__minus_02_dot_35_bar__plus_00_dot_83_bar__plus_03_dot_30 loc_bar__minus_9_bar_11_bar_0_bar_60) + (receptacleAtLocation Toilet_bar__minus_02_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_76 loc_bar__minus_9_bar_11_bar_3_bar_60) + (receptacleAtLocation TowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_48_bar__plus_00_dot_00 loc_bar__minus_7_bar_3_bar_2_bar_15) + (objectAtLocation SprayBottle_bar__minus_01_dot_77_bar__plus_00_dot_02_bar__plus_00_dot_17 loc_bar__minus_7_bar_3_bar_2_bar_60) + (objectAtLocation SoapBottle_bar__minus_02_dot_78_bar__plus_00_dot_20_bar__plus_00_dot_22 loc_bar__minus_9_bar_7_bar_2_bar_45) + (objectAtLocation ToiletPaper_bar__minus_00_dot_20_bar__plus_00_dot_52_bar__plus_02_dot_64 loc_bar__minus_5_bar_9_bar_1_bar_45) + (objectAtLocation SoapBar_bar__minus_03_dot_70_bar__plus_00_dot_19_bar__plus_01_dot_84 loc_bar__minus_11_bar_4_bar_3_bar_60) + (objectAtLocation Cloth_bar__minus_02_dot_08_bar__plus_00_dot_81_bar__plus_00_dot_16 loc_bar__minus_7_bar_4_bar_3_bar_45) + (objectAtLocation SoapBottle_bar__minus_02_dot_83_bar__plus_00_dot_95_bar__plus_03_dot_19 loc_bar__minus_9_bar_11_bar_3_bar_60) + (objectAtLocation SoapBar_bar__minus_03_dot_28_bar__plus_00_dot_54_bar__plus_00_dot_91 loc_bar__minus_11_bar_4_bar_3_bar_60) + (objectAtLocation SoapBar_bar__minus_03_dot_51_bar__plus_00_dot_19_bar__plus_01_dot_13 loc_bar__minus_11_bar_4_bar_3_bar_60) + (objectAtLocation Mirror_bar__plus_00_dot_00_bar__plus_01_dot_47_bar__plus_01_dot_92 loc_bar__minus_4_bar_8_bar_1_bar_15) + (objectAtLocation Bathtub_bar__minus_03_dot_59_bar__plus_00_dot_11_bar__plus_01_dot_52 loc_bar__minus_12_bar_5_bar_3_bar_60) + (objectAtLocation Mirror_bar__plus_00_dot_00_bar__plus_01_dot_47_bar__plus_02_dot_70 loc_bar__minus_4_bar_11_bar_1_bar_15) + (objectAtLocation ShowerGlass_bar__minus_00_dot_49_bar__plus_01_dot_49_bar__plus_00_dot_53 loc_bar__minus_7_bar_3_bar_1_bar_0) + (objectAtLocation Sink_bar__minus_02_dot_54_bar__plus_00_dot_66_bar__plus_00_dot_25 loc_bar__minus_10_bar_3_bar_2_bar_60) + (objectAtLocation Sink_bar__minus_00_dot_26_bar__plus_00_dot_66_bar__plus_01_dot_92 loc_bar__minus_4_bar_9_bar_1_bar_45) + (objectAtLocation ShowerDoor_bar__minus_01_dot_07_bar__plus_01_dot_03_bar__plus_00_dot_52 loc_bar__minus_7_bar_3_bar_1_bar_45) + (objectAtLocation HandTowel_bar__minus_00_dot_03_bar__plus_01_dot_54_bar__plus_02_dot_31 loc_bar__minus_4_bar_9_bar_1_bar_0) + (objectAtLocation Towel_bar__minus_01_dot_51_bar__plus_01_dot_50_bar__plus_00_dot_11 loc_bar__minus_7_bar_3_bar_2_bar_15) + (objectAtLocation Cloth_bar__minus_00_dot_26_bar__plus_00_dot_22_bar__plus_03_dot_08 loc_bar__minus_6_bar_10_bar_1_bar_45) + (objectAtLocation SoapBar_bar__minus_03_dot_02_bar__plus_00_dot_95_bar__plus_03_dot_17 loc_bar__minus_9_bar_11_bar_3_bar_60) + (objectAtLocation ToiletPaper_bar__minus_02_dot_29_bar__plus_00_dot_83_bar__plus_03_dot_22 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ScrubBrush_bar__minus_02_dot_33_bar__plus_00_dot_00_bar__plus_03_dot_16 loc_bar__minus_9_bar_11_bar_0_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (cleanable ?o) + (objectType ?o SoapBarType) + (receptacleType ?r DrawerType) + (isClean ?o) + (inReceptacle ?o ?r) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-Drawer-423/trial_T20190906_202403_601985/traj_data.json b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-Drawer-423/trial_T20190906_202403_601985/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..0de15b86b33049a12c742e55937c82aaea6610d0 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-Drawer-423/trial_T20190906_202403_601985/traj_data.json @@ -0,0 +1,4425 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + 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room", + "put the soap in the sink, rinse the soap, and pick it back up", + "turn around, go forward slightly, stop, and turn back to face the sink", + "open the bottom drawer, put the soap inside, and close the drawer." + ], + "task_desc": "Put a clean bar of soap into the cabinet drawer", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3HL2LL0LEPZT8_3GNA64GUZHLC23JC296EFSKY77HQ5Q", + "high_descs": [ + "Turn left and go to the corner of the bath tub near the sink.", + "Take the pink soap from the corner of the bath tub.", + "Turn around and go to the far sink next to the shower. ", + "Put the soap in the sink to the left of the drain. Turn the water of the sink on and then off. Take the soap from the sink.", + "Go in front of the sink.", + "Put the soap in the bottom left drawer below the sink counter." + ], + "task_desc": "Put a wet bar of soap in a drawer.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A267GLM78AMQ75_3WSELTNVR6JM0PNLE9RQS8B7JURTAR", + "high_descs": [ + "Turn left, walk towards since, turn right and walk towards bath", + "Grab the bar of soap off of the bath tub", + "Turn around, walk towards the sink", + "Place the soap in the sink, turn the faucet on, then turn it off, grab soap from the sink", + "Open the cabinet door underneath the sink", + "Place the bar of soap in the cabinet, then close the door" + ], + "task_desc": "Place the bar of soap in the cabinet underneath the sink", + "votes": [ + 0, + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Spatula-None-DiningTable-23/trial_T20190909_103325_040043/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Spatula-None-DiningTable-23/trial_T20190909_103325_040043/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..00886f9f73a0ff12671fa6638d71041f90489861 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Spatula-None-DiningTable-23/trial_T20190909_103325_040043/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 spatula 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_103325_040043)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__minus_00_dot_27_bar__plus_01_dot_76_bar__minus_00_dot_56 - object\n Apple_bar__minus_01_dot_26_bar__plus_01_dot_70_bar__minus_03_dot_90 - object\n Apple_bar__minus_02_dot_78_bar__plus_01_dot_00_bar__minus_01_dot_65 - object\n 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loc_bar__minus_4_bar__minus_8_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_12_bar_2_bar_30 - location\n loc_bar__minus_6_bar__minus_7_bar_1_bar_60 - location\n loc_bar__minus_5_bar__minus_12_bar_1_bar_45 - location\n loc_bar__minus_6_bar__minus_12_bar_2_bar_45 - location\n loc_bar__minus_5_bar__minus_3_bar_1_bar_60 - location\n loc_bar__minus_5_bar__minus_7_bar_3_bar_30 - location\n loc_bar__minus_4_bar__minus_12_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_11_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_10_bar_2_bar_60 - location\n loc_bar__minus_5_bar__minus_12_bar_2_bar_15 - location\n loc_bar__minus_9_bar__minus_14_bar_1_bar_60 - location\n loc_bar__minus_5_bar__minus_12_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30 - location\n loc_bar__minus_6_bar__minus_12_bar_2_bar_60 - location\n loc_bar__minus_13_bar__minus_3_bar_2_bar_60 - location\n loc_bar__minus_6_bar__minus_11_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_9_bar_2_bar__minus_15 - location\n loc_bar__minus_4_bar__minus_6_bar_1_bar__minus_30 - location\n loc_bar__minus_6_bar__minus_12_bar_2_bar_30 - location\n loc_bar__minus_4_bar__minus_9_bar_1_bar_60 - location\n loc_bar__minus_14_bar__minus_7_bar_2_bar_60 - location\n loc_bar__minus_6_bar__minus_5_bar_1_bar_60 - location\n loc_bar__minus_16_bar__minus_2_bar_0_bar_30 - location\n loc_bar__minus_10_bar__minus_14_bar_2_bar__minus_30 - location\n loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_15 - location\n loc_bar__minus_5_bar__minus_12_bar_2_bar_30 - location\n loc_bar__minus_4_bar__minus_12_bar_1_bar__minus_15 - location\n loc_bar__minus_5_bar__minus_12_bar_2_bar_45 - location\n loc_bar__minus_4_bar__minus_4_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70 DiningTableType)\n (receptacleType StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_50 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Bread_bar__minus_00_dot_30_bar__plus_01_dot_44_bar__minus_00_dot_67)\n (heatable Apple_bar__minus_01_dot_26_bar__plus_01_dot_70_bar__minus_03_dot_90)\n (heatable Apple_bar__minus_02_dot_78_bar__plus_01_dot_00_bar__minus_01_dot_65)\n (heatable Potato_bar__minus_00_dot_45_bar__plus_00_dot_83_bar__minus_01_dot_86)\n (coolable Potato_bar__minus_00_dot_44_bar__plus_00_dot_95_bar__minus_02_dot_76)\n (coolable Pot_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__minus_03_dot_50)\n (coolable Plate_bar__minus_02_dot_78_bar__plus_00_dot_93_bar__minus_01_dot_88)\n (coolable Cup_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_02_dot_12)\n (coolable Pot_bar__minus_00_dot_34_bar__plus_01_dot_10_bar__minus_00_dot_87)\n (coolable Egg_bar__minus_00_dot_40_bar__plus_00_dot_83_bar__minus_02_dot_16)\n (coolable WineBottle_bar__minus_00_dot_50_bar__plus_00_dot_08_bar__minus_03_dot_27)\n (coolable Pot_bar__minus_01_dot_52_bar__plus_00_dot_94_bar__minus_03_dot_50)\n (coolable Bowl_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_01_dot_88)\n (coolable Cup_bar__minus_00_dot_53_bar__plus_00_dot_91_bar__minus_03_dot_84)\n (coolable Tomato_bar__minus_00_dot_35_bar__plus_00_dot_86_bar__minus_01_dot_93)\n (coolable Lettuce_bar__minus_00_dot_30_bar__plus_01_dot_19_bar__minus_00_dot_56)\n (coolable Tomato_bar__minus_02_dot_55_bar__plus_00_dot_99_bar__minus_02_dot_12)\n (coolable Egg_bar__minus_02_dot_21_bar__plus_00_dot_96_bar__minus_01_dot_42)\n (coolable Bread_bar__minus_00_dot_31_bar__plus_01_dot_74_bar__minus_00_dot_87)\n (coolable Tomato_bar__minus_01_dot_91_bar__plus_00_dot_09_bar__minus_03_dot_76)\n (coolable WineBottle_bar__minus_00_dot_34_bar__plus_01_dot_53_bar__minus_03_dot_52)\n (coolable Egg_bar__minus_00_dot_82_bar__plus_00_dot_95_bar__minus_03_dot_63)\n (coolable Mug_bar__minus_01_dot_65_bar__plus_01_dot_96_bar__minus_03_dot_77)\n (coolable WineBottle_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_01_dot_42)\n (coolable Apple_bar__minus_00_dot_27_bar__plus_01_dot_76_bar__minus_00_dot_56)\n (coolable Cup_bar__minus_00_dot_50_bar__plus_00_dot_08_bar__minus_01_dot_90)\n (coolable Pan_bar__minus_02_dot_17_bar__plus_00_dot_91_bar__minus_01_dot_10)\n (coolable Bread_bar__minus_00_dot_30_bar__plus_01_dot_44_bar__minus_00_dot_67)\n (coolable Apple_bar__minus_01_dot_26_bar__plus_01_dot_70_bar__minus_03_dot_90)\n (coolable Apple_bar__minus_02_dot_78_bar__plus_01_dot_00_bar__minus_01_dot_65)\n (coolable Lettuce_bar__minus_02_dot_67_bar__plus_01_dot_02_bar__minus_01_dot_42)\n (coolable Potato_bar__minus_00_dot_45_bar__plus_00_dot_83_bar__minus_01_dot_86)\n \n \n \n \n \n (sliceable Potato_bar__minus_00_dot_44_bar__plus_00_dot_95_bar__minus_02_dot_76)\n (sliceable Egg_bar__minus_00_dot_40_bar__plus_00_dot_83_bar__minus_02_dot_16)\n (sliceable Tomato_bar__minus_00_dot_35_bar__plus_00_dot_86_bar__minus_01_dot_93)\n (sliceable Lettuce_bar__minus_00_dot_30_bar__plus_01_dot_19_bar__minus_00_dot_56)\n (sliceable Tomato_bar__minus_02_dot_55_bar__plus_00_dot_99_bar__minus_02_dot_12)\n (sliceable Egg_bar__minus_02_dot_21_bar__plus_00_dot_96_bar__minus_01_dot_42)\n (sliceable Bread_bar__minus_00_dot_31_bar__plus_01_dot_74_bar__minus_00_dot_87)\n (sliceable Tomato_bar__minus_01_dot_91_bar__plus_00_dot_09_bar__minus_03_dot_76)\n (sliceable Egg_bar__minus_00_dot_82_bar__plus_00_dot_95_bar__minus_03_dot_63)\n (sliceable Apple_bar__minus_00_dot_27_bar__plus_01_dot_76_bar__minus_00_dot_56)\n (sliceable Bread_bar__minus_00_dot_30_bar__plus_01_dot_44_bar__minus_00_dot_67)\n (sliceable Apple_bar__minus_01_dot_26_bar__plus_01_dot_70_bar__minus_03_dot_90)\n (sliceable Apple_bar__minus_02_dot_78_bar__plus_01_dot_00_bar__minus_01_dot_65)\n (sliceable Lettuce_bar__minus_02_dot_67_bar__plus_01_dot_02_bar__minus_01_dot_42)\n (sliceable Potato_bar__minus_00_dot_45_bar__plus_00_dot_83_bar__minus_01_dot_86)\n \n (inReceptacle Glassbottle_bar__minus_00_dot_46_bar__plus_00_dot_08_bar__minus_01_dot_76 Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_80)\n (inReceptacle Cup_bar__minus_00_dot_50_bar__plus_00_dot_08_bar__minus_01_dot_90 Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_80)\n (inReceptacle Pot_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)\n (inReceptacle Pot_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__minus_03_dot_50 StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_50)\n (inReceptacle SaltShaker_bar__minus_00_dot_60_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)\n (inReceptacle ButterKnife_bar__minus_00_dot_37_bar__plus_00_dot_90_bar__minus_03_dot_44 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79)\n (inReceptacle Cup_bar__minus_00_dot_53_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)\n (inReceptacle Pen_bar__minus_00_dot_60_bar__plus_00_dot_92_bar__minus_03_dot_70 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79)\n (inReceptacle Pen_bar__minus_00_dot_37_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)\n (inReceptacle Potato_bar__minus_00_dot_44_bar__plus_00_dot_95_bar__minus_02_dot_76 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79)\n (inReceptacle DishSponge_bar__minus_00_dot_60_bar__plus_00_dot_92_bar__minus_03_dot_63 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79)\n (inReceptacle Egg_bar__minus_00_dot_82_bar__plus_00_dot_95_bar__minus_03_dot_63 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79)\n (inReceptacle SaltShaker_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_01_dot_88 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Knife_bar__minus_02_dot_44_bar__plus_00_dot_95_bar__minus_01_dot_88 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Plate_bar__minus_02_dot_78_bar__plus_00_dot_93_bar__minus_01_dot_88 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Cup_bar__minus_02_dot_10_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)\n (inReceptacle Fork_bar__minus_02_dot_44_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)\n (inReceptacle Bowl_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_01_dot_88 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Spatula_bar__minus_02_dot_55_bar__plus_00_dot_94_bar__minus_01_dot_42 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Spoon_bar__minus_02_dot_67_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)\n (inReceptacle Fork_bar__minus_02_dot_44_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)\n (inReceptacle Tomato_bar__minus_02_dot_55_bar__plus_00_dot_99_bar__minus_02_dot_12 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Egg_bar__minus_02_dot_21_bar__plus_00_dot_96_bar__minus_01_dot_42 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Fork_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)\n (inReceptacle WineBottle_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)\n (inReceptacle Spatula_bar__minus_02_dot_55_bar__plus_00_dot_94_bar__minus_01_dot_19 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Knife_bar__minus_02_dot_67_bar__plus_00_dot_95_bar__minus_02_dot_12 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Pan_bar__minus_02_dot_17_bar__plus_00_dot_91_bar__minus_01_dot_10 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Apple_bar__minus_02_dot_78_bar__plus_01_dot_00_bar__minus_01_dot_65 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle SoapBottle_bar__minus_02_dot_44_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)\n (inReceptacle Lettuce_bar__minus_02_dot_67_bar__plus_01_dot_02_bar__minus_01_dot_42 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Glassbottle_bar__minus_00_dot_50_bar__plus_00_dot_08_bar__minus_02_dot_25 Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_20)\n (inReceptacle WineBottle_bar__minus_00_dot_50_bar__plus_00_dot_08_bar__minus_03_dot_27 Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_40)\n (inReceptacle WineBottle_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)\n (inReceptacle Mug_bar__minus_01_dot_65_bar__plus_01_dot_96_bar__minus_03_dot_77 Cabinet_bar__minus_01_dot_76_bar__plus_02_dot_14_bar__minus_03_dot_69)\n (inReceptacle SaltShaker_bar__minus_01_dot_55_bar__plus_01_dot_97_bar__minus_03_dot_85 Cabinet_bar__minus_01_dot_76_bar__plus_02_dot_14_bar__minus_03_dot_69)\n (inReceptacle PepperShaker_bar__minus_00_dot_42_bar__plus_00_dot_74_bar__minus_03_dot_27 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_78_bar__minus_03_dot_27)\n (inReceptacle Apple_bar__minus_01_dot_26_bar__plus_01_dot_70_bar__minus_03_dot_90 Microwave_bar__minus_01_dot_32_bar__plus_01_dot_52_bar__minus_03_dot_85)\n (inReceptacle Tomato_bar__minus_01_dot_91_bar__plus_00_dot_09_bar__minus_03_dot_76 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__minus_03_dot_76)\n (inReceptacle Pencil_bar__minus_01_dot_98_bar__plus_00_dot_03_bar__minus_03_dot_73 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__minus_03_dot_76)\n (inReceptacle Pot_bar__minus_00_dot_34_bar__plus_01_dot_10_bar__minus_00_dot_87 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77)\n (inReceptacle Apple_bar__minus_00_dot_27_bar__plus_01_dot_76_bar__minus_00_dot_56 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77)\n (inReceptacle Lettuce_bar__minus_00_dot_30_bar__plus_01_dot_19_bar__minus_00_dot_56 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77)\n (inReceptacle Bread_bar__minus_00_dot_30_bar__plus_01_dot_44_bar__minus_00_dot_67 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77)\n (inReceptacle Bread_bar__minus_00_dot_31_bar__plus_01_dot_74_bar__minus_00_dot_87 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77)\n (inReceptacle Tomato_bar__minus_00_dot_35_bar__plus_00_dot_86_bar__minus_01_dot_93 Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Egg_bar__minus_00_dot_40_bar__plus_00_dot_83_bar__minus_02_dot_16 Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Potato_bar__minus_00_dot_45_bar__plus_00_dot_83_bar__minus_01_dot_86 Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__minus_00_dot_30_bar__plus_01_dot_92_bar__minus_02_dot_50 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_01_dot_54 loc_bar__minus_4_bar__minus_6_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_02_dot_48 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_92_bar__minus_03_dot_39 loc_bar__minus_4_bar__minus_12_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_80 loc_bar__minus_6_bar__minus_5_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_20 loc_bar__minus_6_bar__minus_7_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_40 loc_bar__minus_6_bar__minus_11_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_88_bar__plus_00_dot_39_bar__minus_03_dot_42 loc_bar__minus_4_bar__minus_10_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_88_bar__plus_02_dot_14_bar__minus_03_dot_69 loc_bar__minus_4_bar__minus_9_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_76_bar__plus_02_dot_14_bar__minus_03_dot_69 loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_15)\n (receptacleAtLocation CoffeeMachine_bar__minus_00_dot_12_bar__plus_00_dot_90_bar__minus_03_dot_15 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (receptacleAtLocation Drawer_bar__minus_00_dot_45_bar__plus_00_dot_78_bar__minus_03_dot_27 loc_bar__minus_5_bar__minus_12_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_75_bar__plus_00_dot_78_bar__minus_03_dot_55 loc_bar__minus_4_bar__minus_12_bar_2_bar_60)\n (receptacleAtLocation Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__minus_03_dot_76 loc_bar__minus_9_bar__minus_14_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__minus_01_dot_32_bar__plus_01_dot_52_bar__minus_03_dot_85 loc_bar__minus_5_bar__minus_12_bar_2_bar_15)\n (receptacleAtLocation Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_50 loc_bar__minus_5_bar__minus_12_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_75 loc_bar__minus_5_bar__minus_12_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_50 loc_bar__minus_6_bar__minus_12_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_75 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (receptacleAtLocation Toaster_bar__minus_00_dot_15_bar__plus_00_dot_90_bar__minus_02_dot_76 loc_bar__minus_4_bar__minus_11_bar_1_bar_45)\n (objectAtLocation Knife_bar__minus_02_dot_44_bar__plus_00_dot_95_bar__minus_01_dot_88 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Potato_bar__minus_00_dot_45_bar__plus_00_dot_83_bar__minus_01_dot_86 loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (objectAtLocation SaltShaker_bar__minus_01_dot_55_bar__plus_01_dot_97_bar__minus_03_dot_85 loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_15)\n (objectAtLocation Pot_bar__minus_01_dot_52_bar__plus_00_dot_94_bar__minus_03_dot_50 loc_bar__minus_6_bar__minus_12_bar_2_bar_60)\n (objectAtLocation Cup_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_02_dot_12 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Tomato_bar__minus_01_dot_91_bar__plus_00_dot_09_bar__minus_03_dot_76 loc_bar__minus_9_bar__minus_14_bar_1_bar_60)\n (objectAtLocation Bread_bar__minus_00_dot_30_bar__plus_01_dot_44_bar__minus_00_dot_67 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Spatula_bar__minus_02_dot_55_bar__plus_00_dot_94_bar__minus_01_dot_42 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation WineBottle_bar__minus_00_dot_34_bar__plus_01_dot_53_bar__minus_03_dot_52 loc_bar__minus_4_bar__minus_12_bar_1_bar__minus_15)\n (objectAtLocation Fork_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_65 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Pen_bar__minus_00_dot_60_bar__plus_00_dot_92_bar__minus_03_dot_70 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_40_bar__plus_00_dot_83_bar__minus_02_dot_16 loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (objectAtLocation Glassbottle_bar__minus_00_dot_46_bar__plus_00_dot_08_bar__minus_01_dot_76 loc_bar__minus_6_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Lettuce_bar__minus_02_dot_67_bar__plus_01_dot_02_bar__minus_01_dot_42 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Apple_bar__minus_00_dot_27_bar__plus_01_dot_76_bar__minus_00_dot_56 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Apple_bar__minus_02_dot_78_bar__plus_01_dot_00_bar__minus_01_dot_65 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation SaltShaker_bar__minus_00_dot_60_bar__plus_00_dot_91_bar__minus_03_dot_49 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (objectAtLocation Tomato_bar__minus_00_dot_35_bar__plus_00_dot_86_bar__minus_01_dot_93 loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (objectAtLocation Egg_bar__minus_02_dot_21_bar__plus_00_dot_96_bar__minus_01_dot_42 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Cup_bar__minus_00_dot_53_bar__plus_00_dot_91_bar__minus_03_dot_84 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (objectAtLocation Fork_bar__minus_02_dot_21_bar__plus_00_dot_92_bar__minus_02_dot_12 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Pot_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__minus_03_dot_50 loc_bar__minus_5_bar__minus_12_bar_2_bar_60)\n (objectAtLocation WineBottle_bar__minus_00_dot_50_bar__plus_00_dot_08_bar__minus_03_dot_27 loc_bar__minus_6_bar__minus_11_bar_1_bar_60)\n (objectAtLocation Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01 loc_bar__minus_4_bar__minus_8_bar_1_bar_45)\n (objectAtLocation Apple_bar__minus_01_dot_26_bar__plus_01_dot_70_bar__minus_03_dot_90 loc_bar__minus_5_bar__minus_12_bar_2_bar_15)\n (objectAtLocation Lettuce_bar__minus_00_dot_30_bar__plus_01_dot_19_bar__minus_00_dot_56 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Glassbottle_bar__minus_00_dot_50_bar__plus_00_dot_08_bar__minus_02_dot_25 loc_bar__minus_6_bar__minus_7_bar_1_bar_60)\n (objectAtLocation Egg_bar__minus_00_dot_82_bar__plus_00_dot_95_bar__minus_03_dot_63 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (objectAtLocation Pen_bar__minus_00_dot_37_bar__plus_00_dot_92_bar__minus_02_dot_76 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (objectAtLocation Fork_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_00_dot_96 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation LightSwitch_bar__minus_04_dot_32_bar__plus_01_dot_32_bar__plus_00_dot_00 loc_bar__minus_16_bar__minus_2_bar_0_bar_30)\n (objectAtLocation SoapBottle_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_02_dot_35 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Pencil_bar__minus_01_dot_98_bar__plus_00_dot_03_bar__minus_03_dot_73 loc_bar__minus_9_bar__minus_14_bar_1_bar_60)\n (objectAtLocation WineBottle_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_01_dot_42 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Spatula_bar__minus_02_dot_55_bar__plus_00_dot_94_bar__minus_01_dot_19 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Bread_bar__minus_00_dot_31_bar__plus_01_dot_74_bar__minus_00_dot_87 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Tomato_bar__minus_02_dot_55_bar__plus_00_dot_99_bar__minus_02_dot_12 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Pan_bar__minus_02_dot_17_bar__plus_00_dot_91_bar__minus_01_dot_10 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Cup_bar__minus_00_dot_50_bar__plus_00_dot_08_bar__minus_01_dot_90 loc_bar__minus_6_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Pot_bar__minus_00_dot_34_bar__plus_01_dot_10_bar__minus_00_dot_87 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation SaltShaker_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_01_dot_88 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Potato_bar__minus_00_dot_44_bar__plus_00_dot_95_bar__minus_02_dot_76 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (objectAtLocation PepperShaker_bar__minus_00_dot_42_bar__plus_00_dot_74_bar__minus_03_dot_27 loc_bar__minus_5_bar__minus_12_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_37_bar__plus_00_dot_90_bar__minus_03_dot_44 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (objectAtLocation StoveKnob_bar__minus_01_dot_58_bar__plus_01_dot_08_bar__minus_03_dot_96 loc_bar__minus_6_bar__minus_12_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__minus_01_dot_18_bar__plus_01_dot_08_bar__minus_03_dot_96 loc_bar__minus_5_bar__minus_12_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__minus_01_dot_42_bar__plus_01_dot_08_bar__minus_03_dot_96 loc_bar__minus_6_bar__minus_12_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__minus_01_dot_03_bar__plus_01_dot_08_bar__minus_03_dot_96 loc_bar__minus_4_bar__minus_12_bar_2_bar_30)\n (objectAtLocation DishSponge_bar__minus_00_dot_60_bar__plus_00_dot_92_bar__minus_03_dot_63 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (objectAtLocation Window_bar__minus_02_dot_50_bar__plus_01_dot_78_bar__minus_04_dot_19 loc_bar__minus_10_bar__minus_14_bar_2_bar__minus_15)\n (objectAtLocation Chair_bar__minus_03_dot_26_bar__plus_00_dot_00_bar__minus_02_dot_09 loc_bar__minus_14_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_03_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_25 loc_bar__minus_13_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Spoon_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_02_dot_35 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Plate_bar__minus_02_dot_78_bar__plus_00_dot_93_bar__minus_01_dot_88 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Knife_bar__minus_02_dot_67_bar__plus_00_dot_95_bar__minus_02_dot_12 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Mug_bar__minus_01_dot_65_bar__plus_01_dot_96_bar__minus_03_dot_77 loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_15)\n (objectAtLocation Blinds_bar__minus_02_dot_54_bar__plus_02_dot_70_bar__minus_03_dot_96 loc_bar__minus_10_bar__minus_14_bar_2_bar__minus_30)\n (objectAtLocation Bowl_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_01_dot_88 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o SpatulaType)\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 spatula 2 from diningtable 1", "go to sinkbasin 1", "clean spatula 2 with sinkbasin 1", "go to diningtable 1", "move spatula 2 to diningtable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Spatula-None-DiningTable-23/trial_T20190909_103325_040043/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Spatula-None-DiningTable-23/trial_T20190909_103325_040043/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..068a37ce89eb2569a7aa4446206f66329bcf1eab --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Spatula-None-DiningTable-23/trial_T20190909_103325_040043/initial_state.pddl @@ -0,0 +1,976 @@ + +(define (problem plan_trial_T20190909_103325_040043) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__minus_00_dot_27_bar__plus_01_dot_76_bar__minus_00_dot_56 - object + Apple_bar__minus_01_dot_26_bar__plus_01_dot_70_bar__minus_03_dot_90 - object + Apple_bar__minus_02_dot_78_bar__plus_01_dot_00_bar__minus_01_dot_65 - object + Blinds_bar__minus_02_dot_54_bar__plus_02_dot_70_bar__minus_03_dot_96 - object + Bowl_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_01_dot_88 - object + Bread_bar__minus_00_dot_30_bar__plus_01_dot_44_bar__minus_00_dot_67 - object + Bread_bar__minus_00_dot_31_bar__plus_01_dot_74_bar__minus_00_dot_87 - object + ButterKnife_bar__minus_00_dot_37_bar__plus_00_dot_90_bar__minus_03_dot_44 - 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_50_bar__plus_00_dot_08_bar__minus_01_dot_90 - object + Cup_bar__minus_00_dot_53_bar__plus_00_dot_91_bar__minus_03_dot_84 - object + Cup_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_02_dot_12 - object + DishSponge_bar__minus_00_dot_60_bar__plus_00_dot_92_bar__minus_03_dot_63 - object + Egg_bar__minus_00_dot_40_bar__plus_00_dot_83_bar__minus_02_dot_16 - object + Egg_bar__minus_00_dot_82_bar__plus_00_dot_95_bar__minus_03_dot_63 - object + Egg_bar__minus_02_dot_21_bar__plus_00_dot_96_bar__minus_01_dot_42 - 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_02_dot_12 - object + Fork_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_00_dot_96 - object + Fork_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_65 - object + Glassbottle_bar__minus_00_dot_46_bar__plus_00_dot_08_bar__minus_01_dot_76 - object + Glassbottle_bar__minus_00_dot_50_bar__plus_00_dot_08_bar__minus_02_dot_25 - object + Knife_bar__minus_02_dot_44_bar__plus_00_dot_95_bar__minus_01_dot_88 - object + Knife_bar__minus_02_dot_67_bar__plus_00_dot_95_bar__minus_02_dot_12 - object + Lettuce_bar__minus_00_dot_30_bar__plus_01_dot_19_bar__minus_00_dot_56 - object + Lettuce_bar__minus_02_dot_67_bar__plus_01_dot_02_bar__minus_01_dot_42 - object + LightSwitch_bar__minus_04_dot_32_bar__plus_01_dot_32_bar__plus_00_dot_00 - object + Mug_bar__minus_01_dot_65_bar__plus_01_dot_96_bar__minus_03_dot_77 - object + Pan_bar__minus_02_dot_17_bar__plus_00_dot_91_bar__minus_01_dot_10 - object + Pencil_bar__minus_01_dot_98_bar__plus_00_dot_03_bar__minus_03_dot_73 - object + Pen_bar__minus_00_dot_37_bar__plus_00_dot_92_bar__minus_02_dot_76 - object + Pen_bar__minus_00_dot_60_bar__plus_00_dot_92_bar__minus_03_dot_70 - object + PepperShaker_bar__minus_00_dot_42_bar__plus_00_dot_74_bar__minus_03_dot_27 - object + Plate_bar__minus_02_dot_78_bar__plus_00_dot_93_bar__minus_01_dot_88 - object + Potato_bar__minus_00_dot_44_bar__plus_00_dot_95_bar__minus_02_dot_76 - object + Potato_bar__minus_00_dot_45_bar__plus_00_dot_83_bar__minus_01_dot_86 - object + Pot_bar__minus_00_dot_34_bar__plus_01_dot_10_bar__minus_00_dot_87 - object + Pot_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__minus_03_dot_50 - object + Pot_bar__minus_01_dot_52_bar__plus_00_dot_94_bar__minus_03_dot_50 - object + SaltShaker_bar__minus_00_dot_60_bar__plus_00_dot_91_bar__minus_03_dot_49 - object + SaltShaker_bar__minus_01_dot_55_bar__plus_01_dot_97_bar__minus_03_dot_85 - object + SaltShaker_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_01_dot_88 - object + Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01 - object + SoapBottle_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_02_dot_35 - object + Spatula_bar__minus_02_dot_55_bar__plus_00_dot_94_bar__minus_01_dot_19 - object + Spatula_bar__minus_02_dot_55_bar__plus_00_dot_94_bar__minus_01_dot_42 - object + Spoon_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_02_dot_35 - 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_35_bar__plus_00_dot_86_bar__minus_01_dot_93 - object + Tomato_bar__minus_01_dot_91_bar__plus_00_dot_09_bar__minus_03_dot_76 - object + Tomato_bar__minus_02_dot_55_bar__plus_00_dot_99_bar__minus_02_dot_12 - object + Window_bar__minus_02_dot_50_bar__plus_01_dot_78_bar__minus_04_dot_19 - object + WineBottle_bar__minus_00_dot_34_bar__plus_01_dot_53_bar__minus_03_dot_52 - object + WineBottle_bar__minus_00_dot_50_bar__plus_00_dot_08_bar__minus_03_dot_27 - object + WineBottle_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_01_dot_42 - 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 + 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DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle Glassbottle_bar__minus_00_dot_50_bar__plus_00_dot_08_bar__minus_02_dot_25 Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_20) + (inReceptacle WineBottle_bar__minus_00_dot_50_bar__plus_00_dot_08_bar__minus_03_dot_27 Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_40) + (inReceptacle WineBottle_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 Mug_bar__minus_01_dot_65_bar__plus_01_dot_96_bar__minus_03_dot_77 Cabinet_bar__minus_01_dot_76_bar__plus_02_dot_14_bar__minus_03_dot_69) + (inReceptacle SaltShaker_bar__minus_01_dot_55_bar__plus_01_dot_97_bar__minus_03_dot_85 Cabinet_bar__minus_01_dot_76_bar__plus_02_dot_14_bar__minus_03_dot_69) + (inReceptacle PepperShaker_bar__minus_00_dot_42_bar__plus_00_dot_74_bar__minus_03_dot_27 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_78_bar__minus_03_dot_27) + (inReceptacle Apple_bar__minus_01_dot_26_bar__plus_01_dot_70_bar__minus_03_dot_90 Microwave_bar__minus_01_dot_32_bar__plus_01_dot_52_bar__minus_03_dot_85) + (inReceptacle Tomato_bar__minus_01_dot_91_bar__plus_00_dot_09_bar__minus_03_dot_76 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__minus_03_dot_76) + (inReceptacle Pencil_bar__minus_01_dot_98_bar__plus_00_dot_03_bar__minus_03_dot_73 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__minus_03_dot_76) + (inReceptacle Pot_bar__minus_00_dot_34_bar__plus_01_dot_10_bar__minus_00_dot_87 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77) + (inReceptacle Apple_bar__minus_00_dot_27_bar__plus_01_dot_76_bar__minus_00_dot_56 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77) + (inReceptacle Lettuce_bar__minus_00_dot_30_bar__plus_01_dot_19_bar__minus_00_dot_56 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"objectName": "Bowl_91c0655d", + "position": { + "x": -2.09651065, + "y": 0.922512949, + "z": -1.88492227 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 1831090003, + "scene_num": 23 + }, + "task_id": "trial_T20190909_103325_040043", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3HL2LL0LEPZT8_39U1BHVTDOIU1TAY121X6MH38U4T3I", + "high_descs": [ + "Turn right, go forward a step, turn right, go forward to the table.", + "Take the spatula on the left from the table.", + "Turn left, go forward a step, turn left, go forward to the sink.", + "Wash the spatula in the sink then take it out.", + "Turn around, go forward to the table.", + "Put the spatula on the table to the right of the bowl and in front of the fork." + ], + "task_desc": "Put a washed spatula on a table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A31681CCEVDIH3_3ATTHHXXWDFG8D11RF9HZV4Y47PXI3", + "high_descs": [ + "Make a right to walk to the kitchen island.", + "Pick up the spatula from the kitchen island.", + "Turn around to walk the sink.", + "Rinse the spatula in the sink, removing it afterwards.", + "Turn around to walk to the kitchen island.", + "Set the spatula down on the kitchen island." + ], + "task_desc": "Rinse a spatula to set on the kitchen island.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A14IPKOBOPID9H_3RXCAC0YIUGCXLUYTJXMYKAPYMB8G3", + "high_descs": [ + "Turn right and go past the fridge then turn right and go to the table", + "Pick up the spatula from the front of the head of lettuce on the table", + "Turn left then turn left again and go to the sink", + "Put the spatula in the sink and turn on the water, then turn off the water and take the spatula out of the sink", + "Turn right then turn right again and go back to the table", + "Put the spatula on the table to the right of the bowl" + ], + "task_desc": "Put a washed spatula on a table", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Spatula-None-DiningTable-23/trial_T20190909_103345_050416/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Spatula-None-DiningTable-23/trial_T20190909_103345_050416/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..56150f421aa8935daf424dcf0ff1af839798a202 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Spatula-None-DiningTable-23/trial_T20190909_103345_050416/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 spatula 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_T20190909_103345_050416)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType 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rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__minus_00_dot_27_bar__plus_01_dot_76_bar__minus_00_dot_67 - object\n Apple_bar__minus_00_dot_74_bar__plus_00_dot_99_bar__minus_03_dot_63 - object\n Blinds_bar__minus_02_dot_54_bar__plus_02_dot_70_bar__minus_03_dot_96 - object\n 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Pot_bar__minus_01_dot_52_bar__plus_00_dot_94_bar__minus_03_dot_50 - object\n SaltShaker_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_19 - object\n SaltShaker_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_01_dot_42 - object\n Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01 - object\n SoapBottle_bar__minus_00_dot_50_bar__plus_00_dot_08_bar__minus_03_dot_27 - object\n SoapBottle_bar__minus_01_dot_94_bar__plus_00_dot_03_bar__minus_03_dot_84 - object\n SoapBottle_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_01_dot_88 - object\n Spatula_bar__minus_02_dot_10_bar__plus_00_dot_94_bar__minus_01_dot_42 - object\n Spatula_bar__minus_02_dot_21_bar__plus_00_dot_94_bar__minus_02_dot_35 - object\n Spatula_bar__minus_02_dot_44_bar__plus_00_dot_94_bar__minus_01_dot_88 - object\n Spoon_bar__minus_00_dot_40_bar__plus_00_dot_80_bar__minus_02_dot_01 - object\n Spoon_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_00_dot_96 - object\n 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loc_bar__minus_5_bar__minus_2_bar_1_bar_0 - location\n loc_bar__minus_4_bar__minus_8_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_12_bar_2_bar_30 - location\n loc_bar__minus_6_bar__minus_7_bar_1_bar_60 - location\n loc_bar__minus_5_bar__minus_12_bar_1_bar_45 - location\n loc_bar__minus_6_bar__minus_12_bar_2_bar_45 - location\n loc_bar__minus_5_bar__minus_3_bar_1_bar_60 - location\n loc_bar__minus_5_bar__minus_7_bar_3_bar_30 - location\n loc_bar__minus_4_bar__minus_12_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_11_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_10_bar_2_bar_60 - location\n loc_bar__minus_5_bar__minus_12_bar_2_bar_15 - location\n loc_bar__minus_9_bar__minus_14_bar_1_bar_60 - location\n loc_bar__minus_5_bar__minus_12_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30 - location\n loc_bar__minus_6_bar__minus_12_bar_2_bar_60 - location\n loc_bar__minus_13_bar__minus_3_bar_2_bar_60 - location\n loc_bar__minus_6_bar__minus_11_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_9_bar_2_bar__minus_15 - location\n loc_bar__minus_4_bar__minus_6_bar_1_bar__minus_30 - location\n loc_bar__minus_6_bar__minus_12_bar_2_bar_30 - location\n loc_bar__minus_4_bar__minus_9_bar_1_bar_60 - location\n loc_bar__minus_14_bar__minus_7_bar_2_bar_60 - location\n loc_bar__minus_6_bar__minus_5_bar_1_bar_60 - location\n loc_bar__minus_16_bar__minus_2_bar_0_bar_30 - location\n loc_bar__minus_10_bar__minus_14_bar_2_bar__minus_30 - location\n loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_15 - location\n loc_bar__minus_5_bar__minus_12_bar_2_bar_30 - location\n loc_bar__minus_4_bar__minus_12_bar_1_bar__minus_15 - location\n loc_bar__minus_5_bar__minus_12_bar_2_bar_45 - location\n loc_bar__minus_17_bar__minus_15_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70 DiningTableType)\n (receptacleType 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Spatula_bar__minus_02_dot_21_bar__plus_00_dot_94_bar__minus_02_dot_35)\n \n (heatable Mug_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__minus_03_dot_14)\n (heatable Cup_bar__minus_01_dot_10_bar__plus_01_dot_97_bar__minus_03_dot_89)\n (heatable Cup_bar__minus_00_dot_51_bar__plus_00_dot_91_bar__minus_02_dot_76)\n (heatable Tomato_bar__minus_02_dot_55_bar__plus_00_dot_99_bar__minus_01_dot_65)\n (heatable Plate_bar__minus_00_dot_75_bar__plus_00_dot_08_bar__minus_03_dot_62)\n (heatable Apple_bar__minus_00_dot_27_bar__plus_01_dot_76_bar__minus_00_dot_67)\n (heatable Bread_bar__minus_00_dot_42_bar__plus_00_dot_95_bar__minus_03_dot_63)\n (heatable Potato_bar__minus_00_dot_40_bar__plus_00_dot_83_bar__minus_01_dot_86)\n (heatable Cup_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_00_dot_96)\n (heatable Potato_bar__minus_00_dot_34_bar__plus_01_dot_13_bar__minus_00_dot_67)\n (heatable Mug_bar__minus_00_dot_31_bar__plus_01_dot_69_bar__minus_00_dot_46)\n (heatable Apple_bar__minus_00_dot_74_bar__plus_00_dot_99_bar__minus_03_dot_63)\n (heatable Egg_bar__minus_02_dot_78_bar__plus_00_dot_96_bar__minus_01_dot_19)\n (heatable Mug_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_02_dot_12)\n (coolable Mug_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__minus_03_dot_14)\n (coolable WineBottle_bar__minus_00_dot_60_bar__plus_00_dot_92_bar__minus_03_dot_77)\n (coolable Lettuce_bar__minus_02_dot_44_bar__plus_01_dot_02_bar__minus_01_dot_42)\n (coolable WineBottle_bar__minus_00_dot_51_bar__plus_00_dot_92_bar__minus_02_dot_56)\n (coolable Cup_bar__minus_01_dot_10_bar__plus_01_dot_97_bar__minus_03_dot_89)\n (coolable Cup_bar__minus_00_dot_51_bar__plus_00_dot_91_bar__minus_02_dot_76)\n (coolable Tomato_bar__minus_02_dot_55_bar__plus_00_dot_99_bar__minus_01_dot_65)\n (coolable Pot_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__minus_03_dot_50)\n (coolable Bowl_bar__minus_00_dot_42_bar__plus_00_dot_08_bar__minus_02_dot_16)\n (coolable Bowl_bar__minus_00_dot_30_bar__plus_01_dot_39_bar__minus_00_dot_77)\n (coolable Plate_bar__minus_00_dot_75_bar__plus_00_dot_08_bar__minus_03_dot_62)\n (coolable Pot_bar__minus_01_dot_52_bar__plus_00_dot_94_bar__minus_03_dot_50)\n (coolable Apple_bar__minus_00_dot_27_bar__plus_01_dot_76_bar__minus_00_dot_67)\n (coolable Bread_bar__minus_00_dot_42_bar__plus_00_dot_95_bar__minus_03_dot_63)\n (coolable Potato_bar__minus_00_dot_40_bar__plus_00_dot_83_bar__minus_01_dot_86)\n (coolable Cup_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_00_dot_96)\n (coolable Potato_bar__minus_00_dot_34_bar__plus_01_dot_13_bar__minus_00_dot_67)\n (coolable Mug_bar__minus_00_dot_31_bar__plus_01_dot_69_bar__minus_00_dot_46)\n (coolable Lettuce_bar__minus_00_dot_30_bar__plus_01_dot_19_bar__minus_00_dot_98)\n (coolable Apple_bar__minus_00_dot_74_bar__plus_00_dot_99_bar__minus_03_dot_63)\n (coolable Egg_bar__minus_02_dot_78_bar__plus_00_dot_96_bar__minus_01_dot_19)\n (coolable Pan_bar__minus_02_dot_17_bar__plus_00_dot_91_bar__minus_01_dot_10)\n (coolable Mug_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_02_dot_12)\n \n \n \n \n \n (sliceable Lettuce_bar__minus_02_dot_44_bar__plus_01_dot_02_bar__minus_01_dot_42)\n (sliceable Tomato_bar__minus_02_dot_55_bar__plus_00_dot_99_bar__minus_01_dot_65)\n (sliceable Apple_bar__minus_00_dot_27_bar__plus_01_dot_76_bar__minus_00_dot_67)\n (sliceable Bread_bar__minus_00_dot_42_bar__plus_00_dot_95_bar__minus_03_dot_63)\n (sliceable Potato_bar__minus_00_dot_40_bar__plus_00_dot_83_bar__minus_01_dot_86)\n (sliceable Potato_bar__minus_00_dot_34_bar__plus_01_dot_13_bar__minus_00_dot_67)\n (sliceable Lettuce_bar__minus_00_dot_30_bar__plus_01_dot_19_bar__minus_00_dot_98)\n (sliceable Apple_bar__minus_00_dot_74_bar__plus_00_dot_99_bar__minus_03_dot_63)\n (sliceable Egg_bar__minus_02_dot_78_bar__plus_00_dot_96_bar__minus_01_dot_19)\n \n (inReceptacleObject ButterKnife_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_02_dot_12 Mug_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_02_dot_12)\n (inReceptacle PepperShaker_bar__minus_00_dot_42_bar__plus_00_dot_08_bar__minus_01_dot_76 Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_80)\n (inReceptacle Pot_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)\n (inReceptacle Pot_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__minus_03_dot_50 StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_50)\n (inReceptacle PepperShaker_bar__minus_00_dot_75_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)\n (inReceptacle Pencil_bar__minus_00_dot_84_bar__plus_00_dot_75_bar__minus_03_dot_53 Drawer_bar__minus_00_dot_75_bar__plus_00_dot_78_bar__minus_03_dot_55)\n (inReceptacle DishSponge_bar__minus_00_dot_74_bar__plus_00_dot_92_bar__minus_03_dot_77 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79)\n (inReceptacle Mug_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__minus_03_dot_14 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79)\n (inReceptacle WineBottle_bar__minus_00_dot_60_bar__plus_00_dot_92_bar__minus_03_dot_77 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79)\n (inReceptacle Knife_bar__minus_00_dot_51_bar__plus_00_dot_94_bar__minus_03_dot_37 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79)\n (inReceptacle Apple_bar__minus_00_dot_74_bar__plus_00_dot_99_bar__minus_03_dot_63 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79)\n (inReceptacle WineBottle_bar__minus_00_dot_51_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)\n (inReceptacle Cup_bar__minus_00_dot_51_bar__plus_00_dot_91_bar__minus_02_dot_76 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79)\n (inReceptacle Glassbottle_bar__minus_00_dot_60_bar__plus_00_dot_92_bar__minus_03_dot_49 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79)\n (inReceptacle Bread_bar__minus_00_dot_42_bar__plus_00_dot_95_bar__minus_03_dot_63 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79)\n (inReceptacle Cup_bar__minus_01_dot_10_bar__plus_01_dot_97_bar__minus_03_dot_89 Cabinet_bar__minus_00_dot_88_bar__plus_02_dot_14_bar__minus_03_dot_69)\n (inReceptacle SaltShaker_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)\n (inReceptacle SaltShaker_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)\n (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)\n (inReceptacle Lettuce_bar__minus_02_dot_44_bar__plus_01_dot_02_bar__minus_01_dot_42 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Spoon_bar__minus_02_dot_32_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)\n (inReceptacle Fork_bar__minus_02_dot_44_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)\n (inReceptacle Tomato_bar__minus_02_dot_55_bar__plus_00_dot_99_bar__minus_01_dot_65 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Spatula_bar__minus_02_dot_10_bar__plus_00_dot_94_bar__minus_01_dot_42 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Spatula_bar__minus_02_dot_44_bar__plus_00_dot_94_bar__minus_01_dot_88 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Pen_bar__minus_02_dot_32_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)\n (inReceptacle Cup_bar__minus_02_dot_55_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)\n (inReceptacle Glassbottle_bar__minus_02_dot_21_bar__plus_00_dot_92_bar__minus_01_dot_88 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Pen_bar__minus_02_dot_32_bar__plus_00_dot_93_bar__minus_00_dot_96 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle SoapBottle_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_01_dot_88 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Pen_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__minus_02_dot_12 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Egg_bar__minus_02_dot_78_bar__plus_00_dot_96_bar__minus_01_dot_19 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Pan_bar__minus_02_dot_17_bar__plus_00_dot_91_bar__minus_01_dot_10 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70)\n (inReceptacle Mug_bar__minus_02_dot_55_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)\n (inReceptacle Spatula_bar__minus_02_dot_21_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)\n (inReceptacle PepperShaker_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)\n (inReceptacle Glassbottle_bar__minus_02_dot_67_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)\n (inReceptacle Plate_bar__minus_00_dot_75_bar__plus_00_dot_08_bar__minus_03_dot_62 Cabinet_bar__minus_00_dot_88_bar__plus_00_dot_39_bar__minus_03_dot_42)\n (inReceptacle Bowl_bar__minus_00_dot_42_bar__plus_00_dot_08_bar__minus_02_dot_16 Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_20)\n (inReceptacle SoapBottle_bar__minus_00_dot_50_bar__plus_00_dot_08_bar__minus_03_dot_27 Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_40)\n (inReceptacle Mug_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__minus_03_dot_14 CoffeeMachine_bar__minus_00_dot_12_bar__plus_00_dot_90_bar__minus_03_dot_15)\n (inReceptacle SoapBottle_bar__minus_01_dot_94_bar__plus_00_dot_03_bar__minus_03_dot_84 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__minus_03_dot_76)\n (inReceptacle Potato_bar__minus_00_dot_34_bar__plus_01_dot_13_bar__minus_00_dot_67 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77)\n (inReceptacle Bowl_bar__minus_00_dot_30_bar__plus_01_dot_39_bar__minus_00_dot_77 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77)\n (inReceptacle Apple_bar__minus_00_dot_27_bar__plus_01_dot_76_bar__minus_00_dot_67 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77)\n (inReceptacle Lettuce_bar__minus_00_dot_30_bar__plus_01_dot_19_bar__minus_00_dot_98 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77)\n (inReceptacle ButterKnife_bar__minus_00_dot_35_bar__plus_00_dot_80_bar__minus_02_dot_16 Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Potato_bar__minus_00_dot_40_bar__plus_00_dot_83_bar__minus_01_dot_86 Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Spoon_bar__minus_00_dot_40_bar__plus_00_dot_80_bar__minus_02_dot_01 Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__minus_00_dot_30_bar__plus_01_dot_92_bar__minus_02_dot_50 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_01_dot_54 loc_bar__minus_4_bar__minus_6_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_02_dot_48 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_92_bar__minus_03_dot_39 loc_bar__minus_4_bar__minus_12_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_80 loc_bar__minus_6_bar__minus_5_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_20 loc_bar__minus_6_bar__minus_7_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_40 loc_bar__minus_6_bar__minus_11_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_88_bar__plus_00_dot_39_bar__minus_03_dot_42 loc_bar__minus_4_bar__minus_10_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_88_bar__plus_02_dot_14_bar__minus_03_dot_69 loc_bar__minus_4_bar__minus_9_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_76_bar__plus_02_dot_14_bar__minus_03_dot_69 loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_15)\n (receptacleAtLocation CoffeeMachine_bar__minus_00_dot_12_bar__plus_00_dot_90_bar__minus_03_dot_15 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (receptacleAtLocation Drawer_bar__minus_00_dot_45_bar__plus_00_dot_78_bar__minus_03_dot_27 loc_bar__minus_5_bar__minus_12_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_75_bar__plus_00_dot_78_bar__minus_03_dot_55 loc_bar__minus_4_bar__minus_12_bar_2_bar_60)\n (receptacleAtLocation Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__minus_03_dot_76 loc_bar__minus_9_bar__minus_14_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__minus_01_dot_32_bar__plus_01_dot_52_bar__minus_03_dot_85 loc_bar__minus_5_bar__minus_12_bar_2_bar_15)\n (receptacleAtLocation Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_50 loc_bar__minus_5_bar__minus_12_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_75 loc_bar__minus_5_bar__minus_12_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_50 loc_bar__minus_6_bar__minus_12_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_75 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (receptacleAtLocation Toaster_bar__minus_00_dot_15_bar__plus_00_dot_90_bar__minus_02_dot_76 loc_bar__minus_4_bar__minus_11_bar_1_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_30_bar__plus_01_dot_39_bar__minus_00_dot_77 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Mug_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__minus_03_dot_14 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_40_bar__plus_00_dot_80_bar__minus_02_dot_01 loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (objectAtLocation ButterKnife_bar__minus_00_dot_35_bar__plus_00_dot_80_bar__minus_02_dot_16 loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__minus_00_dot_75_bar__plus_00_dot_74_bar__minus_03_dot_56 loc_bar__minus_4_bar__minus_12_bar_2_bar_60)\n (objectAtLocation Potato_bar__minus_00_dot_34_bar__plus_01_dot_13_bar__minus_00_dot_67 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation SaltShaker_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_19 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Pot_bar__minus_01_dot_52_bar__plus_00_dot_94_bar__minus_03_dot_50 loc_bar__minus_6_bar__minus_12_bar_2_bar_60)\n (objectAtLocation Cup_bar__minus_01_dot_10_bar__plus_01_dot_97_bar__minus_03_dot_89 loc_bar__minus_4_bar__minus_9_bar_2_bar__minus_15)\n (objectAtLocation Spatula_bar__minus_02_dot_44_bar__plus_00_dot_94_bar__minus_01_dot_88 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation WineBottle_bar__minus_00_dot_51_bar__plus_00_dot_92_bar__minus_02_dot_56 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_94_bar__plus_00_dot_03_bar__minus_03_dot_84 loc_bar__minus_9_bar__minus_14_bar_1_bar_60)\n (objectAtLocation Pen_bar__minus_02_dot_32_bar__plus_00_dot_93_bar__minus_01_dot_65 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Glassbottle_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_02_dot_35 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Lettuce_bar__minus_00_dot_30_bar__plus_01_dot_19_bar__minus_00_dot_98 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Apple_bar__minus_00_dot_74_bar__plus_00_dot_99_bar__minus_03_dot_63 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (objectAtLocation Mug_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_02_dot_12 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation PepperShaker_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_01_dot_65 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation SoapBottle_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_01_dot_88 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Cup_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_00_dot_96 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Spatula_bar__minus_02_dot_10_bar__plus_00_dot_94_bar__minus_01_dot_42 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Pen_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__minus_02_dot_12 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Glassbottle_bar__minus_00_dot_60_bar__plus_00_dot_92_bar__minus_03_dot_49 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (objectAtLocation Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01 loc_bar__minus_4_bar__minus_8_bar_1_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_27_bar__plus_01_dot_76_bar__minus_00_dot_67 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Lettuce_bar__minus_02_dot_44_bar__plus_01_dot_02_bar__minus_01_dot_42 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Glassbottle_bar__minus_02_dot_21_bar__plus_00_dot_92_bar__minus_01_dot_88 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Egg_bar__minus_02_dot_78_bar__plus_00_dot_96_bar__minus_01_dot_19 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Pen_bar__minus_02_dot_32_bar__plus_00_dot_93_bar__minus_00_dot_96 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Fork_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_02_dot_35 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation LightSwitch_bar__minus_04_dot_32_bar__plus_01_dot_32_bar__plus_00_dot_00 loc_bar__minus_16_bar__minus_2_bar_0_bar_30)\n (objectAtLocation SoapBottle_bar__minus_00_dot_50_bar__plus_00_dot_08_bar__minus_03_dot_27 loc_bar__minus_6_bar__minus_11_bar_1_bar_60)\n (objectAtLocation Pencil_bar__minus_00_dot_84_bar__plus_00_dot_75_bar__minus_03_dot_53 loc_bar__minus_4_bar__minus_12_bar_2_bar_60)\n (objectAtLocation WineBottle_bar__minus_00_dot_60_bar__plus_00_dot_92_bar__minus_03_dot_77 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (objectAtLocation Spatula_bar__minus_02_dot_21_bar__plus_00_dot_94_bar__minus_02_dot_35 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Bread_bar__minus_00_dot_42_bar__plus_00_dot_95_bar__minus_03_dot_63 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (objectAtLocation Tomato_bar__minus_02_dot_55_bar__plus_00_dot_99_bar__minus_01_dot_65 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Pan_bar__minus_02_dot_17_bar__plus_00_dot_91_bar__minus_01_dot_10 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Cup_bar__minus_00_dot_51_bar__plus_00_dot_91_bar__minus_02_dot_76 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (objectAtLocation Pot_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__minus_03_dot_50 loc_bar__minus_5_bar__minus_12_bar_2_bar_60)\n (objectAtLocation SaltShaker_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_01_dot_42 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Potato_bar__minus_00_dot_40_bar__plus_00_dot_83_bar__minus_01_dot_86 loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__minus_00_dot_42_bar__plus_00_dot_08_bar__minus_01_dot_76 loc_bar__minus_6_bar__minus_5_bar_1_bar_60)\n (objectAtLocation ButterKnife_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_02_dot_12 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation StoveKnob_bar__minus_01_dot_58_bar__plus_01_dot_08_bar__minus_03_dot_96 loc_bar__minus_6_bar__minus_12_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__minus_01_dot_18_bar__plus_01_dot_08_bar__minus_03_dot_96 loc_bar__minus_5_bar__minus_12_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__minus_01_dot_42_bar__plus_01_dot_08_bar__minus_03_dot_96 loc_bar__minus_6_bar__minus_12_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__minus_01_dot_03_bar__plus_01_dot_08_bar__minus_03_dot_96 loc_bar__minus_4_bar__minus_12_bar_2_bar_30)\n (objectAtLocation DishSponge_bar__minus_00_dot_74_bar__plus_00_dot_92_bar__minus_03_dot_77 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (objectAtLocation Window_bar__minus_02_dot_50_bar__plus_01_dot_78_bar__minus_04_dot_19 loc_bar__minus_10_bar__minus_14_bar_2_bar__minus_15)\n (objectAtLocation Chair_bar__minus_03_dot_26_bar__plus_00_dot_00_bar__minus_02_dot_09 loc_bar__minus_14_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_03_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_25 loc_bar__minus_13_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Spoon_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_00_dot_96 loc_bar__minus_5_bar__minus_7_bar_3_bar_30)\n (objectAtLocation Plate_bar__minus_00_dot_75_bar__plus_00_dot_08_bar__minus_03_dot_62 loc_bar__minus_4_bar__minus_10_bar_2_bar_60)\n (objectAtLocation Knife_bar__minus_00_dot_51_bar__plus_00_dot_94_bar__minus_03_dot_37 loc_bar__minus_4_bar__minus_12_bar_1_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_31_bar__plus_01_dot_69_bar__minus_00_dot_46 loc_bar__minus_5_bar__minus_2_bar_1_bar_0)\n (objectAtLocation Blinds_bar__minus_02_dot_54_bar__plus_02_dot_70_bar__minus_03_dot_96 loc_bar__minus_10_bar__minus_14_bar_2_bar__minus_30)\n (objectAtLocation Bowl_bar__minus_00_dot_42_bar__plus_00_dot_08_bar__minus_02_dot_16 loc_bar__minus_6_bar__minus_7_bar_1_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 SpatulaType)\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 spatula 3 from diningtable 1", "go to sinkbasin 1", "clean spatula 3 with sinkbasin 1", "go to diningtable 1", "move spatula 3 to diningtable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Spatula-None-DiningTable-23/trial_T20190909_103345_050416/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Spatula-None-DiningTable-23/trial_T20190909_103345_050416/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..92171b13cb2265f6363d0979cee9c73e7241af5b --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Spatula-None-DiningTable-23/trial_T20190909_103345_050416/initial_state.pddl @@ -0,0 +1,962 @@ + +(define (problem plan_trial_T20190909_103345_050416) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__minus_00_dot_27_bar__plus_01_dot_76_bar__minus_00_dot_67 - object + Apple_bar__minus_00_dot_74_bar__plus_00_dot_99_bar__minus_03_dot_63 - object + Blinds_bar__minus_02_dot_54_bar__plus_02_dot_70_bar__minus_03_dot_96 - object + Bowl_bar__minus_00_dot_30_bar__plus_01_dot_39_bar__minus_00_dot_77 - object + Bowl_bar__minus_00_dot_42_bar__plus_00_dot_08_bar__minus_02_dot_16 - object + Bread_bar__minus_00_dot_42_bar__plus_00_dot_95_bar__minus_03_dot_63 - object + ButterKnife_bar__minus_00_dot_35_bar__plus_00_dot_80_bar__minus_02_dot_16 - 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_51_bar__plus_00_dot_91_bar__minus_02_dot_76 - object + Cup_bar__minus_01_dot_10_bar__plus_01_dot_97_bar__minus_03_dot_89 - object + Cup_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_00_dot_96 - object + DishSponge_bar__minus_00_dot_74_bar__plus_00_dot_92_bar__minus_03_dot_77 - object + Egg_bar__minus_02_dot_78_bar__plus_00_dot_96_bar__minus_01_dot_19 - object + Faucet_bar__minus_00_dot_08_bar__plus_00_dot_90_bar__minus_02_dot_03 - object + Fork_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_02_dot_35 - object + Glassbottle_bar__minus_00_dot_60_bar__plus_00_dot_92_bar__minus_03_dot_49 - object + Glassbottle_bar__minus_02_dot_21_bar__plus_00_dot_92_bar__minus_01_dot_88 - object + Glassbottle_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_02_dot_35 - object + Knife_bar__minus_00_dot_51_bar__plus_00_dot_94_bar__minus_03_dot_37 - object + Lettuce_bar__minus_00_dot_30_bar__plus_01_dot_19_bar__minus_00_dot_98 - object + Lettuce_bar__minus_02_dot_44_bar__plus_01_dot_02_bar__minus_01_dot_42 - object + LightSwitch_bar__minus_04_dot_32_bar__plus_01_dot_32_bar__plus_00_dot_00 - object + Mug_bar__minus_00_dot_31_bar__plus_01_dot_69_bar__minus_00_dot_46 - object + Mug_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__minus_03_dot_14 - object + Mug_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_02_dot_12 - object + Pan_bar__minus_02_dot_17_bar__plus_00_dot_91_bar__minus_01_dot_10 - object + Pencil_bar__minus_00_dot_84_bar__plus_00_dot_75_bar__minus_03_dot_53 - object + Pen_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__minus_02_dot_12 - object + Pen_bar__minus_02_dot_32_bar__plus_00_dot_93_bar__minus_00_dot_96 - object + Pen_bar__minus_02_dot_32_bar__plus_00_dot_93_bar__minus_01_dot_65 - object + PepperShaker_bar__minus_00_dot_42_bar__plus_00_dot_08_bar__minus_01_dot_76 - object + PepperShaker_bar__minus_00_dot_75_bar__plus_00_dot_74_bar__minus_03_dot_56 - object + PepperShaker_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_01_dot_65 - object + Plate_bar__minus_00_dot_75_bar__plus_00_dot_08_bar__minus_03_dot_62 - object + 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Spatula_bar__minus_02_dot_44_bar__plus_00_dot_94_bar__minus_01_dot_88 - object + Spoon_bar__minus_00_dot_40_bar__plus_00_dot_80_bar__minus_02_dot_01 - object + Spoon_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_00_dot_96 - 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_02_dot_55_bar__plus_00_dot_99_bar__minus_01_dot_65 - object + Window_bar__minus_02_dot_50_bar__plus_01_dot_78_bar__minus_04_dot_19 - object + WineBottle_bar__minus_00_dot_51_bar__plus_00_dot_92_bar__minus_02_dot_56 - object + WineBottle_bar__minus_00_dot_60_bar__plus_00_dot_92_bar__minus_03_dot_77 - object + Cabinet_bar__minus_00_dot_30_bar__plus_01_dot_92_bar__minus_02_dot_50 - receptacle + 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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_01_dot_88 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle Pen_bar__minus_02_dot_32_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 Cup_bar__minus_02_dot_55_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 Glassbottle_bar__minus_02_dot_21_bar__plus_00_dot_92_bar__minus_01_dot_88 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle Pen_bar__minus_02_dot_32_bar__plus_00_dot_93_bar__minus_00_dot_96 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle SoapBottle_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_01_dot_88 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle Pen_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__minus_02_dot_12 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle Egg_bar__minus_02_dot_78_bar__plus_00_dot_96_bar__minus_01_dot_19 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle Pan_bar__minus_02_dot_17_bar__plus_00_dot_91_bar__minus_01_dot_10 DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70) + (inReceptacle Mug_bar__minus_02_dot_55_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 Spatula_bar__minus_02_dot_21_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 PepperShaker_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 Glassbottle_bar__minus_02_dot_67_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 Plate_bar__minus_00_dot_75_bar__plus_00_dot_08_bar__minus_03_dot_62 Cabinet_bar__minus_00_dot_88_bar__plus_00_dot_39_bar__minus_03_dot_42) + (inReceptacle Bowl_bar__minus_00_dot_42_bar__plus_00_dot_08_bar__minus_02_dot_16 Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_20) + (inReceptacle SoapBottle_bar__minus_00_dot_50_bar__plus_00_dot_08_bar__minus_03_dot_27 Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_40) + (inReceptacle Mug_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__minus_03_dot_14 CoffeeMachine_bar__minus_00_dot_12_bar__plus_00_dot_90_bar__minus_03_dot_15) + (inReceptacle SoapBottle_bar__minus_01_dot_94_bar__plus_00_dot_03_bar__minus_03_dot_84 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__minus_03_dot_76) + (inReceptacle Potato_bar__minus_00_dot_34_bar__plus_01_dot_13_bar__minus_00_dot_67 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77) + (inReceptacle Bowl_bar__minus_00_dot_30_bar__plus_01_dot_39_bar__minus_00_dot_77 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77) + (inReceptacle Apple_bar__minus_00_dot_27_bar__plus_01_dot_76_bar__minus_00_dot_67 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77) + (inReceptacle Lettuce_bar__minus_00_dot_30_bar__plus_01_dot_19_bar__minus_00_dot_98 Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77) + (inReceptacle ButterKnife_bar__minus_00_dot_35_bar__plus_00_dot_80_bar__minus_02_dot_16 Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Potato_bar__minus_00_dot_40_bar__plus_00_dot_83_bar__minus_01_dot_86 Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Spoon_bar__minus_00_dot_40_bar__plus_00_dot_80_bar__minus_02_dot_01 Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin) + + + (receptacleAtLocation Cabinet_bar__minus_00_dot_30_bar__plus_01_dot_92_bar__minus_02_dot_50 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_01_dot_54 loc_bar__minus_4_bar__minus_6_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_02_dot_48 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_92_bar__minus_03_dot_39 loc_bar__minus_4_bar__minus_12_bar_1_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_80 loc_bar__minus_6_bar__minus_5_bar_1_bar_60) + (receptacleAtLocation 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DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70 loc_bar__minus_5_bar__minus_7_bar_3_bar_30) + (receptacleAtLocation Drawer_bar__minus_00_dot_45_bar__plus_00_dot_78_bar__minus_03_dot_27 loc_bar__minus_5_bar__minus_12_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_75_bar__plus_00_dot_78_bar__minus_03_dot_55 loc_bar__minus_4_bar__minus_12_bar_2_bar_60) + (receptacleAtLocation Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77 loc_bar__minus_5_bar__minus_3_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__minus_03_dot_76 loc_bar__minus_9_bar__minus_14_bar_1_bar_60) + (receptacleAtLocation Microwave_bar__minus_01_dot_32_bar__plus_01_dot_52_bar__minus_03_dot_85 loc_bar__minus_5_bar__minus_12_bar_2_bar_15) + (receptacleAtLocation Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin loc_bar__minus_4_bar__minus_9_bar_1_bar_60) + (receptacleAtLocation StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_50 loc_bar__minus_5_bar__minus_12_bar_2_bar_60) + (receptacleAtLocation StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_75 loc_bar__minus_5_bar__minus_12_bar_2_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_50 loc_bar__minus_6_bar__minus_12_bar_2_bar_60) + (receptacleAtLocation StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_75 loc_bar__minus_6_bar__minus_12_bar_2_bar_45) + (receptacleAtLocation Toaster_bar__minus_00_dot_15_bar__plus_00_dot_90_bar__minus_02_dot_76 loc_bar__minus_4_bar__minus_11_bar_1_bar_45) + (objectAtLocation Bowl_bar__minus_00_dot_30_bar__plus_01_dot_39_bar__minus_00_dot_77 loc_bar__minus_5_bar__minus_3_bar_1_bar_60) + (objectAtLocation Mug_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__minus_03_dot_14 loc_bar__minus_4_bar__minus_12_bar_1_bar_45) + (objectAtLocation 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"rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_f1c487d3", + "position": { + "x": -0.350600064, + "y": 0.7972394, + "z": -2.155798 + }, + "rotation": { + "x": 6.06642669e-21, + "y": 270.0, + "z": -1.40334191e-14 + } + }, + { + "objectName": "DishSponge_b4789065", + "position": { + "x": -0.743539453, + "y": 0.9153642, + "z": -3.76832175 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_a6c5bfa2", + "position": { + "x": -0.398883581, + "y": 0.798326731, + "z": -2.00827861 + }, + "rotation": { + "x": 6.06642669e-21, + "y": 270.0, + "z": -1.40334191e-14 + } + }, + { + "objectName": "Plate_dc085d43", + "position": { + "x": -0.747807443, + "y": 0.08466411, + "z": -3.62365556 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_d25a57c3", + "position": { + "x": -0.5083166, + "y": 0.9388806, + "z": -3.368925 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_80763932", + "position": { + "x": -0.3511, + "y": 0.962205052, + "z": -3.14499927 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Bowl_91c0655d", + "position": { + "x": -0.295091242, + "y": 1.38988817, + "z": -0.7700001 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 1139618277, + "scene_num": 23 + }, + "task_id": "trial_T20190909_103345_050416", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A20FCMWP43CVIU_3HFNH7HEMK5I3PUUFDEMKBVPSSXQGW", + "high_descs": [ + "walk to face green kitchen island", + "pick up spatula from island", + "walk to face sink", + "wash and remove spatula from sink", + "walk to face green kitchen island", + "put spatula on island" + ], + "task_desc": "put washed spatula on island", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A272X64FOZFYLB_3YT88D1N0BPVYAKB7TN55VU7PGDK31", + "high_descs": [ + "Walk forward to the stove top, turn left and walk just past the sink, then turn left towards the green dining table.", + "Pick up the spatula near the dirty pan on the table.", + "Turn around and walk to the sink.", + "Put the spatula in the sink, rinse it off, and take it back out.", + "Turn around and walk back to the dining table.", + "Put the spatula back on the dining table, to the left of the dirty pan." + ], + "task_desc": "Place a cleaned spatula on a dining table.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2DN53DIE3049T_3A1COHJ8NMMQXHP9DPF4JKMQDMRH8E", + "high_descs": [ + "Walk ahead and then turn left, walk to the island with the spatula", + "Pick up the spatula from the island", + "Turn around, walk to the sink", + "Place the spatula in the sink, rinse it with water, then pick it back up", + "Turn around, walk to the island", + "Place the spatula on the island" + ], + "task_desc": "Rinse a spatula with water", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Spatula-None-DiningTable-23/trial_T20190909_103414_018445/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Spatula-None-DiningTable-23/trial_T20190909_103414_018445/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..33782c99e430536afb5548abaa4447fce22e5709 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Spatula-None-DiningTable-23/trial_T20190909_103414_018445/initial_state.pddl @@ -0,0 +1,989 @@ + +(define (problem plan_trial_T20190909_103414_018445) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__minus_00_dot_31_bar__plus_01_dot_76_bar__minus_00_dot_67 - object + Apple_bar__minus_00_dot_31_bar__plus_01_dot_76_bar__minus_01_dot_08 - object + Apple_bar__minus_01_dot_36_bar__plus_01_dot_70_bar__minus_03_dot_87 - object + Blinds_bar__minus_02_dot_54_bar__plus_02_dot_70_bar__minus_03_dot_96 - object + Bowl_bar__minus_00_dot_39_bar__plus_01_dot_53_bar__minus_03_dot_68 - object + Bowl_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_01_dot_42 - object + Bread_bar__minus_00_dot_38_bar__plus_00_dot_96_bar__minus_03_dot_64 - object + Bread_bar__minus_00_dot_74_bar__plus_00_dot_95_bar__minus_03_dot_56 - object + ButterKnife_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_02_dot_12 - object + ButterKnife_bar__minus_02_dot_67_bar__plus_00_dot_92_bar__minus_02_dot_35 - 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_25_bar__plus_00_dot_80_bar__minus_01_dot_93 - object + Cup_bar__minus_00_dot_34_bar__plus_01_dot_39_bar__minus_00_dot_46 - object + DishSponge_bar__minus_00_dot_30_bar__plus_00_dot_80_bar__minus_02_dot_16 - object + DishSponge_bar__minus_01_dot_65_bar__plus_01_dot_97_bar__minus_03_dot_77 - object + DishSponge_bar__minus_02_dot_21_bar__plus_00_dot_92_bar__minus_01_dot_65 - object + Egg_bar__minus_00_dot_30_bar__plus_00_dot_83_bar__minus_02_dot_23 - 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_42 - object + Fork_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_02_dot_12 - object + Glassbottle_bar__minus_00_dot_16_bar__plus_01_dot_53_bar__minus_03_dot_23 - object + Glassbottle_bar__minus_00_dot_38_bar__plus_00_dot_08_bar__minus_01_dot_76 - object + Glassbottle_bar__minus_00_dot_75_bar__plus_00_dot_08_bar__minus_03_dot_58 - object + Knife_bar__minus_00_dot_48_bar__plus_00_dot_91_bar__minus_03_dot_66 - object + Knife_bar__minus_02_dot_32_bar__plus_00_dot_95_bar__minus_01_dot_19 - object + Lettuce_bar__minus_02_dot_56_bar__plus_01_dot_00_bar__minus_01_dot_68 - object + Lettuce_bar__minus_02_dot_67_bar__plus_01_dot_02_bar__minus_02_dot_12 - object + LightSwitch_bar__minus_04_dot_32_bar__plus_01_dot_32_bar__plus_00_dot_00 - object + Mug_bar__minus_00_dot_25_bar__plus_01_dot_09_bar__minus_00_dot_98 - object + Mug_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__minus_03_dot_14 - object + Pan_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__minus_03_dot_50 - object + Pan_bar__minus_01_dot_52_bar__plus_00_dot_94_bar__minus_03_dot_50 - object + Pencil_bar__minus_00_dot_39_bar__plus_00_dot_75_bar__minus_03_dot_24 - object + Pen_bar__minus_02_dot_44_bar__plus_00_dot_93_bar__minus_02_dot_35 - object + Pen_bar__minus_02_dot_78_bar__plus_00_dot_93_bar__minus_00_dot_96 - object + PepperShaker_bar__minus_02_dot_10_bar__plus_00_dot_92_bar__minus_02_dot_12 - object + Plate_bar__minus_00_dot_30_bar__plus_01_dot_10_bar__minus_00_dot_67 - object + Plate_bar__minus_02_dot_78_bar__plus_00_dot_93_bar__minus_01_dot_42 - object + Potato_bar__minus_00_dot_08_bar__plus_00_dot_95_bar__minus_02_dot_56 - 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_18_bar__plus_01_dot_97_bar__minus_02_dot_31 - object + Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01 - object + SoapBottle_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__minus_01_dot_65 - object + Spatula_bar__minus_02_dot_55_bar__plus_00_dot_94_bar__minus_01_dot_19 - object + Spatula_bar__minus_02_dot_67_bar__plus_00_dot_94_bar__minus_01_dot_88 - object + Spoon_bar__minus_00_dot_40_bar__plus_00_dot_80_bar__minus_02_dot_01 - object + Spoon_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_02_dot_35 - object + Spoon_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__minus_01_dot_42 - 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_30_bar__plus_01_dot_45_bar__minus_00_dot_77 - object + Tomato_bar__minus_00_dot_51_bar__plus_00_dot_98_bar__minus_02_dot_76 - object + Tomato_bar__minus_02_dot_01_bar__plus_00_dot_09_bar__minus_03_dot_76 - object + Window_bar__minus_02_dot_50_bar__plus_01_dot_78_bar__minus_04_dot_19 - object + WineBottle_bar__minus_00_dot_38_bar__plus_00_dot_08_bar__minus_03_dot_30 - object + WineBottle_bar__minus_01_dot_88_bar__plus_00_dot_03_bar__minus_03_dot_76 - object + WineBottle_bar__minus_02_dot_21_bar__plus_00_dot_92_bar__minus_02_dot_12 - 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 - 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loc_bar__minus_5_bar__minus_12_bar_2_bar_45 - location + loc_bar__minus_5_bar__minus_12_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70 DiningTableType) + (receptacleType StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_50 StoveBurnerType) + (receptacleType StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_75 StoveBurnerType) + (receptacleType CoffeeMachine_bar__minus_00_dot_12_bar__plus_00_dot_90_bar__minus_03_dot_15 CoffeeMachineType) + (receptacleType Cabinet_bar__minus_00_dot_30_bar__plus_01_dot_92_bar__minus_02_dot_50 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_76_bar__plus_02_dot_14_bar__minus_03_dot_69 CabinetType) + (receptacleType Toaster_bar__minus_00_dot_15_bar__plus_00_dot_90_bar__minus_02_dot_76 ToasterType) + (receptacleType Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin SinkBasinType) + 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DishSponge_bar__minus_01_dot_65_bar__plus_01_dot_97_bar__minus_03_dot_77) + (cleanable Fork_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_02_dot_12) + (cleanable Cup_bar__minus_00_dot_34_bar__plus_01_dot_39_bar__minus_00_dot_46) + (cleanable DishSponge_bar__minus_02_dot_21_bar__plus_00_dot_92_bar__minus_01_dot_65) + (cleanable Spoon_bar__minus_02_dot_44_bar__plus_00_dot_92_bar__minus_02_dot_35) + (cleanable Pot_bar__minus_02_dot_24_bar__plus_00_dot_91_bar__minus_01_dot_88) + (cleanable Spoon_bar__minus_00_dot_40_bar__plus_00_dot_80_bar__minus_02_dot_01) + (cleanable Egg_bar__minus_00_dot_30_bar__plus_00_dot_83_bar__minus_02_dot_23) + (cleanable Spatula_bar__minus_02_dot_55_bar__plus_00_dot_94_bar__minus_01_dot_19) + (cleanable Apple_bar__minus_00_dot_31_bar__plus_01_dot_76_bar__minus_01_dot_08) + (cleanable Lettuce_bar__minus_02_dot_56_bar__plus_01_dot_00_bar__minus_01_dot_68) + (cleanable DishSponge_bar__minus_00_dot_30_bar__plus_00_dot_80_bar__minus_02_dot_16) + + (heatable Mug_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__minus_03_dot_14) + (heatable Plate_bar__minus_02_dot_78_bar__plus_00_dot_93_bar__minus_01_dot_42) + (heatable Tomato_bar__minus_02_dot_01_bar__plus_00_dot_09_bar__minus_03_dot_76) + (heatable Bread_bar__minus_00_dot_38_bar__plus_00_dot_96_bar__minus_03_dot_64) + (heatable Tomato_bar__minus_00_dot_30_bar__plus_01_dot_45_bar__minus_00_dot_77) + (heatable Potato_bar__minus_01_dot_26_bar__plus_01_dot_66_bar__minus_03_dot_80) + (heatable Mug_bar__minus_00_dot_25_bar__plus_01_dot_09_bar__minus_00_dot_98) + (heatable Plate_bar__minus_00_dot_30_bar__plus_01_dot_10_bar__minus_00_dot_67) + (heatable Potato_bar__minus_00_dot_08_bar__plus_00_dot_95_bar__minus_02_dot_56) + (heatable Tomato_bar__minus_00_dot_51_bar__plus_00_dot_98_bar__minus_02_dot_76) + (heatable Apple_bar__minus_01_dot_36_bar__plus_01_dot_70_bar__minus_03_dot_87) + (heatable Cup_bar__minus_00_dot_25_bar__plus_00_dot_80_bar__minus_01_dot_93) + (heatable Apple_bar__minus_00_dot_31_bar__plus_01_dot_76_bar__minus_00_dot_67) + (heatable Cup_bar__minus_00_dot_34_bar__plus_01_dot_39_bar__minus_00_dot_46) + (heatable Egg_bar__minus_00_dot_30_bar__plus_00_dot_83_bar__minus_02_dot_23) + (heatable Apple_bar__minus_00_dot_31_bar__plus_01_dot_76_bar__minus_01_dot_08) + (heatable Bread_bar__minus_00_dot_74_bar__plus_00_dot_95_bar__minus_03_dot_56) + (coolable Mug_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__minus_03_dot_14) + (coolable Plate_bar__minus_02_dot_78_bar__plus_00_dot_93_bar__minus_01_dot_42) + (coolable Tomato_bar__minus_02_dot_01_bar__plus_00_dot_09_bar__minus_03_dot_76) + (coolable Bowl_bar__minus_02_dot_32_bar__plus_00_dot_92_bar__minus_01_dot_42) + (coolable Bread_bar__minus_00_dot_38_bar__plus_00_dot_96_bar__minus_03_dot_64) + (coolable Tomato_bar__minus_00_dot_30_bar__plus_01_dot_45_bar__minus_00_dot_77) + (coolable Potato_bar__minus_01_dot_26_bar__plus_01_dot_66_bar__minus_03_dot_80) + (coolable Mug_bar__minus_00_dot_25_bar__plus_01_dot_09_bar__minus_00_dot_98) + (coolable Plate_bar__minus_00_dot_30_bar__plus_01_dot_10_bar__minus_00_dot_67) + (coolable Pan_bar__minus_01_dot_52_bar__plus_00_dot_94_bar__minus_03_dot_50) + (coolable Potato_bar__minus_00_dot_08_bar__plus_00_dot_95_bar__minus_02_dot_56) + (coolable Lettuce_bar__minus_02_dot_67_bar__plus_01_dot_02_bar__minus_02_dot_12) + (coolable Tomato_bar__minus_00_dot_51_bar__plus_00_dot_98_bar__minus_02_dot_76) + (coolable Apple_bar__minus_01_dot_36_bar__plus_01_dot_70_bar__minus_03_dot_87) + (coolable Cup_bar__minus_00_dot_25_bar__plus_00_dot_80_bar__minus_01_dot_93) + (coolable Pan_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__minus_03_dot_50) + (coolable Bowl_bar__minus_00_dot_39_bar__plus_01_dot_53_bar__minus_03_dot_68) + (coolable Apple_bar__minus_00_dot_31_bar__plus_01_dot_76_bar__minus_00_dot_67) + (coolable WineBottle_bar__minus_02_dot_21_bar__plus_00_dot_92_bar__minus_02_dot_12) + (coolable 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Potato_bar__minus_00_dot_08_bar__plus_00_dot_95_bar__minus_02_dot_56) + (sliceable Lettuce_bar__minus_02_dot_67_bar__plus_01_dot_02_bar__minus_02_dot_12) + (sliceable Tomato_bar__minus_00_dot_51_bar__plus_00_dot_98_bar__minus_02_dot_76) + (sliceable Apple_bar__minus_01_dot_36_bar__plus_01_dot_70_bar__minus_03_dot_87) + (sliceable Apple_bar__minus_00_dot_31_bar__plus_01_dot_76_bar__minus_00_dot_67) + (sliceable Egg_bar__minus_00_dot_30_bar__plus_00_dot_83_bar__minus_02_dot_23) + (sliceable Apple_bar__minus_00_dot_31_bar__plus_01_dot_76_bar__minus_01_dot_08) + (sliceable Lettuce_bar__minus_02_dot_56_bar__plus_01_dot_00_bar__minus_01_dot_68) + (sliceable Bread_bar__minus_00_dot_74_bar__plus_00_dot_95_bar__minus_03_dot_56) + + (inReceptacle Glassbottle_bar__minus_00_dot_38_bar__plus_00_dot_08_bar__minus_01_dot_76 Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_80) + (inReceptacle 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_75) + (inReceptacle 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 Pan_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__minus_03_dot_50 StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_50) + (inReceptacle Mug_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__minus_03_dot_14 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79) + (inReceptacle Tomato_bar__minus_00_dot_51_bar__plus_00_dot_98_bar__minus_02_dot_76 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79) + (inReceptacle Knife_bar__minus_00_dot_48_bar__plus_00_dot_91_bar__minus_03_dot_66 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79) + (inReceptacle Bread_bar__minus_00_dot_38_bar__plus_00_dot_96_bar__minus_03_dot_64 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79) + (inReceptacle Bread_bar__minus_00_dot_74_bar__plus_00_dot_95_bar__minus_03_dot_56 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79) + (inReceptacle Potato_bar__minus_00_dot_08_bar__plus_00_dot_95_bar__minus_02_dot_56 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79) + (inReceptacle Plate_bar__minus_02_dot_78_bar__plus_00_dot_93_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_10_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 Spatula_bar__minus_02_dot_67_bar__plus_00_dot_94_bar__minus_01_dot_88 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_35 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{ + "x": -2.5527606, + "y": 0.9246045, + "z": -1.42398477 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_dc085d43", + "position": { + "x": -2.78088546, + "y": 0.9258191, + "z": -1.42398477 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_d25a57c3", + "position": { + "x": -2.32463574, + "y": 0.9465557, + "z": -1.19351614 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_80763932", + "position": { + "x": -0.3511, + "y": 0.962205052, + "z": -3.14499927 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Bowl_91c0655d", + "position": { + "x": -2.32463574, + "y": 0.922512949, + "z": -1.42398477 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 4122456507, + "scene_num": 23 + }, + "task_id": "trial_T20190909_103414_018445", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1ELPYAFO7MANS_34J10VATJIPWZG0P51EP5N8575PQIO", + "high_descs": [ + "Turn right and walk to the wall, then turn right and take a couple steps. Turn right again and face the green table.", + "Pick up the spatula on the table.", + "Walk around the right side of the table and veer left to the sink.", + "Wash the spatula in the sink.", + "Turn around and face the table.", + "Place the spatula on the table in front of the sponge." + ], + "task_desc": "Place a washed spatula on a table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2871R3LEPWMMK_3F1567XTNZW3OF7M178CSU92OEF9QZ", + "high_descs": [ + "Turn right, take a right at the wall and walk to the green table.", + "Pick up the spatula on the right side of the table.", + "Turn around, take a left at the corner of the wall and walk to the sink.", + "Put the spatula in the sink, rinse it for a few seconds and pick it back up.", + "Turn around and walk to the green table.", + "Put the rinsed spatula on the green table in front of the green sponge." + ], + "task_desc": "Place a rinsed spatula on a table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A31681CCEVDIH3_3P529IW9K1C1YSIMCO08L4WJH7CFLZ", + "high_descs": [ + "Walk around the kitchen island to face the middle of it.", + "Pick up the spatula to the right of the lotion bottle.", + "Turn around to walk to the sink.", + "Wash the spatula in the sink, removing it afterwards.", + "Turn around to face the kitchen island.", + "Set the spatula down on the kitchen island." + ], + "task_desc": "Wash a spatula and set it back down on the kitchen island.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Apple-None-GarbageCan-5/trial_T20190908_111700_053859/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Apple-None-GarbageCan-5/trial_T20190908_111700_053859/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..f60d7cdd1ef8c035e9dc2a8241f099eb0c64d98a --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Apple-None-GarbageCan-5/trial_T20190908_111700_053859/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 apple in garbagecan.\"\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_111700_053859)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__plus_01_dot_81_bar__plus_01_dot_06_bar__minus_01_dot_25 - object\n Apple_bar__minus_00_dot_42_bar__plus_00_dot_96_bar__plus_00_dot_14 - object\n Bowl_bar__plus_01_dot_91_bar__plus_01_dot_66_bar__minus_01_dot_24 - object\n Bowl_bar__plus_02_dot_80_bar__plus_00_dot_55_bar__plus_00_dot_19 - object\n Bowl_bar__minus_00_dot_66_bar__plus_00_dot_11_bar__minus_01_dot_92 - object\n Bread_bar__minus_01_dot_15_bar__plus_00_dot_98_bar__minus_00_dot_19 - object\n ButterKnife_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__minus_02_dot_10 - object\n Chair_bar__minus_00_dot_08_bar__plus_00_dot_01_bar__plus_00_dot_76 - object\n Chair_bar__minus_00_dot_46_bar__plus_00_dot_01_bar__plus_00_dot_75 - object\n Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 - object\n DishSponge_bar__plus_00_dot_83_bar__plus_01_dot_66_bar__minus_02_dot_16 - object\n DishSponge_bar__plus_01_dot_35_bar__plus_01_dot_65_bar__minus_02_dot_13 - object\n DishSponge_bar__plus_01_dot_75_bar__plus_00_dot_12_bar__minus_01_dot_33 - object\n Egg_bar__minus_00_dot_15_bar__plus_01_dot_17_bar__plus_00_dot_49 - object\n Faucet_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_02_dot_20 - object\n Fork_bar__plus_00_dot_07_bar__plus_01_dot_13_bar__plus_00_dot_62 - object\n Fork_bar__minus_00_dot_25_bar__plus_00_dot_70_bar__plus_00_dot_18 - object\n Fork_bar__minus_01_dot_24_bar__plus_00_dot_91_bar__minus_01_dot_89 - object\n HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 - object\n Kettle_bar__minus_00_dot_57_bar__plus_00_dot_11_bar__plus_00_dot_22 - object\n Knife_bar__plus_01_dot_42_bar__plus_00_dot_93_bar__minus_01_dot_76 - object\n Knife_bar__minus_00_dot_38_bar__plus_01_dot_16_bar__plus_00_dot_44 - object\n Ladle_bar__plus_01_dot_19_bar__plus_00_dot_95_bar__minus_01_dot_93 - object\n Ladle_bar__minus_00_dot_03_bar__plus_00_dot_80_bar__minus_01_dot_95 - object\n Ladle_bar__minus_00_dot_15_bar__plus_01_dot_17_bar__plus_00_dot_44 - object\n Lettuce_bar__plus_01_dot_89_bar__plus_00_dot_89_bar__minus_00_dot_55 - object\n Lettuce_bar__plus_01_dot_89_bar__plus_01_dot_18_bar__minus_00_dot_37 - object\n Lettuce_bar__plus_01_dot_89_bar__plus_01_dot_50_bar__minus_00_dot_74 - object\n 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StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_00_dot_67)\n (inReceptacle DishSponge_bar__plus_01_dot_35_bar__plus_01_dot_65_bar__minus_02_dot_13 Cabinet_bar__plus_01_dot_74_bar__plus_02_dot_02_bar__minus_02_dot_00)\n (inReceptacle DishSponge_bar__plus_01_dot_75_bar__plus_00_dot_12_bar__minus_01_dot_33 Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06)\n (inReceptacle Pot_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_00_dot_76)\n (inReceptacle Bowl_bar__plus_01_dot_91_bar__plus_01_dot_66_bar__minus_01_dot_24 Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_03)\n (inReceptacle DishSponge_bar__plus_00_dot_83_bar__plus_01_dot_66_bar__minus_02_dot_16 Cabinet_bar__plus_01_dot_18_bar__plus_02_dot_02_bar__minus_02_dot_00)\n (inReceptacle SoapBottle_bar__minus_01_dot_23_bar__plus_01_dot_66_bar__minus_00_dot_49 Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_00_dot_77)\n (inReceptacle Plate_bar__minus_01_dot_31_bar__plus_01_dot_66_bar__plus_00_dot_23 Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__plus_00_dot_38)\n (inReceptacle Bowl_bar__minus_00_dot_66_bar__plus_00_dot_11_bar__minus_01_dot_92 Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_01_dot_69)\n (inReceptacle Pot_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_02)\n (inReceptacle Knife_bar__minus_00_dot_38_bar__plus_01_dot_16_bar__plus_00_dot_44 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Bread_bar__minus_01_dot_15_bar__plus_00_dot_98_bar__minus_00_dot_19 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Apple_bar__minus_00_dot_42_bar__plus_00_dot_96_bar__plus_00_dot_14 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Spoon_bar__minus_01_dot_00_bar__plus_00_dot_90_bar__minus_00_dot_17 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Pan_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle SaltShaker_bar__minus_00_dot_91_bar__plus_00_dot_91_bar__minus_00_dot_41 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Mug_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_19 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Tomato_bar__minus_01_dot_28_bar__plus_00_dot_96_bar__plus_00_dot_08 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Ladle_bar__minus_00_dot_15_bar__plus_01_dot_17_bar__plus_00_dot_44 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Vase_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_00_dot_23 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Kettle_bar__minus_00_dot_57_bar__plus_00_dot_11_bar__plus_00_dot_22 Cabinet_bar__minus_00_dot_45_bar__plus_00_dot_47_bar__minus_00_dot_01)\n (inReceptacle Statue_bar__minus_00_dot_60_bar__plus_01_dot_14_bar__plus_00_dot_57 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle Plate_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_62 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle Fork_bar__plus_00_dot_07_bar__plus_01_dot_13_bar__plus_00_dot_62 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle Egg_bar__minus_00_dot_15_bar__plus_01_dot_17_bar__plus_00_dot_49 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle Potato_bar__minus_00_dot_82_bar__plus_01_dot_16_bar__plus_00_dot_53 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle Pot_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13)\n (inReceptacle Pan_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13)\n (inReceptacle Ladle_bar__plus_01_dot_19_bar__plus_00_dot_95_bar__minus_01_dot_93 Cabinet_bar__plus_01_dot_38_bar__plus_00_dot_46_bar__minus_01_dot_69)\n (inReceptacle Fork_bar__minus_00_dot_25_bar__plus_00_dot_70_bar__plus_00_dot_18 Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01)\n (inReceptacle Fork_bar__minus_01_dot_24_bar__plus_00_dot_91_bar__minus_01_dot_89 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Statue_bar__plus_01_dot_42_bar__plus_00_dot_92_bar__minus_02_dot_10 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle PaperTowelRoll_bar__minus_00_dot_99_bar__plus_01_dot_02_bar__minus_01_dot_47 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Knife_bar__plus_01_dot_42_bar__plus_00_dot_93_bar__minus_01_dot_76 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle ButterKnife_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__minus_02_dot_10 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Statue_bar__minus_01_dot_32_bar__plus_00_dot_92_bar__minus_01_dot_47 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Spoon_bar__minus_01_dot_24_bar__plus_00_dot_91_bar__minus_01_dot_64 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Pan_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacleObject Pot_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 Pan_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67)\n (inReceptacle Tomato_bar__plus_01_dot_96_bar__plus_00_dot_11_bar__plus_00_dot_17 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14)\n (inReceptacle Vase_bar__plus_02_dot_70_bar__plus_00_dot_87_bar__plus_00_dot_18 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14)\n (inReceptacle PepperShaker_bar__plus_02_dot_90_bar__plus_00_dot_88_bar__plus_00_dot_20 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14)\n (inReceptacle Apple_bar__plus_01_dot_81_bar__plus_01_dot_06_bar__minus_01_dot_25 Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35)\n (inReceptacle Mug_bar__plus_01_dot_91_bar__plus_01_dot_01_bar__minus_01_dot_35 Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35)\n (inReceptacle Bowl_bar__plus_02_dot_80_bar__plus_00_dot_55_bar__plus_00_dot_19 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14)\n (inReceptacle Vase_bar__plus_02_dot_98_bar__plus_00_dot_54_bar__plus_00_dot_13 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14)\n (inReceptacle Tomato_bar__plus_01_dot_84_bar__plus_01_dot_48_bar__minus_00_dot_27 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Lettuce_bar__plus_01_dot_89_bar__plus_00_dot_89_bar__minus_00_dot_55 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Plate_bar__plus_01_dot_89_bar__plus_00_dot_82_bar__minus_00_dot_74 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Lettuce_bar__plus_01_dot_89_bar__plus_01_dot_18_bar__minus_00_dot_37 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Lettuce_bar__plus_01_dot_89_bar__plus_01_dot_50_bar__minus_00_dot_74 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Pot_bar__plus_01_dot_95_bar__plus_01_dot_10_bar__minus_00_dot_64 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Ladle_bar__minus_00_dot_03_bar__plus_00_dot_80_bar__minus_01_dot_95 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Spoon_bar__minus_00_dot_29_bar__plus_00_dot_76_bar__minus_02_dot_01 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Spatula_bar__minus_00_dot_03_bar__plus_00_dot_78_bar__minus_02_dot_06 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Mug_bar__plus_00_dot_14_bar__plus_00_dot_76_bar__minus_02_dot_06 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Potato_bar__minus_00_dot_29_bar__plus_00_dot_79_bar__minus_01_dot_90 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_12_bar__plus_02_dot_27_bar__minus_02_dot_00 loc_bar_1_bar__minus_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar_2_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_46_bar__minus_01_dot_69 loc_bar_4_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_4_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_74_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_5_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_42_bar__plus_00_dot_37_bar__minus_00_dot_01 loc_bar__minus_1_bar__minus_4_bar_0_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_45_bar__plus_00_dot_47_bar__minus_00_dot_01 loc_bar__minus_2_bar__minus_4_bar_0_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_46_bar__plus_02_dot_27_bar__minus_02_dot_00 loc_bar_0_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_00_dot_05 loc_bar_0_bar__minus_2_bar_3_bar_60)\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_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__plus_00_dot_38 loc_bar__minus_2_bar__minus_1_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_00_dot_77 loc_bar__minus_2_bar__minus_2_bar_3_bar__minus_30)\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_84 loc_bar__minus_2_bar__minus_5_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_01_dot_42 loc_bar__minus_2_bar__minus_4_bar_3_bar__minus_30)\n (receptacleAtLocation CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_02_dot_13 loc_bar_2_bar__minus_5_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57 loc_bar_2_bar_3_bar_3_bar_30)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01 loc_bar_3_bar__minus_2_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_00_dot_01 loc_bar_0_bar__minus_2_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69 loc_bar_0_bar__minus_5_bar_3_bar_45)\n (receptacleAtLocation Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14 loc_bar_8_bar_3_bar_2_bar_60)\n (receptacleAtLocation Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35 loc_bar_4_bar__minus_5_bar_1_bar_45)\n (receptacleAtLocation Shelf_bar__plus_02_dot_81_bar__plus_00_dot_16_bar__plus_00_dot_14 loc_bar_11_bar_6_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14 loc_bar_10_bar_5_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14 loc_bar_8_bar_3_bar_1_bar_45)\n (receptacleAtLocation Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin loc_bar_0_bar__minus_5_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_00_dot_67 loc_bar__minus_2_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13 loc_bar__minus_2_bar__minus_5_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_00_dot_76 loc_bar__minus_2_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_02 loc_bar__minus_2_bar__minus_4_bar_3_bar_45)\n (receptacleAtLocation Toaster_bar__plus_00_dot_84_bar__plus_00_dot_90_bar__minus_02_dot_06 loc_bar_3_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Statue_bar__minus_01_dot_32_bar__plus_00_dot_92_bar__minus_01_dot_47 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Mug_bar__plus_00_dot_14_bar__plus_00_dot_76_bar__minus_02_dot_06 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Tomato_bar__minus_01_dot_28_bar__plus_00_dot_96_bar__plus_00_dot_08 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_29_bar__plus_00_dot_76_bar__minus_02_dot_01 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation DishSponge_bar__plus_01_dot_35_bar__plus_01_dot_65_bar__minus_02_dot_13 loc_bar_4_bar__minus_5_bar_2_bar__minus_30)\n (objectAtLocation PepperShaker_bar__minus_00_dot_69_bar__plus_00_dot_69_bar__minus_01_dot_76 loc_bar_0_bar__minus_5_bar_3_bar_45)\n (objectAtLocation Lettuce_bar__plus_01_dot_89_bar__plus_00_dot_89_bar__minus_00_dot_55 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Plate_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_62 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Pot_bar__plus_01_dot_95_bar__plus_01_dot_10_bar__minus_00_dot_64 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Potato_bar__minus_00_dot_29_bar__plus_00_dot_79_bar__minus_01_dot_90 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Apple_bar__plus_01_dot_81_bar__plus_01_dot_06_bar__minus_01_dot_25 loc_bar_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Ladle_bar__minus_00_dot_15_bar__plus_01_dot_17_bar__plus_00_dot_44 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Fork_bar__plus_00_dot_07_bar__plus_01_dot_13_bar__plus_00_dot_62 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Bowl_bar__minus_00_dot_66_bar__plus_00_dot_11_bar__minus_01_dot_92 loc_bar__minus_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Knife_bar__plus_01_dot_42_bar__plus_00_dot_93_bar__minus_01_dot_76 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Pan_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_19 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Lettuce_bar__plus_01_dot_89_bar__plus_01_dot_18_bar__minus_00_dot_37 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Bowl_bar__plus_02_dot_80_bar__plus_00_dot_55_bar__plus_00_dot_19 loc_bar_10_bar_5_bar_2_bar_45)\n (objectAtLocation Tomato_bar__plus_01_dot_96_bar__plus_00_dot_11_bar__plus_00_dot_17 loc_bar_8_bar_3_bar_2_bar_60)\n (objectAtLocation Plate_bar__minus_01_dot_31_bar__plus_01_dot_66_bar__plus_00_dot_23 loc_bar__minus_2_bar__minus_1_bar_3_bar__minus_30)\n (objectAtLocation Spoon_bar__minus_01_dot_24_bar__plus_00_dot_91_bar__minus_01_dot_64 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Fork_bar__minus_00_dot_25_bar__plus_00_dot_70_bar__plus_00_dot_18 loc_bar_3_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Pot_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 loc_bar__minus_2_bar__minus_5_bar_3_bar_45)\n (objectAtLocation DishSponge_bar__plus_00_dot_83_bar__plus_01_dot_66_bar__minus_02_dot_16 loc_bar_4_bar__minus_5_bar_2_bar__minus_30)\n (objectAtLocation Ladle_bar__minus_00_dot_03_bar__plus_00_dot_80_bar__minus_01_dot_95 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Statue_bar__plus_01_dot_42_bar__plus_00_dot_92_bar__minus_02_dot_10 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Chair_bar__minus_00_dot_46_bar__plus_00_dot_01_bar__plus_00_dot_75 loc_bar__minus_2_bar_5_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_08_bar__plus_00_dot_01_bar__plus_00_dot_76 loc_bar_0_bar_5_bar_2_bar_60)\n (objectAtLocation HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Pan_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_38_bar__plus_01_dot_16_bar__plus_00_dot_44 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Bowl_bar__plus_01_dot_91_bar__plus_01_dot_66_bar__minus_01_dot_24 loc_bar_4_bar__minus_5_bar_1_bar__minus_30)\n (objectAtLocation Fork_bar__minus_01_dot_24_bar__plus_00_dot_91_bar__minus_01_dot_89 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Ladle_bar__plus_01_dot_19_bar__plus_00_dot_95_bar__minus_01_dot_93 loc_bar_4_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_42_bar__plus_00_dot_96_bar__plus_00_dot_14 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Kettle_bar__minus_00_dot_57_bar__plus_00_dot_11_bar__plus_00_dot_22 loc_bar__minus_2_bar__minus_4_bar_0_bar_45)\n (objectAtLocation Vase_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_00_dot_23 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_82_bar__plus_01_dot_16_bar__plus_00_dot_53 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Pot_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 loc_bar__minus_2_bar__minus_3_bar_3_bar_45)\n (objectAtLocation Bread_bar__minus_01_dot_15_bar__plus_00_dot_98_bar__minus_00_dot_19 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Plate_bar__plus_01_dot_89_bar__plus_00_dot_82_bar__minus_00_dot_74 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_30_bar__plus_02_dot_00 loc_bar_2_bar_6_bar_0_bar_30)\n (objectAtLocation Spatula_bar__minus_00_dot_03_bar__plus_00_dot_78_bar__minus_02_dot_06 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation PaperTowelRoll_bar__minus_00_dot_99_bar__plus_01_dot_02_bar__minus_01_dot_47 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Vase_bar__plus_02_dot_70_bar__plus_00_dot_87_bar__plus_00_dot_18 loc_bar_8_bar_3_bar_1_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_15_bar__plus_01_dot_17_bar__plus_00_dot_49 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation SoapBottle_bar__minus_01_dot_23_bar__plus_01_dot_66_bar__minus_00_dot_49 loc_bar__minus_2_bar__minus_2_bar_3_bar__minus_30)\n (objectAtLocation SaltShaker_bar__minus_00_dot_91_bar__plus_00_dot_91_bar__minus_00_dot_41 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Lettuce_bar__plus_01_dot_89_bar__plus_01_dot_50_bar__minus_00_dot_74 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__plus_02_dot_90_bar__plus_00_dot_88_bar__plus_00_dot_20 loc_bar_8_bar_3_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__minus_02_dot_10 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_83 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_68 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_97 loc_bar__minus_2_bar__minus_4_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_01_dot_12 loc_bar__minus_2_bar__minus_4_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__plus_01_dot_75_bar__plus_00_dot_12_bar__minus_01_dot_33 loc_bar_2_bar__minus_4_bar_1_bar_60)\n (objectAtLocation Vase_bar__plus_02_dot_98_bar__plus_00_dot_54_bar__plus_00_dot_13 loc_bar_10_bar_5_bar_2_bar_45)\n (objectAtLocation Spoon_bar__minus_01_dot_00_bar__plus_00_dot_90_bar__minus_00_dot_17 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Tomato_bar__plus_01_dot_84_bar__plus_01_dot_48_bar__minus_00_dot_27 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Mug_bar__plus_01_dot_91_bar__plus_01_dot_01_bar__minus_01_dot_35 loc_bar_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Statue_bar__minus_00_dot_60_bar__plus_01_dot_14_bar__plus_00_dot_57 loc_bar_2_bar_3_bar_3_bar_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (coolable ?o)\n (objectType ?o AppleType)\n (receptacleType ?r GarbageCanType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 2", "take apple 2 from countertop 2", "go to fridge 1", "cool apple 2 with fridge 1", "go to garbagecan 1", "move apple 2 to garbagecan 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Apple-None-GarbageCan-5/trial_T20190908_111700_053859/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Apple-None-GarbageCan-5/trial_T20190908_111700_053859/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..3151ef7dd59fb661008a79bfbc8bb1d5ebaed360 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Apple-None-GarbageCan-5/trial_T20190908_111700_053859/initial_state.pddl @@ -0,0 +1,1302 @@ + +(define (problem plan_trial_T20190908_111700_053859) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__plus_01_dot_81_bar__plus_01_dot_06_bar__minus_01_dot_25 - object + Apple_bar__minus_00_dot_42_bar__plus_00_dot_96_bar__plus_00_dot_14 - object + Bowl_bar__plus_01_dot_91_bar__plus_01_dot_66_bar__minus_01_dot_24 - object + Bowl_bar__plus_02_dot_80_bar__plus_00_dot_55_bar__plus_00_dot_19 - object + Bowl_bar__minus_00_dot_66_bar__plus_00_dot_11_bar__minus_01_dot_92 - object + Bread_bar__minus_01_dot_15_bar__plus_00_dot_98_bar__minus_00_dot_19 - object + ButterKnife_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__minus_02_dot_10 - object + Chair_bar__minus_00_dot_08_bar__plus_00_dot_01_bar__plus_00_dot_76 - object + Chair_bar__minus_00_dot_46_bar__plus_00_dot_01_bar__plus_00_dot_75 - object + Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 - object + DishSponge_bar__plus_00_dot_83_bar__plus_01_dot_66_bar__minus_02_dot_16 - object + DishSponge_bar__plus_01_dot_35_bar__plus_01_dot_65_bar__minus_02_dot_13 - object + DishSponge_bar__plus_01_dot_75_bar__plus_00_dot_12_bar__minus_01_dot_33 - object + Egg_bar__minus_00_dot_15_bar__plus_01_dot_17_bar__plus_00_dot_49 - object + Faucet_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_02_dot_20 - object + Fork_bar__plus_00_dot_07_bar__plus_01_dot_13_bar__plus_00_dot_62 - object + Fork_bar__minus_00_dot_25_bar__plus_00_dot_70_bar__plus_00_dot_18 - object + Fork_bar__minus_01_dot_24_bar__plus_00_dot_91_bar__minus_01_dot_89 - object + HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 - object + Kettle_bar__minus_00_dot_57_bar__plus_00_dot_11_bar__plus_00_dot_22 - object + Knife_bar__plus_01_dot_42_bar__plus_00_dot_93_bar__minus_01_dot_76 - object + Knife_bar__minus_00_dot_38_bar__plus_01_dot_16_bar__plus_00_dot_44 - object + Ladle_bar__plus_01_dot_19_bar__plus_00_dot_95_bar__minus_01_dot_93 - object + Ladle_bar__minus_00_dot_03_bar__plus_00_dot_80_bar__minus_01_dot_95 - object + Ladle_bar__minus_00_dot_15_bar__plus_01_dot_17_bar__plus_00_dot_44 - object + Lettuce_bar__plus_01_dot_89_bar__plus_00_dot_89_bar__minus_00_dot_55 - object + Lettuce_bar__plus_01_dot_89_bar__plus_01_dot_18_bar__minus_00_dot_37 - object + Lettuce_bar__plus_01_dot_89_bar__plus_01_dot_50_bar__minus_00_dot_74 - object + LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_30_bar__plus_02_dot_00 - object + Mug_bar__plus_00_dot_14_bar__plus_00_dot_76_bar__minus_02_dot_06 - object + Mug_bar__plus_01_dot_91_bar__plus_01_dot_01_bar__minus_01_dot_35 - object + Mug_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_19 - object + Pan_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67 - object + Pan_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 - object + PaperTowelRoll_bar__minus_00_dot_99_bar__plus_01_dot_02_bar__minus_01_dot_47 - object + PepperShaker_bar__plus_02_dot_90_bar__plus_00_dot_88_bar__plus_00_dot_20 - object + PepperShaker_bar__minus_00_dot_69_bar__plus_00_dot_69_bar__minus_01_dot_76 - object + Plate_bar__plus_01_dot_89_bar__plus_00_dot_82_bar__minus_00_dot_74 - object + Plate_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_62 - object + Plate_bar__minus_01_dot_31_bar__plus_01_dot_66_bar__plus_00_dot_23 - object + Potato_bar__minus_00_dot_29_bar__plus_00_dot_79_bar__minus_01_dot_90 - object + Potato_bar__minus_00_dot_82_bar__plus_01_dot_16_bar__plus_00_dot_53 - object + Pot_bar__plus_01_dot_95_bar__plus_01_dot_10_bar__minus_00_dot_64 - object + Pot_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 - object + Pot_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 - object + SaltShaker_bar__minus_00_dot_91_bar__plus_00_dot_91_bar__minus_00_dot_41 - object + Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01 - object + SoapBottle_bar__minus_01_dot_23_bar__plus_01_dot_66_bar__minus_00_dot_49 - object + Spatula_bar__minus_00_dot_03_bar__plus_00_dot_78_bar__minus_02_dot_06 - object + Spoon_bar__minus_00_dot_29_bar__plus_00_dot_76_bar__minus_02_dot_01 - object + Spoon_bar__minus_01_dot_00_bar__plus_00_dot_90_bar__minus_00_dot_17 - object + Spoon_bar__minus_01_dot_24_bar__plus_00_dot_91_bar__minus_01_dot_64 - object + Statue_bar__plus_01_dot_42_bar__plus_00_dot_92_bar__minus_02_dot_10 - object + Statue_bar__minus_00_dot_60_bar__plus_01_dot_14_bar__plus_00_dot_57 - object + Statue_bar__minus_01_dot_32_bar__plus_00_dot_92_bar__minus_01_dot_47 - object + StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_68 - object + StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_83 - object + StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_97 - object + StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_01_dot_12 - object + Tomato_bar__plus_01_dot_84_bar__plus_01_dot_48_bar__minus_00_dot_27 - object + Tomato_bar__plus_01_dot_96_bar__plus_00_dot_11_bar__plus_00_dot_17 - object + Tomato_bar__minus_01_dot_28_bar__plus_00_dot_96_bar__plus_00_dot_08 - object + Vase_bar__plus_02_dot_70_bar__plus_00_dot_87_bar__plus_00_dot_18 - object + Vase_bar__plus_02_dot_98_bar__plus_00_dot_54_bar__plus_00_dot_13 - object + Vase_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_00_dot_23 - object + Cabinet_bar__plus_00_dot_12_bar__plus_02_dot_27_bar__minus_02_dot_00 - receptacle + 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_46_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_74_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_42_bar__plus_00_dot_37_bar__minus_00_dot_01 - receptacle + Cabinet_bar__minus_00_dot_45_bar__plus_00_dot_47_bar__minus_00_dot_01 - 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 - 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CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Pan_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacleObject Pot_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 Pan_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67) + (inReceptacle Tomato_bar__plus_01_dot_96_bar__plus_00_dot_11_bar__plus_00_dot_17 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14) + (inReceptacle Vase_bar__plus_02_dot_70_bar__plus_00_dot_87_bar__plus_00_dot_18 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14) + (inReceptacle PepperShaker_bar__plus_02_dot_90_bar__plus_00_dot_88_bar__plus_00_dot_20 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14) + (inReceptacle Apple_bar__plus_01_dot_81_bar__plus_01_dot_06_bar__minus_01_dot_25 Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35) + 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Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle Lettuce_bar__plus_01_dot_89_bar__plus_01_dot_50_bar__minus_00_dot_74 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle Pot_bar__plus_01_dot_95_bar__plus_01_dot_10_bar__minus_00_dot_64 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle Ladle_bar__minus_00_dot_03_bar__plus_00_dot_80_bar__minus_01_dot_95 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Spoon_bar__minus_00_dot_29_bar__plus_00_dot_76_bar__minus_02_dot_01 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Spatula_bar__minus_00_dot_03_bar__plus_00_dot_78_bar__minus_02_dot_06 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Mug_bar__plus_00_dot_14_bar__plus_00_dot_76_bar__minus_02_dot_06 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Potato_bar__minus_00_dot_29_bar__plus_00_dot_79_bar__minus_01_dot_90 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_12_bar__plus_02_dot_27_bar__minus_02_dot_00 loc_bar_1_bar__minus_5_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar_2_bar__minus_5_bar_2_bar__minus_30) + (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) + (receptacleAtLocation Cabinet_bar__plus_01_dot_38_bar__plus_00_dot_46_bar__minus_01_dot_69 loc_bar_4_bar__minus_3_bar_2_bar_45) + (receptacleAtLocation 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"position": { + "x": 2.9791863, + "y": 0.539382756, + "z": 0.12853384 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_80376f38", + "position": { + "x": -0.290060669, + "y": 0.764485538, + "z": -2.008 + }, + "rotation": { + "x": 1.40334191e-14, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_74fc855a", + "position": { + "x": -1.27819037, + "y": 0.9630605, + "z": 0.08309689 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_8066794b", + "position": { + "x": 0.14167586, + "y": 0.758356154, + "z": -2.06327963 + }, + "rotation": { + "x": 1.40334191e-14, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_bb70ba4e", + "position": { + "x": -1.32211292, + "y": 0.9183639, + "z": -1.46934056 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2052505266, + "scene_num": 5 + }, + "task_id": "trial_T20190908_111700_053859", + "task_type": "pick_cool_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3F7G1FSFWQPLE_3FK0YFF9P27TQUG6Q77IQZX7WICVVY", + "high_descs": [ + "Turn right and walk forward, then turn left and walk over to the counter, turn left again and walk up to the microwave.", + "Open the microwave and take the apple out of the microwave then close the microwave.", + "Turn left and walk over to the fridge.", + "Open the fridge and put the apple inside on a shelf, then close the door, after a couple seconds open the fridge back up and remove the now chilled apple, then close the door.", + "Walk over to the blue bin to the left of the fridge.", + "Put the chilled apple into the blue bin." + ], + "task_desc": "Put a chilled apple in a blue bin.", + "votes": [ + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1K5ILJMG439M5_3TOK3KHVJW9WPK6D7XIOPTNWE7N7OV", + "high_descs": [ + "Cross the kitchen and go to face the red microwave.", + "Open the microwave and grab the apple that's in there.", + "Bring the apple over to the fridge.", + "Put the apple in the fridge and let it get cool, then take it out again.", + "Bring the apple with you a step to the left and look at the blue trash can.", + "Put the apple in the trash can." + ], + "task_desc": "Throw away a cold apple.", + "votes": [ + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1ELPYAFO7MANS_3LKC68YZ3DUBFZ7EF5Q0H9MD7BKWO0", + "high_descs": [ + "Walk ahead to the counter, then turn left and face the microwave.", + "Take the apple out of the microwave.", + "Step left to the fridge.", + "Place the apple in the fridge to the left of the lettuce on the bottom shelf.", + "Take a step left.", + "Place the apple in the bin in front of the tomato." + ], + "task_desc": "Place a chilled apple in a garbage bin.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Apple-None-GarbageCan-5/trial_T20190908_111747_660187/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Apple-None-GarbageCan-5/trial_T20190908_111747_660187/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..44e8504b18161b03f4c7e9d91fb3a4ebc4ac5eff --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Apple-None-GarbageCan-5/trial_T20190908_111747_660187/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: cool some apple and put it in garbagecan.\"\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_111747_660187)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__plus_00_dot_06_bar__plus_00_dot_81_bar__minus_02_dot_12 - object\n Apple_bar__minus_00_dot_12_bar__plus_00_dot_81_bar__minus_01_dot_90 - object\n Apple_bar__minus_00_dot_12_bar__plus_00_dot_81_bar__minus_02_dot_06 - object\n Apple_bar__minus_00_dot_42_bar__plus_00_dot_96_bar__plus_00_dot_03 - object\n Bowl_bar__minus_01_dot_38_bar__plus_00_dot_91_bar__minus_02_dot_10 - object\n Bread_bar__plus_01_dot_95_bar__plus_00_dot_90_bar__minus_00_dot_46 - object\n ButterKnife_bar__minus_00_dot_60_bar__plus_01_dot_13_bar__plus_00_dot_71 - object\n ButterKnife_bar__minus_00_dot_82_bar__plus_01_dot_13_bar__plus_00_dot_44 - object\n Chair_bar__minus_00_dot_08_bar__plus_00_dot_01_bar__plus_00_dot_76 - object\n Chair_bar__minus_00_dot_46_bar__plus_00_dot_01_bar__plus_00_dot_75 - object\n Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 - object\n DishSponge_bar__plus_03_dot_11_bar__plus_00_dot_55_bar__plus_00_dot_25 - object\n DishSponge_bar__minus_01_dot_14_bar__plus_00_dot_91_bar__minus_02_dot_27 - object\n DishSponge_bar__minus_01_dot_41_bar__plus_00_dot_91_bar__minus_00_dot_17 - object\n Egg_bar__plus_01_dot_92_bar__plus_00_dot_10_bar__plus_00_dot_08 - object\n 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PaperTowelRoll_bar__minus_00_dot_38_bar__plus_01_dot_24_bar__plus_00_dot_53 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle Fork_bar__plus_00_dot_07_bar__plus_01_dot_13_bar__plus_00_dot_71 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle Kettle_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13)\n (inReceptacle Pot_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13)\n (inReceptacle SaltShaker_bar__minus_00_dot_19_bar__plus_00_dot_69_bar__plus_00_dot_10 Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01)\n (inReceptacle Bowl_bar__minus_01_dot_38_bar__plus_00_dot_91_bar__minus_02_dot_10 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Knife_bar__minus_01_dot_32_bar__plus_00_dot_93_bar__minus_01_dot_47 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Ladle_bar__plus_01_dot_87_bar__plus_00_dot_95_bar__minus_02_dot_18 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Vase_bar__minus_01_dot_26_bar__plus_00_dot_92_bar__minus_01_dot_85 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Knife_bar__minus_00_dot_90_bar__plus_00_dot_93_bar__minus_01_dot_85 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle DishSponge_bar__minus_01_dot_14_bar__plus_00_dot_91_bar__minus_02_dot_27 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Potato_bar__plus_01_dot_85_bar__plus_00_dot_09_bar__plus_00_dot_17 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14)\n (inReceptacle Egg_bar__plus_01_dot_92_bar__plus_00_dot_10_bar__plus_00_dot_08 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14)\n (inReceptacle Potato_bar__plus_01_dot_85_bar__plus_00_dot_09_bar__plus_00_dot_08 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14)\n (inReceptacle Mug_bar__plus_01_dot_88_bar__plus_01_dot_01_bar__minus_01_dot_19 Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35)\n (inReceptacle DishSponge_bar__plus_03_dot_11_bar__plus_00_dot_55_bar__plus_00_dot_25 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14)\n (inReceptacle Mug_bar__plus_02_dot_80_bar__plus_00_dot_55_bar__plus_00_dot_09 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14)\n (inReceptacle Bread_bar__plus_01_dot_95_bar__plus_00_dot_90_bar__minus_00_dot_46 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Plate_bar__plus_01_dot_89_bar__plus_01_dot_10_bar__minus_00_dot_55 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Potato_bar__plus_01_dot_95_bar__plus_01_dot_46_bar__minus_00_dot_37 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Spoon_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__minus_02_dot_06 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Lettuce_bar__minus_00_dot_26_bar__plus_00_dot_87_bar__minus_01_dot_97 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Apple_bar__plus_00_dot_06_bar__plus_00_dot_81_bar__minus_02_dot_12 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Apple_bar__minus_00_dot_12_bar__plus_00_dot_81_bar__minus_01_dot_90 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n (inReceptacle Apple_bar__minus_00_dot_12_bar__plus_00_dot_81_bar__minus_02_dot_06 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_12_bar__plus_02_dot_27_bar__minus_02_dot_00 loc_bar_1_bar__minus_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar_2_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_46_bar__minus_01_dot_69 loc_bar_4_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation 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Drawer_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_00_dot_01 loc_bar_0_bar__minus_2_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69 loc_bar_0_bar__minus_5_bar_3_bar_45)\n (receptacleAtLocation Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14 loc_bar_8_bar_3_bar_2_bar_60)\n (receptacleAtLocation Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35 loc_bar_4_bar__minus_5_bar_1_bar_45)\n (receptacleAtLocation Shelf_bar__plus_02_dot_81_bar__plus_00_dot_16_bar__plus_00_dot_14 loc_bar_11_bar_6_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14 loc_bar_10_bar_5_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14 loc_bar_8_bar_3_bar_1_bar_45)\n (receptacleAtLocation Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin loc_bar_0_bar__minus_5_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_00_dot_67 loc_bar__minus_2_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13 loc_bar__minus_2_bar__minus_5_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_00_dot_76 loc_bar__minus_2_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_02 loc_bar__minus_2_bar__minus_4_bar_3_bar_45)\n (receptacleAtLocation Toaster_bar__plus_00_dot_84_bar__plus_00_dot_90_bar__minus_02_dot_06 loc_bar_3_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Mug_bar__plus_02_dot_80_bar__plus_00_dot_55_bar__plus_00_dot_09 loc_bar_10_bar_5_bar_2_bar_45)\n (objectAtLocation DishSponge_bar__plus_03_dot_11_bar__plus_00_dot_55_bar__plus_00_dot_25 loc_bar_10_bar_5_bar_2_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_82_bar__plus_01_dot_13_bar__plus_00_dot_44 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation SaltShaker_bar__minus_00_dot_65_bar__plus_00_dot_69_bar__plus_00_dot_10 loc_bar_0_bar__minus_2_bar_0_bar_60)\n (objectAtLocation Spatula_bar__minus_00_dot_59_bar__plus_00_dot_71_bar__minus_01_dot_80 loc_bar_0_bar__minus_5_bar_3_bar_45)\n (objectAtLocation Plate_bar__plus_01_dot_89_bar__plus_01_dot_10_bar__minus_00_dot_55 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Potato_bar__plus_01_dot_85_bar__plus_00_dot_09_bar__plus_00_dot_17 loc_bar_8_bar_3_bar_2_bar_60)\n (objectAtLocation Apple_bar__minus_00_dot_42_bar__plus_00_dot_96_bar__plus_00_dot_03 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Fork_bar__plus_00_dot_07_bar__plus_01_dot_13_bar__plus_00_dot_71 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Knife_bar__minus_00_dot_90_bar__plus_00_dot_93_bar__minus_01_dot_85 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Apple_bar__plus_00_dot_06_bar__plus_00_dot_81_bar__minus_02_dot_12 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_12_bar__plus_00_dot_81_bar__minus_02_dot_06 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_66 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation SaltShaker_bar__minus_01_dot_31_bar__plus_01_dot_66_bar__minus_00_dot_11 loc_bar__minus_2_bar__minus_1_bar_3_bar__minus_30)\n (objectAtLocation Knife_bar__minus_00_dot_82_bar__plus_01_dot_16_bar__plus_00_dot_53 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Fork_bar__minus_01_dot_28_bar__plus_00_dot_91_bar__plus_00_dot_08 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation DishSponge_bar__minus_01_dot_41_bar__plus_00_dot_91_bar__minus_00_dot_17 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Potato_bar__plus_01_dot_85_bar__plus_00_dot_09_bar__plus_00_dot_08 loc_bar_8_bar_3_bar_2_bar_60)\n (objectAtLocation Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Chair_bar__minus_00_dot_46_bar__plus_00_dot_01_bar__plus_00_dot_75 loc_bar__minus_2_bar_5_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_08_bar__plus_00_dot_01_bar__plus_00_dot_76 loc_bar_0_bar_5_bar_2_bar_60)\n (objectAtLocation HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Pan_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 loc_bar__minus_2_bar__minus_3_bar_3_bar_45)\n (objectAtLocation Knife_bar__minus_01_dot_32_bar__plus_00_dot_93_bar__minus_01_dot_47 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Bowl_bar__minus_01_dot_38_bar__plus_00_dot_91_bar__minus_02_dot_10 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation 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loc_bar__minus_2_bar__minus_5_bar_3_bar_45)\n (objectAtLocation Bread_bar__plus_01_dot_95_bar__plus_00_dot_90_bar__minus_00_dot_46 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Plate_bar__plus_01_dot_57_bar__plus_00_dot_12_bar__minus_01_dot_33 loc_bar_2_bar__minus_4_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_30_bar__plus_02_dot_00 loc_bar_2_bar_6_bar_0_bar_30)\n (objectAtLocation Spatula_bar__minus_00_dot_69_bar__plus_00_dot_71_bar__minus_01_dot_80 loc_bar_0_bar__minus_5_bar_3_bar_45)\n (objectAtLocation PaperTowelRoll_bar__minus_00_dot_38_bar__plus_01_dot_24_bar__plus_00_dot_53 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Vase_bar__minus_01_dot_26_bar__plus_00_dot_92_bar__minus_01_dot_85 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Egg_bar__plus_01_dot_92_bar__plus_00_dot_10_bar__plus_00_dot_08 loc_bar_8_bar_3_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__plus_01_dot_99_bar__plus_01_dot_65_bar__minus_01_dot_67 loc_bar_4_bar__minus_5_bar_1_bar__minus_30)\n (objectAtLocation SaltShaker_bar__minus_00_dot_19_bar__plus_00_dot_69_bar__plus_00_dot_10 loc_bar_3_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Lettuce_bar__minus_00_dot_26_bar__plus_00_dot_87_bar__minus_01_dot_97 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__minus_01_dot_08_bar__plus_00_dot_91_bar__minus_00_dot_29 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_60_bar__plus_01_dot_13_bar__plus_00_dot_71 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_83 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_68 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_97 loc_bar__minus_2_bar__minus_4_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_01_dot_12 loc_bar__minus_2_bar__minus_4_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__minus_01_dot_14_bar__plus_00_dot_91_bar__minus_02_dot_27 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Vase_bar__minus_01_dot_35_bar__plus_01_dot_66_bar__minus_00_dot_35 loc_bar__minus_2_bar__minus_2_bar_3_bar__minus_30)\n (objectAtLocation Spoon_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__minus_02_dot_06 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Tomato_bar__minus_00_dot_91_bar__plus_00_dot_96_bar__minus_00_dot_35 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Mug_bar__plus_01_dot_88_bar__plus_01_dot_01_bar__minus_01_dot_19 loc_bar_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Statue_bar__minus_01_dot_16_bar__plus_00_dot_92_bar__minus_00_dot_17 loc_bar__minus_2_bar__minus_2_bar_0_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 AppleType)\n (receptacleType ?r GarbageCanType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sinkbasin 1", "take apple 4 from sinkbasin 1", "go to fridge 1", "cool apple 4 with fridge 1", "go to garbagecan 1", "move apple 4 to garbagecan 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Apple-None-GarbageCan-5/trial_T20190908_111747_660187/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Apple-None-GarbageCan-5/trial_T20190908_111747_660187/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..8ae70083ee74fecc258439c04d905a5e91ae4cd4 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Apple-None-GarbageCan-5/trial_T20190908_111747_660187/initial_state.pddl @@ -0,0 +1,1231 @@ + +(define (problem plan_trial_T20190908_111747_660187) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__plus_00_dot_06_bar__plus_00_dot_81_bar__minus_02_dot_12 - object + Apple_bar__minus_00_dot_12_bar__plus_00_dot_81_bar__minus_01_dot_90 - object + Apple_bar__minus_00_dot_12_bar__plus_00_dot_81_bar__minus_02_dot_06 - object + Apple_bar__minus_00_dot_42_bar__plus_00_dot_96_bar__plus_00_dot_03 - object + Bowl_bar__minus_01_dot_38_bar__plus_00_dot_91_bar__minus_02_dot_10 - object + Bread_bar__plus_01_dot_95_bar__plus_00_dot_90_bar__minus_00_dot_46 - object + ButterKnife_bar__minus_00_dot_60_bar__plus_01_dot_13_bar__plus_00_dot_71 - object + ButterKnife_bar__minus_00_dot_82_bar__plus_01_dot_13_bar__plus_00_dot_44 - object + Chair_bar__minus_00_dot_08_bar__plus_00_dot_01_bar__plus_00_dot_76 - object + Chair_bar__minus_00_dot_46_bar__plus_00_dot_01_bar__plus_00_dot_75 - object + Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 - object + DishSponge_bar__plus_03_dot_11_bar__plus_00_dot_55_bar__plus_00_dot_25 - object + DishSponge_bar__minus_01_dot_14_bar__plus_00_dot_91_bar__minus_02_dot_27 - object + DishSponge_bar__minus_01_dot_41_bar__plus_00_dot_91_bar__minus_00_dot_17 - object + Egg_bar__plus_01_dot_92_bar__plus_00_dot_10_bar__plus_00_dot_08 - object + Faucet_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_02_dot_20 - object + Fork_bar__plus_00_dot_07_bar__plus_01_dot_13_bar__plus_00_dot_71 - object + Fork_bar__minus_00_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_29 - object + Fork_bar__minus_01_dot_28_bar__plus_00_dot_91_bar__plus_00_dot_08 - object + HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 - object + Kettle_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 - object + Knife_bar__minus_00_dot_82_bar__plus_01_dot_16_bar__plus_00_dot_53 - object + Knife_bar__minus_00_dot_90_bar__plus_00_dot_93_bar__minus_01_dot_85 - object + Knife_bar__minus_01_dot_32_bar__plus_00_dot_93_bar__minus_01_dot_47 - object + Ladle_bar__plus_01_dot_87_bar__plus_00_dot_95_bar__minus_02_dot_18 - object + Lettuce_bar__minus_00_dot_26_bar__plus_00_dot_87_bar__minus_01_dot_97 - object + LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_30_bar__plus_02_dot_00 - object + Mug_bar__plus_01_dot_88_bar__plus_01_dot_01_bar__minus_01_dot_19 - object + Mug_bar__plus_02_dot_80_bar__plus_00_dot_55_bar__plus_00_dot_09 - object + Mug_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_66 - object + Pan_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 - object + PaperTowelRoll_bar__minus_00_dot_38_bar__plus_01_dot_24_bar__plus_00_dot_53 - object + PepperShaker_bar__minus_01_dot_08_bar__plus_00_dot_91_bar__minus_00_dot_29 - object + Plate_bar__plus_01_dot_57_bar__plus_00_dot_12_bar__minus_01_dot_33 - object + Plate_bar__plus_01_dot_89_bar__plus_01_dot_10_bar__minus_00_dot_55 - object + Potato_bar__plus_01_dot_85_bar__plus_00_dot_09_bar__plus_00_dot_08 - object + Potato_bar__plus_01_dot_85_bar__plus_00_dot_09_bar__plus_00_dot_17 - object + Potato_bar__plus_01_dot_95_bar__plus_01_dot_46_bar__minus_00_dot_37 - object + Pot_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 - object + SaltShaker_bar__minus_00_dot_19_bar__plus_00_dot_69_bar__plus_00_dot_10 - object + SaltShaker_bar__minus_00_dot_65_bar__plus_00_dot_69_bar__plus_00_dot_10 - object + SaltShaker_bar__minus_01_dot_31_bar__plus_01_dot_66_bar__minus_00_dot_11 - object + Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01 - object + SoapBottle_bar__plus_01_dot_99_bar__plus_01_dot_65_bar__minus_01_dot_67 - object + Spatula_bar__minus_00_dot_59_bar__plus_00_dot_71_bar__minus_01_dot_80 - object + Spatula_bar__minus_00_dot_69_bar__plus_00_dot_71_bar__minus_01_dot_80 - object + Spoon_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__minus_02_dot_06 - object + Statue_bar__minus_01_dot_16_bar__plus_00_dot_92_bar__minus_00_dot_17 - object + StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_68 - object + StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_83 - object + StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_97 - object + StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_01_dot_12 - object + Tomato_bar__minus_00_dot_91_bar__plus_00_dot_96_bar__minus_00_dot_35 - object + Vase_bar__minus_00_dot_62_bar__plus_00_dot_11_bar__minus_01_dot_83 - object + Vase_bar__minus_01_dot_26_bar__plus_00_dot_92_bar__minus_01_dot_85 - object + Vase_bar__minus_01_dot_35_bar__plus_01_dot_66_bar__minus_00_dot_35 - object + Cabinet_bar__plus_00_dot_12_bar__plus_02_dot_27_bar__minus_02_dot_00 - receptacle + 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_46_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_74_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_42_bar__plus_00_dot_37_bar__minus_00_dot_01 - receptacle + Cabinet_bar__minus_00_dot_45_bar__plus_00_dot_47_bar__minus_00_dot_01 - 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_00_dot_05 - 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__plus_00_dot_38 - receptacle + Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_00_dot_77 - 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_84 - receptacle + Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_01_dot_42 - receptacle + CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_02_dot_13 - receptacle + CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01 - receptacle + CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57 - receptacle + CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19 - receptacle + Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01 - receptacle + Drawer_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_00_dot_01 - receptacle + Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69 - receptacle + Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54 - receptacle + GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14 - receptacle + Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35 - receptacle + Shelf_bar__plus_02_dot_81_bar__plus_00_dot_16_bar__plus_00_dot_14 - receptacle + Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14 - receptacle + Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14 - receptacle + Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin - receptacle + StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_00_dot_67 - receptacle + StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13 - receptacle + StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_00_dot_76 - receptacle + StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_02 - receptacle + Toaster_bar__plus_00_dot_84_bar__plus_00_dot_90_bar__minus_02_dot_06 - receptacle + loc_bar__minus_2_bar__minus_2_bar_3_bar__minus_30 - location + loc_bar__minus_2_bar__minus_1_bar_3_bar__minus_30 - location + loc_bar_3_bar__minus_2_bar_3_bar_45 - location + loc_bar_8_bar_3_bar_2_bar_60 - location + loc_bar_4_bar__minus_5_bar_1_bar__minus_30 - location + loc_bar_2_bar__minus_4_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_4_bar_3_bar_45 - location + loc_bar_2_bar__minus_5_bar_2_bar_45 - location + loc_bar_8_bar_3_bar_1_bar_45 - location + loc_bar__minus_2_bar__minus_3_bar_3_bar_45 - location + loc_bar__minus_1_bar__minus_3_bar_2_bar_45 - location + loc_bar__minus_2_bar__minus_4_bar_3_bar__minus_30 - location + loc_bar_4_bar__minus_5_bar_1_bar_45 - location + loc_bar_4_bar__minus_3_bar_1_bar_60 - location + loc_bar_0_bar_5_bar_2_bar_60 - location + loc_bar_2_bar_6_bar_0_bar_30 - location + loc_bar__minus_2_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_0_bar__minus_2_bar_3_bar_60 - location + loc_bar_11_bar_6_bar_2_bar_45 - location + loc_bar_10_bar_5_bar_2_bar_45 - location + loc_bar__minus_2_bar__minus_2_bar_0_bar_45 - location + loc_bar_4_bar__minus_5_bar_2_bar_45 - location + loc_bar_1_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_0_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar__minus_2_bar__minus_5_bar_3_bar_45 - location + loc_bar_0_bar__minus_5_bar_3_bar_45 - location + loc_bar_0_bar__minus_5_bar_2_bar_45 - location + loc_bar__minus_2_bar_5_bar_2_bar_60 - location + loc_bar_4_bar__minus_3_bar_2_bar_45 - location + loc_bar_2_bar__minus_5_bar_2_bar__minus_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_5_bar_2_bar__minus_30 - location + loc_bar__minus_1_bar__minus_4_bar_0_bar_45 - location + loc_bar_0_bar__minus_2_bar_0_bar_60 - location + loc_bar__minus_2_bar__minus_4_bar_0_bar_45 - location + loc_bar_3_bar__minus_5_bar_2_bar_45 - location + loc_bar__minus_2_bar__minus_4_bar_3_bar_60 - location + loc_bar__minus_1_bar__minus_5_bar_3_bar__minus_15 - location + loc_bar_2_bar_3_bar_3_bar_30 - location + loc_bar__minus_2_bar__minus_5_bar_3_bar__minus_30 - location + loc_bar_4_bar_4_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_84 CabinetType) + (receptacleType Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14 ShelfType) + (receptacleType Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_37_bar__minus_00_dot_01 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_01_dot_42 CabinetType) + 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Pan_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_00_dot_67) + (inReceptacle Plate_bar__plus_01_dot_57_bar__plus_00_dot_12_bar__minus_01_dot_33 Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06) + (inReceptacle Pan_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_00_dot_76) + (inReceptacle SoapBottle_bar__plus_01_dot_99_bar__plus_01_dot_65_bar__minus_01_dot_67 Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40) + (inReceptacle Vase_bar__minus_01_dot_35_bar__plus_01_dot_66_bar__minus_00_dot_35 Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_00_dot_77) + (inReceptacle SaltShaker_bar__minus_01_dot_31_bar__plus_01_dot_66_bar__minus_00_dot_11 Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__plus_00_dot_38) + (inReceptacle Vase_bar__minus_00_dot_62_bar__plus_00_dot_11_bar__minus_01_dot_83 Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_01_dot_69) + (inReceptacle Pot_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_02) + (inReceptacle Statue_bar__minus_01_dot_16_bar__plus_00_dot_92_bar__minus_00_dot_17 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle Fork_bar__minus_00_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_29 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle Apple_bar__minus_00_dot_42_bar__plus_00_dot_96_bar__plus_00_dot_03 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle DishSponge_bar__minus_01_dot_41_bar__plus_00_dot_91_bar__minus_00_dot_17 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle PepperShaker_bar__minus_01_dot_08_bar__plus_00_dot_91_bar__minus_00_dot_29 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle Tomato_bar__minus_00_dot_91_bar__plus_00_dot_96_bar__minus_00_dot_35 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle Fork_bar__minus_01_dot_28_bar__plus_00_dot_91_bar__plus_00_dot_08 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle SaltShaker_bar__minus_00_dot_65_bar__plus_00_dot_69_bar__plus_00_dot_10 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_00_dot_01) + (inReceptacle Mug_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_66 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle ButterKnife_bar__minus_00_dot_60_bar__plus_01_dot_13_bar__plus_00_dot_71 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle Knife_bar__minus_00_dot_82_bar__plus_01_dot_16_bar__plus_00_dot_53 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle ButterKnife_bar__minus_00_dot_82_bar__plus_01_dot_13_bar__plus_00_dot_44 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle PaperTowelRoll_bar__minus_00_dot_38_bar__plus_01_dot_24_bar__plus_00_dot_53 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle Fork_bar__plus_00_dot_07_bar__plus_01_dot_13_bar__plus_00_dot_71 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle Kettle_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13) + (inReceptacle Pot_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13) + (inReceptacle SaltShaker_bar__minus_00_dot_19_bar__plus_00_dot_69_bar__plus_00_dot_10 Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01) + (inReceptacle Bowl_bar__minus_01_dot_38_bar__plus_00_dot_91_bar__minus_02_dot_10 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Knife_bar__minus_01_dot_32_bar__plus_00_dot_93_bar__minus_01_dot_47 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Ladle_bar__plus_01_dot_87_bar__plus_00_dot_95_bar__minus_02_dot_18 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Vase_bar__minus_01_dot_26_bar__plus_00_dot_92_bar__minus_01_dot_85 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Knife_bar__minus_00_dot_90_bar__plus_00_dot_93_bar__minus_01_dot_85 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle DishSponge_bar__minus_01_dot_14_bar__plus_00_dot_91_bar__minus_02_dot_27 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Potato_bar__plus_01_dot_85_bar__plus_00_dot_09_bar__plus_00_dot_17 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14) + (inReceptacle Egg_bar__plus_01_dot_92_bar__plus_00_dot_10_bar__plus_00_dot_08 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14) + (inReceptacle Potato_bar__plus_01_dot_85_bar__plus_00_dot_09_bar__plus_00_dot_08 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14) + (inReceptacle Mug_bar__plus_01_dot_88_bar__plus_01_dot_01_bar__minus_01_dot_19 Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35) + (inReceptacle DishSponge_bar__plus_03_dot_11_bar__plus_00_dot_55_bar__plus_00_dot_25 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14) + (inReceptacle Mug_bar__plus_02_dot_80_bar__plus_00_dot_55_bar__plus_00_dot_09 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14) + (inReceptacle Bread_bar__plus_01_dot_95_bar__plus_00_dot_90_bar__minus_00_dot_46 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle Plate_bar__plus_01_dot_89_bar__plus_01_dot_10_bar__minus_00_dot_55 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle Potato_bar__plus_01_dot_95_bar__plus_01_dot_46_bar__minus_00_dot_37 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle Spoon_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__minus_02_dot_06 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Lettuce_bar__minus_00_dot_26_bar__plus_00_dot_87_bar__minus_01_dot_97 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Apple_bar__plus_00_dot_06_bar__plus_00_dot_81_bar__minus_02_dot_12 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Apple_bar__minus_00_dot_12_bar__plus_00_dot_81_bar__minus_01_dot_90 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Apple_bar__minus_00_dot_12_bar__plus_00_dot_81_bar__minus_02_dot_06 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_12_bar__plus_02_dot_27_bar__minus_02_dot_00 loc_bar_1_bar__minus_5_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00 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Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_00_dot_77 loc_bar__minus_2_bar__minus_2_bar_3_bar__minus_30) + (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) + (receptacleAtLocation Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_84 loc_bar__minus_2_bar__minus_5_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_01_dot_42 loc_bar__minus_2_bar__minus_4_bar_3_bar__minus_30) + (receptacleAtLocation CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_02_dot_13 loc_bar_2_bar__minus_5_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01 loc_bar_4_bar__minus_5_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57 loc_bar_2_bar_3_bar_3_bar_30) + (receptacleAtLocation CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19 loc_bar__minus_2_bar__minus_2_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01 loc_bar_3_bar__minus_2_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_00_dot_01 loc_bar_0_bar__minus_2_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69 loc_bar_0_bar__minus_5_bar_3_bar_45) + (receptacleAtLocation Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54 loc_bar_4_bar__minus_3_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14 loc_bar_8_bar_3_bar_2_bar_60) + (receptacleAtLocation Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35 loc_bar_4_bar__minus_5_bar_1_bar_45) + (receptacleAtLocation Shelf_bar__plus_02_dot_81_bar__plus_00_dot_16_bar__plus_00_dot_14 loc_bar_11_bar_6_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14 loc_bar_10_bar_5_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14 loc_bar_8_bar_3_bar_1_bar_45) + (receptacleAtLocation Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin loc_bar_0_bar__minus_5_bar_2_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_00_dot_67 loc_bar__minus_2_bar__minus_3_bar_3_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13 loc_bar__minus_2_bar__minus_5_bar_3_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_00_dot_76 loc_bar__minus_2_bar__minus_3_bar_3_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_02 loc_bar__minus_2_bar__minus_4_bar_3_bar_45) + (receptacleAtLocation Toaster_bar__plus_00_dot_84_bar__plus_00_dot_90_bar__minus_02_dot_06 loc_bar_3_bar__minus_5_bar_2_bar_45) + (objectAtLocation Mug_bar__plus_02_dot_80_bar__plus_00_dot_55_bar__plus_00_dot_09 loc_bar_10_bar_5_bar_2_bar_45) + (objectAtLocation DishSponge_bar__plus_03_dot_11_bar__plus_00_dot_55_bar__plus_00_dot_25 loc_bar_10_bar_5_bar_2_bar_45) + (objectAtLocation ButterKnife_bar__minus_00_dot_82_bar__plus_01_dot_13_bar__plus_00_dot_44 loc_bar_2_bar_3_bar_3_bar_30) + (objectAtLocation SaltShaker_bar__minus_00_dot_65_bar__plus_00_dot_69_bar__plus_00_dot_10 loc_bar_0_bar__minus_2_bar_0_bar_60) + (objectAtLocation Spatula_bar__minus_00_dot_59_bar__plus_00_dot_71_bar__minus_01_dot_80 loc_bar_0_bar__minus_5_bar_3_bar_45) + (objectAtLocation Plate_bar__plus_01_dot_89_bar__plus_01_dot_10_bar__minus_00_dot_55 loc_bar_4_bar__minus_3_bar_1_bar_60) + (objectAtLocation Potato_bar__plus_01_dot_85_bar__plus_00_dot_09_bar__plus_00_dot_17 loc_bar_8_bar_3_bar_2_bar_60) + 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"object_toggles": [], + "random_seed": 3638682665, + "scene_num": 5 + }, + "task_id": "trial_T20190908_111747_660187", + "task_type": "pick_cool_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1RLO9LNUJIW5S_37C0GNLMHIUMHN1JYEZG8LB1FIY6D0", + "high_descs": [ + "Walk to stand in front of the sink in front of you to your right so you are in front of it facing it.", + "Pick up the apple closest to the head of lettuce in the sink.", + "Turn around and take a step then turn right and walk to the fridge then take a step to your left.", + "Chill the apple in the fridge then get it back out and close the door.", + "Take a big step to your left.", + "Put the cold apple in the garbage in front of you please." + ], + "task_desc": "Put a cold apple in the garbage.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1HKHM4NVAO98H_3HUTX6F6VXEP3J971L1TT26O3RZ2O8", + "high_descs": [ + "walk to the kitchen sink at the end of the room on the right", + "grab an apple out of the kitchen sink", + "turn left and walk over to the fridge on the left at the end of the room", + "place the apple inside the fridge, let the apple cool down, then take it back out", + "turn left and and walk over to the left side of the fridge on the right", + "place the apple inside of the blue recycling bin on the floor" + ], + "task_desc": "place a cooled apple inside of the recycling bin", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AM2KK02JXXW48_3GFK2QRXXC8P7P1WAQU183MMQ3NW5D", + "high_descs": [ + "Move forward and to the right, to the sink.", + "Pick up the apple in the sink. ", + "Turn around, bring the apple to the fridge on the right. ", + "Chill the apple in the fridge.", + "Bring the chilled apple to the blue bin to the left of the fridge.", + "Put the chilled apple in the blue bin. " + ], + "task_desc": "Put a chilled apple in the blue bin. ", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Apple-None-GarbageCan-5/trial_T20190908_111836_482484/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Apple-None-GarbageCan-5/trial_T20190908_111836_482484/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..b35d1ddfde044bcdb5b3d0efb4b47dbe63eb362f --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Apple-None-GarbageCan-5/trial_T20190908_111836_482484/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 apple in garbagecan.\"\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_111836_482484)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - 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loc_bar_4_bar__minus_5_bar_1_bar__minus_30)\n (objectAtLocation ButterKnife_bar__minus_01_dot_26_bar__plus_00_dot_91_bar__minus_01_dot_93 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Ladle_bar__plus_01_dot_41_bar__plus_01_dot_69_bar__minus_02_dot_06 loc_bar_4_bar__minus_5_bar_2_bar__minus_30)\n (objectAtLocation Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Chair_bar__minus_00_dot_46_bar__plus_00_dot_01_bar__plus_00_dot_75 loc_bar__minus_2_bar_5_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_08_bar__plus_00_dot_01_bar__plus_00_dot_76 loc_bar_0_bar_5_bar_2_bar_60)\n (objectAtLocation HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Pan_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 loc_bar__minus_2_bar__minus_5_bar_3_bar_45)\n (objectAtLocation Knife_bar__minus_01_dot_05_bar__plus_01_dot_16_bar__plus_00_dot_57 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Bowl_bar__minus_00_dot_99_bar__plus_00_dot_13_bar__minus_01_dot_54 loc_bar_0_bar__minus_4_bar_3_bar_60)\n (objectAtLocation Fork_bar__minus_00_dot_99_bar__plus_00_dot_91_bar__minus_01_dot_55 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Ladle_bar__minus_00_dot_71_bar__plus_00_dot_73_bar__plus_00_dot_19 loc_bar_0_bar__minus_2_bar_0_bar_60)\n (objectAtLocation Apple_bar__plus_01_dot_81_bar__plus_01_dot_06_bar__minus_01_dot_40 loc_bar_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Kettle_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 loc_bar__minus_2_bar__minus_3_bar_3_bar_45)\n (objectAtLocation Vase_bar__minus_00_dot_42_bar__plus_00_dot_92_bar__plus_00_dot_19 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Potato_bar__plus_02_dot_00_bar__plus_00_dot_09_bar__plus_00_dot_20 loc_bar_8_bar_3_bar_2_bar_60)\n (objectAtLocation Pot_bar__minus_01_dot_09_bar__plus_00_dot_90_bar__plus_00_dot_24 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Bread_bar__plus_01_dot_95_bar__plus_00_dot_90_bar__minus_00_dot_46 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Plate_bar__minus_01_dot_07_bar__plus_00_dot_13_bar__minus_00_dot_25 loc_bar_0_bar__minus_2_bar_3_bar_60)\n (objectAtLocation LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_30_bar__plus_02_dot_00 loc_bar_2_bar_6_bar_0_bar_30)\n (objectAtLocation Spatula_bar__minus_00_dot_60_bar__plus_01_dot_15_bar__plus_00_dot_57 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation PaperTowelRoll_bar__plus_01_dot_88_bar__plus_00_dot_17_bar__plus_00_dot_17 loc_bar_8_bar_3_bar_2_bar_60)\n (objectAtLocation Vase_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__minus_02_dot_10 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_15_bar__plus_01_dot_17_bar__plus_00_dot_71 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation SoapBottle_bar__plus_01_dot_87_bar__plus_00_dot_91_bar__minus_02_dot_27 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_08 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Lettuce_bar__plus_01_dot_89_bar__plus_01_dot_18_bar__minus_00_dot_55 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__minus_00_dot_90_bar__plus_00_dot_13_bar__minus_00_dot_30 loc_bar_0_bar__minus_2_bar_3_bar_60)\n (objectAtLocation ButterKnife_bar__minus_01_dot_33_bar__plus_00_dot_91_bar__minus_00_dot_23 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_83 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_68 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_97 loc_bar__minus_2_bar__minus_4_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_01_dot_12 loc_bar__minus_2_bar__minus_4_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__plus_02_dot_69_bar__plus_00_dot_55_bar__plus_00_dot_04 loc_bar_10_bar_5_bar_2_bar_45)\n (objectAtLocation Vase_bar__minus_01_dot_24_bar__plus_00_dot_91_bar__minus_01_dot_72 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Spoon_bar__minus_01_dot_26_bar__plus_00_dot_91_bar__minus_02_dot_10 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Tomato_bar__plus_00_dot_07_bar__plus_01_dot_18_bar__plus_00_dot_53 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Mug_bar__minus_01_dot_16_bar__plus_00_dot_91_bar__minus_01_dot_89 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Statue_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__minus_01_dot_84 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 AppleType)\n (receptacleType ?r GarbageCanType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to microwave 1", "open microwave 1", "take apple 1 from microwave 1", "go to fridge 1", "cool apple 1 with fridge 1", "go to garbagecan 1", "move apple 1 to garbagecan 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Apple-None-GarbageCan-5/trial_T20190908_111836_482484/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Apple-None-GarbageCan-5/trial_T20190908_111836_482484/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..96916b9d9d4c9a6d08d9c51550ec9f22a3001ed4 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Apple-None-GarbageCan-5/trial_T20190908_111836_482484/initial_state.pddl @@ -0,0 +1,1253 @@ + +(define (problem plan_trial_T20190908_111836_482484) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__plus_01_dot_81_bar__plus_01_dot_06_bar__minus_01_dot_40 - object + Bowl_bar__minus_00_dot_99_bar__plus_00_dot_13_bar__minus_01_dot_54 - object + Bread_bar__plus_01_dot_95_bar__plus_00_dot_90_bar__minus_00_dot_46 - object + ButterKnife_bar__minus_01_dot_02_bar__plus_00_dot_91_bar__minus_01_dot_93 - object + ButterKnife_bar__minus_01_dot_26_bar__plus_00_dot_91_bar__minus_01_dot_93 - object + ButterKnife_bar__minus_01_dot_33_bar__plus_00_dot_91_bar__minus_00_dot_23 - object + Chair_bar__minus_00_dot_08_bar__plus_00_dot_01_bar__plus_00_dot_76 - object + Chair_bar__minus_00_dot_46_bar__plus_00_dot_01_bar__plus_00_dot_75 - object + Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 - object + DishSponge_bar__plus_02_dot_69_bar__plus_00_dot_55_bar__plus_00_dot_04 - object + DishSponge_bar__minus_00_dot_19_bar__plus_00_dot_70_bar__plus_00_dot_26 - object + Egg_bar__plus_00_dot_06_bar__plus_00_dot_80_bar__minus_02_dot_12 - object + Egg_bar__plus_01_dot_96_bar__plus_00_dot_10_bar__plus_00_dot_11 - object + Egg_bar__minus_00_dot_15_bar__plus_01_dot_17_bar__plus_00_dot_71 - object + Faucet_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_02_dot_20 - object + Fork_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__minus_02_dot_01 - object + Fork_bar__minus_00_dot_76_bar__plus_00_dot_69_bar__minus_01_dot_89 - object + Fork_bar__minus_00_dot_99_bar__plus_00_dot_91_bar__minus_01_dot_55 - object + HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 - object + Kettle_bar__plus_00_dot_94_bar__plus_01_dot_66_bar__minus_02_dot_16 - object + Kettle_bar__plus_01_dot_91_bar__plus_01_dot_65_bar__minus_01_dot_67 - object + Kettle_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 - object + Knife_bar__minus_01_dot_05_bar__plus_01_dot_16_bar__plus_00_dot_57 - object + Ladle_bar__plus_01_dot_41_bar__plus_01_dot_69_bar__minus_02_dot_06 - object + Ladle_bar__minus_00_dot_71_bar__plus_00_dot_73_bar__plus_00_dot_19 - object + Ladle_bar__minus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_03 - object + Lettuce_bar__plus_01_dot_89_bar__plus_01_dot_18_bar__minus_00_dot_55 - object + Lettuce_bar__plus_02_dot_00_bar__plus_01_dot_50_bar__minus_00_dot_74 - object + LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_30_bar__plus_02_dot_00 - object + Mug_bar__plus_00_dot_50_bar__plus_00_dot_96_bar__minus_01_dot_90 - object + Mug_bar__minus_01_dot_16_bar__plus_00_dot_91_bar__minus_01_dot_89 - object + Pan_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67 - object + Pan_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 - object + PaperTowelRoll_bar__plus_01_dot_88_bar__plus_00_dot_17_bar__plus_00_dot_17 - object + PepperShaker_bar__minus_00_dot_90_bar__plus_00_dot_13_bar__minus_00_dot_30 - object + Plate_bar__plus_01_dot_69_bar__plus_00_dot_12_bar__minus_01_dot_27 - object + Plate_bar__minus_00_dot_15_bar__plus_01_dot_13_bar__plus_00_dot_53 - object + Plate_bar__minus_01_dot_07_bar__plus_00_dot_13_bar__minus_00_dot_25 - object + Potato_bar__plus_02_dot_00_bar__plus_00_dot_09_bar__plus_00_dot_20 - object + Pot_bar__minus_01_dot_09_bar__plus_00_dot_90_bar__plus_00_dot_24 - object + SaltShaker_bar__minus_00_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_08 - object + SaltShaker_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_44 - object + SaltShaker_bar__minus_00_dot_61_bar__plus_00_dot_69_bar__plus_00_dot_28 - object + Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01 - object + SoapBottle_bar__plus_01_dot_87_bar__plus_00_dot_91_bar__minus_02_dot_27 - object + Spatula_bar__minus_00_dot_60_bar__plus_01_dot_15_bar__plus_00_dot_57 - object + Spoon_bar__minus_00_dot_20_bar__plus_00_dot_76_bar__minus_01_dot_95 - object + Spoon_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_57 - object + Spoon_bar__minus_01_dot_26_bar__plus_00_dot_91_bar__minus_02_dot_10 - object + Statue_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__minus_01_dot_84 - object + Statue_bar__minus_01_dot_08_bar__plus_00_dot_92_bar__minus_00_dot_23 - object + StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_68 - object + StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_83 - object + StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_97 - object + StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_01_dot_12 - object + Tomato_bar__plus_00_dot_07_bar__plus_01_dot_18_bar__plus_00_dot_53 - object + Tomato_bar__minus_01_dot_25_bar__plus_00_dot_96_bar__minus_00_dot_29 - object + Vase_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__minus_02_dot_10 - object + Vase_bar__minus_00_dot_42_bar__plus_00_dot_92_bar__plus_00_dot_19 - object + Vase_bar__minus_01_dot_24_bar__plus_00_dot_91_bar__minus_01_dot_72 - object + Cabinet_bar__plus_00_dot_12_bar__plus_02_dot_27_bar__minus_02_dot_00 - receptacle + 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_46_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_74_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_42_bar__plus_00_dot_37_bar__minus_00_dot_01 - receptacle + Cabinet_bar__minus_00_dot_45_bar__plus_00_dot_47_bar__minus_00_dot_01 - 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_00_dot_05 - 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__plus_00_dot_38 - receptacle + Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_00_dot_77 - 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_84 - receptacle + Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_01_dot_42 - receptacle + CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_02_dot_13 - receptacle + CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01 - receptacle + CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57 - receptacle + CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19 - receptacle + Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01 - receptacle + Drawer_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_00_dot_01 - receptacle + Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69 - receptacle + Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54 - receptacle + GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14 - receptacle + Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35 - receptacle + Shelf_bar__plus_02_dot_81_bar__plus_00_dot_16_bar__plus_00_dot_14 - receptacle + Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14 - receptacle + Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14 - receptacle + Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin - receptacle + StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_00_dot_67 - receptacle + StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13 - receptacle + StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_00_dot_76 - receptacle + StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_02 - receptacle + Toaster_bar__plus_00_dot_84_bar__plus_00_dot_90_bar__minus_02_dot_06 - receptacle + loc_bar__minus_2_bar__minus_2_bar_3_bar__minus_30 - location + loc_bar__minus_2_bar__minus_1_bar_3_bar__minus_30 - location + loc_bar_3_bar__minus_2_bar_3_bar_45 - location + loc_bar_8_bar_3_bar_2_bar_60 - location + loc_bar_4_bar__minus_5_bar_1_bar__minus_30 - location + loc_bar_2_bar__minus_4_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_4_bar_3_bar_45 - location + loc_bar_2_bar__minus_5_bar_2_bar_45 - location + loc_bar_8_bar_3_bar_1_bar_45 - location + loc_bar__minus_2_bar__minus_3_bar_3_bar_45 - location + loc_bar__minus_1_bar__minus_3_bar_2_bar_45 - location + loc_bar__minus_2_bar__minus_4_bar_3_bar__minus_30 - location + loc_bar_4_bar__minus_5_bar_1_bar_45 - location + loc_bar_4_bar__minus_3_bar_1_bar_60 - location + loc_bar_0_bar_5_bar_2_bar_60 - location + loc_bar_2_bar_6_bar_0_bar_30 - location + loc_bar__minus_2_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_0_bar__minus_2_bar_3_bar_60 - location + loc_bar_11_bar_6_bar_2_bar_45 - location + loc_bar_10_bar_5_bar_2_bar_45 - location + loc_bar__minus_2_bar__minus_2_bar_0_bar_45 - location + loc_bar_4_bar__minus_5_bar_2_bar_45 - location + loc_bar_1_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_0_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar__minus_2_bar__minus_5_bar_3_bar_45 - location + loc_bar_0_bar__minus_5_bar_3_bar_45 - location + loc_bar_0_bar__minus_5_bar_2_bar_45 - location + loc_bar__minus_2_bar_5_bar_2_bar_60 - location + loc_bar_4_bar__minus_3_bar_2_bar_45 - location + loc_bar_2_bar__minus_5_bar_2_bar__minus_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_5_bar_2_bar__minus_30 - location + loc_bar__minus_1_bar__minus_4_bar_0_bar_45 - location + loc_bar_0_bar__minus_2_bar_0_bar_60 - location + loc_bar__minus_2_bar__minus_4_bar_0_bar_45 - location + loc_bar_3_bar__minus_5_bar_2_bar_45 - location + loc_bar__minus_2_bar__minus_4_bar_3_bar_60 - location + loc_bar__minus_1_bar__minus_5_bar_3_bar__minus_15 - location + loc_bar_2_bar_3_bar_3_bar_30 - location + loc_bar__minus_2_bar__minus_5_bar_3_bar__minus_30 - location + loc_bar_12_bar_7_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_84 CabinetType) + (receptacleType Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14 ShelfType) + (receptacleType Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_37_bar__minus_00_dot_01 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_01_dot_42 CabinetType) + (receptacleType StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13 StoveBurnerType) + (receptacleType Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__plus_00_dot_38 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_03 CabinetType) + (receptacleType 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ShelfType) + (receptacleType Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01 DrawerType) + (receptacleType Cabinet_bar__plus_00_dot_12_bar__plus_02_dot_27_bar__minus_02_dot_00 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_02_bar__minus_02_dot_00 CabinetType) + (receptacleType Drawer_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_00_dot_01 DrawerType) + (receptacleType CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_02_dot_13 CoffeeMachineType) + (receptacleType Cabinet_bar__minus_00_dot_45_bar__plus_00_dot_47_bar__minus_00_dot_01 CabinetType) + (receptacleType Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54 FridgeType) + (receptacleType StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_00_dot_67 StoveBurnerType) + (receptacleType Cabinet_bar__minus_00_dot_46_bar__plus_02_dot_27_bar__minus_02_dot_00 CabinetType) + (receptacleType 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CounterTopType) + (receptacleType Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69 DrawerType) + (objectType Mug_bar__minus_01_dot_16_bar__plus_00_dot_91_bar__minus_01_dot_89 MugType) + (objectType StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_83 StoveKnobType) + (objectType Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01 SinkType) + (objectType Bowl_bar__minus_00_dot_99_bar__plus_00_dot_13_bar__minus_01_dot_54 BowlType) + (objectType StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_68 StoveKnobType) + (objectType SaltShaker_bar__minus_00_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_08 SaltShakerType) + (objectType Fork_bar__minus_00_dot_99_bar__plus_00_dot_91_bar__minus_01_dot_55 ForkType) + (objectType Statue_bar__minus_01_dot_08_bar__plus_00_dot_92_bar__minus_00_dot_23 StatueType) + (objectType ButterKnife_bar__minus_01_dot_33_bar__plus_00_dot_91_bar__minus_00_dot_23 ButterKnifeType) + (objectType 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Fork_bar__minus_00_dot_76_bar__plus_00_dot_69_bar__minus_01_dot_89 Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69) + (inReceptacle Pan_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67 StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_00_dot_67) + (inReceptacle Ladle_bar__plus_01_dot_41_bar__plus_01_dot_69_bar__minus_02_dot_06 Cabinet_bar__plus_01_dot_74_bar__plus_02_dot_02_bar__minus_02_dot_00) + (inReceptacle Plate_bar__plus_01_dot_69_bar__plus_00_dot_12_bar__minus_01_dot_27 Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06) + (inReceptacle Kettle_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_00_dot_76) + (inReceptacle Kettle_bar__plus_01_dot_91_bar__plus_01_dot_65_bar__minus_01_dot_67 Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40) + (inReceptacle Kettle_bar__plus_00_dot_94_bar__plus_01_dot_66_bar__minus_02_dot_16 Cabinet_bar__plus_01_dot_18_bar__plus_02_dot_02_bar__minus_02_dot_00) + (inReceptacle Bowl_bar__minus_00_dot_99_bar__plus_00_dot_13_bar__minus_01_dot_54 Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_01_dot_67) + (inReceptacle Plate_bar__minus_01_dot_07_bar__plus_00_dot_13_bar__minus_00_dot_25 Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_00_dot_05) + (inReceptacle PepperShaker_bar__minus_00_dot_90_bar__plus_00_dot_13_bar__minus_00_dot_30 Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_00_dot_05) + (inReceptacle Pan_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_02) + (inReceptacle Tomato_bar__minus_01_dot_25_bar__plus_00_dot_96_bar__minus_00_dot_29 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle Pan_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle Ladle_bar__minus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_03 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle SaltShaker_bar__minus_00_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_08 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle Pot_bar__minus_01_dot_09_bar__plus_00_dot_90_bar__plus_00_dot_24 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle Statue_bar__minus_01_dot_08_bar__plus_00_dot_92_bar__minus_00_dot_23 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle ButterKnife_bar__minus_01_dot_33_bar__plus_00_dot_91_bar__minus_00_dot_23 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle Vase_bar__minus_00_dot_42_bar__plus_00_dot_92_bar__plus_00_dot_19 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle SaltShaker_bar__minus_00_dot_61_bar__plus_00_dot_69_bar__plus_00_dot_28 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_00_dot_01) + (inReceptacle Ladle_bar__minus_00_dot_71_bar__plus_00_dot_73_bar__plus_00_dot_19 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_00_dot_01) + (inReceptacle Plate_bar__minus_00_dot_15_bar__plus_01_dot_13_bar__plus_00_dot_53 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle Tomato_bar__plus_00_dot_07_bar__plus_01_dot_18_bar__plus_00_dot_53 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle Egg_bar__minus_00_dot_15_bar__plus_01_dot_17_bar__plus_00_dot_71 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle Spatula_bar__minus_00_dot_60_bar__plus_01_dot_15_bar__plus_00_dot_57 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle Knife_bar__minus_01_dot_05_bar__plus_01_dot_16_bar__plus_00_dot_57 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle Spoon_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_57 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle SaltShaker_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_44 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle Pan_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13) + (inReceptacle DishSponge_bar__minus_00_dot_19_bar__plus_00_dot_70_bar__plus_00_dot_26 Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01) + (inReceptacle Mug_bar__minus_01_dot_16_bar__plus_00_dot_91_bar__minus_01_dot_89 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Vase_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__minus_02_dot_10 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Vase_bar__minus_01_dot_24_bar__plus_00_dot_91_bar__minus_01_dot_72 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Mug_bar__plus_00_dot_50_bar__plus_00_dot_96_bar__minus_01_dot_90 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Fork_bar__minus_00_dot_99_bar__plus_00_dot_91_bar__minus_01_dot_55 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Spoon_bar__minus_01_dot_26_bar__plus_00_dot_91_bar__minus_02_dot_10 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Statue_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__minus_01_dot_84 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle ButterKnife_bar__minus_01_dot_26_bar__plus_00_dot_91_bar__minus_01_dot_93 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle ButterKnife_bar__minus_01_dot_02_bar__plus_00_dot_91_bar__minus_01_dot_93 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle SoapBottle_bar__plus_01_dot_87_bar__plus_00_dot_91_bar__minus_02_dot_27 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle PaperTowelRoll_bar__plus_01_dot_88_bar__plus_00_dot_17_bar__plus_00_dot_17 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14) + (inReceptacle Potato_bar__plus_02_dot_00_bar__plus_00_dot_09_bar__plus_00_dot_20 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14) + (inReceptacle Egg_bar__plus_01_dot_96_bar__plus_00_dot_10_bar__plus_00_dot_11 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14) + (inReceptacle Apple_bar__plus_01_dot_81_bar__plus_01_dot_06_bar__minus_01_dot_40 Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35) + (inReceptacle DishSponge_bar__plus_02_dot_69_bar__plus_00_dot_55_bar__plus_00_dot_04 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14) + (inReceptacle Lettuce_bar__plus_02_dot_00_bar__plus_01_dot_50_bar__minus_00_dot_74 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle Bread_bar__plus_01_dot_95_bar__plus_00_dot_90_bar__minus_00_dot_46 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle Lettuce_bar__plus_01_dot_89_bar__plus_01_dot_18_bar__minus_00_dot_55 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + 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Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar_2_bar__minus_5_bar_2_bar__minus_30) + (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) + (receptacleAtLocation Cabinet_bar__plus_01_dot_38_bar__plus_00_dot_46_bar__minus_01_dot_69 loc_bar_4_bar__minus_3_bar_2_bar_45) + (receptacleAtLocation Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06 loc_bar_2_bar__minus_4_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_74_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar_4_bar__minus_5_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_03 loc_bar_4_bar__minus_5_bar_1_bar__minus_30) + (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) + (receptacleAtLocation 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"task_id": "trial_T20190908_111836_482484", + "task_type": "pick_cool_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1RLO9LNUJIW5S_31T4R4OBOV7VGV9AHS9XUTTFPUNC7O", + "high_descs": [ + "Turn right and walk to the door then turn left and walk to the counter then take a step to your right then walk to the counter then turn left.", + "Open the microwave and take out the apple then close the door.", + "Take a step to your left and position yourself so you can use the fridge.", + "Chill the apple in the fridge then get it back out and close the door.", + "Take a step to your left so you're standing in front of the garbage to the left of the garbage.", + "Put the apple in the garbage." + ], + "task_desc": "Put an apple in the garbage.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_3BDCF01OG0L7YJZHHESWAP3ZN1VLYX", + "high_descs": [ + "Turn right and walk towards the wall, then hang a left and make your way to the microwave on the counter.", + "Open the microwave and take out the apple out of the microwave then close the door.", + "Turn left and walk over to the fridge.", + "Put the apple in the fridge and leave it in there for a couple seconds to get cold, then take it out and close the fridge door.", + "Turn left and walk towards the door, then turn right and walk up to the blue bin to the left of the fridge.", + "Put the chilled apple in the blue bin." + ], + "task_desc": "Put a chilled apple in a blue bin.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1SX8IVV82M0LW_3R2UR8A0ID7Q4ZC4PAMMJS0KG0YXOC", + "high_descs": [ + "Walk to your right to the microwave.", + "Grab the apple out of the microwave.", + "Walk in front of the fridge on your left.", + "Put the apple in the middle shelf of the fridge, then take it out.", + "Walk to the trash bin on the left.", + "Put the apple in the trash bin." + ], + "task_desc": "Chill a heated apple and trash it.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Apple-None-Microwave-11/trial_T20190909_012201_694037/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Apple-None-Microwave-11/trial_T20190909_012201_694037/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..69b365ad9fa7c3701f84ef1430a5c234c101b3dd --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Apple-None-Microwave-11/trial_T20190909_012201_694037/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: cool some apple and put it in microwave.\"\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_012201_694037)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__minus_02_dot_48_bar__plus_01_dot_02_bar__plus_00_dot_70 - object\n Bowl_bar__minus_00_dot_63_bar__plus_00_dot_11_bar__minus_01_dot_51 - object\n Bread_bar__minus_00_dot_10_bar__plus_01_dot_00_bar__plus_00_dot_38 - object\n ButterKnife_bar__minus_02_dot_20_bar__plus_00_dot_95_bar__plus_00_dot_61 - object\n Chair_bar__minus_02_dot_42_bar__plus_00_dot_56_bar__plus_00_dot_41 - object\n Cup_bar__minus_02_dot_48_bar__plus_00_dot_95_bar__plus_00_dot_35 - object\n DishSponge_bar__minus_00_dot_15_bar__plus_00_dot_11_bar__minus_01_dot_58 - object\n DishSponge_bar__minus_02_dot_34_bar__plus_00_dot_95_bar__plus_00_dot_26 - object\n Egg_bar__minus_00_dot_33_bar__plus_00_dot_11_bar__plus_00_dot_61 - object\n Egg_bar__minus_02_dot_61_bar__plus_00_dot_99_bar__plus_00_dot_52 - object\n Faucet_bar__plus_00_dot_55_bar__plus_01_dot_05_bar__minus_01_dot_83 - object\n Fork_bar__plus_00_dot_34_bar__plus_00_dot_78_bar__minus_01_dot_55 - object\n Fork_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_35 - object\n Fork_bar__minus_02_dot_48_bar__plus_00_dot_95_bar__plus_00_dot_44 - object\n Kettle_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 - object\n Kettle_bar__plus_01_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_54 - object\n Kettle_bar__minus_00_dot_08_bar__plus_00_dot_91_bar__minus_01_dot_49 - object\n Knife_bar__minus_01_dot_79_bar__plus_00_dot_98_bar__plus_00_dot_52 - object\n Knife_bar__minus_01_dot_93_bar__plus_00_dot_98_bar__plus_00_dot_26 - object\n Lettuce_bar__plus_00_dot_85_bar__plus_01_dot_00_bar__minus_01_dot_54 - object\n LightSwitch_bar__minus_02_dot_76_bar__plus_01_dot_31_bar__minus_00_dot_99 - object\n Mug_bar__plus_00_dot_17_bar__plus_00_dot_91_bar__plus_00_dot_38 - object\n Mug_bar__plus_00_dot_62_bar__plus_00_dot_95_bar__plus_00_dot_47 - object\n Mug_bar__minus_00_dot_92_bar__plus_01_dot_01_bar__minus_01_dot_77 - object\n Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29 - object\n PaperTowelRoll_bar__minus_00_dot_36_bar__plus_00_dot_17_bar__plus_00_dot_44 - object\n PepperShaker_bar__plus_01_dot_60_bar__plus_00_dot_91_bar__plus_00_dot_29 - object\n PepperShaker_bar__minus_00_dot_13_bar__plus_00_dot_10_bar__plus_00_dot_32 - object\n PepperShaker_bar__minus_00_dot_20_bar__plus_00_dot_11_bar__minus_01_dot_43 - object\n Plate_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_61 - object\n Plate_bar__minus_02_dot_14_bar__plus_00_dot_51_bar__minus_01_dot_72 - object\n Potato_bar__minus_00_dot_54_bar__plus_00_dot_94_bar__minus_01_dot_57 - object\n Potato_bar__minus_01_dot_96_bar__plus_00_dot_54_bar__minus_01_dot_72 - object\n Pot_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 - object\n SaltShaker_bar__plus_01_dot_68_bar__plus_01_dot_33_bar__minus_01_dot_88 - object\n SaltShaker_bar__plus_01_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_21 - object\n SaltShaker_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_44 - object\n Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77 - object\n SoapBottle_bar__plus_00_dot_65_bar__plus_00_dot_92_bar__minus_01_dot_58 - object\n SoapBottle_bar__minus_00_dot_43_bar__plus_00_dot_07_bar__plus_00_dot_61 - object\n Spatula_bar__plus_00_dot_30_bar__plus_00_dot_93_bar__plus_00_dot_21 - object\n Spatula_bar__plus_00_dot_65_bar__plus_00_dot_93_bar__minus_01_dot_65 - object\n Spatula_bar__minus_00_dot_18_bar__plus_00_dot_93_bar__minus_01_dot_74 - object\n Spoon_bar__minus_02_dot_20_bar__plus_00_dot_95_bar__plus_00_dot_35 - object\n StoveKnob_bar__plus_01_dot_00_bar__plus_00_dot_91_bar__plus_00_dot_12 - object\n StoveKnob_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_12 - object\n StoveKnob_bar__plus_01_dot_25_bar__plus_00_dot_91_bar__plus_00_dot_12 - object\n StoveKnob_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_12 - object\n Tomato_bar__plus_00_dot_86_bar__plus_00_dot_97_bar__minus_01_dot_78 - object\n Window_bar__plus_00_dot_58_bar__plus_01_dot_61_bar__minus_01_dot_97 - object\n Window_bar__plus_01_dot_97_bar__plus_01_dot_50_bar__minus_00_dot_62 - object\n Cabinet_bar__plus_00_dot_06_bar__plus_00_dot_40_bar__minus_01_dot_35 - receptacle\n Cabinet_bar__plus_00_dot_10_bar__plus_00_dot_40_bar__minus_01_dot_35 - receptacle\n Cabinet_bar__plus_00_dot_73_bar__plus_00_dot_40_bar__plus_00_dot_15 - receptacle\n Cabinet_bar__plus_01_dot_08_bar__plus_00_dot_40_bar__minus_01_dot_35 - receptacle\n Cabinet_bar__plus_01_dot_67_bar__plus_00_dot_40_bar__plus_00_dot_15 - receptacle\n Cabinet_bar__plus_01_dot_97_bar__plus_01_dot_69_bar__minus_01_dot_65 - receptacle\n Cabinet_bar__minus_00_dot_18_bar__plus_00_dot_40_bar__plus_00_dot_15 - receptacle\n Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_69_bar__minus_01_dot_65 - receptacle\n Cabinet_bar__minus_00_dot_40_bar__plus_00_dot_40_bar__minus_01_dot_35 - receptacle\n Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_35 - receptacle\n CoffeeMachine_bar__plus_00_dot_62_bar__plus_00_dot_90_bar__plus_00_dot_60 - receptacle\n CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46 - receptacle\n CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46 - receptacle\n CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65 - receptacle\n DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45 - receptacle\n Drawer_bar__plus_00_dot_02_bar__plus_00_dot_79_bar__plus_00_dot_30 - receptacle\n Drawer_bar__plus_00_dot_50_bar__plus_00_dot_79_bar__plus_00_dot_30 - receptacle\n Drawer_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_00_dot_30 - receptacle\n Drawer_bar__minus_00_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_50 - receptacle\n Drawer_bar__minus_00_dot_59_bar__plus_00_dot_79_bar__minus_01_dot_50 - receptacle\n Drawer_bar__minus_01_dot_10_bar__plus_00_dot_79_bar__minus_01_dot_50 - receptacle\n Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69 - receptacle\n GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54 - receptacle\n Microwave_bar__minus_01_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_72 - receptacle\n Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77_bar_SinkBasin - receptacle\n StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29 - receptacle\n StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 - receptacle\n StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29 - receptacle\n StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 - receptacle\n Toaster_bar__plus_00_dot_31_bar__plus_00_dot_90_bar__plus_00_dot_55 - receptacle\n loc_bar_5_bar__minus_2_bar_2_bar_60 - location\n loc_bar_6_bar__minus_4_bar_0_bar_45 - location\n loc_bar_6_bar__minus_4_bar_3_bar_15 - location\n loc_bar_1_bar__minus_2_bar_0_bar_45 - location\n loc_bar_1_bar__minus_1_bar_0_bar_45 - location\n loc_bar_0_bar__minus_3_bar_3_bar_45 - location\n loc_bar_4_bar__minus_1_bar_0_bar_45 - location\n loc_bar__minus_9_bar__minus_3_bar_2_bar_60 - location\n loc_bar_1_bar__minus_4_bar_2_bar_60 - location\n loc_bar_5_bar__minus_1_bar_0_bar_60 - location\n loc_bar__minus_6_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_2_bar__minus_4_bar_2_bar_0 - location\n loc_bar_2_bar__minus_4_bar_3_bar_60 - location\n loc_bar_6_bar__minus_4_bar_2_bar_0 - location\n loc_bar__minus_9_bar__minus_1_bar_0_bar_60 - location\n loc_bar_4_bar__minus_1_bar_0_bar_60 - location\n loc_bar_6_bar__minus_1_bar_0_bar_45 - location\n loc_bar__minus_9_bar__minus_3_bar_3_bar_30 - location\n loc_bar_1_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_1_bar__minus_2_bar_0_bar_45 - location\n loc_bar_6_bar__minus_2_bar_1_bar_15 - location\n loc_bar__minus_4_bar__minus_2_bar_2_bar_60 - location\n loc_bar_5_bar__minus_1_bar_0_bar_45 - location\n loc_bar__minus_2_bar_0_bar_0_bar_60 - location\n loc_bar_4_bar__minus_3_bar_0_bar_60 - location\n loc_bar__minus_4_bar__minus_4_bar_2_bar_45 - location\n loc_bar__minus_9_bar__minus_1_bar_0_bar_45 - location\n loc_bar__minus_5_bar__minus_4_bar_1_bar_45 - location\n loc_bar_2_bar__minus_4_bar_2_bar_0 - location\n loc_bar_3_bar__minus_2_bar_2_bar_60 - location\n loc_bar_6_bar__minus_1_bar_0_bar_60 - location\n loc_bar__minus_2_bar__minus_3_bar_0_bar_60 - location\n loc_bar_2_bar__minus_1_bar_0_bar_45 - location\n loc_bar_4_bar__minus_4_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__plus_00_dot_50_bar__plus_00_dot_79_bar__plus_00_dot_30 DrawerType)\n (receptacleType GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54 GarbageCanType)\n (receptacleType StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_00_dot_18_bar__plus_00_dot_40_bar__plus_00_dot_15 CabinetType)\n (receptacleType Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__plus_01_dot_08_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_69_bar__minus_01_dot_65 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_10_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType)\n (receptacleType Drawer_bar__minus_01_dot_10_bar__plus_00_dot_79_bar__minus_01_dot_50 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_59_bar__plus_00_dot_79_bar__minus_01_dot_50 DrawerType)\n (receptacleType CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46 CounterTopType)\n (receptacleType CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65 CounterTopType)\n (receptacleType StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_00_dot_06_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType)\n (receptacleType Microwave_bar__minus_01_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_72 MicrowaveType)\n (receptacleType StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_01_dot_67_bar__plus_00_dot_40_bar__plus_00_dot_15 CabinetType)\n (receptacleType CoffeeMachine_bar__plus_00_dot_62_bar__plus_00_dot_90_bar__plus_00_dot_60 CoffeeMachineType)\n (receptacleType Drawer_bar__plus_00_dot_02_bar__plus_00_dot_79_bar__plus_00_dot_30 DrawerType)\n (receptacleType Cabinet_bar__plus_01_dot_97_bar__plus_01_dot_69_bar__minus_01_dot_65 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_40_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType)\n (receptacleType Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69 FridgeType)\n (receptacleType Toaster_bar__plus_00_dot_31_bar__plus_00_dot_90_bar__plus_00_dot_55 ToasterType)\n (receptacleType StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_35 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(objectType ButterKnife_bar__minus_02_dot_20_bar__plus_00_dot_95_bar__plus_00_dot_61 ButterKnifeType)\n (objectType Spatula_bar__plus_00_dot_30_bar__plus_00_dot_93_bar__plus_00_dot_21 SpatulaType)\n (objectType StoveKnob_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_12 StoveKnobType)\n (objectType Kettle_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 KettleType)\n (objectType Pot_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 PotType)\n (objectType StoveKnob_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_12 StoveKnobType)\n (objectType PaperTowelRoll_bar__minus_00_dot_36_bar__plus_00_dot_17_bar__plus_00_dot_44 PaperTowelRollType)\n (objectType Potato_bar__minus_00_dot_54_bar__plus_00_dot_94_bar__minus_01_dot_57 PotatoType)\n (objectType Knife_bar__minus_01_dot_79_bar__plus_00_dot_98_bar__plus_00_dot_52 KnifeType)\n (objectType Mug_bar__minus_00_dot_92_bar__plus_01_dot_01_bar__minus_01_dot_77 MugType)\n (objectType 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Cabinet_bar__plus_01_dot_97_bar__plus_01_dot_69_bar__minus_01_dot_65)\n (openable Cabinet_bar__minus_00_dot_40_bar__plus_00_dot_40_bar__minus_01_dot_35)\n (openable Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69)\n (openable Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_35)\n (openable Drawer_bar__minus_00_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_50)\n (openable Cabinet_bar__plus_00_dot_73_bar__plus_00_dot_40_bar__plus_00_dot_15)\n \n (atLocation agent1 loc_bar_4_bar__minus_4_bar_0_bar_30)\n \n (cleanable Plate_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_61)\n (cleanable Mug_bar__plus_00_dot_17_bar__plus_00_dot_91_bar__plus_00_dot_38)\n (cleanable ButterKnife_bar__minus_02_dot_20_bar__plus_00_dot_95_bar__plus_00_dot_61)\n (cleanable Spatula_bar__plus_00_dot_30_bar__plus_00_dot_93_bar__plus_00_dot_21)\n (cleanable Kettle_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56)\n (cleanable Pot_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56)\n (cleanable Potato_bar__minus_00_dot_54_bar__plus_00_dot_94_bar__minus_01_dot_57)\n (cleanable Knife_bar__minus_01_dot_79_bar__plus_00_dot_98_bar__plus_00_dot_52)\n (cleanable Mug_bar__minus_00_dot_92_bar__plus_01_dot_01_bar__minus_01_dot_77)\n (cleanable Spoon_bar__minus_02_dot_20_bar__plus_00_dot_95_bar__plus_00_dot_35)\n (cleanable Kettle_bar__plus_01_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_54)\n (cleanable Kettle_bar__minus_00_dot_08_bar__plus_00_dot_91_bar__minus_01_dot_49)\n (cleanable Plate_bar__minus_02_dot_14_bar__plus_00_dot_51_bar__minus_01_dot_72)\n (cleanable Mug_bar__plus_00_dot_62_bar__plus_00_dot_95_bar__plus_00_dot_47)\n (cleanable Tomato_bar__plus_00_dot_86_bar__plus_00_dot_97_bar__minus_01_dot_78)\n (cleanable Fork_bar__plus_00_dot_34_bar__plus_00_dot_78_bar__minus_01_dot_55)\n (cleanable Fork_bar__minus_02_dot_48_bar__plus_00_dot_95_bar__plus_00_dot_44)\n (cleanable Fork_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_35)\n (cleanable Lettuce_bar__plus_00_dot_85_bar__plus_01_dot_00_bar__minus_01_dot_54)\n (cleanable DishSponge_bar__minus_02_dot_34_bar__plus_00_dot_95_bar__plus_00_dot_26)\n (cleanable DishSponge_bar__minus_00_dot_15_bar__plus_00_dot_11_bar__minus_01_dot_58)\n (cleanable Egg_bar__minus_00_dot_33_bar__plus_00_dot_11_bar__plus_00_dot_61)\n (cleanable Knife_bar__minus_01_dot_93_bar__plus_00_dot_98_bar__plus_00_dot_26)\n (cleanable Spatula_bar__minus_00_dot_18_bar__plus_00_dot_93_bar__minus_01_dot_74)\n (cleanable Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29)\n (cleanable Potato_bar__minus_01_dot_96_bar__plus_00_dot_54_bar__minus_01_dot_72)\n (cleanable Bowl_bar__minus_00_dot_63_bar__plus_00_dot_11_bar__minus_01_dot_51)\n (cleanable Egg_bar__minus_02_dot_61_bar__plus_00_dot_99_bar__plus_00_dot_52)\n (cleanable Spatula_bar__plus_00_dot_65_bar__plus_00_dot_93_bar__minus_01_dot_65)\n (cleanable Cup_bar__minus_02_dot_48_bar__plus_00_dot_95_bar__plus_00_dot_35)\n (cleanable Apple_bar__minus_02_dot_48_bar__plus_01_dot_02_bar__plus_00_dot_70)\n \n (heatable Plate_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_61)\n (heatable Mug_bar__plus_00_dot_17_bar__plus_00_dot_91_bar__plus_00_dot_38)\n (heatable Potato_bar__minus_00_dot_54_bar__plus_00_dot_94_bar__minus_01_dot_57)\n (heatable Mug_bar__minus_00_dot_92_bar__plus_01_dot_01_bar__minus_01_dot_77)\n (heatable Plate_bar__minus_02_dot_14_bar__plus_00_dot_51_bar__minus_01_dot_72)\n (heatable Mug_bar__plus_00_dot_62_bar__plus_00_dot_95_bar__plus_00_dot_47)\n (heatable Tomato_bar__plus_00_dot_86_bar__plus_00_dot_97_bar__minus_01_dot_78)\n (heatable Egg_bar__minus_00_dot_33_bar__plus_00_dot_11_bar__plus_00_dot_61)\n (heatable Potato_bar__minus_01_dot_96_bar__plus_00_dot_54_bar__minus_01_dot_72)\n (heatable Egg_bar__minus_02_dot_61_bar__plus_00_dot_99_bar__plus_00_dot_52)\n (heatable Cup_bar__minus_02_dot_48_bar__plus_00_dot_95_bar__plus_00_dot_35)\n (heatable Apple_bar__minus_02_dot_48_bar__plus_01_dot_02_bar__plus_00_dot_70)\n (heatable Bread_bar__minus_00_dot_10_bar__plus_01_dot_00_bar__plus_00_dot_38)\n (coolable Plate_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_61)\n (coolable Mug_bar__plus_00_dot_17_bar__plus_00_dot_91_bar__plus_00_dot_38)\n (coolable Pot_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56)\n (coolable Potato_bar__minus_00_dot_54_bar__plus_00_dot_94_bar__minus_01_dot_57)\n (coolable Mug_bar__minus_00_dot_92_bar__plus_01_dot_01_bar__minus_01_dot_77)\n (coolable Plate_bar__minus_02_dot_14_bar__plus_00_dot_51_bar__minus_01_dot_72)\n (coolable Mug_bar__plus_00_dot_62_bar__plus_00_dot_95_bar__plus_00_dot_47)\n (coolable Tomato_bar__plus_00_dot_86_bar__plus_00_dot_97_bar__minus_01_dot_78)\n (coolable Lettuce_bar__plus_00_dot_85_bar__plus_01_dot_00_bar__minus_01_dot_54)\n (coolable Egg_bar__minus_00_dot_33_bar__plus_00_dot_11_bar__plus_00_dot_61)\n (coolable Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29)\n (coolable Potato_bar__minus_01_dot_96_bar__plus_00_dot_54_bar__minus_01_dot_72)\n (coolable Bowl_bar__minus_00_dot_63_bar__plus_00_dot_11_bar__minus_01_dot_51)\n (coolable Egg_bar__minus_02_dot_61_bar__plus_00_dot_99_bar__plus_00_dot_52)\n (coolable Cup_bar__minus_02_dot_48_bar__plus_00_dot_95_bar__plus_00_dot_35)\n (coolable Apple_bar__minus_02_dot_48_bar__plus_01_dot_02_bar__plus_00_dot_70)\n (coolable Bread_bar__minus_00_dot_10_bar__plus_01_dot_00_bar__plus_00_dot_38)\n \n \n \n \n \n (sliceable Potato_bar__minus_00_dot_54_bar__plus_00_dot_94_bar__minus_01_dot_57)\n (sliceable Tomato_bar__plus_00_dot_86_bar__plus_00_dot_97_bar__minus_01_dot_78)\n (sliceable Lettuce_bar__plus_00_dot_85_bar__plus_01_dot_00_bar__minus_01_dot_54)\n (sliceable Egg_bar__minus_00_dot_33_bar__plus_00_dot_11_bar__plus_00_dot_61)\n (sliceable Potato_bar__minus_01_dot_96_bar__plus_00_dot_54_bar__minus_01_dot_72)\n (sliceable Egg_bar__minus_02_dot_61_bar__plus_00_dot_99_bar__plus_00_dot_52)\n (sliceable Apple_bar__minus_02_dot_48_bar__plus_01_dot_02_bar__plus_00_dot_70)\n (sliceable Bread_bar__minus_00_dot_10_bar__plus_01_dot_00_bar__plus_00_dot_38)\n \n (inReceptacle Plate_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_61 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Knife_bar__minus_01_dot_79_bar__plus_00_dot_98_bar__plus_00_dot_52 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Cup_bar__minus_02_dot_48_bar__plus_00_dot_95_bar__plus_00_dot_35 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle SaltShaker_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_44 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Spoon_bar__minus_02_dot_20_bar__plus_00_dot_95_bar__plus_00_dot_35 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Egg_bar__minus_02_dot_61_bar__plus_00_dot_99_bar__plus_00_dot_52 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Apple_bar__minus_02_dot_48_bar__plus_01_dot_02_bar__plus_00_dot_70 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle ButterKnife_bar__minus_02_dot_20_bar__plus_00_dot_95_bar__plus_00_dot_61 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Knife_bar__minus_01_dot_93_bar__plus_00_dot_98_bar__plus_00_dot_26 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Fork_bar__minus_02_dot_48_bar__plus_00_dot_95_bar__plus_00_dot_44 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Fork_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_35 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle DishSponge_bar__minus_02_dot_34_bar__plus_00_dot_95_bar__plus_00_dot_26 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Mug_bar__plus_00_dot_17_bar__plus_00_dot_91_bar__plus_00_dot_38 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Mug_bar__plus_00_dot_62_bar__plus_00_dot_95_bar__plus_00_dot_47 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Spatula_bar__plus_00_dot_30_bar__plus_00_dot_93_bar__plus_00_dot_21 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Bread_bar__minus_00_dot_10_bar__plus_01_dot_00_bar__plus_00_dot_38 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Spatula_bar__minus_00_dot_18_bar__plus_00_dot_93_bar__minus_01_dot_74 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle Potato_bar__minus_00_dot_54_bar__plus_00_dot_94_bar__minus_01_dot_57 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle Kettle_bar__minus_00_dot_08_bar__plus_00_dot_91_bar__minus_01_dot_49 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle Kettle_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56)\n (inReceptacle Pot_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56)\n (inReceptacle PepperShaker_bar__minus_00_dot_20_bar__plus_00_dot_11_bar__minus_01_dot_43 Cabinet_bar__plus_00_dot_06_bar__plus_00_dot_40_bar__minus_01_dot_35)\n (inReceptacle DishSponge_bar__minus_00_dot_15_bar__plus_00_dot_11_bar__minus_01_dot_58 Cabinet_bar__plus_00_dot_06_bar__plus_00_dot_40_bar__minus_01_dot_35)\n (inReceptacle PepperShaker_bar__minus_00_dot_13_bar__plus_00_dot_10_bar__plus_00_dot_32 Cabinet_bar__minus_00_dot_18_bar__plus_00_dot_40_bar__plus_00_dot_15)\n (inReceptacle Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29 StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29)\n (inReceptacle Bowl_bar__minus_00_dot_63_bar__plus_00_dot_11_bar__minus_01_dot_51 Cabinet_bar__minus_00_dot_40_bar__plus_00_dot_40_bar__minus_01_dot_35)\n (inReceptacle SaltShaker_bar__plus_01_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_21 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Kettle_bar__plus_01_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_54 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle PepperShaker_bar__plus_01_dot_60_bar__plus_00_dot_91_bar__plus_00_dot_29 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle SaltShaker_bar__plus_01_dot_68_bar__plus_01_dot_33_bar__minus_01_dot_88 Cabinet_bar__plus_01_dot_97_bar__plus_01_dot_69_bar__minus_01_dot_65)\n (inReceptacle Mug_bar__minus_00_dot_92_bar__plus_01_dot_01_bar__minus_01_dot_77 Microwave_bar__minus_01_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_72)\n (inReceptacle Fork_bar__plus_00_dot_34_bar__plus_00_dot_78_bar__minus_01_dot_55 Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77_bar_SinkBasin)\n (inReceptacle SoapBottle_bar__minus_00_dot_43_bar__plus_00_dot_07_bar__plus_00_dot_61 GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54)\n (inReceptacle Egg_bar__minus_00_dot_33_bar__plus_00_dot_11_bar__plus_00_dot_61 GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54)\n (inReceptacle PaperTowelRoll_bar__minus_00_dot_36_bar__plus_00_dot_17_bar__plus_00_dot_44 GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54)\n (inReceptacle Potato_bar__minus_01_dot_96_bar__plus_00_dot_54_bar__minus_01_dot_72 Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69)\n (inReceptacle Plate_bar__minus_02_dot_14_bar__plus_00_dot_51_bar__minus_01_dot_72 Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_06_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar_1_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_10_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar_3_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_73_bar__plus_00_dot_40_bar__plus_00_dot_15 loc_bar_4_bar__minus_3_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_08_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar_5_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_67_bar__plus_00_dot_40_bar__plus_00_dot_15 loc_bar_6_bar__minus_4_bar_0_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_97_bar__plus_01_dot_69_bar__minus_01_dot_65 loc_bar_6_bar__minus_4_bar_2_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_18_bar__plus_00_dot_40_bar__plus_00_dot_15 loc_bar__minus_2_bar__minus_3_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_69_bar__minus_01_dot_65 loc_bar__minus_2_bar__minus_4_bar_2_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_40_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar__minus_4_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar__minus_6_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation CoffeeMachine_bar__plus_00_dot_62_bar__plus_00_dot_90_bar__plus_00_dot_60 loc_bar_2_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46 loc_bar_6_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (receptacleAtLocation DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_02_bar__plus_00_dot_79_bar__plus_00_dot_30 loc_bar__minus_1_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_50_bar__plus_00_dot_79_bar__plus_00_dot_30 loc_bar_1_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_00_dot_30 loc_bar_6_bar__minus_1_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_50 loc_bar_2_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_59_bar__plus_00_dot_79_bar__minus_01_dot_50 loc_bar__minus_5_bar__minus_4_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_10_bar__plus_00_dot_79_bar__minus_01_dot_50 loc_bar_0_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69 loc_bar__minus_9_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54 loc_bar__minus_2_bar_0_bar_0_bar_60)\n (receptacleAtLocation Microwave_bar__minus_01_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_72 loc_bar__minus_4_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77_bar_SinkBasin loc_bar_1_bar__minus_4_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29 loc_bar_4_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 loc_bar_4_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29 loc_bar_5_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 loc_bar_5_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation Toaster_bar__plus_00_dot_31_bar__plus_00_dot_90_bar__plus_00_dot_55 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Mug_bar__plus_00_dot_17_bar__plus_00_dot_91_bar__plus_00_dot_38 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation DishSponge_bar__minus_00_dot_15_bar__plus_00_dot_11_bar__minus_01_dot_58 loc_bar_1_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Potato_bar__minus_00_dot_54_bar__plus_00_dot_94_bar__minus_01_dot_57 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation PepperShaker_bar__minus_00_dot_13_bar__plus_00_dot_10_bar__plus_00_dot_32 loc_bar__minus_2_bar__minus_3_bar_0_bar_60)\n (objectAtLocation SaltShaker_bar__plus_01_dot_68_bar__plus_01_dot_33_bar__minus_01_dot_88 loc_bar_6_bar__minus_4_bar_2_bar_0)\n (objectAtLocation Egg_bar__minus_02_dot_61_bar__plus_00_dot_99_bar__plus_00_dot_52 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Spatula_bar__plus_00_dot_65_bar__plus_00_dot_93_bar__minus_01_dot_65 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Plate_bar__minus_02_dot_14_bar__plus_00_dot_51_bar__minus_01_dot_72 loc_bar__minus_9_bar__minus_3_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__minus_00_dot_43_bar__plus_00_dot_07_bar__plus_00_dot_61 loc_bar__minus_2_bar_0_bar_0_bar_60)\n (objectAtLocation Kettle_bar__plus_01_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_54 loc_bar_6_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Fork_bar__minus_02_dot_48_bar__plus_00_dot_95_bar__plus_00_dot_44 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Knife_bar__minus_01_dot_79_bar__plus_00_dot_98_bar__plus_00_dot_52 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Mug_bar__plus_00_dot_62_bar__plus_00_dot_95_bar__plus_00_dot_47 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation PepperShaker_bar__plus_01_dot_60_bar__plus_00_dot_91_bar__plus_00_dot_29 loc_bar_6_bar__minus_1_bar_0_bar_45)\n (objectAtLocation SaltShaker_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_44 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Spatula_bar__plus_00_dot_30_bar__plus_00_dot_93_bar__plus_00_dot_21 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Fork_bar__plus_00_dot_34_bar__plus_00_dot_78_bar__minus_01_dot_55 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Kettle_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 loc_bar_4_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Bread_bar__minus_00_dot_10_bar__plus_01_dot_00_bar__plus_00_dot_38 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Knife_bar__minus_01_dot_93_bar__plus_00_dot_98_bar__plus_00_dot_26 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Fork_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_35 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_63_bar__plus_00_dot_11_bar__minus_01_dot_51 loc_bar__minus_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Kettle_bar__minus_00_dot_08_bar__plus_00_dot_91_bar__minus_01_dot_49 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Cup_bar__minus_02_dot_48_bar__plus_00_dot_95_bar__plus_00_dot_35 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Tomato_bar__plus_00_dot_86_bar__plus_00_dot_97_bar__minus_01_dot_78 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__plus_00_dot_65_bar__plus_00_dot_92_bar__minus_01_dot_58 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Plate_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_61 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation LightSwitch_bar__minus_02_dot_76_bar__plus_01_dot_31_bar__minus_00_dot_99 loc_bar__minus_9_bar__minus_3_bar_3_bar_30)\n (objectAtLocation Pot_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 loc_bar_5_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Window_bar__plus_00_dot_58_bar__plus_01_dot_61_bar__minus_01_dot_97 loc_bar_2_bar__minus_4_bar_2_bar_0)\n (objectAtLocation Window_bar__plus_01_dot_97_bar__plus_01_dot_50_bar__minus_00_dot_62 loc_bar_6_bar__minus_2_bar_1_bar_15)\n (objectAtLocation Spatula_bar__minus_00_dot_18_bar__plus_00_dot_93_bar__minus_01_dot_74 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation PaperTowelRoll_bar__minus_00_dot_36_bar__plus_00_dot_17_bar__plus_00_dot_44 loc_bar__minus_2_bar_0_bar_0_bar_60)\n (objectAtLocation Egg_bar__minus_00_dot_33_bar__plus_00_dot_11_bar__plus_00_dot_61 loc_bar__minus_2_bar_0_bar_0_bar_60)\n (objectAtLocation Lettuce_bar__plus_00_dot_85_bar__plus_01_dot_00_bar__minus_01_dot_54 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation SaltShaker_bar__plus_01_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_21 loc_bar_6_bar__minus_1_bar_0_bar_45)\n (objectAtLocation PepperShaker_bar__minus_00_dot_20_bar__plus_00_dot_11_bar__minus_01_dot_43 loc_bar_1_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Apple_bar__minus_02_dot_48_bar__plus_01_dot_02_bar__plus_00_dot_70 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation ButterKnife_bar__minus_02_dot_20_bar__plus_00_dot_95_bar__plus_00_dot_61 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation StoveKnob_bar__plus_01_dot_25_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar_5_bar__minus_1_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar_5_bar__minus_1_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_00_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar_4_bar__minus_1_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar_5_bar__minus_1_bar_0_bar_60)\n (objectAtLocation Potato_bar__minus_01_dot_96_bar__plus_00_dot_54_bar__minus_01_dot_72 loc_bar__minus_9_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29 loc_bar_4_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Chair_bar__minus_02_dot_42_bar__plus_00_dot_56_bar__plus_00_dot_41 loc_bar__minus_9_bar__minus_1_bar_0_bar_60)\n (objectAtLocation DishSponge_bar__minus_02_dot_34_bar__plus_00_dot_95_bar__plus_00_dot_26 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Spoon_bar__minus_02_dot_20_bar__plus_00_dot_95_bar__plus_00_dot_35 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_92_bar__plus_01_dot_01_bar__minus_01_dot_77 loc_bar__minus_4_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 (coolable ?o)\n (objectType ?o AppleType)\n (receptacleType ?r MicrowaveType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 1", "take apple 1 from diningtable 1", "go to fridge 1", "cool apple 1 with fridge 1", "go to microwave 1", "open microwave 1", "move apple 1 to microwave 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Apple-None-Microwave-11/trial_T20190909_012201_694037/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Apple-None-Microwave-11/trial_T20190909_012201_694037/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..e380f106b2bcf90e40f884463669e9e968998705 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Apple-None-Microwave-11/trial_T20190909_012201_694037/initial_state.pddl @@ -0,0 +1,994 @@ + +(define (problem plan_trial_T20190909_012201_694037) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__minus_02_dot_48_bar__plus_01_dot_02_bar__plus_00_dot_70 - object + Bowl_bar__minus_00_dot_63_bar__plus_00_dot_11_bar__minus_01_dot_51 - object + Bread_bar__minus_00_dot_10_bar__plus_01_dot_00_bar__plus_00_dot_38 - object + ButterKnife_bar__minus_02_dot_20_bar__plus_00_dot_95_bar__plus_00_dot_61 - object + Chair_bar__minus_02_dot_42_bar__plus_00_dot_56_bar__plus_00_dot_41 - object + Cup_bar__minus_02_dot_48_bar__plus_00_dot_95_bar__plus_00_dot_35 - object + DishSponge_bar__minus_00_dot_15_bar__plus_00_dot_11_bar__minus_01_dot_58 - object + DishSponge_bar__minus_02_dot_34_bar__plus_00_dot_95_bar__plus_00_dot_26 - object + Egg_bar__minus_00_dot_33_bar__plus_00_dot_11_bar__plus_00_dot_61 - object + Egg_bar__minus_02_dot_61_bar__plus_00_dot_99_bar__plus_00_dot_52 - object + Faucet_bar__plus_00_dot_55_bar__plus_01_dot_05_bar__minus_01_dot_83 - object + Fork_bar__plus_00_dot_34_bar__plus_00_dot_78_bar__minus_01_dot_55 - object + Fork_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_35 - object + Fork_bar__minus_02_dot_48_bar__plus_00_dot_95_bar__plus_00_dot_44 - object + Kettle_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 - object + Kettle_bar__plus_01_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_54 - object + Kettle_bar__minus_00_dot_08_bar__plus_00_dot_91_bar__minus_01_dot_49 - object + Knife_bar__minus_01_dot_79_bar__plus_00_dot_98_bar__plus_00_dot_52 - object + Knife_bar__minus_01_dot_93_bar__plus_00_dot_98_bar__plus_00_dot_26 - object + Lettuce_bar__plus_00_dot_85_bar__plus_01_dot_00_bar__minus_01_dot_54 - object + LightSwitch_bar__minus_02_dot_76_bar__plus_01_dot_31_bar__minus_00_dot_99 - object + Mug_bar__plus_00_dot_17_bar__plus_00_dot_91_bar__plus_00_dot_38 - object + Mug_bar__plus_00_dot_62_bar__plus_00_dot_95_bar__plus_00_dot_47 - object + Mug_bar__minus_00_dot_92_bar__plus_01_dot_01_bar__minus_01_dot_77 - object + Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29 - object + PaperTowelRoll_bar__minus_00_dot_36_bar__plus_00_dot_17_bar__plus_00_dot_44 - object + PepperShaker_bar__plus_01_dot_60_bar__plus_00_dot_91_bar__plus_00_dot_29 - object + PepperShaker_bar__minus_00_dot_13_bar__plus_00_dot_10_bar__plus_00_dot_32 - object + PepperShaker_bar__minus_00_dot_20_bar__plus_00_dot_11_bar__minus_01_dot_43 - object + Plate_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_61 - object + Plate_bar__minus_02_dot_14_bar__plus_00_dot_51_bar__minus_01_dot_72 - object + Potato_bar__minus_00_dot_54_bar__plus_00_dot_94_bar__minus_01_dot_57 - object + Potato_bar__minus_01_dot_96_bar__plus_00_dot_54_bar__minus_01_dot_72 - object + Pot_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 - object + SaltShaker_bar__plus_01_dot_68_bar__plus_01_dot_33_bar__minus_01_dot_88 - object + SaltShaker_bar__plus_01_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_21 - object + SaltShaker_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_44 - object + Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77 - object + SoapBottle_bar__plus_00_dot_65_bar__plus_00_dot_92_bar__minus_01_dot_58 - object + SoapBottle_bar__minus_00_dot_43_bar__plus_00_dot_07_bar__plus_00_dot_61 - object + Spatula_bar__plus_00_dot_30_bar__plus_00_dot_93_bar__plus_00_dot_21 - object + Spatula_bar__plus_00_dot_65_bar__plus_00_dot_93_bar__minus_01_dot_65 - object + Spatula_bar__minus_00_dot_18_bar__plus_00_dot_93_bar__minus_01_dot_74 - object + Spoon_bar__minus_02_dot_20_bar__plus_00_dot_95_bar__plus_00_dot_35 - object + StoveKnob_bar__plus_01_dot_00_bar__plus_00_dot_91_bar__plus_00_dot_12 - object + StoveKnob_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_12 - object + StoveKnob_bar__plus_01_dot_25_bar__plus_00_dot_91_bar__plus_00_dot_12 - object + StoveKnob_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_12 - object + Tomato_bar__plus_00_dot_86_bar__plus_00_dot_97_bar__minus_01_dot_78 - object + Window_bar__plus_00_dot_58_bar__plus_01_dot_61_bar__minus_01_dot_97 - object + Window_bar__plus_01_dot_97_bar__plus_01_dot_50_bar__minus_00_dot_62 - object + 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loc_bar__minus_5_bar__minus_4_bar_1_bar_45 - location + loc_bar_2_bar__minus_4_bar_2_bar_0 - location + loc_bar_3_bar__minus_2_bar_2_bar_60 - location + loc_bar_6_bar__minus_1_bar_0_bar_60 - location + loc_bar__minus_2_bar__minus_3_bar_0_bar_60 - location + loc_bar_2_bar__minus_1_bar_0_bar_45 - location + loc_bar_4_bar__minus_4_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__plus_00_dot_50_bar__plus_00_dot_79_bar__plus_00_dot_30 DrawerType) + (receptacleType GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54 GarbageCanType) + (receptacleType StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 StoveBurnerType) + (receptacleType Cabinet_bar__minus_00_dot_18_bar__plus_00_dot_40_bar__plus_00_dot_15 CabinetType) + (receptacleType Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__plus_01_dot_08_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType) + 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loc_bar__minus_9_bar__minus_1_bar_0_bar_45) + (objectAtLocation Tomato_bar__plus_00_dot_86_bar__plus_00_dot_97_bar__minus_01_dot_78 loc_bar_1_bar__minus_4_bar_2_bar_60) + (objectAtLocation SoapBottle_bar__plus_00_dot_65_bar__plus_00_dot_92_bar__minus_01_dot_58 loc_bar_1_bar__minus_4_bar_2_bar_60) + (objectAtLocation Plate_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_61 loc_bar__minus_9_bar__minus_1_bar_0_bar_45) + (objectAtLocation LightSwitch_bar__minus_02_dot_76_bar__plus_01_dot_31_bar__minus_00_dot_99 loc_bar__minus_9_bar__minus_3_bar_3_bar_30) + (objectAtLocation Pot_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 loc_bar_5_bar__minus_1_bar_0_bar_45) + (objectAtLocation Window_bar__plus_00_dot_58_bar__plus_01_dot_61_bar__minus_01_dot_97 loc_bar_2_bar__minus_4_bar_2_bar_0) + (objectAtLocation Window_bar__plus_01_dot_97_bar__plus_01_dot_50_bar__minus_00_dot_62 loc_bar_6_bar__minus_2_bar_1_bar_15) + (objectAtLocation 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loc_bar__minus_9_bar__minus_1_bar_0_bar_45) + (objectAtLocation StoveKnob_bar__plus_01_dot_25_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar_5_bar__minus_1_bar_0_bar_60) + (objectAtLocation StoveKnob_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar_5_bar__minus_1_bar_0_bar_60) + (objectAtLocation StoveKnob_bar__plus_01_dot_00_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar_4_bar__minus_1_bar_0_bar_60) + (objectAtLocation StoveKnob_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar_5_bar__minus_1_bar_0_bar_60) + (objectAtLocation Potato_bar__minus_01_dot_96_bar__plus_00_dot_54_bar__minus_01_dot_72 loc_bar__minus_9_bar__minus_3_bar_2_bar_60) + (objectAtLocation Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29 loc_bar_4_bar__minus_1_bar_0_bar_45) + (objectAtLocation Chair_bar__minus_02_dot_42_bar__plus_00_dot_56_bar__plus_00_dot_41 loc_bar__minus_9_bar__minus_1_bar_0_bar_60) + (objectAtLocation DishSponge_bar__minus_02_dot_34_bar__plus_00_dot_95_bar__plus_00_dot_26 loc_bar__minus_9_bar__minus_1_bar_0_bar_45) + (objectAtLocation Spoon_bar__minus_02_dot_20_bar__plus_00_dot_95_bar__plus_00_dot_35 loc_bar__minus_9_bar__minus_1_bar_0_bar_45) + (objectAtLocation Mug_bar__minus_00_dot_92_bar__plus_01_dot_01_bar__minus_01_dot_77 loc_bar__minus_4_bar__minus_4_bar_2_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (coolable ?o) + (objectType ?o AppleType) + (receptacleType ?r MicrowaveType) + (isCool ?o) + (inReceptacle ?o ?r) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Apple-None-Microwave-11/trial_T20190909_012201_694037/traj_data.json b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Apple-None-Microwave-11/trial_T20190909_012201_694037/traj_data.json new file mode 100644 index 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Then turn right to face the table.", + "Pick up the apple from the table. ", + "Turn around completely and face the fridge.", + "Open the fridge and place the apple inside. Chill the apple then take it out. ", + "Step to the left then turn right to face the microwave.", + "Place the apple inside the microwave. " + ], + "task_desc": "Put a chilled apple in the microwave.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Apple-None-Microwave-11/trial_T20190909_012231_659144/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Apple-None-Microwave-11/trial_T20190909_012231_659144/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..94e2d272fadab5803391e861a56ead2ddd9f437e --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Apple-None-Microwave-11/trial_T20190909_012231_659144/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: cool some apple and put it in microwave.\"\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_012231_659144)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__plus_00_dot_80_bar__plus_00_dot_99_bar__minus_01_dot_72 - object\n Apple_bar__minus_00_dot_33_bar__plus_00_dot_14_bar__plus_00_dot_61 - object\n Bowl_bar__plus_00_dot_39_bar__plus_00_dot_11_bar__plus_00_dot_31 - object\n Bread_bar__minus_01_dot_93_bar__plus_01_dot_04_bar__plus_00_dot_35 - object\n Bread_bar__minus_02_dot_20_bar__plus_01_dot_04_bar__plus_00_dot_17 - object\n ButterKnife_bar__plus_01_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_49 - object\n ButterKnife_bar__minus_02_dot_48_bar__plus_00_dot_95_bar__plus_00_dot_35 - object\n Chair_bar__minus_02_dot_42_bar__plus_00_dot_56_bar__plus_00_dot_41 - object\n Cup_bar__plus_01_dot_61_bar__plus_01_dot_33_bar__minus_01_dot_74 - object\n Cup_bar__minus_02_dot_31_bar__plus_01_dot_05_bar__minus_01_dot_85 - object\n DishSponge_bar__plus_00_dot_91_bar__plus_00_dot_92_bar__minus_01_dot_65 - object\n Egg_bar__plus_00_dot_56_bar__plus_00_dot_95_bar__plus_00_dot_21 - object\n Faucet_bar__plus_00_dot_55_bar__plus_01_dot_05_bar__minus_01_dot_83 - object\n Fork_bar__minus_02_dot_48_bar__plus_00_dot_95_bar__plus_00_dot_26 - object\n Kettle_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29 - object\n Kettle_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 - object\n Knife_bar__minus_02_dot_07_bar__plus_00_dot_98_bar__plus_00_dot_26 - object\n Lettuce_bar__plus_01_dot_72_bar__plus_01_dot_00_bar__plus_00_dot_29 - object\n Lettuce_bar__minus_01_dot_79_bar__plus_01_dot_04_bar__plus_00_dot_61 - object\n LightSwitch_bar__minus_02_dot_76_bar__plus_01_dot_31_bar__minus_00_dot_99 - object\n Mug_bar__plus_00_dot_62_bar__plus_00_dot_95_bar__plus_00_dot_47 - object\n Mug_bar__minus_00_dot_63_bar__plus_00_dot_11_bar__minus_01_dot_55 - object\n Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29 - object\n PaperTowelRoll_bar__minus_01_dot_93_bar__plus_01_dot_06_bar__plus_00_dot_52 - object\n PepperShaker_bar__plus_01_dot_91_bar__plus_00_dot_91_bar__plus_00_dot_46 - object\n Plate_bar__plus_01_dot_78_bar__plus_00_dot_91_bar__minus_01_dot_57 - object\n Plate_bar__plus_01_dot_83_bar__plus_00_dot_11_bar__plus_00_dot_31 - object\n Plate_bar__minus_00_dot_10_bar__plus_00_dot_91_bar__plus_00_dot_38 - object\n Potato_bar__plus_01_dot_91_bar__plus_00_dot_94_bar__plus_00_dot_62 - object\n Potato_bar__minus_02_dot_22_bar__plus_01_dot_52_bar__minus_01_dot_81 - object\n Potato_bar__minus_02_dot_61_bar__plus_00_dot_98_bar__plus_00_dot_17 - object\n Pot_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 - object\n SaltShaker_bar__plus_00_dot_15_bar__plus_00_dot_10_bar__minus_01_dot_58 - object\n SaltShaker_bar__minus_00_dot_18_bar__plus_00_dot_91_bar__minus_01_dot_82 - object\n SaltShaker_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_52 - object\n Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77 - object\n SoapBottle_bar__plus_00_dot_70_bar__plus_00_dot_92_bar__minus_01_dot_65 - object\n SoapBottle_bar__plus_01_dot_79_bar__plus_00_dot_91_bar__plus_00_dot_54 - object\n SoapBottle_bar__plus_01_dot_91_bar__plus_00_dot_91_bar__plus_00_dot_54 - object\n Spatula_bar__plus_00_dot_04_bar__plus_00_dot_93_bar__plus_00_dot_62 - object\n Spatula_bar__minus_02_dot_34_bar__plus_00_dot_97_bar__plus_00_dot_44 - object\n Spatula_bar__minus_02_dot_48_bar__plus_00_dot_97_bar__plus_00_dot_35 - object\n Spoon_bar__plus_01_dot_66_bar__plus_00_dot_91_bar__plus_00_dot_62 - object\n Spoon_bar__minus_00_dot_01_bar__plus_00_dot_78_bar__minus_01_dot_47 - object\n StoveKnob_bar__plus_01_dot_00_bar__plus_00_dot_91_bar__plus_00_dot_12 - object\n StoveKnob_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_12 - object\n StoveKnob_bar__plus_01_dot_25_bar__plus_00_dot_91_bar__plus_00_dot_12 - object\n StoveKnob_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_12 - object\n Tomato_bar__plus_00_dot_70_bar__plus_00_dot_96_bar__plus_00_dot_21 - object\n Tomato_bar__plus_00_dot_86_bar__plus_00_dot_97_bar__minus_01_dot_52 - object\n Tomato_bar__minus_01_dot_96_bar__plus_00_dot_83_bar__minus_01_dot_85 - object\n Window_bar__plus_00_dot_58_bar__plus_01_dot_61_bar__minus_01_dot_97 - object\n Window_bar__plus_01_dot_97_bar__plus_01_dot_50_bar__minus_00_dot_62 - object\n Cabinet_bar__plus_00_dot_06_bar__plus_00_dot_40_bar__minus_01_dot_35 - receptacle\n Cabinet_bar__plus_00_dot_10_bar__plus_00_dot_40_bar__minus_01_dot_35 - receptacle\n Cabinet_bar__plus_00_dot_73_bar__plus_00_dot_40_bar__plus_00_dot_15 - receptacle\n Cabinet_bar__plus_01_dot_08_bar__plus_00_dot_40_bar__minus_01_dot_35 - receptacle\n Cabinet_bar__plus_01_dot_67_bar__plus_00_dot_40_bar__plus_00_dot_15 - receptacle\n Cabinet_bar__plus_01_dot_97_bar__plus_01_dot_69_bar__minus_01_dot_65 - receptacle\n Cabinet_bar__minus_00_dot_18_bar__plus_00_dot_40_bar__plus_00_dot_15 - receptacle\n Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_69_bar__minus_01_dot_65 - receptacle\n Cabinet_bar__minus_00_dot_40_bar__plus_00_dot_40_bar__minus_01_dot_35 - receptacle\n Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_35 - receptacle\n CoffeeMachine_bar__plus_00_dot_62_bar__plus_00_dot_90_bar__plus_00_dot_60 - receptacle\n CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46 - receptacle\n CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46 - receptacle\n CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65 - receptacle\n DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45 - receptacle\n Drawer_bar__plus_00_dot_02_bar__plus_00_dot_79_bar__plus_00_dot_30 - receptacle\n Drawer_bar__plus_00_dot_50_bar__plus_00_dot_79_bar__plus_00_dot_30 - receptacle\n Drawer_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_00_dot_30 - receptacle\n Drawer_bar__minus_00_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_50 - receptacle\n Drawer_bar__minus_00_dot_59_bar__plus_00_dot_79_bar__minus_01_dot_50 - receptacle\n Drawer_bar__minus_01_dot_10_bar__plus_00_dot_79_bar__minus_01_dot_50 - receptacle\n Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69 - receptacle\n GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54 - receptacle\n Microwave_bar__minus_01_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_72 - receptacle\n Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77_bar_SinkBasin - receptacle\n StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29 - receptacle\n StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 - receptacle\n StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29 - receptacle\n StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 - receptacle\n Toaster_bar__plus_00_dot_31_bar__plus_00_dot_90_bar__plus_00_dot_55 - receptacle\n loc_bar_5_bar__minus_2_bar_2_bar_60 - location\n loc_bar_6_bar__minus_4_bar_0_bar_45 - location\n loc_bar_6_bar__minus_4_bar_3_bar_15 - location\n loc_bar_1_bar__minus_2_bar_0_bar_45 - location\n loc_bar_1_bar__minus_1_bar_0_bar_45 - location\n loc_bar_0_bar__minus_3_bar_3_bar_45 - location\n loc_bar_4_bar__minus_1_bar_0_bar_45 - location\n loc_bar__minus_9_bar__minus_3_bar_2_bar_60 - location\n loc_bar_1_bar__minus_4_bar_2_bar_60 - location\n loc_bar_5_bar__minus_1_bar_0_bar_60 - location\n loc_bar__minus_6_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_2_bar__minus_4_bar_2_bar_0 - location\n loc_bar_2_bar__minus_4_bar_3_bar_60 - location\n loc_bar_6_bar__minus_4_bar_2_bar_0 - location\n loc_bar__minus_9_bar__minus_1_bar_0_bar_60 - location\n loc_bar_4_bar__minus_1_bar_0_bar_60 - location\n loc_bar_6_bar__minus_1_bar_0_bar_45 - location\n loc_bar__minus_9_bar__minus_3_bar_3_bar_30 - location\n loc_bar_1_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_1_bar__minus_2_bar_0_bar_45 - location\n loc_bar_6_bar__minus_2_bar_1_bar_15 - location\n loc_bar__minus_4_bar__minus_2_bar_2_bar_60 - location\n loc_bar_5_bar__minus_1_bar_0_bar_45 - location\n loc_bar__minus_2_bar_0_bar_0_bar_60 - location\n loc_bar_4_bar__minus_3_bar_0_bar_60 - location\n loc_bar__minus_4_bar__minus_4_bar_2_bar_45 - location\n loc_bar__minus_9_bar__minus_1_bar_0_bar_45 - location\n loc_bar__minus_5_bar__minus_4_bar_1_bar_45 - location\n loc_bar_2_bar__minus_4_bar_2_bar_0 - location\n loc_bar_3_bar__minus_2_bar_2_bar_60 - location\n loc_bar_6_bar__minus_1_bar_0_bar_60 - location\n loc_bar__minus_2_bar__minus_3_bar_0_bar_60 - location\n loc_bar_2_bar__minus_1_bar_0_bar_45 - location\n loc_bar_1_bar__minus_3_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__plus_00_dot_50_bar__plus_00_dot_79_bar__plus_00_dot_30 DrawerType)\n (receptacleType GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54 GarbageCanType)\n (receptacleType StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_00_dot_18_bar__plus_00_dot_40_bar__plus_00_dot_15 CabinetType)\n (receptacleType Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__plus_01_dot_08_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_69_bar__minus_01_dot_65 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_10_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType)\n (receptacleType Drawer_bar__minus_01_dot_10_bar__plus_00_dot_79_bar__minus_01_dot_50 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_59_bar__plus_00_dot_79_bar__minus_01_dot_50 DrawerType)\n (receptacleType CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46 CounterTopType)\n (receptacleType CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65 CounterTopType)\n (receptacleType StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 StoveBurnerType)\n (receptacleType 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Spoon_bar__minus_00_dot_01_bar__plus_00_dot_78_bar__minus_01_dot_47)\n (cleanable Mug_bar__plus_00_dot_62_bar__plus_00_dot_95_bar__plus_00_dot_47)\n (cleanable Lettuce_bar__plus_01_dot_72_bar__plus_01_dot_00_bar__plus_00_dot_29)\n (cleanable Plate_bar__plus_01_dot_83_bar__plus_00_dot_11_bar__plus_00_dot_31)\n (cleanable Bowl_bar__plus_00_dot_39_bar__plus_00_dot_11_bar__plus_00_dot_31)\n (cleanable Plate_bar__plus_01_dot_78_bar__plus_00_dot_91_bar__minus_01_dot_57)\n (cleanable Spatula_bar__minus_02_dot_48_bar__plus_00_dot_97_bar__plus_00_dot_35)\n (cleanable Knife_bar__minus_02_dot_07_bar__plus_00_dot_98_bar__plus_00_dot_26)\n (cleanable Spatula_bar__minus_02_dot_34_bar__plus_00_dot_97_bar__plus_00_dot_44)\n (cleanable Potato_bar__minus_02_dot_61_bar__plus_00_dot_98_bar__plus_00_dot_17)\n (cleanable Apple_bar__plus_00_dot_80_bar__plus_00_dot_99_bar__minus_01_dot_72)\n (cleanable Mug_bar__minus_00_dot_63_bar__plus_00_dot_11_bar__minus_01_dot_55)\n (cleanable Pot_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56)\n (cleanable Apple_bar__minus_00_dot_33_bar__plus_00_dot_14_bar__plus_00_dot_61)\n (cleanable Kettle_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56)\n (cleanable Kettle_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29)\n (cleanable Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29)\n (cleanable Cup_bar__minus_02_dot_31_bar__plus_01_dot_05_bar__minus_01_dot_85)\n (cleanable Lettuce_bar__minus_01_dot_79_bar__plus_01_dot_04_bar__plus_00_dot_61)\n (cleanable ButterKnife_bar__minus_02_dot_48_bar__plus_00_dot_95_bar__plus_00_dot_35)\n (cleanable Spoon_bar__plus_01_dot_66_bar__plus_00_dot_91_bar__plus_00_dot_62)\n (cleanable Spatula_bar__plus_00_dot_04_bar__plus_00_dot_93_bar__plus_00_dot_62)\n (cleanable Tomato_bar__plus_00_dot_70_bar__plus_00_dot_96_bar__plus_00_dot_21)\n (cleanable Tomato_bar__minus_01_dot_96_bar__plus_00_dot_83_bar__minus_01_dot_85)\n \n (heatable Bread_bar__minus_01_dot_93_bar__plus_01_dot_04_bar__plus_00_dot_35)\n (heatable Potato_bar__minus_02_dot_22_bar__plus_01_dot_52_bar__minus_01_dot_81)\n (heatable Plate_bar__minus_00_dot_10_bar__plus_00_dot_91_bar__plus_00_dot_38)\n (heatable Cup_bar__plus_01_dot_61_bar__plus_01_dot_33_bar__minus_01_dot_74)\n (heatable Potato_bar__plus_01_dot_91_bar__plus_00_dot_94_bar__plus_00_dot_62)\n (heatable Tomato_bar__plus_00_dot_86_bar__plus_00_dot_97_bar__minus_01_dot_52)\n (heatable Egg_bar__plus_00_dot_56_bar__plus_00_dot_95_bar__plus_00_dot_21)\n (heatable Mug_bar__plus_00_dot_62_bar__plus_00_dot_95_bar__plus_00_dot_47)\n (heatable Plate_bar__plus_01_dot_83_bar__plus_00_dot_11_bar__plus_00_dot_31)\n (heatable Plate_bar__plus_01_dot_78_bar__plus_00_dot_91_bar__minus_01_dot_57)\n (heatable Potato_bar__minus_02_dot_61_bar__plus_00_dot_98_bar__plus_00_dot_17)\n (heatable Apple_bar__plus_00_dot_80_bar__plus_00_dot_99_bar__minus_01_dot_72)\n (heatable Mug_bar__minus_00_dot_63_bar__plus_00_dot_11_bar__minus_01_dot_55)\n (heatable Apple_bar__minus_00_dot_33_bar__plus_00_dot_14_bar__plus_00_dot_61)\n (heatable Bread_bar__minus_02_dot_20_bar__plus_01_dot_04_bar__plus_00_dot_17)\n (heatable Cup_bar__minus_02_dot_31_bar__plus_01_dot_05_bar__minus_01_dot_85)\n (heatable Tomato_bar__plus_00_dot_70_bar__plus_00_dot_96_bar__plus_00_dot_21)\n (heatable Tomato_bar__minus_01_dot_96_bar__plus_00_dot_83_bar__minus_01_dot_85)\n (coolable Bread_bar__minus_01_dot_93_bar__plus_01_dot_04_bar__plus_00_dot_35)\n (coolable Potato_bar__minus_02_dot_22_bar__plus_01_dot_52_bar__minus_01_dot_81)\n (coolable Plate_bar__minus_00_dot_10_bar__plus_00_dot_91_bar__plus_00_dot_38)\n (coolable Cup_bar__plus_01_dot_61_bar__plus_01_dot_33_bar__minus_01_dot_74)\n (coolable Potato_bar__plus_01_dot_91_bar__plus_00_dot_94_bar__plus_00_dot_62)\n (coolable Tomato_bar__plus_00_dot_86_bar__plus_00_dot_97_bar__minus_01_dot_52)\n (coolable Egg_bar__plus_00_dot_56_bar__plus_00_dot_95_bar__plus_00_dot_21)\n (coolable Mug_bar__plus_00_dot_62_bar__plus_00_dot_95_bar__plus_00_dot_47)\n (coolable Lettuce_bar__plus_01_dot_72_bar__plus_01_dot_00_bar__plus_00_dot_29)\n (coolable Plate_bar__plus_01_dot_83_bar__plus_00_dot_11_bar__plus_00_dot_31)\n (coolable Bowl_bar__plus_00_dot_39_bar__plus_00_dot_11_bar__plus_00_dot_31)\n (coolable Plate_bar__plus_01_dot_78_bar__plus_00_dot_91_bar__minus_01_dot_57)\n (coolable Potato_bar__minus_02_dot_61_bar__plus_00_dot_98_bar__plus_00_dot_17)\n (coolable Apple_bar__plus_00_dot_80_bar__plus_00_dot_99_bar__minus_01_dot_72)\n (coolable Mug_bar__minus_00_dot_63_bar__plus_00_dot_11_bar__minus_01_dot_55)\n (coolable Pot_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56)\n (coolable Apple_bar__minus_00_dot_33_bar__plus_00_dot_14_bar__plus_00_dot_61)\n (coolable Bread_bar__minus_02_dot_20_bar__plus_01_dot_04_bar__plus_00_dot_17)\n (coolable Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29)\n (coolable Cup_bar__minus_02_dot_31_bar__plus_01_dot_05_bar__minus_01_dot_85)\n (coolable Lettuce_bar__minus_01_dot_79_bar__plus_01_dot_04_bar__plus_00_dot_61)\n (coolable Tomato_bar__plus_00_dot_70_bar__plus_00_dot_96_bar__plus_00_dot_21)\n (coolable Tomato_bar__minus_01_dot_96_bar__plus_00_dot_83_bar__minus_01_dot_85)\n \n \n \n \n \n (sliceable Bread_bar__minus_01_dot_93_bar__plus_01_dot_04_bar__plus_00_dot_35)\n (sliceable Potato_bar__minus_02_dot_22_bar__plus_01_dot_52_bar__minus_01_dot_81)\n (sliceable Potato_bar__plus_01_dot_91_bar__plus_00_dot_94_bar__plus_00_dot_62)\n (sliceable Tomato_bar__plus_00_dot_86_bar__plus_00_dot_97_bar__minus_01_dot_52)\n (sliceable Egg_bar__plus_00_dot_56_bar__plus_00_dot_95_bar__plus_00_dot_21)\n (sliceable Lettuce_bar__plus_01_dot_72_bar__plus_01_dot_00_bar__plus_00_dot_29)\n (sliceable Potato_bar__minus_02_dot_61_bar__plus_00_dot_98_bar__plus_00_dot_17)\n (sliceable Apple_bar__plus_00_dot_80_bar__plus_00_dot_99_bar__minus_01_dot_72)\n (sliceable Apple_bar__minus_00_dot_33_bar__plus_00_dot_14_bar__plus_00_dot_61)\n (sliceable Bread_bar__minus_02_dot_20_bar__plus_01_dot_04_bar__plus_00_dot_17)\n (sliceable Lettuce_bar__minus_01_dot_79_bar__plus_01_dot_04_bar__plus_00_dot_61)\n (sliceable Tomato_bar__plus_00_dot_70_bar__plus_00_dot_96_bar__plus_00_dot_21)\n (sliceable Tomato_bar__minus_01_dot_96_bar__plus_00_dot_83_bar__minus_01_dot_85)\n \n (inReceptacle Spatula_bar__minus_02_dot_34_bar__plus_00_dot_97_bar__plus_00_dot_44 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Bread_bar__minus_01_dot_93_bar__plus_01_dot_04_bar__plus_00_dot_35 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Lettuce_bar__minus_01_dot_79_bar__plus_01_dot_04_bar__plus_00_dot_61 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Potato_bar__minus_02_dot_61_bar__plus_00_dot_98_bar__plus_00_dot_17 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle ButterKnife_bar__minus_02_dot_48_bar__plus_00_dot_95_bar__plus_00_dot_35 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle PaperTowelRoll_bar__minus_01_dot_93_bar__plus_01_dot_06_bar__plus_00_dot_52 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle SaltShaker_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_52 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Fork_bar__minus_02_dot_48_bar__plus_00_dot_95_bar__plus_00_dot_26 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Spatula_bar__minus_02_dot_48_bar__plus_00_dot_97_bar__plus_00_dot_35 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Bread_bar__minus_02_dot_20_bar__plus_01_dot_04_bar__plus_00_dot_17 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Knife_bar__minus_02_dot_07_bar__plus_00_dot_98_bar__plus_00_dot_26 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Kettle_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29 StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29)\n (inReceptacle SaltShaker_bar__plus_00_dot_15_bar__plus_00_dot_10_bar__minus_01_dot_58 Cabinet_bar__plus_00_dot_10_bar__plus_00_dot_40_bar__minus_01_dot_35)\n (inReceptacle Egg_bar__plus_00_dot_56_bar__plus_00_dot_95_bar__plus_00_dot_21 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Mug_bar__plus_00_dot_62_bar__plus_00_dot_95_bar__plus_00_dot_47 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Spatula_bar__plus_00_dot_04_bar__plus_00_dot_93_bar__plus_00_dot_62 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Tomato_bar__plus_00_dot_70_bar__plus_00_dot_96_bar__plus_00_dot_21 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Plate_bar__minus_00_dot_10_bar__plus_00_dot_91_bar__plus_00_dot_38 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle SaltShaker_bar__minus_00_dot_18_bar__plus_00_dot_91_bar__minus_01_dot_82 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle ButterKnife_bar__plus_01_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_49 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle Plate_bar__plus_01_dot_78_bar__plus_00_dot_91_bar__minus_01_dot_57 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle Pot_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56)\n (inReceptacle Spoon_bar__minus_00_dot_01_bar__plus_00_dot_78_bar__minus_01_dot_47 Drawer_bar__minus_00_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_50)\n (inReceptacle Kettle_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56)\n (inReceptacle Plate_bar__plus_01_dot_83_bar__plus_00_dot_11_bar__plus_00_dot_31 Cabinet_bar__plus_01_dot_67_bar__plus_00_dot_40_bar__plus_00_dot_15)\n (inReceptacle Bowl_bar__plus_00_dot_39_bar__plus_00_dot_11_bar__plus_00_dot_31 Cabinet_bar__plus_00_dot_73_bar__plus_00_dot_40_bar__plus_00_dot_15)\n (inReceptacle Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29 StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29)\n (inReceptacle Mug_bar__minus_00_dot_63_bar__plus_00_dot_11_bar__minus_01_dot_55 Cabinet_bar__minus_00_dot_40_bar__plus_00_dot_40_bar__minus_01_dot_35)\n (inReceptacle Spoon_bar__plus_01_dot_66_bar__plus_00_dot_91_bar__plus_00_dot_62 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Lettuce_bar__plus_01_dot_72_bar__plus_01_dot_00_bar__plus_00_dot_29 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle PepperShaker_bar__plus_01_dot_91_bar__plus_00_dot_91_bar__plus_00_dot_46 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle SoapBottle_bar__plus_01_dot_91_bar__plus_00_dot_91_bar__plus_00_dot_54 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle SoapBottle_bar__plus_01_dot_79_bar__plus_00_dot_91_bar__plus_00_dot_54 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Potato_bar__plus_01_dot_91_bar__plus_00_dot_94_bar__plus_00_dot_62 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Cup_bar__plus_01_dot_61_bar__plus_01_dot_33_bar__minus_01_dot_74 Cabinet_bar__plus_01_dot_97_bar__plus_01_dot_69_bar__minus_01_dot_65)\n (inReceptacle Apple_bar__minus_00_dot_33_bar__plus_00_dot_14_bar__plus_00_dot_61 GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54)\n (inReceptacle Tomato_bar__minus_01_dot_96_bar__plus_00_dot_83_bar__minus_01_dot_85 Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69)\n (inReceptacle Potato_bar__minus_02_dot_22_bar__plus_01_dot_52_bar__minus_01_dot_81 Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69)\n (inReceptacle Cup_bar__minus_02_dot_31_bar__plus_01_dot_05_bar__minus_01_dot_85 Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_06_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar_1_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_10_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar_3_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_73_bar__plus_00_dot_40_bar__plus_00_dot_15 loc_bar_4_bar__minus_3_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_08_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar_5_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_67_bar__plus_00_dot_40_bar__plus_00_dot_15 loc_bar_6_bar__minus_4_bar_0_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_97_bar__plus_01_dot_69_bar__minus_01_dot_65 loc_bar_6_bar__minus_4_bar_2_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_18_bar__plus_00_dot_40_bar__plus_00_dot_15 loc_bar__minus_2_bar__minus_3_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_69_bar__minus_01_dot_65 loc_bar__minus_2_bar__minus_4_bar_2_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_40_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar__minus_4_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar__minus_6_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation CoffeeMachine_bar__plus_00_dot_62_bar__plus_00_dot_90_bar__plus_00_dot_60 loc_bar_2_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46 loc_bar_6_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (receptacleAtLocation DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_02_bar__plus_00_dot_79_bar__plus_00_dot_30 loc_bar__minus_1_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_50_bar__plus_00_dot_79_bar__plus_00_dot_30 loc_bar_1_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_00_dot_30 loc_bar_6_bar__minus_1_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_50 loc_bar_2_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_59_bar__plus_00_dot_79_bar__minus_01_dot_50 loc_bar__minus_5_bar__minus_4_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_10_bar__plus_00_dot_79_bar__minus_01_dot_50 loc_bar_0_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69 loc_bar__minus_9_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54 loc_bar__minus_2_bar_0_bar_0_bar_60)\n (receptacleAtLocation Microwave_bar__minus_01_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_72 loc_bar__minus_4_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77_bar_SinkBasin loc_bar_1_bar__minus_4_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29 loc_bar_4_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 loc_bar_4_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29 loc_bar_5_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 loc_bar_5_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation Toaster_bar__plus_00_dot_31_bar__plus_00_dot_90_bar__plus_00_dot_55 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_63_bar__plus_00_dot_11_bar__minus_01_dot_55 loc_bar__minus_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Spoon_bar__minus_00_dot_01_bar__plus_00_dot_78_bar__minus_01_dot_47 loc_bar_2_bar__minus_4_bar_3_bar_60)\n (objectAtLocation Potato_bar__minus_02_dot_22_bar__plus_01_dot_52_bar__minus_01_dot_81 loc_bar__minus_9_bar__minus_3_bar_2_bar_60)\n (objectAtLocation ButterKnife_bar__plus_01_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_49 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Apple_bar__plus_00_dot_80_bar__plus_00_dot_99_bar__minus_01_dot_72 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation SaltShaker_bar__plus_00_dot_15_bar__plus_00_dot_10_bar__minus_01_dot_58 loc_bar_3_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Lettuce_bar__minus_01_dot_79_bar__plus_01_dot_04_bar__plus_00_dot_61 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Spatula_bar__minus_02_dot_48_bar__plus_00_dot_97_bar__plus_00_dot_35 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Plate_bar__plus_01_dot_78_bar__plus_00_dot_91_bar__minus_01_dot_57 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation SoapBottle_bar__plus_01_dot_91_bar__plus_00_dot_91_bar__plus_00_dot_54 loc_bar_6_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Tomato_bar__minus_01_dot_96_bar__plus_00_dot_83_bar__minus_01_dot_85 loc_bar__minus_9_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Cup_bar__minus_02_dot_31_bar__plus_01_dot_05_bar__minus_01_dot_85 loc_bar__minus_9_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Kettle_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29 loc_bar_5_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Bread_bar__minus_01_dot_93_bar__plus_01_dot_04_bar__plus_00_dot_35 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation SaltShaker_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_52 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Tomato_bar__plus_00_dot_86_bar__plus_00_dot_97_bar__minus_01_dot_52 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__plus_00_dot_70_bar__plus_00_dot_92_bar__minus_01_dot_65 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Plate_bar__plus_01_dot_83_bar__plus_00_dot_11_bar__plus_00_dot_31 loc_bar_6_bar__minus_4_bar_0_bar_45)\n (objectAtLocation Spatula_bar__minus_02_dot_34_bar__plus_00_dot_97_bar__plus_00_dot_44 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Potato_bar__plus_01_dot_91_bar__plus_00_dot_94_bar__plus_00_dot_62 loc_bar_6_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Bread_bar__minus_02_dot_20_bar__plus_01_dot_04_bar__plus_00_dot_17 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Knife_bar__minus_02_dot_07_bar__plus_00_dot_98_bar__plus_00_dot_26 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Fork_bar__minus_02_dot_48_bar__plus_00_dot_95_bar__plus_00_dot_26 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Bowl_bar__plus_00_dot_39_bar__plus_00_dot_11_bar__plus_00_dot_31 loc_bar_4_bar__minus_3_bar_0_bar_60)\n (objectAtLocation Kettle_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 loc_bar_5_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Cup_bar__plus_01_dot_61_bar__plus_01_dot_33_bar__minus_01_dot_74 loc_bar_6_bar__minus_4_bar_2_bar_0)\n (objectAtLocation Tomato_bar__plus_00_dot_70_bar__plus_00_dot_96_bar__plus_00_dot_21 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation SoapBottle_bar__plus_01_dot_79_bar__plus_00_dot_91_bar__plus_00_dot_54 loc_bar_6_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Plate_bar__minus_00_dot_10_bar__plus_00_dot_91_bar__plus_00_dot_38 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation LightSwitch_bar__minus_02_dot_76_bar__plus_01_dot_31_bar__minus_00_dot_99 loc_bar__minus_9_bar__minus_3_bar_3_bar_30)\n (objectAtLocation Pot_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 loc_bar_4_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Window_bar__plus_00_dot_58_bar__plus_01_dot_61_bar__minus_01_dot_97 loc_bar_2_bar__minus_4_bar_2_bar_0)\n (objectAtLocation Window_bar__plus_01_dot_97_bar__plus_01_dot_50_bar__minus_00_dot_62 loc_bar_6_bar__minus_2_bar_1_bar_15)\n (objectAtLocation Spatula_bar__plus_00_dot_04_bar__plus_00_dot_93_bar__plus_00_dot_62 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation PaperTowelRoll_bar__minus_01_dot_93_bar__plus_01_dot_06_bar__plus_00_dot_52 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Egg_bar__plus_00_dot_56_bar__plus_00_dot_95_bar__plus_00_dot_21 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Lettuce_bar__plus_01_dot_72_bar__plus_01_dot_00_bar__plus_00_dot_29 loc_bar_6_bar__minus_1_bar_0_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_18_bar__plus_00_dot_91_bar__minus_01_dot_82 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation PepperShaker_bar__plus_01_dot_91_bar__plus_00_dot_91_bar__plus_00_dot_46 loc_bar_6_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_33_bar__plus_00_dot_14_bar__plus_00_dot_61 loc_bar__minus_2_bar_0_bar_0_bar_60)\n (objectAtLocation ButterKnife_bar__minus_02_dot_48_bar__plus_00_dot_95_bar__plus_00_dot_35 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation StoveKnob_bar__plus_01_dot_25_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar_5_bar__minus_1_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar_5_bar__minus_1_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_00_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar_4_bar__minus_1_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar_5_bar__minus_1_bar_0_bar_60)\n (objectAtLocation Potato_bar__minus_02_dot_61_bar__plus_00_dot_98_bar__plus_00_dot_17 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29 loc_bar_4_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Chair_bar__minus_02_dot_42_bar__plus_00_dot_56_bar__plus_00_dot_41 loc_bar__minus_9_bar__minus_1_bar_0_bar_60)\n (objectAtLocation DishSponge_bar__plus_00_dot_91_bar__plus_00_dot_92_bar__minus_01_dot_65 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Spoon_bar__plus_01_dot_66_bar__plus_00_dot_91_bar__plus_00_dot_62 loc_bar_6_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Mug_bar__plus_00_dot_62_bar__plus_00_dot_95_bar__plus_00_dot_47 loc_bar_1_bar__minus_1_bar_0_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 AppleType)\n (receptacleType ?r MicrowaveType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to garbagecan 1", "take apple 2 from garbagecan 1", "go to fridge 1", "cool apple 2 with fridge 1", "go to microwave 1", "open microwave 1", "move apple 2 to microwave 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Apple-None-Microwave-11/trial_T20190909_012231_659144/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Apple-None-Microwave-11/trial_T20190909_012231_659144/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..855a4690dc83ac274b237281521845a5eae640bc --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Apple-None-Microwave-11/trial_T20190909_012231_659144/initial_state.pddl @@ -0,0 +1,1023 @@ + +(define (problem plan_trial_T20190909_012231_659144) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__plus_00_dot_80_bar__plus_00_dot_99_bar__minus_01_dot_72 - object + Apple_bar__minus_00_dot_33_bar__plus_00_dot_14_bar__plus_00_dot_61 - object + Bowl_bar__plus_00_dot_39_bar__plus_00_dot_11_bar__plus_00_dot_31 - object + Bread_bar__minus_01_dot_93_bar__plus_01_dot_04_bar__plus_00_dot_35 - object + Bread_bar__minus_02_dot_20_bar__plus_01_dot_04_bar__plus_00_dot_17 - object + ButterKnife_bar__plus_01_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_49 - object + ButterKnife_bar__minus_02_dot_48_bar__plus_00_dot_95_bar__plus_00_dot_35 - object + Chair_bar__minus_02_dot_42_bar__plus_00_dot_56_bar__plus_00_dot_41 - object + Cup_bar__plus_01_dot_61_bar__plus_01_dot_33_bar__minus_01_dot_74 - object + Cup_bar__minus_02_dot_31_bar__plus_01_dot_05_bar__minus_01_dot_85 - object + DishSponge_bar__plus_00_dot_91_bar__plus_00_dot_92_bar__minus_01_dot_65 - 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loc_bar_6_bar__minus_1_bar_0_bar_45 - location + loc_bar__minus_9_bar__minus_3_bar_3_bar_30 - location + loc_bar_1_bar__minus_2_bar_2_bar_60 - location + loc_bar__minus_1_bar__minus_2_bar_0_bar_45 - location + loc_bar_6_bar__minus_2_bar_1_bar_15 - location + loc_bar__minus_4_bar__minus_2_bar_2_bar_60 - location + loc_bar_5_bar__minus_1_bar_0_bar_45 - location + loc_bar__minus_2_bar_0_bar_0_bar_60 - location + loc_bar_4_bar__minus_3_bar_0_bar_60 - location + loc_bar__minus_4_bar__minus_4_bar_2_bar_45 - location + loc_bar__minus_9_bar__minus_1_bar_0_bar_45 - location + loc_bar__minus_5_bar__minus_4_bar_1_bar_45 - location + loc_bar_2_bar__minus_4_bar_2_bar_0 - location + loc_bar_3_bar__minus_2_bar_2_bar_60 - location + loc_bar_6_bar__minus_1_bar_0_bar_60 - location + loc_bar__minus_2_bar__minus_3_bar_0_bar_60 - location + loc_bar_2_bar__minus_1_bar_0_bar_45 - location + loc_bar_1_bar__minus_3_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType 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DrawerType) + (receptacleType CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46 CounterTopType) + (receptacleType CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65 CounterTopType) + (receptacleType StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 StoveBurnerType) + (receptacleType Cabinet_bar__plus_00_dot_06_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType) + (receptacleType Microwave_bar__minus_01_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_72 MicrowaveType) + (receptacleType StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29 StoveBurnerType) + (receptacleType Cabinet_bar__plus_01_dot_67_bar__plus_00_dot_40_bar__plus_00_dot_15 CabinetType) + (receptacleType CoffeeMachine_bar__plus_00_dot_62_bar__plus_00_dot_90_bar__plus_00_dot_60 CoffeeMachineType) + (receptacleType Drawer_bar__plus_00_dot_02_bar__plus_00_dot_79_bar__plus_00_dot_30 DrawerType) + (receptacleType 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ButterKnife_bar__minus_02_dot_48_bar__plus_00_dot_95_bar__plus_00_dot_35) + (cleanable Spoon_bar__plus_01_dot_66_bar__plus_00_dot_91_bar__plus_00_dot_62) + (cleanable Spatula_bar__plus_00_dot_04_bar__plus_00_dot_93_bar__plus_00_dot_62) + (cleanable Tomato_bar__plus_00_dot_70_bar__plus_00_dot_96_bar__plus_00_dot_21) + (cleanable Tomato_bar__minus_01_dot_96_bar__plus_00_dot_83_bar__minus_01_dot_85) + + (heatable Bread_bar__minus_01_dot_93_bar__plus_01_dot_04_bar__plus_00_dot_35) + (heatable Potato_bar__minus_02_dot_22_bar__plus_01_dot_52_bar__minus_01_dot_81) + (heatable Plate_bar__minus_00_dot_10_bar__plus_00_dot_91_bar__plus_00_dot_38) + (heatable Cup_bar__plus_01_dot_61_bar__plus_01_dot_33_bar__minus_01_dot_74) + (heatable Potato_bar__plus_01_dot_91_bar__plus_00_dot_94_bar__plus_00_dot_62) + (heatable Tomato_bar__plus_00_dot_86_bar__plus_00_dot_97_bar__minus_01_dot_52) + (heatable Egg_bar__plus_00_dot_56_bar__plus_00_dot_95_bar__plus_00_dot_21) + (heatable Mug_bar__plus_00_dot_62_bar__plus_00_dot_95_bar__plus_00_dot_47) + (heatable Plate_bar__plus_01_dot_83_bar__plus_00_dot_11_bar__plus_00_dot_31) + (heatable Plate_bar__plus_01_dot_78_bar__plus_00_dot_91_bar__minus_01_dot_57) + (heatable Potato_bar__minus_02_dot_61_bar__plus_00_dot_98_bar__plus_00_dot_17) + (heatable Apple_bar__plus_00_dot_80_bar__plus_00_dot_99_bar__minus_01_dot_72) + (heatable Mug_bar__minus_00_dot_63_bar__plus_00_dot_11_bar__minus_01_dot_55) + (heatable Apple_bar__minus_00_dot_33_bar__plus_00_dot_14_bar__plus_00_dot_61) + (heatable Bread_bar__minus_02_dot_20_bar__plus_01_dot_04_bar__plus_00_dot_17) + (heatable Cup_bar__minus_02_dot_31_bar__plus_01_dot_05_bar__minus_01_dot_85) + (heatable Tomato_bar__plus_00_dot_70_bar__plus_00_dot_96_bar__plus_00_dot_21) + (heatable Tomato_bar__minus_01_dot_96_bar__plus_00_dot_83_bar__minus_01_dot_85) + (coolable Bread_bar__minus_01_dot_93_bar__plus_01_dot_04_bar__plus_00_dot_35) + (coolable Potato_bar__minus_02_dot_22_bar__plus_01_dot_52_bar__minus_01_dot_81) + (coolable Plate_bar__minus_00_dot_10_bar__plus_00_dot_91_bar__plus_00_dot_38) + (coolable Cup_bar__plus_01_dot_61_bar__plus_01_dot_33_bar__minus_01_dot_74) + (coolable Potato_bar__plus_01_dot_91_bar__plus_00_dot_94_bar__plus_00_dot_62) + (coolable Tomato_bar__plus_00_dot_86_bar__plus_00_dot_97_bar__minus_01_dot_52) + (coolable Egg_bar__plus_00_dot_56_bar__plus_00_dot_95_bar__plus_00_dot_21) + (coolable Mug_bar__plus_00_dot_62_bar__plus_00_dot_95_bar__plus_00_dot_47) + (coolable Lettuce_bar__plus_01_dot_72_bar__plus_01_dot_00_bar__plus_00_dot_29) + (coolable Plate_bar__plus_01_dot_83_bar__plus_00_dot_11_bar__plus_00_dot_31) + (coolable Bowl_bar__plus_00_dot_39_bar__plus_00_dot_11_bar__plus_00_dot_31) + (coolable Plate_bar__plus_01_dot_78_bar__plus_00_dot_91_bar__minus_01_dot_57) + (coolable Potato_bar__minus_02_dot_61_bar__plus_00_dot_98_bar__plus_00_dot_17) + (coolable Apple_bar__plus_00_dot_80_bar__plus_00_dot_99_bar__minus_01_dot_72) + (coolable Mug_bar__minus_00_dot_63_bar__plus_00_dot_11_bar__minus_01_dot_55) + (coolable Pot_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56) + (coolable Apple_bar__minus_00_dot_33_bar__plus_00_dot_14_bar__plus_00_dot_61) + (coolable Bread_bar__minus_02_dot_20_bar__plus_01_dot_04_bar__plus_00_dot_17) + (coolable Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29) + (coolable Cup_bar__minus_02_dot_31_bar__plus_01_dot_05_bar__minus_01_dot_85) + (coolable Lettuce_bar__minus_01_dot_79_bar__plus_01_dot_04_bar__plus_00_dot_61) + (coolable Tomato_bar__plus_00_dot_70_bar__plus_00_dot_96_bar__plus_00_dot_21) + (coolable Tomato_bar__minus_01_dot_96_bar__plus_00_dot_83_bar__minus_01_dot_85) + + + + + + (sliceable Bread_bar__minus_01_dot_93_bar__plus_01_dot_04_bar__plus_00_dot_35) + (sliceable Potato_bar__minus_02_dot_22_bar__plus_01_dot_52_bar__minus_01_dot_81) + (sliceable Potato_bar__plus_01_dot_91_bar__plus_00_dot_94_bar__plus_00_dot_62) + (sliceable Tomato_bar__plus_00_dot_86_bar__plus_00_dot_97_bar__minus_01_dot_52) + (sliceable Egg_bar__plus_00_dot_56_bar__plus_00_dot_95_bar__plus_00_dot_21) + (sliceable Lettuce_bar__plus_01_dot_72_bar__plus_01_dot_00_bar__plus_00_dot_29) + (sliceable Potato_bar__minus_02_dot_61_bar__plus_00_dot_98_bar__plus_00_dot_17) + (sliceable Apple_bar__plus_00_dot_80_bar__plus_00_dot_99_bar__minus_01_dot_72) + (sliceable Apple_bar__minus_00_dot_33_bar__plus_00_dot_14_bar__plus_00_dot_61) + (sliceable Bread_bar__minus_02_dot_20_bar__plus_01_dot_04_bar__plus_00_dot_17) + (sliceable Lettuce_bar__minus_01_dot_79_bar__plus_01_dot_04_bar__plus_00_dot_61) + (sliceable Tomato_bar__plus_00_dot_70_bar__plus_00_dot_96_bar__plus_00_dot_21) + (sliceable Tomato_bar__minus_01_dot_96_bar__plus_00_dot_83_bar__minus_01_dot_85) + + (inReceptacle Spatula_bar__minus_02_dot_34_bar__plus_00_dot_97_bar__plus_00_dot_44 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle Bread_bar__minus_01_dot_93_bar__plus_01_dot_04_bar__plus_00_dot_35 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle Lettuce_bar__minus_01_dot_79_bar__plus_01_dot_04_bar__plus_00_dot_61 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle Potato_bar__minus_02_dot_61_bar__plus_00_dot_98_bar__plus_00_dot_17 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle ButterKnife_bar__minus_02_dot_48_bar__plus_00_dot_95_bar__plus_00_dot_35 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle PaperTowelRoll_bar__minus_01_dot_93_bar__plus_01_dot_06_bar__plus_00_dot_52 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle SaltShaker_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_52 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle Fork_bar__minus_02_dot_48_bar__plus_00_dot_95_bar__plus_00_dot_26 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle Spatula_bar__minus_02_dot_48_bar__plus_00_dot_97_bar__plus_00_dot_35 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle Bread_bar__minus_02_dot_20_bar__plus_01_dot_04_bar__plus_00_dot_17 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle Knife_bar__minus_02_dot_07_bar__plus_00_dot_98_bar__plus_00_dot_26 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle Kettle_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29 StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29) + (inReceptacle SaltShaker_bar__plus_00_dot_15_bar__plus_00_dot_10_bar__minus_01_dot_58 Cabinet_bar__plus_00_dot_10_bar__plus_00_dot_40_bar__minus_01_dot_35) + (inReceptacle Egg_bar__plus_00_dot_56_bar__plus_00_dot_95_bar__plus_00_dot_21 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle Mug_bar__plus_00_dot_62_bar__plus_00_dot_95_bar__plus_00_dot_47 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle Spatula_bar__plus_00_dot_04_bar__plus_00_dot_93_bar__plus_00_dot_62 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle Tomato_bar__plus_00_dot_70_bar__plus_00_dot_96_bar__plus_00_dot_21 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle Plate_bar__minus_00_dot_10_bar__plus_00_dot_91_bar__plus_00_dot_38 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle SaltShaker_bar__minus_00_dot_18_bar__plus_00_dot_91_bar__minus_01_dot_82 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65) + (inReceptacle Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65) + (inReceptacle ButterKnife_bar__plus_01_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_49 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65) + (inReceptacle Plate_bar__plus_01_dot_78_bar__plus_00_dot_91_bar__minus_01_dot_57 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65) + (inReceptacle Pot_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56) + (inReceptacle Spoon_bar__minus_00_dot_01_bar__plus_00_dot_78_bar__minus_01_dot_47 Drawer_bar__minus_00_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_50) + (inReceptacle Kettle_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56) + (inReceptacle Plate_bar__plus_01_dot_83_bar__plus_00_dot_11_bar__plus_00_dot_31 Cabinet_bar__plus_01_dot_67_bar__plus_00_dot_40_bar__plus_00_dot_15) + (inReceptacle Bowl_bar__plus_00_dot_39_bar__plus_00_dot_11_bar__plus_00_dot_31 Cabinet_bar__plus_00_dot_73_bar__plus_00_dot_40_bar__plus_00_dot_15) + (inReceptacle Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29 StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29) + (inReceptacle Mug_bar__minus_00_dot_63_bar__plus_00_dot_11_bar__minus_01_dot_55 Cabinet_bar__minus_00_dot_40_bar__plus_00_dot_40_bar__minus_01_dot_35) + (inReceptacle Spoon_bar__plus_01_dot_66_bar__plus_00_dot_91_bar__plus_00_dot_62 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle Lettuce_bar__plus_01_dot_72_bar__plus_01_dot_00_bar__plus_00_dot_29 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle PepperShaker_bar__plus_01_dot_91_bar__plus_00_dot_91_bar__plus_00_dot_46 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle SoapBottle_bar__plus_01_dot_91_bar__plus_00_dot_91_bar__plus_00_dot_54 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle SoapBottle_bar__plus_01_dot_79_bar__plus_00_dot_91_bar__plus_00_dot_54 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle Potato_bar__plus_01_dot_91_bar__plus_00_dot_94_bar__plus_00_dot_62 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle Cup_bar__plus_01_dot_61_bar__plus_01_dot_33_bar__minus_01_dot_74 Cabinet_bar__plus_01_dot_97_bar__plus_01_dot_69_bar__minus_01_dot_65) + (inReceptacle Apple_bar__minus_00_dot_33_bar__plus_00_dot_14_bar__plus_00_dot_61 GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54) + (inReceptacle Tomato_bar__minus_01_dot_96_bar__plus_00_dot_83_bar__minus_01_dot_85 Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69) + (inReceptacle Potato_bar__minus_02_dot_22_bar__plus_01_dot_52_bar__minus_01_dot_81 Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69) + (inReceptacle Cup_bar__minus_02_dot_31_bar__plus_01_dot_05_bar__minus_01_dot_85 Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_06_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar_1_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__plus_00_dot_10_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar_3_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__plus_00_dot_73_bar__plus_00_dot_40_bar__plus_00_dot_15 loc_bar_4_bar__minus_3_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_08_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar_5_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_67_bar__plus_00_dot_40_bar__plus_00_dot_15 loc_bar_6_bar__minus_4_bar_0_bar_45) + (receptacleAtLocation Cabinet_bar__plus_01_dot_97_bar__plus_01_dot_69_bar__minus_01_dot_65 loc_bar_6_bar__minus_4_bar_2_bar_0) + (receptacleAtLocation Cabinet_bar__minus_00_dot_18_bar__plus_00_dot_40_bar__plus_00_dot_15 loc_bar__minus_2_bar__minus_3_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_69_bar__minus_01_dot_65 loc_bar__minus_2_bar__minus_4_bar_2_bar_0) + (receptacleAtLocation Cabinet_bar__minus_00_dot_40_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar__minus_4_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar__minus_6_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation CoffeeMachine_bar__plus_00_dot_62_bar__plus_00_dot_90_bar__plus_00_dot_60 loc_bar_2_bar__minus_1_bar_0_bar_45) + (receptacleAtLocation CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46 loc_bar_1_bar__minus_1_bar_0_bar_45) + (receptacleAtLocation CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46 loc_bar_6_bar__minus_1_bar_0_bar_45) + (receptacleAtLocation CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65 loc_bar_6_bar__minus_4_bar_3_bar_15) + (receptacleAtLocation DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45 loc_bar__minus_9_bar__minus_1_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_02_bar__plus_00_dot_79_bar__plus_00_dot_30 loc_bar__minus_1_bar__minus_2_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_50_bar__plus_00_dot_79_bar__plus_00_dot_30 loc_bar_1_bar__minus_2_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_00_dot_30 loc_bar_6_bar__minus_1_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_50 loc_bar_2_bar__minus_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_59_bar__plus_00_dot_79_bar__minus_01_dot_50 loc_bar__minus_5_bar__minus_4_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_10_bar__plus_00_dot_79_bar__minus_01_dot_50 loc_bar_0_bar__minus_3_bar_3_bar_45) + (receptacleAtLocation Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69 loc_bar__minus_9_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54 loc_bar__minus_2_bar_0_bar_0_bar_60) + (receptacleAtLocation Microwave_bar__minus_01_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_72 loc_bar__minus_4_bar__minus_4_bar_2_bar_45) + (receptacleAtLocation Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77_bar_SinkBasin loc_bar_1_bar__minus_4_bar_2_bar_60) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29 loc_bar_4_bar__minus_1_bar_0_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 loc_bar_4_bar__minus_1_bar_0_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29 loc_bar_5_bar__minus_1_bar_0_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 loc_bar_5_bar__minus_1_bar_0_bar_45) + (receptacleAtLocation Toaster_bar__plus_00_dot_31_bar__plus_00_dot_90_bar__plus_00_dot_55 loc_bar_1_bar__minus_1_bar_0_bar_45) + (objectAtLocation Mug_bar__minus_00_dot_63_bar__plus_00_dot_11_bar__minus_01_dot_55 loc_bar__minus_4_bar__minus_2_bar_2_bar_60) + (objectAtLocation Spoon_bar__minus_00_dot_01_bar__plus_00_dot_78_bar__minus_01_dot_47 loc_bar_2_bar__minus_4_bar_3_bar_60) + (objectAtLocation Potato_bar__minus_02_dot_22_bar__plus_01_dot_52_bar__minus_01_dot_81 loc_bar__minus_9_bar__minus_3_bar_2_bar_60) + (objectAtLocation 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loc_bar__minus_9_bar__minus_3_bar_2_bar_60) + (objectAtLocation Cup_bar__minus_02_dot_31_bar__plus_01_dot_05_bar__minus_01_dot_85 loc_bar__minus_9_bar__minus_3_bar_2_bar_60) + (objectAtLocation Kettle_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29 loc_bar_5_bar__minus_1_bar_0_bar_45) + (objectAtLocation Bread_bar__minus_01_dot_93_bar__plus_01_dot_04_bar__plus_00_dot_35 loc_bar__minus_9_bar__minus_1_bar_0_bar_45) + (objectAtLocation SaltShaker_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_52 loc_bar__minus_9_bar__minus_1_bar_0_bar_45) + (objectAtLocation Tomato_bar__plus_00_dot_86_bar__plus_00_dot_97_bar__minus_01_dot_52 loc_bar_1_bar__minus_4_bar_2_bar_60) + (objectAtLocation SoapBottle_bar__plus_00_dot_70_bar__plus_00_dot_92_bar__minus_01_dot_65 loc_bar_1_bar__minus_4_bar_2_bar_60) + (objectAtLocation Plate_bar__plus_01_dot_83_bar__plus_00_dot_11_bar__plus_00_dot_31 loc_bar_6_bar__minus_4_bar_0_bar_45) + (objectAtLocation 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(objectAtLocation Cup_bar__plus_01_dot_61_bar__plus_01_dot_33_bar__minus_01_dot_74 loc_bar_6_bar__minus_4_bar_2_bar_0) + (objectAtLocation Tomato_bar__plus_00_dot_70_bar__plus_00_dot_96_bar__plus_00_dot_21 loc_bar_1_bar__minus_1_bar_0_bar_45) + (objectAtLocation SoapBottle_bar__plus_01_dot_79_bar__plus_00_dot_91_bar__plus_00_dot_54 loc_bar_6_bar__minus_1_bar_0_bar_45) + (objectAtLocation Plate_bar__minus_00_dot_10_bar__plus_00_dot_91_bar__plus_00_dot_38 loc_bar_1_bar__minus_1_bar_0_bar_45) + (objectAtLocation LightSwitch_bar__minus_02_dot_76_bar__plus_01_dot_31_bar__minus_00_dot_99 loc_bar__minus_9_bar__minus_3_bar_3_bar_30) + (objectAtLocation Pot_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 loc_bar_4_bar__minus_1_bar_0_bar_45) + (objectAtLocation Window_bar__plus_00_dot_58_bar__plus_01_dot_61_bar__minus_01_dot_97 loc_bar_2_bar__minus_4_bar_2_bar_0) + (objectAtLocation Window_bar__plus_01_dot_97_bar__plus_01_dot_50_bar__minus_00_dot_62 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loc_bar__minus_9_bar__minus_1_bar_0_bar_60) + (objectAtLocation DishSponge_bar__plus_00_dot_91_bar__plus_00_dot_92_bar__minus_01_dot_65 loc_bar_1_bar__minus_4_bar_2_bar_60) + (objectAtLocation Spoon_bar__plus_01_dot_66_bar__plus_00_dot_91_bar__plus_00_dot_62 loc_bar_6_bar__minus_1_bar_0_bar_45) + (objectAtLocation Mug_bar__plus_00_dot_62_bar__plus_00_dot_95_bar__plus_00_dot_47 loc_bar_1_bar__minus_1_bar_0_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (coolable ?o) + (objectType ?o AppleType) + (receptacleType ?r MicrowaveType) + (isCool ?o) + (inReceptacle ?o ?r) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Apple-None-Microwave-11/trial_T20190909_012231_659144/traj_data.json b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Apple-None-Microwave-11/trial_T20190909_012231_659144/traj_data.json new file mode 100644 index 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"rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 233872972, + "scene_num": 11 + }, + "task_id": "trial_T20190909_012231_659144", + "task_type": "pick_cool_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3F7G1FSFWQPLE_3483FV8BEHAZED331PFZC2KXIW462W", + "high_descs": [ + "Turn left and walk towards the door, then hang a right and walk up to the wall, turn right to face the counter and look down at the green bin.", + "Pick up the apple out of the green bin.", + "Turn right and walk towards the counter, then hang a right and walk over to the door, turn left and walk up to the fridge.", + "Open the fridge and put the apple inside on the middle shelf then close the door, after a couple seconds open the fridge back up and take out the now chilled apple, then close the fridge again.", + "Turn left and walk towards the wall, then turn right to face the microwave.", + "Open the microwave and put the chilled apple inside, then close the microwave door." + ], + "task_desc": "Put a chilled apple in the microwave.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A20FCMWP43CVIU_37C0GNLMHIUMHN1JYEZG8LB1FNX6D9", + "high_descs": [ + "walk to face green garbage can", + "pick up apple from garbage can", + "turn around to face fridge", + "chill apple in fridge, remove apple from fridge", + "walk to face microwave", + "put apple inside microwave" + ], + "task_desc": "put chilled apple into microwave", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AJQGWGESKQT4Y_3VP0C6EFSJNPLH7WB7YJRBYVO1PM67", + "high_descs": [ + "Move to the left and face the green trash can.", + "Pick the apple up from the trash can.", + "Cross the room and stand in front of the fridge.", + "Put the apple in the fridge and shut the door and then open the door and pick up the apple.", + "Go to the left and face the microwave.", + "Put the apple in the microwave." + ], + "task_desc": "Put a chilled apple in the microwave.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Apple-None-Microwave-11/trial_T20190909_012317_645496/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Apple-None-Microwave-11/trial_T20190909_012317_645496/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..056c6e97f474bb9735b8d08ffad9e50779c9ff8e --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Apple-None-Microwave-11/trial_T20190909_012317_645496/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: cool some apple and put it in microwave.\"\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_012317_645496)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__minus_02_dot_48_bar__plus_01_dot_02_bar__plus_00_dot_70 - object\n Bowl_bar__plus_00_dot_02_bar__plus_00_dot_11_bar__plus_00_dot_28 - object\n Bowl_bar__plus_01_dot_87_bar__plus_00_dot_11_bar__plus_00_dot_27 - object\n Bread_bar__plus_01_dot_30_bar__plus_00_dot_98_bar__minus_01_dot_53 - object\n ButterKnife_bar__plus_01_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_62 - object\n ButterKnife_bar__minus_00_dot_08_bar__plus_00_dot_91_bar__minus_01_dot_82 - object\n ButterKnife_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_52 - object\n Chair_bar__minus_02_dot_42_bar__plus_00_dot_56_bar__plus_00_dot_41 - object\n Cup_bar__plus_00_dot_33_bar__plus_00_dot_11_bar__plus_00_dot_38 - object\n Cup_bar__minus_00_dot_08_bar__plus_00_dot_91_bar__minus_01_dot_49 - object\n DishSponge_bar__plus_00_dot_12_bar__plus_00_dot_77_bar__plus_00_dot_27 - object\n Egg_bar__minus_00_dot_39_bar__plus_00_dot_11_bar__plus_00_dot_66 - object\n Egg_bar__minus_02_dot_14_bar__plus_01_dot_53_bar__minus_01_dot_72 - object\n Faucet_bar__plus_00_dot_55_bar__plus_01_dot_05_bar__minus_01_dot_83 - object\n Fork_bar__minus_02_dot_34_bar__plus_00_dot_95_bar__plus_00_dot_61 - object\n Kettle_bar__minus_00_dot_06_bar__plus_00_dot_90_bar__plus_00_dot_64 - object\n Kettle_bar__minus_00_dot_27_bar__plus_00_dot_91_bar__minus_01_dot_57 - object\n Knife_bar__plus_01_dot_91_bar__plus_00_dot_94_bar__plus_00_dot_38 - object\n Lettuce_bar__plus_00_dot_85_bar__plus_01_dot_00_bar__minus_01_dot_54 - object\n LightSwitch_bar__minus_02_dot_76_bar__plus_01_dot_31_bar__minus_00_dot_99 - object\n Mug_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_61 - object\n Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29 - object\n PaperTowelRoll_bar__minus_00_dot_33_bar__plus_00_dot_17_bar__plus_00_dot_44 - object\n PepperShaker_bar__plus_01_dot_54_bar__plus_00_dot_91_bar__minus_01_dot_74 - object\n PepperShaker_bar__plus_01_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_38 - object\n PepperShaker_bar__minus_02_dot_61_bar__plus_00_dot_95_bar__plus_00_dot_61 - object\n Plate_bar__plus_01_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_54 - object\n Plate_bar__minus_02_dot_61_bar__plus_00_dot_95_bar__plus_00_dot_35 - object\n Potato_bar__plus_00_dot_45_bar__plus_00_dot_81_bar__minus_01_dot_60 - object\n Potato_bar__plus_01_dot_60_bar__plus_00_dot_94_bar__plus_00_dot_71 - object\n Potato_bar__minus_02_dot_31_bar__plus_00_dot_54_bar__minus_01_dot_85 - object\n Pot_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 - object\n Pot_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 - object\n SaltShaker_bar__plus_01_dot_79_bar__plus_00_dot_10_bar__plus_00_dot_42 - object\n SaltShaker_bar__minus_02_dot_34_bar__plus_00_dot_95_bar__plus_00_dot_35 - object\n Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77 - object\n SoapBottle_bar__plus_00_dot_17_bar__plus_00_dot_91_bar__plus_00_dot_29 - object\n SoapBottle_bar__minus_02_dot_34_bar__plus_00_dot_95_bar__plus_00_dot_26 - object\n Spatula_bar__minus_01_dot_79_bar__plus_00_dot_97_bar__plus_00_dot_70 - object\n Spatula_bar__minus_01_dot_93_bar__plus_00_dot_97_bar__plus_00_dot_70 - object\n 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Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77_bar_SinkBasin - receptacle\n StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29 - receptacle\n StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 - receptacle\n StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29 - receptacle\n StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 - receptacle\n Toaster_bar__plus_00_dot_31_bar__plus_00_dot_90_bar__plus_00_dot_55 - receptacle\n loc_bar_5_bar__minus_2_bar_2_bar_60 - location\n loc_bar_6_bar__minus_4_bar_0_bar_45 - location\n loc_bar_6_bar__minus_4_bar_3_bar_15 - location\n loc_bar_1_bar__minus_2_bar_0_bar_45 - location\n loc_bar_1_bar__minus_1_bar_0_bar_45 - location\n loc_bar_0_bar__minus_3_bar_3_bar_45 - location\n loc_bar_4_bar__minus_1_bar_0_bar_45 - location\n loc_bar__minus_9_bar__minus_3_bar_2_bar_60 - location\n loc_bar_1_bar__minus_4_bar_2_bar_60 - location\n loc_bar_5_bar__minus_1_bar_0_bar_60 - location\n loc_bar__minus_6_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_2_bar__minus_4_bar_2_bar_0 - location\n loc_bar_2_bar__minus_4_bar_3_bar_60 - location\n loc_bar_6_bar__minus_4_bar_2_bar_0 - location\n loc_bar__minus_9_bar__minus_1_bar_0_bar_60 - location\n loc_bar_4_bar__minus_1_bar_0_bar_60 - location\n loc_bar_6_bar__minus_1_bar_0_bar_45 - location\n loc_bar__minus_9_bar__minus_3_bar_3_bar_30 - location\n loc_bar_1_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_1_bar__minus_2_bar_0_bar_45 - location\n loc_bar_6_bar__minus_2_bar_1_bar_15 - location\n loc_bar__minus_4_bar__minus_2_bar_2_bar_60 - location\n loc_bar_5_bar__minus_1_bar_0_bar_45 - location\n loc_bar__minus_2_bar_0_bar_0_bar_60 - location\n loc_bar_4_bar__minus_3_bar_0_bar_60 - location\n loc_bar__minus_4_bar__minus_4_bar_2_bar_45 - location\n loc_bar__minus_9_bar__minus_1_bar_0_bar_45 - location\n loc_bar__minus_5_bar__minus_4_bar_1_bar_45 - location\n loc_bar_2_bar__minus_4_bar_2_bar_0 - location\n loc_bar_3_bar__minus_2_bar_2_bar_60 - location\n loc_bar_6_bar__minus_1_bar_0_bar_60 - location\n loc_bar__minus_2_bar__minus_3_bar_0_bar_60 - location\n loc_bar_2_bar__minus_1_bar_0_bar_45 - location\n loc_bar__minus_6_bar__minus_1_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__plus_00_dot_50_bar__plus_00_dot_79_bar__plus_00_dot_30 DrawerType)\n (receptacleType GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54 GarbageCanType)\n (receptacleType StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_00_dot_18_bar__plus_00_dot_40_bar__plus_00_dot_15 CabinetType)\n (receptacleType Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__plus_01_dot_08_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_69_bar__minus_01_dot_65 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_10_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType)\n (receptacleType Drawer_bar__minus_01_dot_10_bar__plus_00_dot_79_bar__minus_01_dot_50 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_59_bar__plus_00_dot_79_bar__minus_01_dot_50 DrawerType)\n (receptacleType CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46 CounterTopType)\n (receptacleType CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65 CounterTopType)\n (receptacleType StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_00_dot_06_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType)\n (receptacleType Microwave_bar__minus_01_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_72 MicrowaveType)\n (receptacleType StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_01_dot_67_bar__plus_00_dot_40_bar__plus_00_dot_15 CabinetType)\n (receptacleType CoffeeMachine_bar__plus_00_dot_62_bar__plus_00_dot_90_bar__plus_00_dot_60 CoffeeMachineType)\n (receptacleType Drawer_bar__plus_00_dot_02_bar__plus_00_dot_79_bar__plus_00_dot_30 DrawerType)\n (receptacleType Cabinet_bar__plus_01_dot_97_bar__plus_01_dot_69_bar__minus_01_dot_65 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_40_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType)\n (receptacleType Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69 FridgeType)\n (receptacleType Toaster_bar__plus_00_dot_31_bar__plus_00_dot_90_bar__plus_00_dot_55 ToasterType)\n (receptacleType StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType)\n (receptacleType 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CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Cup_bar__minus_00_dot_08_bar__plus_00_dot_91_bar__minus_01_dot_49 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle Bread_bar__plus_01_dot_30_bar__plus_00_dot_98_bar__minus_01_dot_53 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle ButterKnife_bar__minus_00_dot_08_bar__plus_00_dot_91_bar__minus_01_dot_82 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle Kettle_bar__minus_00_dot_27_bar__plus_00_dot_91_bar__minus_01_dot_57 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle PepperShaker_bar__plus_01_dot_54_bar__plus_00_dot_91_bar__minus_01_dot_74 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle Pot_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56)\n (inReceptacle Pot_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56)\n (inReceptacle DishSponge_bar__plus_00_dot_12_bar__plus_00_dot_77_bar__plus_00_dot_27 Drawer_bar__plus_00_dot_02_bar__plus_00_dot_79_bar__plus_00_dot_30)\n (inReceptacle Bowl_bar__plus_01_dot_87_bar__plus_00_dot_11_bar__plus_00_dot_27 Cabinet_bar__plus_01_dot_67_bar__plus_00_dot_40_bar__plus_00_dot_15)\n (inReceptacle SaltShaker_bar__plus_01_dot_79_bar__plus_00_dot_10_bar__plus_00_dot_42 Cabinet_bar__plus_01_dot_67_bar__plus_00_dot_40_bar__plus_00_dot_15)\n (inReceptacle Bowl_bar__plus_00_dot_02_bar__plus_00_dot_11_bar__plus_00_dot_28 Cabinet_bar__minus_00_dot_18_bar__plus_00_dot_40_bar__plus_00_dot_15)\n (inReceptacle Cup_bar__plus_00_dot_33_bar__plus_00_dot_11_bar__plus_00_dot_38 Cabinet_bar__plus_00_dot_73_bar__plus_00_dot_40_bar__plus_00_dot_15)\n (inReceptacle Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29 StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29)\n (inReceptacle Potato_bar__plus_01_dot_60_bar__plus_00_dot_94_bar__plus_00_dot_71 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Plate_bar__plus_01_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_54 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Knife_bar__plus_01_dot_91_bar__plus_00_dot_94_bar__plus_00_dot_38 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle ButterKnife_bar__plus_01_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_62 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle PepperShaker_bar__plus_01_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_38 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Potato_bar__plus_00_dot_45_bar__plus_00_dot_81_bar__minus_01_dot_60 Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77_bar_SinkBasin)\n (inReceptacle PaperTowelRoll_bar__minus_00_dot_33_bar__plus_00_dot_17_bar__plus_00_dot_44 GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54)\n (inReceptacle Egg_bar__minus_00_dot_39_bar__plus_00_dot_11_bar__plus_00_dot_66 GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54)\n (inReceptacle Potato_bar__minus_02_dot_31_bar__plus_00_dot_54_bar__minus_01_dot_85 Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69)\n (inReceptacle Egg_bar__minus_02_dot_14_bar__plus_01_dot_53_bar__minus_01_dot_72 Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69)\n \n \n (receptacleAtLocation 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(receptacleAtLocation Drawer_bar__plus_00_dot_02_bar__plus_00_dot_79_bar__plus_00_dot_30 loc_bar__minus_1_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_50_bar__plus_00_dot_79_bar__plus_00_dot_30 loc_bar_1_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_00_dot_30 loc_bar_6_bar__minus_1_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_50 loc_bar_2_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_59_bar__plus_00_dot_79_bar__minus_01_dot_50 loc_bar__minus_5_bar__minus_4_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_10_bar__plus_00_dot_79_bar__minus_01_dot_50 loc_bar_0_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69 loc_bar__minus_9_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation 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(objectAtLocation Kettle_bar__minus_00_dot_27_bar__plus_00_dot_91_bar__minus_01_dot_57 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Cup_bar__minus_00_dot_08_bar__plus_00_dot_91_bar__minus_01_dot_49 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Tomato_bar__minus_02_dot_20_bar__plus_01_dot_00_bar__plus_00_dot_35 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation SoapBottle_bar__plus_00_dot_17_bar__plus_00_dot_91_bar__plus_00_dot_29 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Plate_bar__minus_02_dot_61_bar__plus_00_dot_95_bar__plus_00_dot_35 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation LightSwitch_bar__minus_02_dot_76_bar__plus_01_dot_31_bar__minus_00_dot_99 loc_bar__minus_9_bar__minus_3_bar_3_bar_30)\n (objectAtLocation Pot_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 loc_bar_4_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Window_bar__plus_00_dot_58_bar__plus_01_dot_61_bar__minus_01_dot_97 loc_bar_2_bar__minus_4_bar_2_bar_0)\n (objectAtLocation Window_bar__plus_01_dot_97_bar__plus_01_dot_50_bar__minus_00_dot_62 loc_bar_6_bar__minus_2_bar_1_bar_15)\n (objectAtLocation Spatula_bar__minus_01_dot_79_bar__plus_00_dot_97_bar__plus_00_dot_70 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation PaperTowelRoll_bar__minus_00_dot_33_bar__plus_00_dot_17_bar__plus_00_dot_44 loc_bar__minus_2_bar_0_bar_0_bar_60)\n (objectAtLocation Egg_bar__minus_00_dot_39_bar__plus_00_dot_11_bar__plus_00_dot_66 loc_bar__minus_2_bar_0_bar_0_bar_60)\n (objectAtLocation Lettuce_bar__plus_00_dot_85_bar__plus_01_dot_00_bar__minus_01_dot_54 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation SaltShaker_bar__minus_02_dot_34_bar__plus_00_dot_95_bar__plus_00_dot_35 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation PepperShaker_bar__plus_01_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_38 loc_bar_6_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Apple_bar__minus_02_dot_48_bar__plus_01_dot_02_bar__plus_00_dot_70 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation ButterKnife_bar__plus_01_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_62 loc_bar_6_bar__minus_1_bar_0_bar_45)\n (objectAtLocation StoveKnob_bar__plus_01_dot_25_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar_5_bar__minus_1_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar_5_bar__minus_1_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_00_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar_4_bar__minus_1_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar_5_bar__minus_1_bar_0_bar_60)\n (objectAtLocation Potato_bar__plus_00_dot_45_bar__plus_00_dot_81_bar__minus_01_dot_60 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29 loc_bar_4_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Chair_bar__minus_02_dot_42_bar__plus_00_dot_56_bar__plus_00_dot_41 loc_bar__minus_9_bar__minus_1_bar_0_bar_60)\n (objectAtLocation DishSponge_bar__plus_00_dot_12_bar__plus_00_dot_77_bar__plus_00_dot_27 loc_bar__minus_1_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Spoon_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_52 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Mug_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_61 loc_bar__minus_9_bar__minus_1_bar_0_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 AppleType)\n (receptacleType ?r MicrowaveType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 1", "take apple 1 from diningtable 1", "go to fridge 1", "cool apple 1 with fridge 1", "go to microwave 1", "open microwave 1", "move apple 1 to microwave 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Apple-None-Microwave-11/trial_T20190909_012317_645496/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Apple-None-Microwave-11/trial_T20190909_012317_645496/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..ff6b9d1af4bbbc3c650cca16a12a25eeee01603b --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Apple-None-Microwave-11/trial_T20190909_012317_645496/initial_state.pddl @@ -0,0 +1,995 @@ + +(define (problem plan_trial_T20190909_012317_645496) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__minus_02_dot_48_bar__plus_01_dot_02_bar__plus_00_dot_70 - object + Bowl_bar__plus_00_dot_02_bar__plus_00_dot_11_bar__plus_00_dot_28 - object + Bowl_bar__plus_01_dot_87_bar__plus_00_dot_11_bar__plus_00_dot_27 - object + Bread_bar__plus_01_dot_30_bar__plus_00_dot_98_bar__minus_01_dot_53 - object + ButterKnife_bar__plus_01_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_62 - object + ButterKnife_bar__minus_00_dot_08_bar__plus_00_dot_91_bar__minus_01_dot_82 - object + ButterKnife_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_52 - object + Chair_bar__minus_02_dot_42_bar__plus_00_dot_56_bar__plus_00_dot_41 - object + Cup_bar__plus_00_dot_33_bar__plus_00_dot_11_bar__plus_00_dot_38 - object + Cup_bar__minus_00_dot_08_bar__plus_00_dot_91_bar__minus_01_dot_49 - object + DishSponge_bar__plus_00_dot_12_bar__plus_00_dot_77_bar__plus_00_dot_27 - object + Egg_bar__minus_00_dot_39_bar__plus_00_dot_11_bar__plus_00_dot_66 - object + Egg_bar__minus_02_dot_14_bar__plus_01_dot_53_bar__minus_01_dot_72 - object + Faucet_bar__plus_00_dot_55_bar__plus_01_dot_05_bar__minus_01_dot_83 - object + Fork_bar__minus_02_dot_34_bar__plus_00_dot_95_bar__plus_00_dot_61 - object + Kettle_bar__minus_00_dot_06_bar__plus_00_dot_90_bar__plus_00_dot_64 - object + Kettle_bar__minus_00_dot_27_bar__plus_00_dot_91_bar__minus_01_dot_57 - object + Knife_bar__plus_01_dot_91_bar__plus_00_dot_94_bar__plus_00_dot_38 - object + Lettuce_bar__plus_00_dot_85_bar__plus_01_dot_00_bar__minus_01_dot_54 - object + LightSwitch_bar__minus_02_dot_76_bar__plus_01_dot_31_bar__minus_00_dot_99 - object + Mug_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_61 - object + Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29 - object + PaperTowelRoll_bar__minus_00_dot_33_bar__plus_00_dot_17_bar__plus_00_dot_44 - object + PepperShaker_bar__plus_01_dot_54_bar__plus_00_dot_91_bar__minus_01_dot_74 - object + PepperShaker_bar__plus_01_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_38 - object + PepperShaker_bar__minus_02_dot_61_bar__plus_00_dot_95_bar__plus_00_dot_61 - object + Plate_bar__plus_01_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_54 - object + Plate_bar__minus_02_dot_61_bar__plus_00_dot_95_bar__plus_00_dot_35 - object + Potato_bar__plus_00_dot_45_bar__plus_00_dot_81_bar__minus_01_dot_60 - object + Potato_bar__plus_01_dot_60_bar__plus_00_dot_94_bar__plus_00_dot_71 - object + Potato_bar__minus_02_dot_31_bar__plus_00_dot_54_bar__minus_01_dot_85 - object + Pot_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 - object + Pot_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 - object + SaltShaker_bar__plus_01_dot_79_bar__plus_00_dot_10_bar__plus_00_dot_42 - object + SaltShaker_bar__minus_02_dot_34_bar__plus_00_dot_95_bar__plus_00_dot_35 - object + Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77 - object + SoapBottle_bar__plus_00_dot_17_bar__plus_00_dot_91_bar__plus_00_dot_29 - object + SoapBottle_bar__minus_02_dot_34_bar__plus_00_dot_95_bar__plus_00_dot_26 - object + Spatula_bar__minus_01_dot_79_bar__plus_00_dot_97_bar__plus_00_dot_70 - object + Spatula_bar__minus_01_dot_93_bar__plus_00_dot_97_bar__plus_00_dot_70 - object + Spatula_bar__minus_02_dot_20_bar__plus_00_dot_97_bar__plus_00_dot_17 - object + Spoon_bar__plus_00_dot_75_bar__plus_00_dot_92_bar__minus_01_dot_65 - object + Spoon_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_52 - object + StoveKnob_bar__plus_01_dot_00_bar__plus_00_dot_91_bar__plus_00_dot_12 - object + StoveKnob_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_12 - object + StoveKnob_bar__plus_01_dot_25_bar__plus_00_dot_91_bar__plus_00_dot_12 - object + StoveKnob_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_12 - object + Tomato_bar__minus_02_dot_20_bar__plus_01_dot_00_bar__plus_00_dot_35 - object + Window_bar__plus_00_dot_58_bar__plus_01_dot_61_bar__minus_01_dot_97 - object + Window_bar__plus_01_dot_97_bar__plus_01_dot_50_bar__minus_00_dot_62 - object + Cabinet_bar__plus_00_dot_06_bar__plus_00_dot_40_bar__minus_01_dot_35 - receptacle + Cabinet_bar__plus_00_dot_10_bar__plus_00_dot_40_bar__minus_01_dot_35 - receptacle + Cabinet_bar__plus_00_dot_73_bar__plus_00_dot_40_bar__plus_00_dot_15 - receptacle + Cabinet_bar__plus_01_dot_08_bar__plus_00_dot_40_bar__minus_01_dot_35 - receptacle + Cabinet_bar__plus_01_dot_67_bar__plus_00_dot_40_bar__plus_00_dot_15 - receptacle + Cabinet_bar__plus_01_dot_97_bar__plus_01_dot_69_bar__minus_01_dot_65 - receptacle + Cabinet_bar__minus_00_dot_18_bar__plus_00_dot_40_bar__plus_00_dot_15 - receptacle + Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_69_bar__minus_01_dot_65 - receptacle + Cabinet_bar__minus_00_dot_40_bar__plus_00_dot_40_bar__minus_01_dot_35 - receptacle + Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_35 - receptacle + CoffeeMachine_bar__plus_00_dot_62_bar__plus_00_dot_90_bar__plus_00_dot_60 - receptacle + CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46 - receptacle + CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46 - receptacle + CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65 - receptacle + DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45 - receptacle + Drawer_bar__plus_00_dot_02_bar__plus_00_dot_79_bar__plus_00_dot_30 - receptacle + Drawer_bar__plus_00_dot_50_bar__plus_00_dot_79_bar__plus_00_dot_30 - receptacle + Drawer_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_00_dot_30 - receptacle + Drawer_bar__minus_00_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_50 - receptacle + Drawer_bar__minus_00_dot_59_bar__plus_00_dot_79_bar__minus_01_dot_50 - receptacle + Drawer_bar__minus_01_dot_10_bar__plus_00_dot_79_bar__minus_01_dot_50 - receptacle + Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69 - receptacle + GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54 - receptacle + Microwave_bar__minus_01_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_72 - receptacle + Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77_bar_SinkBasin - receptacle + StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29 - receptacle + StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 - receptacle + StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29 - receptacle + StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 - receptacle + Toaster_bar__plus_00_dot_31_bar__plus_00_dot_90_bar__plus_00_dot_55 - receptacle + loc_bar_5_bar__minus_2_bar_2_bar_60 - location + loc_bar_6_bar__minus_4_bar_0_bar_45 - location + loc_bar_6_bar__minus_4_bar_3_bar_15 - location + loc_bar_1_bar__minus_2_bar_0_bar_45 - location + loc_bar_1_bar__minus_1_bar_0_bar_45 - location + loc_bar_0_bar__minus_3_bar_3_bar_45 - location + loc_bar_4_bar__minus_1_bar_0_bar_45 - location + loc_bar__minus_9_bar__minus_3_bar_2_bar_60 - location + loc_bar_1_bar__minus_4_bar_2_bar_60 - location + loc_bar_5_bar__minus_1_bar_0_bar_60 - location + loc_bar__minus_6_bar__minus_2_bar_2_bar_60 - location + loc_bar__minus_2_bar__minus_4_bar_2_bar_0 - location + loc_bar_2_bar__minus_4_bar_3_bar_60 - location + loc_bar_6_bar__minus_4_bar_2_bar_0 - location + loc_bar__minus_9_bar__minus_1_bar_0_bar_60 - location + loc_bar_4_bar__minus_1_bar_0_bar_60 - location + loc_bar_6_bar__minus_1_bar_0_bar_45 - location + loc_bar__minus_9_bar__minus_3_bar_3_bar_30 - location + loc_bar_1_bar__minus_2_bar_2_bar_60 - location + loc_bar__minus_1_bar__minus_2_bar_0_bar_45 - location + loc_bar_6_bar__minus_2_bar_1_bar_15 - location + loc_bar__minus_4_bar__minus_2_bar_2_bar_60 - location + loc_bar_5_bar__minus_1_bar_0_bar_45 - location + loc_bar__minus_2_bar_0_bar_0_bar_60 - location + loc_bar_4_bar__minus_3_bar_0_bar_60 - location + loc_bar__minus_4_bar__minus_4_bar_2_bar_45 - location + loc_bar__minus_9_bar__minus_1_bar_0_bar_45 - location + loc_bar__minus_5_bar__minus_4_bar_1_bar_45 - location + loc_bar_2_bar__minus_4_bar_2_bar_0 - location + loc_bar_3_bar__minus_2_bar_2_bar_60 - location + loc_bar_6_bar__minus_1_bar_0_bar_60 - location + loc_bar__minus_2_bar__minus_3_bar_0_bar_60 - location + loc_bar_2_bar__minus_1_bar_0_bar_45 - location + loc_bar__minus_6_bar__minus_1_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__plus_00_dot_50_bar__plus_00_dot_79_bar__plus_00_dot_30 DrawerType) + (receptacleType GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54 GarbageCanType) + (receptacleType StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 StoveBurnerType) + (receptacleType Cabinet_bar__minus_00_dot_18_bar__plus_00_dot_40_bar__plus_00_dot_15 CabinetType) + (receptacleType Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__plus_01_dot_08_bar__plus_00_dot_40_bar__minus_01_dot_35 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(pickupable Egg_bar__minus_02_dot_14_bar__plus_01_dot_53_bar__minus_01_dot_72) + (pickupable Fork_bar__minus_02_dot_34_bar__plus_00_dot_95_bar__plus_00_dot_61) + (pickupable Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29) + (pickupable Potato_bar__minus_02_dot_31_bar__plus_00_dot_54_bar__minus_01_dot_85) + (pickupable Spatula_bar__minus_02_dot_20_bar__plus_00_dot_97_bar__plus_00_dot_17) + (pickupable PepperShaker_bar__minus_02_dot_61_bar__plus_00_dot_95_bar__plus_00_dot_61) + (pickupable Bread_bar__plus_01_dot_30_bar__plus_00_dot_98_bar__minus_01_dot_53) + (pickupable Bowl_bar__plus_00_dot_02_bar__plus_00_dot_11_bar__plus_00_dot_28) + (pickupable Potato_bar__plus_00_dot_45_bar__plus_00_dot_81_bar__minus_01_dot_60) + (pickupable Kettle_bar__minus_00_dot_27_bar__plus_00_dot_91_bar__minus_01_dot_57) + (pickupable PepperShaker_bar__plus_01_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_38) + (pickupable DishSponge_bar__plus_00_dot_12_bar__plus_00_dot_77_bar__plus_00_dot_27) + (pickupable Apple_bar__minus_02_dot_48_bar__plus_01_dot_02_bar__plus_00_dot_70) + (isReceptacleObject Mug_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_61) + (isReceptacleObject Pot_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56) + (isReceptacleObject Cup_bar__plus_00_dot_33_bar__plus_00_dot_11_bar__plus_00_dot_38) + (isReceptacleObject Plate_bar__plus_01_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_54) + (isReceptacleObject Cup_bar__minus_00_dot_08_bar__plus_00_dot_91_bar__minus_01_dot_49) + (isReceptacleObject Plate_bar__minus_02_dot_61_bar__plus_00_dot_95_bar__plus_00_dot_35) + (isReceptacleObject Bowl_bar__plus_01_dot_87_bar__plus_00_dot_11_bar__plus_00_dot_27) + (isReceptacleObject Pot_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56) + (isReceptacleObject Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29) + (isReceptacleObject Bowl_bar__plus_00_dot_02_bar__plus_00_dot_11_bar__plus_00_dot_28) + (openable Drawer_bar__plus_00_dot_50_bar__plus_00_dot_79_bar__plus_00_dot_30) + (openable Cabinet_bar__minus_00_dot_18_bar__plus_00_dot_40_bar__plus_00_dot_15) + (openable Cabinet_bar__plus_01_dot_08_bar__plus_00_dot_40_bar__minus_01_dot_35) + (openable Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_69_bar__minus_01_dot_65) + (openable Cabinet_bar__plus_00_dot_10_bar__plus_00_dot_40_bar__minus_01_dot_35) + (openable Drawer_bar__minus_01_dot_10_bar__plus_00_dot_79_bar__minus_01_dot_50) + (openable Drawer_bar__minus_00_dot_59_bar__plus_00_dot_79_bar__minus_01_dot_50) + (openable Cabinet_bar__plus_00_dot_06_bar__plus_00_dot_40_bar__minus_01_dot_35) + (openable Microwave_bar__minus_01_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_72) + (openable Cabinet_bar__plus_01_dot_67_bar__plus_00_dot_40_bar__plus_00_dot_15) + (openable Drawer_bar__plus_00_dot_02_bar__plus_00_dot_79_bar__plus_00_dot_30) + (openable Cabinet_bar__plus_01_dot_97_bar__plus_01_dot_69_bar__minus_01_dot_65) + (openable Cabinet_bar__minus_00_dot_40_bar__plus_00_dot_40_bar__minus_01_dot_35) + (openable Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69) + (openable Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_35) + (openable Drawer_bar__minus_00_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_50) + (openable Cabinet_bar__plus_00_dot_73_bar__plus_00_dot_40_bar__plus_00_dot_15) + + (atLocation agent1 loc_bar__minus_6_bar__minus_1_bar_2_bar_30) + + (cleanable Spatula_bar__minus_01_dot_79_bar__plus_00_dot_97_bar__plus_00_dot_70) + (cleanable Kettle_bar__minus_00_dot_06_bar__plus_00_dot_90_bar__plus_00_dot_64) + (cleanable Mug_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_61) + (cleanable Spoon_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_52) + (cleanable ButterKnife_bar__plus_01_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_62) + (cleanable Pot_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56) + (cleanable Tomato_bar__minus_02_dot_20_bar__plus_01_dot_00_bar__plus_00_dot_35) + (cleanable Cup_bar__plus_00_dot_33_bar__plus_00_dot_11_bar__plus_00_dot_38) + (cleanable Plate_bar__plus_01_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_54) + (cleanable ButterKnife_bar__minus_00_dot_08_bar__plus_00_dot_91_bar__minus_01_dot_82) + (cleanable Egg_bar__minus_00_dot_39_bar__plus_00_dot_11_bar__plus_00_dot_66) + (cleanable Cup_bar__minus_00_dot_08_bar__plus_00_dot_91_bar__minus_01_dot_49) + (cleanable Lettuce_bar__plus_00_dot_85_bar__plus_01_dot_00_bar__minus_01_dot_54) + (cleanable Spoon_bar__plus_00_dot_75_bar__plus_00_dot_92_bar__minus_01_dot_65) + (cleanable Potato_bar__plus_01_dot_60_bar__plus_00_dot_94_bar__plus_00_dot_71) + (cleanable ButterKnife_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_52) + (cleanable Plate_bar__minus_02_dot_61_bar__plus_00_dot_95_bar__plus_00_dot_35) + (cleanable Knife_bar__plus_01_dot_91_bar__plus_00_dot_94_bar__plus_00_dot_38) + (cleanable Bowl_bar__plus_01_dot_87_bar__plus_00_dot_11_bar__plus_00_dot_27) + (cleanable Pot_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56) + (cleanable Spatula_bar__minus_01_dot_93_bar__plus_00_dot_97_bar__plus_00_dot_70) + (cleanable Egg_bar__minus_02_dot_14_bar__plus_01_dot_53_bar__minus_01_dot_72) + (cleanable Fork_bar__minus_02_dot_34_bar__plus_00_dot_95_bar__plus_00_dot_61) + (cleanable Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29) + (cleanable Potato_bar__minus_02_dot_31_bar__plus_00_dot_54_bar__minus_01_dot_85) + (cleanable Spatula_bar__minus_02_dot_20_bar__plus_00_dot_97_bar__plus_00_dot_17) + (cleanable Bowl_bar__plus_00_dot_02_bar__plus_00_dot_11_bar__plus_00_dot_28) + (cleanable Potato_bar__plus_00_dot_45_bar__plus_00_dot_81_bar__minus_01_dot_60) + (cleanable Kettle_bar__minus_00_dot_27_bar__plus_00_dot_91_bar__minus_01_dot_57) + (cleanable DishSponge_bar__plus_00_dot_12_bar__plus_00_dot_77_bar__plus_00_dot_27) + (cleanable Apple_bar__minus_02_dot_48_bar__plus_01_dot_02_bar__plus_00_dot_70) + + (heatable Mug_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_61) + (heatable Tomato_bar__minus_02_dot_20_bar__plus_01_dot_00_bar__plus_00_dot_35) + (heatable Cup_bar__plus_00_dot_33_bar__plus_00_dot_11_bar__plus_00_dot_38) + (heatable Plate_bar__plus_01_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_54) + (heatable Egg_bar__minus_00_dot_39_bar__plus_00_dot_11_bar__plus_00_dot_66) + (heatable Cup_bar__minus_00_dot_08_bar__plus_00_dot_91_bar__minus_01_dot_49) + (heatable Potato_bar__plus_01_dot_60_bar__plus_00_dot_94_bar__plus_00_dot_71) + (heatable Plate_bar__minus_02_dot_61_bar__plus_00_dot_95_bar__plus_00_dot_35) + (heatable Egg_bar__minus_02_dot_14_bar__plus_01_dot_53_bar__minus_01_dot_72) + (heatable Potato_bar__minus_02_dot_31_bar__plus_00_dot_54_bar__minus_01_dot_85) + (heatable Bread_bar__plus_01_dot_30_bar__plus_00_dot_98_bar__minus_01_dot_53) + (heatable Potato_bar__plus_00_dot_45_bar__plus_00_dot_81_bar__minus_01_dot_60) + (heatable Apple_bar__minus_02_dot_48_bar__plus_01_dot_02_bar__plus_00_dot_70) + (coolable Mug_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_61) + (coolable Pot_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56) + (coolable Tomato_bar__minus_02_dot_20_bar__plus_01_dot_00_bar__plus_00_dot_35) + (coolable Cup_bar__plus_00_dot_33_bar__plus_00_dot_11_bar__plus_00_dot_38) + (coolable Plate_bar__plus_01_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_54) + (coolable Egg_bar__minus_00_dot_39_bar__plus_00_dot_11_bar__plus_00_dot_66) + (coolable Cup_bar__minus_00_dot_08_bar__plus_00_dot_91_bar__minus_01_dot_49) + (coolable Lettuce_bar__plus_00_dot_85_bar__plus_01_dot_00_bar__minus_01_dot_54) + (coolable Potato_bar__plus_01_dot_60_bar__plus_00_dot_94_bar__plus_00_dot_71) + (coolable Plate_bar__minus_02_dot_61_bar__plus_00_dot_95_bar__plus_00_dot_35) + (coolable Bowl_bar__plus_01_dot_87_bar__plus_00_dot_11_bar__plus_00_dot_27) + (coolable Pot_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56) + (coolable Egg_bar__minus_02_dot_14_bar__plus_01_dot_53_bar__minus_01_dot_72) + (coolable Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29) + (coolable Potato_bar__minus_02_dot_31_bar__plus_00_dot_54_bar__minus_01_dot_85) + (coolable Bread_bar__plus_01_dot_30_bar__plus_00_dot_98_bar__minus_01_dot_53) + (coolable Bowl_bar__plus_00_dot_02_bar__plus_00_dot_11_bar__plus_00_dot_28) + (coolable Potato_bar__plus_00_dot_45_bar__plus_00_dot_81_bar__minus_01_dot_60) + (coolable Apple_bar__minus_02_dot_48_bar__plus_01_dot_02_bar__plus_00_dot_70) + + + + + + (sliceable Tomato_bar__minus_02_dot_20_bar__plus_01_dot_00_bar__plus_00_dot_35) + (sliceable Egg_bar__minus_00_dot_39_bar__plus_00_dot_11_bar__plus_00_dot_66) + (sliceable Lettuce_bar__plus_00_dot_85_bar__plus_01_dot_00_bar__minus_01_dot_54) + (sliceable Potato_bar__plus_01_dot_60_bar__plus_00_dot_94_bar__plus_00_dot_71) + (sliceable Egg_bar__minus_02_dot_14_bar__plus_01_dot_53_bar__minus_01_dot_72) + (sliceable Potato_bar__minus_02_dot_31_bar__plus_00_dot_54_bar__minus_01_dot_85) + (sliceable Bread_bar__plus_01_dot_30_bar__plus_00_dot_98_bar__minus_01_dot_53) + (sliceable Potato_bar__plus_00_dot_45_bar__plus_00_dot_81_bar__minus_01_dot_60) + (sliceable Apple_bar__minus_02_dot_48_bar__plus_01_dot_02_bar__plus_00_dot_70) + + (inReceptacle Spatula_bar__minus_02_dot_20_bar__plus_00_dot_97_bar__plus_00_dot_17 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle SaltShaker_bar__minus_02_dot_34_bar__plus_00_dot_95_bar__plus_00_dot_35 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle PepperShaker_bar__minus_02_dot_61_bar__plus_00_dot_95_bar__plus_00_dot_61 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle Tomato_bar__minus_02_dot_20_bar__plus_01_dot_00_bar__plus_00_dot_35 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle Spatula_bar__minus_01_dot_79_bar__plus_00_dot_97_bar__plus_00_dot_70 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle ButterKnife_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_52 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle Mug_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_61 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle Plate_bar__minus_02_dot_61_bar__plus_00_dot_95_bar__plus_00_dot_35 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle Spoon_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_52 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle Spatula_bar__minus_01_dot_93_bar__plus_00_dot_97_bar__plus_00_dot_70 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle SoapBottle_bar__minus_02_dot_34_bar__plus_00_dot_95_bar__plus_00_dot_26 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle Apple_bar__minus_02_dot_48_bar__plus_01_dot_02_bar__plus_00_dot_70 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle Fork_bar__minus_02_dot_34_bar__plus_00_dot_95_bar__plus_00_dot_61 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle Kettle_bar__minus_00_dot_06_bar__plus_00_dot_90_bar__plus_00_dot_64 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle SoapBottle_bar__plus_00_dot_17_bar__plus_00_dot_91_bar__plus_00_dot_29 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle Cup_bar__minus_00_dot_08_bar__plus_00_dot_91_bar__minus_01_dot_49 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65) + (inReceptacle Bread_bar__plus_01_dot_30_bar__plus_00_dot_98_bar__minus_01_dot_53 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65) + (inReceptacle Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65) + (inReceptacle ButterKnife_bar__minus_00_dot_08_bar__plus_00_dot_91_bar__minus_01_dot_82 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65) + (inReceptacle Kettle_bar__minus_00_dot_27_bar__plus_00_dot_91_bar__minus_01_dot_57 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65) + (inReceptacle PepperShaker_bar__plus_01_dot_54_bar__plus_00_dot_91_bar__minus_01_dot_74 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65) + (inReceptacle Pot_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56) + (inReceptacle Pot_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56) + (inReceptacle DishSponge_bar__plus_00_dot_12_bar__plus_00_dot_77_bar__plus_00_dot_27 Drawer_bar__plus_00_dot_02_bar__plus_00_dot_79_bar__plus_00_dot_30) + (inReceptacle Bowl_bar__plus_01_dot_87_bar__plus_00_dot_11_bar__plus_00_dot_27 Cabinet_bar__plus_01_dot_67_bar__plus_00_dot_40_bar__plus_00_dot_15) + (inReceptacle SaltShaker_bar__plus_01_dot_79_bar__plus_00_dot_10_bar__plus_00_dot_42 Cabinet_bar__plus_01_dot_67_bar__plus_00_dot_40_bar__plus_00_dot_15) + (inReceptacle Bowl_bar__plus_00_dot_02_bar__plus_00_dot_11_bar__plus_00_dot_28 Cabinet_bar__minus_00_dot_18_bar__plus_00_dot_40_bar__plus_00_dot_15) + (inReceptacle Cup_bar__plus_00_dot_33_bar__plus_00_dot_11_bar__plus_00_dot_38 Cabinet_bar__plus_00_dot_73_bar__plus_00_dot_40_bar__plus_00_dot_15) + (inReceptacle Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29 StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29) + (inReceptacle Potato_bar__plus_01_dot_60_bar__plus_00_dot_94_bar__plus_00_dot_71 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle Plate_bar__plus_01_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_54 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle Knife_bar__plus_01_dot_91_bar__plus_00_dot_94_bar__plus_00_dot_38 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle ButterKnife_bar__plus_01_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_62 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle PepperShaker_bar__plus_01_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_38 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle Potato_bar__plus_00_dot_45_bar__plus_00_dot_81_bar__minus_01_dot_60 Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77_bar_SinkBasin) + (inReceptacle PaperTowelRoll_bar__minus_00_dot_33_bar__plus_00_dot_17_bar__plus_00_dot_44 GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54) + (inReceptacle Egg_bar__minus_00_dot_39_bar__plus_00_dot_11_bar__plus_00_dot_66 GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54) + (inReceptacle Potato_bar__minus_02_dot_31_bar__plus_00_dot_54_bar__minus_01_dot_85 Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69) + (inReceptacle Egg_bar__minus_02_dot_14_bar__plus_01_dot_53_bar__minus_01_dot_72 Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_06_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar_1_bar__minus_2_bar_2_bar_60) + 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(objectAtLocation Cup_bar__minus_00_dot_08_bar__plus_00_dot_91_bar__minus_01_dot_49 loc_bar_6_bar__minus_4_bar_3_bar_15) + (objectAtLocation Tomato_bar__minus_02_dot_20_bar__plus_01_dot_00_bar__plus_00_dot_35 loc_bar__minus_9_bar__minus_1_bar_0_bar_45) + (objectAtLocation SoapBottle_bar__plus_00_dot_17_bar__plus_00_dot_91_bar__plus_00_dot_29 loc_bar_1_bar__minus_1_bar_0_bar_45) + (objectAtLocation Plate_bar__minus_02_dot_61_bar__plus_00_dot_95_bar__plus_00_dot_35 loc_bar__minus_9_bar__minus_1_bar_0_bar_45) + (objectAtLocation LightSwitch_bar__minus_02_dot_76_bar__plus_01_dot_31_bar__minus_00_dot_99 loc_bar__minus_9_bar__minus_3_bar_3_bar_30) + (objectAtLocation Pot_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 loc_bar_4_bar__minus_1_bar_0_bar_45) + (objectAtLocation Window_bar__plus_00_dot_58_bar__plus_01_dot_61_bar__minus_01_dot_97 loc_bar_2_bar__minus_4_bar_2_bar_0) + (objectAtLocation Window_bar__plus_01_dot_97_bar__plus_01_dot_50_bar__minus_00_dot_62 loc_bar_6_bar__minus_2_bar_1_bar_15) + (objectAtLocation Spatula_bar__minus_01_dot_79_bar__plus_00_dot_97_bar__plus_00_dot_70 loc_bar__minus_9_bar__minus_1_bar_0_bar_45) + (objectAtLocation PaperTowelRoll_bar__minus_00_dot_33_bar__plus_00_dot_17_bar__plus_00_dot_44 loc_bar__minus_2_bar_0_bar_0_bar_60) + (objectAtLocation Egg_bar__minus_00_dot_39_bar__plus_00_dot_11_bar__plus_00_dot_66 loc_bar__minus_2_bar_0_bar_0_bar_60) + (objectAtLocation Lettuce_bar__plus_00_dot_85_bar__plus_01_dot_00_bar__minus_01_dot_54 loc_bar_1_bar__minus_4_bar_2_bar_60) + (objectAtLocation SaltShaker_bar__minus_02_dot_34_bar__plus_00_dot_95_bar__plus_00_dot_35 loc_bar__minus_9_bar__minus_1_bar_0_bar_45) + (objectAtLocation PepperShaker_bar__plus_01_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_38 loc_bar_6_bar__minus_1_bar_0_bar_45) + (objectAtLocation Apple_bar__minus_02_dot_48_bar__plus_01_dot_02_bar__plus_00_dot_70 loc_bar__minus_9_bar__minus_1_bar_0_bar_45) + (objectAtLocation 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(objectAtLocation DishSponge_bar__plus_00_dot_12_bar__plus_00_dot_77_bar__plus_00_dot_27 loc_bar__minus_1_bar__minus_2_bar_0_bar_45) + (objectAtLocation Spoon_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_52 loc_bar__minus_9_bar__minus_1_bar_0_bar_45) + (objectAtLocation Mug_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_61 loc_bar__minus_9_bar__minus_1_bar_0_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (coolable ?o) + (objectType ?o AppleType) + (receptacleType ?r MicrowaveType) + (isCool ?o) + (inReceptacle ?o ?r) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Apple-None-Microwave-11/trial_T20190909_012317_645496/traj_data.json b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Apple-None-Microwave-11/trial_T20190909_012317_645496/traj_data.json new file mode 100644 index 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-2.2879, + "y": 0.7729672, + "z": 1.46587777 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pot_bc458cba", + "position": { + "x": 1.6916, + "y": 0.9295, + "z": 0.0642 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_0b8e1a97", + "position": { + "x": -0.471179664, + "y": 0.9120294, + "z": 0.6473222 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_9b863229", + "position": { + "x": -2.289484, + "y": 0.9532293, + "z": 1.53077412 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_db7f1139", + "position": { + "x": -2.39029, + "y": 0.204037771, + "z": -0.9021578 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3057623232, + "scene_num": 6 + }, + "task_id": "trial_T20190908_114123_087113", + "task_type": "pick_cool_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1ELPYAFO7MANS_3E337GFOLCZX0SH2ZLM5GH0KN09NG7", + "high_descs": [ + "Walk ahead to the edge of the counter and turn left.", + "Pick up the apple on the counter.", + "Turn around and veer left to the fridge.", + "Place the apple in the fridge and close the door. Wait a moment and then take the apple out.", + "Turn right and walk all the way to the end of the counter.", + "Place the apple in the microwave." + ], + "task_desc": "Place a chilled apple in a microwave.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3PPLDHC3CG0YN_3J2UYBXQQO3SI30PM2BLTERILTH60Z", + "high_descs": [ + "Walk to the counter to the left of the stove. ", + "Pick up the apple from the counter that's behind the spoon. ", + "Walk around the island and walk to the fridge. ", + "Open the fridge door, place the apple in the fridge on the top shelf, close the door, open the door, take the apple out, close the door. ", + "Turn and walk to the microwave on the left side at the end of the counter. ", + "Open the microwave door, place the apple in the microwave, and close the door. " + ], + "task_desc": "To chill an apple and place it in the microwave. ", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2Q3FS9G8ITCN7_34Z02EIMIV4YK1B1IFJE4OJW50X0T7", + "high_descs": [ + "Turn to the left and face the counter to the left of the stove. ", + "Pick up the apple from the back of the counter. ", + "Turn to the right and walk to the refrigerator. ", + "Open the freezer door, place the apple inside, close the freezer door. Open the freezer door, remove the apple, close the freezer door. ", + "Turn around to the right and walk to the microwave. ", + "Open the microwave, place the apple inside, close the microwave. " + ], + "task_desc": "Place a frozen apple into a microwave. ", + "votes": [ + 1, + 1, + 0 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Egg-None-CounterTop-19/trial_T20190909_005123_562800/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Egg-None-CounterTop-19/trial_T20190909_005123_562800/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..2295acba75d2f85de6cbae7887530d75ee0d5295 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Egg-None-CounterTop-19/trial_T20190909_005123_562800/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 egg in countertop.\"\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_005123_562800)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__minus_00_dot_34_bar__plus_00_dot_96_bar__minus_01_dot_31 - object\n Apple_bar__minus_03_dot_08_bar__plus_00_dot_68_bar__minus_02_dot_19 - object\n Apple_bar__minus_03_dot_29_bar__plus_00_dot_76_bar__minus_00_dot_62 - object\n Bowl_bar__minus_00_dot_13_bar__plus_01_dot_01_bar__minus_00_dot_80 - object\n Bowl_bar__minus_02_dot_56_bar__plus_00_dot_71_bar__minus_00_dot_80 - object\n Bowl_bar__minus_02_dot_99_bar__plus_00_dot_71_bar__minus_00_dot_92 - object\n Bread_bar__minus_00_dot_33_bar__plus_00_dot_95_bar__minus_03_dot_68 - object\n ButterKnife_bar__minus_02_dot_44_bar__plus_00_dot_71_bar__minus_00_dot_50 - object\n ButterKnife_bar__minus_02_dot_92_bar__plus_00_dot_71_bar__minus_00_dot_64 - object\n ButterKnife_bar__minus_03_dot_31_bar__plus_00_dot_91_bar__minus_03_dot_33 - object\n Chair_bar__minus_02_dot_38_bar__plus_00_dot_02_bar__minus_00_dot_55 - object\n Chair_bar__minus_03_dot_16_bar__plus_00_dot_01_bar__minus_00_dot_99 - object\n Cup_bar__minus_02_dot_58_bar__plus_00_dot_71_bar__minus_00_dot_56 - object\n DishSponge_bar__minus_01_dot_07_bar__plus_00_dot_08_bar__minus_03_dot_71 - object\n DishSponge_bar__minus_01_dot_52_bar__plus_00_dot_08_bar__minus_03_dot_63 - object\n Egg_bar__minus_00_dot_41_bar__plus_00_dot_95_bar__minus_03_dot_11 - object\n Egg_bar__minus_03_dot_29_bar__plus_00_dot_75_bar__minus_00_dot_31 - object\n Faucet_bar__minus_01_dot_79_bar__plus_01_dot_14_bar__minus_03_dot_91 - object\n Fork_bar__minus_01_dot_91_bar__plus_00_dot_79_bar__minus_03_dot_70 - object\n Fork_bar__minus_02_dot_99_bar__plus_00_dot_91_bar__minus_03_dot_66 - object\n Fork_bar__minus_03_dot_39_bar__plus_00_dot_91_bar__minus_03_dot_13 - object\n Knife_bar__minus_03_dot_17_bar__plus_00_dot_95_bar__minus_03_dot_66 - object\n Lettuce_bar__minus_02_dot_74_bar__plus_00_dot_80_bar__minus_00_dot_64 - object\n Lettuce_bar__minus_03_dot_07_bar__plus_00_dot_80_bar__minus_00_dot_70 - object\n LightSwitch_bar__minus_01_dot_11_bar__plus_01_dot_46_bar__plus_00_dot_34 - object\n Mug_bar__minus_02_dot_93_bar__plus_00_dot_76_bar__minus_00_dot_36 - object\n Pan_bar__minus_00_dot_17_bar__plus_00_dot_98_bar__minus_02_dot_45 - object\n 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Plate_bar__minus_00_dot_38_bar__plus_01_dot_30_bar__minus_03_dot_70)\n (cleanable Bowl_bar__minus_00_dot_13_bar__plus_01_dot_01_bar__minus_00_dot_80)\n (cleanable Pan_bar__minus_00_dot_38_bar__plus_00_dot_98_bar__minus_02_dot_03)\n (cleanable Spatula_bar__minus_00_dot_01_bar__plus_00_dot_93_bar__minus_01_dot_37)\n (cleanable Egg_bar__minus_00_dot_41_bar__plus_00_dot_95_bar__minus_03_dot_11)\n (cleanable Apple_bar__minus_03_dot_08_bar__plus_00_dot_68_bar__minus_02_dot_19)\n (cleanable Lettuce_bar__minus_03_dot_07_bar__plus_00_dot_80_bar__minus_00_dot_70)\n (cleanable Tomato_bar__minus_03_dot_29_bar__plus_00_dot_77_bar__minus_00_dot_43)\n (cleanable Apple_bar__minus_00_dot_34_bar__plus_00_dot_96_bar__minus_01_dot_31)\n \n (heatable Bread_bar__minus_00_dot_33_bar__plus_00_dot_95_bar__minus_03_dot_68)\n (heatable Potato_bar__minus_01_dot_64_bar__plus_00_dot_83_bar__minus_03_dot_66)\n (heatable Potato_bar__minus_02_dot_65_bar__plus_00_dot_76_bar__minus_00_dot_11)\n (heatable Egg_bar__minus_03_dot_29_bar__plus_00_dot_75_bar__minus_00_dot_31)\n (heatable Apple_bar__minus_03_dot_29_bar__plus_00_dot_76_bar__minus_00_dot_62)\n (heatable Mug_bar__minus_02_dot_93_bar__plus_00_dot_76_bar__minus_00_dot_36)\n (heatable Cup_bar__minus_02_dot_58_bar__plus_00_dot_71_bar__minus_00_dot_56)\n (heatable Plate_bar__minus_00_dot_38_bar__plus_01_dot_30_bar__minus_03_dot_70)\n (heatable Egg_bar__minus_00_dot_41_bar__plus_00_dot_95_bar__minus_03_dot_11)\n (heatable Apple_bar__minus_03_dot_08_bar__plus_00_dot_68_bar__minus_02_dot_19)\n (heatable Tomato_bar__minus_03_dot_29_bar__plus_00_dot_77_bar__minus_00_dot_43)\n (heatable Apple_bar__minus_00_dot_34_bar__plus_00_dot_96_bar__minus_01_dot_31)\n (coolable Bread_bar__minus_00_dot_33_bar__plus_00_dot_95_bar__minus_03_dot_68)\n (coolable Potato_bar__minus_01_dot_64_bar__plus_00_dot_83_bar__minus_03_dot_66)\n (coolable Potato_bar__minus_02_dot_65_bar__plus_00_dot_76_bar__minus_00_dot_11)\n (coolable Egg_bar__minus_03_dot_29_bar__plus_00_dot_75_bar__minus_00_dot_31)\n (coolable Pot_bar__minus_02_dot_84_bar__plus_00_dot_90_bar__minus_03_dot_75)\n (coolable Pan_bar__minus_00_dot_17_bar__plus_00_dot_98_bar__minus_02_dot_45)\n (coolable Apple_bar__minus_03_dot_29_bar__plus_00_dot_76_bar__minus_00_dot_62)\n (coolable Mug_bar__minus_02_dot_93_bar__plus_00_dot_76_bar__minus_00_dot_36)\n (coolable Lettuce_bar__minus_02_dot_74_bar__plus_00_dot_80_bar__minus_00_dot_64)\n (coolable Cup_bar__minus_02_dot_58_bar__plus_00_dot_71_bar__minus_00_dot_56)\n (coolable Bowl_bar__minus_02_dot_99_bar__plus_00_dot_71_bar__minus_00_dot_92)\n (coolable Bowl_bar__minus_02_dot_56_bar__plus_00_dot_71_bar__minus_00_dot_80)\n (coolable Plate_bar__minus_00_dot_38_bar__plus_01_dot_30_bar__minus_03_dot_70)\n (coolable Bowl_bar__minus_00_dot_13_bar__plus_01_dot_01_bar__minus_00_dot_80)\n (coolable Pan_bar__minus_00_dot_38_bar__plus_00_dot_98_bar__minus_02_dot_03)\n (coolable Egg_bar__minus_00_dot_41_bar__plus_00_dot_95_bar__minus_03_dot_11)\n (coolable Apple_bar__minus_03_dot_08_bar__plus_00_dot_68_bar__minus_02_dot_19)\n (coolable Lettuce_bar__minus_03_dot_07_bar__plus_00_dot_80_bar__minus_00_dot_70)\n (coolable Tomato_bar__minus_03_dot_29_bar__plus_00_dot_77_bar__minus_00_dot_43)\n (coolable Apple_bar__minus_00_dot_34_bar__plus_00_dot_96_bar__minus_01_dot_31)\n \n \n \n \n \n (sliceable Bread_bar__minus_00_dot_33_bar__plus_00_dot_95_bar__minus_03_dot_68)\n (sliceable Potato_bar__minus_01_dot_64_bar__plus_00_dot_83_bar__minus_03_dot_66)\n (sliceable Potato_bar__minus_02_dot_65_bar__plus_00_dot_76_bar__minus_00_dot_11)\n (sliceable Egg_bar__minus_03_dot_29_bar__plus_00_dot_75_bar__minus_00_dot_31)\n (sliceable Apple_bar__minus_03_dot_29_bar__plus_00_dot_76_bar__minus_00_dot_62)\n (sliceable Lettuce_bar__minus_02_dot_74_bar__plus_00_dot_80_bar__minus_00_dot_64)\n (sliceable Egg_bar__minus_00_dot_41_bar__plus_00_dot_95_bar__minus_03_dot_11)\n (sliceable Apple_bar__minus_03_dot_08_bar__plus_00_dot_68_bar__minus_02_dot_19)\n (sliceable Lettuce_bar__minus_03_dot_07_bar__plus_00_dot_80_bar__minus_00_dot_70)\n (sliceable Tomato_bar__minus_03_dot_29_bar__plus_00_dot_77_bar__minus_00_dot_43)\n (sliceable Apple_bar__minus_00_dot_34_bar__plus_00_dot_96_bar__minus_01_dot_31)\n \n (inReceptacle Fork_bar__minus_02_dot_99_bar__plus_00_dot_91_bar__minus_03_dot_66 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80)\n (inReceptacle Bread_bar__minus_00_dot_33_bar__plus_00_dot_95_bar__minus_03_dot_68 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80)\n (inReceptacle ButterKnife_bar__minus_03_dot_31_bar__plus_00_dot_91_bar__minus_03_dot_33 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80)\n (inReceptacle Pot_bar__minus_02_dot_84_bar__plus_00_dot_90_bar__minus_03_dot_75 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80)\n (inReceptacle Knife_bar__minus_03_dot_17_bar__plus_00_dot_95_bar__minus_03_dot_66 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80)\n (inReceptacle Fork_bar__minus_03_dot_39_bar__plus_00_dot_91_bar__minus_03_dot_13 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80)\n (inReceptacle Egg_bar__minus_00_dot_41_bar__plus_00_dot_95_bar__minus_03_dot_11 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80)\n (inReceptacle DishSponge_bar__minus_01_dot_07_bar__plus_00_dot_08_bar__minus_03_dot_71 Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_39_bar__minus_03_dot_51)\n (inReceptacle DishSponge_bar__minus_01_dot_52_bar__plus_00_dot_08_bar__minus_03_dot_63 Cabinet_bar__minus_01_dot_38_bar__plus_00_dot_39_bar__minus_03_dot_51)\n (inReceptacle Plate_bar__minus_00_dot_38_bar__plus_01_dot_30_bar__minus_03_dot_70 Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_21_bar__minus_04_dot_24)\n (inReceptacle ButterKnife_bar__minus_02_dot_92_bar__plus_00_dot_71_bar__minus_00_dot_64 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle Potato_bar__minus_02_dot_65_bar__plus_00_dot_76_bar__minus_00_dot_11 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle Cup_bar__minus_02_dot_58_bar__plus_00_dot_71_bar__minus_00_dot_56 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle Lettuce_bar__minus_03_dot_07_bar__plus_00_dot_80_bar__minus_00_dot_70 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle Apple_bar__minus_03_dot_29_bar__plus_00_dot_76_bar__minus_00_dot_62 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle Spoon_bar__minus_02_dot_82_bar__plus_00_dot_72_bar__minus_00_dot_54 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle Bowl_bar__minus_02_dot_56_bar__plus_00_dot_71_bar__minus_00_dot_80 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle Tomato_bar__minus_03_dot_29_bar__plus_00_dot_77_bar__minus_00_dot_43 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle SaltShaker_bar__minus_02_dot_87_bar__plus_00_dot_71_bar__minus_00_dot_07 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle Mug_bar__minus_02_dot_93_bar__plus_00_dot_76_bar__minus_00_dot_36 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle ButterKnife_bar__minus_02_dot_44_bar__plus_00_dot_71_bar__minus_00_dot_50 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle Lettuce_bar__minus_02_dot_74_bar__plus_00_dot_80_bar__minus_00_dot_64 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle SoapBottle_bar__minus_02_dot_80_bar__plus_00_dot_71_bar__minus_00_dot_16 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle Bowl_bar__minus_02_dot_99_bar__plus_00_dot_71_bar__minus_00_dot_92 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle Egg_bar__minus_03_dot_29_bar__plus_00_dot_75_bar__minus_00_dot_31 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle Pan_bar__minus_00_dot_17_bar__plus_00_dot_98_bar__minus_02_dot_45 StoveBurner_bar__minus_00_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_45)\n (inReceptacle SoapBottle_bar__minus_00_dot_18_bar__plus_00_dot_92_bar__minus_01_dot_62 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09)\n (inReceptacle Spatula_bar__minus_00_dot_18_bar__plus_00_dot_93_bar__minus_01_dot_43 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09)\n (inReceptacle PepperShaker_bar__minus_00_dot_10_bar__plus_00_dot_91_bar__minus_00_dot_49 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09)\n (inReceptacle Spatula_bar__minus_00_dot_01_bar__plus_00_dot_93_bar__minus_01_dot_37 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09)\n (inReceptacle Apple_bar__minus_00_dot_34_bar__plus_00_dot_96_bar__minus_01_dot_31 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09)\n (inReceptacle Spatula_bar__minus_00_dot_34_bar__plus_00_dot_93_bar__minus_00_dot_51 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09)\n (inReceptacle PepperShaker_bar__minus_00_dot_50_bar__plus_00_dot_74_bar__minus_03_dot_32 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_03_dot_35)\n (inReceptacle Pan_bar__minus_00_dot_38_bar__plus_00_dot_98_bar__minus_02_dot_03 StoveBurner_bar__minus_00_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_03)\n (inReceptacle PepperShaker_bar__minus_00_dot_44_bar__plus_00_dot_74_bar__minus_02_dot_86 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_02_dot_97)\n (inReceptacle Pan_bar__minus_00_dot_38_bar__plus_00_dot_98_bar__minus_02_dot_03 StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_03)\n (inReceptacle Pan_bar__minus_00_dot_17_bar__plus_00_dot_98_bar__minus_02_dot_45 StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_45)\n (inReceptacleObject Fork_bar__minus_02_dot_99_bar__plus_00_dot_91_bar__minus_03_dot_66 Pot_bar__minus_02_dot_84_bar__plus_00_dot_90_bar__minus_03_dot_75)\n (inReceptacle Bowl_bar__minus_00_dot_13_bar__plus_01_dot_01_bar__minus_00_dot_80 Microwave_bar__minus_00_dot_14_bar__plus_00_dot_90_bar__minus_00_dot_91)\n (inReceptacle Mug_bar__minus_02_dot_93_bar__plus_00_dot_76_bar__minus_00_dot_36 CoffeeMachine_bar__minus_03_dot_10_bar__plus_00_dot_71_bar__minus_00_dot_19)\n (inReceptacle Apple_bar__minus_03_dot_08_bar__plus_00_dot_68_bar__minus_02_dot_19 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19)\n (inReceptacle Potato_bar__minus_01_dot_64_bar__plus_00_dot_83_bar__minus_03_dot_66 Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75_bar_SinkBasin)\n (inReceptacle Fork_bar__minus_01_dot_91_bar__plus_00_dot_79_bar__minus_03_dot_70 Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_21_bar__minus_04_dot_24 loc_bar__minus_5_bar__minus_13_bar_1_bar_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_00_dot_45 loc_bar__minus_4_bar__minus_2_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_01_dot_74 loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_02_dot_73 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_24_bar__plus_02_dot_10_bar__minus_01_dot_77 loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_24_bar__plus_02_dot_10_bar__minus_02_dot_71 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_00_dot_45 loc_bar__minus_6_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_73 loc_bar__minus_7_bar__minus_4_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_74 loc_bar__minus_6_bar__minus_13_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_48 loc_bar__minus_7_bar__minus_11_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_61_bar__plus_00_dot_39_bar__minus_03_dot_51 loc_bar__minus_5_bar__minus_10_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_23_bar__plus_01_dot_81_bar__minus_03_dot_76 loc_bar__minus_4_bar__minus_13_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_39_bar__minus_03_dot_51 loc_bar__minus_4_bar__minus_10_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_38_bar__plus_00_dot_39_bar__minus_03_dot_51 loc_bar__minus_8_bar__minus_10_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_15_bar__plus_00_dot_39_bar__minus_03_dot_51 loc_bar__minus_9_bar__minus_10_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_81_bar__plus_01_dot_81_bar__minus_03_dot_76 loc_bar__minus_9_bar__minus_12_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_98_bar__plus_00_dot_39_bar__minus_03_dot_20 loc_bar__minus_9_bar__minus_12_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_02_bar__plus_02_dot_10_bar__minus_01_dot_74 loc_bar__minus_8_bar__minus_9_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_02_bar__plus_02_dot_10_bar__minus_02_dot_68 loc_bar__minus_8_bar__minus_11_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_23_bar__plus_01_dot_80_bar__minus_03_dot_34 loc_bar__minus_8_bar__minus_13_bar_3_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_06_dot_01_bar__plus_01_dot_14_bar__minus_06_dot_02 loc_bar__minus_8_bar__minus_13_bar_3_bar_0)\n (receptacleAtLocation CoffeeMachine_bar__minus_03_dot_10_bar__plus_00_dot_71_bar__minus_00_dot_19 loc_bar__minus_8_bar__minus_1_bar_3_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09 loc_bar__minus_4_bar__minus_5_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_00_dot_76 loc_bar__minus_4_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_01_dot_41 loc_bar__minus_4_bar__minus_6_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_02_dot_97 loc_bar__minus_4_bar__minus_12_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_03_dot_35 loc_bar__minus_4_bar__minus_13_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_03_dot_10_bar__plus_00_dot_80_bar__minus_02_dot_97 loc_bar__minus_9_bar__minus_12_bar_3_bar_45)\n (receptacleAtLocation Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19 loc_bar__minus_9_bar__minus_9_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_28_bar__plus_00_dot_00_bar__minus_00_dot_04 loc_bar__minus_4_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__minus_00_dot_14_bar__plus_00_dot_90_bar__minus_00_dot_91 loc_bar__minus_4_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75_bar_SinkBasin loc_bar__minus_8_bar__minus_13_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_03 loc_bar__minus_4_bar__minus_8_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_45 loc_bar__minus_4_bar__minus_10_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_03 loc_bar__minus_4_bar__minus_8_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_45 loc_bar__minus_4_bar__minus_10_bar_1_bar_45)\n (receptacleAtLocation Toaster_bar__minus_00_dot_23_bar__plus_00_dot_90_bar__minus_03_dot_41 loc_bar__minus_4_bar__minus_13_bar_1_bar_45)\n (objectAtLocation Bowl_bar__minus_02_dot_99_bar__plus_00_dot_71_bar__minus_00_dot_92 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation DishSponge_bar__minus_01_dot_52_bar__plus_00_dot_08_bar__minus_03_dot_63 loc_bar__minus_8_bar__minus_10_bar_2_bar_45)\n (objectAtLocation ButterKnife_bar__minus_02_dot_44_bar__plus_00_dot_71_bar__minus_00_dot_50 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation PepperShaker_bar__minus_00_dot_50_bar__plus_00_dot_74_bar__minus_03_dot_32 loc_bar__minus_4_bar__minus_13_bar_1_bar_60)\n (objectAtLocation Spatula_bar__minus_00_dot_01_bar__plus_00_dot_93_bar__minus_01_dot_37 loc_bar__minus_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__minus_02_dot_80_bar__plus_00_dot_71_bar__minus_00_dot_16 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Apple_bar__minus_03_dot_29_bar__plus_00_dot_76_bar__minus_00_dot_62 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Lettuce_bar__minus_03_dot_07_bar__plus_00_dot_80_bar__minus_00_dot_70 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Potato_bar__minus_02_dot_65_bar__plus_00_dot_76_bar__minus_00_dot_11 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Pan_bar__minus_00_dot_38_bar__plus_00_dot_98_bar__minus_02_dot_03 loc_bar__minus_4_bar__minus_8_bar_1_bar_45)\n (objectAtLocation Fork_bar__minus_02_dot_99_bar__plus_00_dot_91_bar__minus_03_dot_66 loc_bar__minus_8_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_41_bar__plus_00_dot_95_bar__minus_03_dot_11 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_34_bar__plus_00_dot_96_bar__minus_01_dot_31 loc_bar__minus_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation PepperShaker_bar__minus_00_dot_44_bar__plus_00_dot_74_bar__minus_02_dot_86 loc_bar__minus_4_bar__minus_12_bar_1_bar_60)\n (objectAtLocation Bowl_bar__minus_02_dot_56_bar__plus_00_dot_71_bar__minus_00_dot_80 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Fork_bar__minus_03_dot_39_bar__plus_00_dot_91_bar__minus_03_dot_13 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Spatula_bar__minus_00_dot_34_bar__plus_00_dot_93_bar__minus_00_dot_51 loc_bar__minus_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__minus_02_dot_92_bar__plus_00_dot_71_bar__minus_00_dot_64 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75 loc_bar__minus_7_bar__minus_13_bar_2_bar_60)\n (objectAtLocation Pot_bar__minus_02_dot_84_bar__plus_00_dot_90_bar__minus_03_dot_75 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Egg_bar__minus_03_dot_29_bar__plus_00_dot_75_bar__minus_00_dot_31 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Cup_bar__minus_02_dot_58_bar__plus_00_dot_71_bar__minus_00_dot_56 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_31 loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_47 loc_bar__minus_4_bar__minus_10_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_17 loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_00 loc_bar__minus_4_bar__minus_8_bar_1_bar_60)\n (objectAtLocation Bread_bar__minus_00_dot_33_bar__plus_00_dot_95_bar__minus_03_dot_68 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Fork_bar__minus_01_dot_91_bar__plus_00_dot_79_bar__minus_03_dot_70 loc_bar__minus_8_bar__minus_13_bar_2_bar_60)\n (objectAtLocation Pan_bar__minus_00_dot_17_bar__plus_00_dot_98_bar__minus_02_dot_45 loc_bar__minus_4_bar__minus_10_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_01_dot_64_bar__plus_00_dot_83_bar__minus_03_dot_66 loc_bar__minus_8_bar__minus_13_bar_2_bar_60)\n (objectAtLocation Lettuce_bar__minus_02_dot_74_bar__plus_00_dot_80_bar__minus_00_dot_64 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Tomato_bar__minus_03_dot_29_bar__plus_00_dot_77_bar__minus_00_dot_43 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation LightSwitch_bar__minus_01_dot_11_bar__plus_01_dot_46_bar__plus_00_dot_34 loc_bar__minus_4_bar__minus_1_bar_0_bar_15)\n (objectAtLocation Apple_bar__minus_03_dot_08_bar__plus_00_dot_68_bar__minus_02_dot_19 loc_bar__minus_9_bar__minus_9_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__minus_00_dot_18_bar__plus_00_dot_92_bar__minus_01_dot_62 loc_bar__minus_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Spatula_bar__minus_00_dot_18_bar__plus_00_dot_93_bar__minus_01_dot_43 loc_bar__minus_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation SaltShaker_bar__minus_02_dot_87_bar__plus_00_dot_71_bar__minus_00_dot_07 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Knife_bar__minus_03_dot_17_bar__plus_00_dot_95_bar__minus_03_dot_66 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation PepperShaker_bar__minus_00_dot_10_bar__plus_00_dot_91_bar__minus_00_dot_49 loc_bar__minus_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__minus_03_dot_31_bar__plus_00_dot_91_bar__minus_03_dot_33 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Plate_bar__minus_00_dot_38_bar__plus_01_dot_30_bar__minus_03_dot_70 loc_bar__minus_5_bar__minus_13_bar_1_bar_30)\n (objectAtLocation DishSponge_bar__minus_01_dot_07_bar__plus_00_dot_08_bar__minus_03_dot_71 loc_bar__minus_4_bar__minus_10_bar_2_bar_45)\n (objectAtLocation Chair_bar__minus_02_dot_38_bar__plus_00_dot_02_bar__minus_00_dot_55 loc_bar__minus_8_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Chair_bar__minus_03_dot_16_bar__plus_00_dot_01_bar__minus_00_dot_99 loc_bar__minus_9_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Spoon_bar__minus_02_dot_82_bar__plus_00_dot_72_bar__minus_00_dot_54 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Mug_bar__minus_02_dot_93_bar__plus_00_dot_76_bar__minus_00_dot_36 loc_bar__minus_8_bar__minus_1_bar_3_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_13_bar__plus_01_dot_01_bar__minus_00_dot_80 loc_bar__minus_4_bar__minus_3_bar_1_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 EggType)\n (receptacleType ?r CounterTopType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take egg 2 from countertop 1", "go to fridge 1", "cool egg 2 with fridge 1", "go to countertop 1", "move egg 2 to countertop 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Egg-None-CounterTop-19/trial_T20190909_005123_562800/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Egg-None-CounterTop-19/trial_T20190909_005123_562800/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..6e48ce55ed1dead4e32b14b051a74c655ac5436b --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Egg-None-CounterTop-19/trial_T20190909_005123_562800/initial_state.pddl @@ -0,0 +1,1091 @@ + +(define (problem plan_trial_T20190909_005123_562800) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__minus_00_dot_34_bar__plus_00_dot_96_bar__minus_01_dot_31 - object + Apple_bar__minus_03_dot_08_bar__plus_00_dot_68_bar__minus_02_dot_19 - object + Apple_bar__minus_03_dot_29_bar__plus_00_dot_76_bar__minus_00_dot_62 - object + Bowl_bar__minus_00_dot_13_bar__plus_01_dot_01_bar__minus_00_dot_80 - object + Bowl_bar__minus_02_dot_56_bar__plus_00_dot_71_bar__minus_00_dot_80 - object + Bowl_bar__minus_02_dot_99_bar__plus_00_dot_71_bar__minus_00_dot_92 - object + Bread_bar__minus_00_dot_33_bar__plus_00_dot_95_bar__minus_03_dot_68 - object + ButterKnife_bar__minus_02_dot_44_bar__plus_00_dot_71_bar__minus_00_dot_50 - object + ButterKnife_bar__minus_02_dot_92_bar__plus_00_dot_71_bar__minus_00_dot_64 - object + ButterKnife_bar__minus_03_dot_31_bar__plus_00_dot_91_bar__minus_03_dot_33 - object + Chair_bar__minus_02_dot_38_bar__plus_00_dot_02_bar__minus_00_dot_55 - object + Chair_bar__minus_03_dot_16_bar__plus_00_dot_01_bar__minus_00_dot_99 - object + Cup_bar__minus_02_dot_58_bar__plus_00_dot_71_bar__minus_00_dot_56 - object + DishSponge_bar__minus_01_dot_07_bar__plus_00_dot_08_bar__minus_03_dot_71 - object + DishSponge_bar__minus_01_dot_52_bar__plus_00_dot_08_bar__minus_03_dot_63 - object + Egg_bar__minus_00_dot_41_bar__plus_00_dot_95_bar__minus_03_dot_11 - object + Egg_bar__minus_03_dot_29_bar__plus_00_dot_75_bar__minus_00_dot_31 - object + Faucet_bar__minus_01_dot_79_bar__plus_01_dot_14_bar__minus_03_dot_91 - object + Fork_bar__minus_01_dot_91_bar__plus_00_dot_79_bar__minus_03_dot_70 - object + Fork_bar__minus_02_dot_99_bar__plus_00_dot_91_bar__minus_03_dot_66 - object + Fork_bar__minus_03_dot_39_bar__plus_00_dot_91_bar__minus_03_dot_13 - object + Knife_bar__minus_03_dot_17_bar__plus_00_dot_95_bar__minus_03_dot_66 - object + Lettuce_bar__minus_02_dot_74_bar__plus_00_dot_80_bar__minus_00_dot_64 - object + Lettuce_bar__minus_03_dot_07_bar__plus_00_dot_80_bar__minus_00_dot_70 - object + LightSwitch_bar__minus_01_dot_11_bar__plus_01_dot_46_bar__plus_00_dot_34 - object + Mug_bar__minus_02_dot_93_bar__plus_00_dot_76_bar__minus_00_dot_36 - object + Pan_bar__minus_00_dot_17_bar__plus_00_dot_98_bar__minus_02_dot_45 - object + Pan_bar__minus_00_dot_38_bar__plus_00_dot_98_bar__minus_02_dot_03 - object + PepperShaker_bar__minus_00_dot_10_bar__plus_00_dot_91_bar__minus_00_dot_49 - object + PepperShaker_bar__minus_00_dot_44_bar__plus_00_dot_74_bar__minus_02_dot_86 - object + PepperShaker_bar__minus_00_dot_50_bar__plus_00_dot_74_bar__minus_03_dot_32 - object + Plate_bar__minus_00_dot_38_bar__plus_01_dot_30_bar__minus_03_dot_70 - object + Potato_bar__minus_01_dot_64_bar__plus_00_dot_83_bar__minus_03_dot_66 - object + Potato_bar__minus_02_dot_65_bar__plus_00_dot_76_bar__minus_00_dot_11 - object + Pot_bar__minus_02_dot_84_bar__plus_00_dot_90_bar__minus_03_dot_75 - object + SaltShaker_bar__minus_02_dot_87_bar__plus_00_dot_71_bar__minus_00_dot_07 - object + Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75 - object + SoapBottle_bar__minus_00_dot_18_bar__plus_00_dot_92_bar__minus_01_dot_62 - object + SoapBottle_bar__minus_02_dot_80_bar__plus_00_dot_71_bar__minus_00_dot_16 - object + Spatula_bar__minus_00_dot_01_bar__plus_00_dot_93_bar__minus_01_dot_37 - object + Spatula_bar__minus_00_dot_18_bar__plus_00_dot_93_bar__minus_01_dot_43 - object + Spatula_bar__minus_00_dot_34_bar__plus_00_dot_93_bar__minus_00_dot_51 - object + Spoon_bar__minus_02_dot_82_bar__plus_00_dot_72_bar__minus_00_dot_54 - object + StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_00 - object + StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_17 - object + StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_31 - object + StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_47 - object + Tomato_bar__minus_03_dot_29_bar__plus_00_dot_77_bar__minus_00_dot_43 - object + Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_21_bar__minus_04_dot_24 - receptacle + Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_00_dot_45 - receptacle + Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_01_dot_74 - receptacle + Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_02_dot_73 - receptacle + Cabinet_bar__minus_00_dot_24_bar__plus_02_dot_10_bar__minus_01_dot_77 - receptacle + Cabinet_bar__minus_00_dot_24_bar__plus_02_dot_10_bar__minus_02_dot_71 - receptacle + Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_00_dot_45 - receptacle + Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_73 - receptacle + Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_74 - receptacle + Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_48 - receptacle + Cabinet_bar__minus_00_dot_61_bar__plus_00_dot_39_bar__minus_03_dot_51 - receptacle + Cabinet_bar__minus_01_dot_23_bar__plus_01_dot_81_bar__minus_03_dot_76 - receptacle + Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_39_bar__minus_03_dot_51 - receptacle + Cabinet_bar__minus_01_dot_38_bar__plus_00_dot_39_bar__minus_03_dot_51 - receptacle + Cabinet_bar__minus_02_dot_15_bar__plus_00_dot_39_bar__minus_03_dot_51 - receptacle + 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CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle Egg_bar__minus_00_dot_41_bar__plus_00_dot_95_bar__minus_03_dot_11 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle DishSponge_bar__minus_01_dot_07_bar__plus_00_dot_08_bar__minus_03_dot_71 Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_39_bar__minus_03_dot_51) + (inReceptacle DishSponge_bar__minus_01_dot_52_bar__plus_00_dot_08_bar__minus_03_dot_63 Cabinet_bar__minus_01_dot_38_bar__plus_00_dot_39_bar__minus_03_dot_51) + (inReceptacle Plate_bar__minus_00_dot_38_bar__plus_01_dot_30_bar__minus_03_dot_70 Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_21_bar__minus_04_dot_24) + (inReceptacle ButterKnife_bar__minus_02_dot_92_bar__plus_00_dot_71_bar__minus_00_dot_64 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Potato_bar__minus_02_dot_65_bar__plus_00_dot_76_bar__minus_00_dot_11 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Cup_bar__minus_02_dot_58_bar__plus_00_dot_71_bar__minus_00_dot_56 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Lettuce_bar__minus_03_dot_07_bar__plus_00_dot_80_bar__minus_00_dot_70 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Apple_bar__minus_03_dot_29_bar__plus_00_dot_76_bar__minus_00_dot_62 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Spoon_bar__minus_02_dot_82_bar__plus_00_dot_72_bar__minus_00_dot_54 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Bowl_bar__minus_02_dot_56_bar__plus_00_dot_71_bar__minus_00_dot_80 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Tomato_bar__minus_03_dot_29_bar__plus_00_dot_77_bar__minus_00_dot_43 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle SaltShaker_bar__minus_02_dot_87_bar__plus_00_dot_71_bar__minus_00_dot_07 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Mug_bar__minus_02_dot_93_bar__plus_00_dot_76_bar__minus_00_dot_36 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle ButterKnife_bar__minus_02_dot_44_bar__plus_00_dot_71_bar__minus_00_dot_50 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Lettuce_bar__minus_02_dot_74_bar__plus_00_dot_80_bar__minus_00_dot_64 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle SoapBottle_bar__minus_02_dot_80_bar__plus_00_dot_71_bar__minus_00_dot_16 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Bowl_bar__minus_02_dot_99_bar__plus_00_dot_71_bar__minus_00_dot_92 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Egg_bar__minus_03_dot_29_bar__plus_00_dot_75_bar__minus_00_dot_31 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Pan_bar__minus_00_dot_17_bar__plus_00_dot_98_bar__minus_02_dot_45 StoveBurner_bar__minus_00_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_45) + (inReceptacle SoapBottle_bar__minus_00_dot_18_bar__plus_00_dot_92_bar__minus_01_dot_62 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09) + (inReceptacle Spatula_bar__minus_00_dot_18_bar__plus_00_dot_93_bar__minus_01_dot_43 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09) + (inReceptacle PepperShaker_bar__minus_00_dot_10_bar__plus_00_dot_91_bar__minus_00_dot_49 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09) + (inReceptacle Spatula_bar__minus_00_dot_01_bar__plus_00_dot_93_bar__minus_01_dot_37 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09) + (inReceptacle Apple_bar__minus_00_dot_34_bar__plus_00_dot_96_bar__minus_01_dot_31 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09) + (inReceptacle Spatula_bar__minus_00_dot_34_bar__plus_00_dot_93_bar__minus_00_dot_51 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09) + (inReceptacle PepperShaker_bar__minus_00_dot_50_bar__plus_00_dot_74_bar__minus_03_dot_32 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_03_dot_35) + (inReceptacle Pan_bar__minus_00_dot_38_bar__plus_00_dot_98_bar__minus_02_dot_03 StoveBurner_bar__minus_00_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_03) + (inReceptacle PepperShaker_bar__minus_00_dot_44_bar__plus_00_dot_74_bar__minus_02_dot_86 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_02_dot_97) + (inReceptacle Pan_bar__minus_00_dot_38_bar__plus_00_dot_98_bar__minus_02_dot_03 StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_03) + (inReceptacle Pan_bar__minus_00_dot_17_bar__plus_00_dot_98_bar__minus_02_dot_45 StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_45) + (inReceptacleObject Fork_bar__minus_02_dot_99_bar__plus_00_dot_91_bar__minus_03_dot_66 Pot_bar__minus_02_dot_84_bar__plus_00_dot_90_bar__minus_03_dot_75) + (inReceptacle Bowl_bar__minus_00_dot_13_bar__plus_01_dot_01_bar__minus_00_dot_80 Microwave_bar__minus_00_dot_14_bar__plus_00_dot_90_bar__minus_00_dot_91) + (inReceptacle Mug_bar__minus_02_dot_93_bar__plus_00_dot_76_bar__minus_00_dot_36 CoffeeMachine_bar__minus_03_dot_10_bar__plus_00_dot_71_bar__minus_00_dot_19) + (inReceptacle Apple_bar__minus_03_dot_08_bar__plus_00_dot_68_bar__minus_02_dot_19 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19) + (inReceptacle Potato_bar__minus_01_dot_64_bar__plus_00_dot_83_bar__minus_03_dot_66 Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75_bar_SinkBasin) + (inReceptacle Fork_bar__minus_01_dot_91_bar__plus_00_dot_79_bar__minus_03_dot_70 Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75_bar_SinkBasin) + + + (receptacleAtLocation Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_21_bar__minus_04_dot_24 loc_bar__minus_5_bar__minus_13_bar_1_bar_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_00_dot_45 loc_bar__minus_4_bar__minus_2_bar_1_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_01_dot_74 loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_02_dot_73 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_00_dot_24_bar__plus_02_dot_10_bar__minus_01_dot_77 loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_24_bar__plus_02_dot_10_bar__minus_02_dot_71 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_00_dot_45 loc_bar__minus_6_bar__minus_2_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_73 loc_bar__minus_7_bar__minus_4_bar_1_bar_45) + (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_74 loc_bar__minus_6_bar__minus_13_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_48 loc_bar__minus_7_bar__minus_11_bar_1_bar_45) + (receptacleAtLocation Cabinet_bar__minus_00_dot_61_bar__plus_00_dot_39_bar__minus_03_dot_51 loc_bar__minus_5_bar__minus_10_bar_2_bar_45) + (receptacleAtLocation Cabinet_bar__minus_01_dot_23_bar__plus_01_dot_81_bar__minus_03_dot_76 loc_bar__minus_4_bar__minus_13_bar_2_bar__minus_15) + (receptacleAtLocation 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Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75_bar_SinkBasin loc_bar__minus_8_bar__minus_13_bar_2_bar_60) + (receptacleAtLocation StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_03 loc_bar__minus_4_bar__minus_8_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_45 loc_bar__minus_4_bar__minus_10_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_00_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_03 loc_bar__minus_4_bar__minus_8_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_00_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_45 loc_bar__minus_4_bar__minus_10_bar_1_bar_45) + (receptacleAtLocation Toaster_bar__minus_00_dot_23_bar__plus_00_dot_90_bar__minus_03_dot_41 loc_bar__minus_4_bar__minus_13_bar_1_bar_45) + (objectAtLocation Bowl_bar__minus_02_dot_99_bar__plus_00_dot_71_bar__minus_00_dot_92 loc_bar__minus_7_bar__minus_2_bar_3_bar_45) + (objectAtLocation 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+ "y": 225.000046, + "z": 0.0 + } + }, + { + "objectName": "Mug_f4b8ca2f", + "position": { + "x": -2.93075848, + "y": 0.7624277, + "z": -0.358240426 + }, + "rotation": { + "x": -0.002214049, + "y": 134.99968, + "z": -0.00138026872 + } + }, + { + "objectName": "Bowl_697b561f", + "position": { + "x": -2.9908, + "y": 0.711368263, + "z": -0.9225625 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3916395027, + "scene_num": 19 + }, + "task_id": "trial_T20190909_005123_562800", + "task_type": "pick_cool_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3F7G1FSFWQPLE_36H9ULYP65LV32UM93OV5PJRD61FJ3", + "high_descs": [ + "Turn left and walk towards the door, then hang a left and walk over to the round wooden table.", + "Pick up the egg off of the round wooden table.", + "Turn right and walk forward, then hang a right and walk over to the fridge.", + "Open the fridge and put the egg inside, then close the door, after a couple seconds open the fridge and remove the now chilled egg, then close the door.", + "Turn right and walk over to the round wooden table, then hang a right and walk across the room to the counter.", + "Place the chilled egg on the counter in front of the apple." + ], + "task_desc": "Put a chilled egg on the counter.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AJQGWGESKQT4Y_3O7L7BFSHHG72DAKWAJPB6JROQ9IEO", + "high_descs": [ + "Go left and then left again to stand in front of the round table in the corner.", + "Pick the egg up from the counter.", + "Turn around and stand in front of the fridge.", + "Put the egg in the fridge and shut the door and then open the door and take the egg out again and shut the door.", + "Turn around and cross to face the counter near the microwave.", + "Put the egg down on the counter in front of the microwave." + ], + "task_desc": "Put a chilled egg on the counter.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1O3TWBUDONVLO_3Q5C1WP23PSW6OLTD25GFDWSUVX15C", + "high_descs": [ + "Turn around and walk across the room to face the kitchen table.", + "Pick up the egg on the kitchen table.", + "Turn around and walk around to face the front of the fridge.", + "Cool the egg in the fridge and then remove it.", + "Turn around and walk forward to face the counter.", + "Place the egg on the counter." + ], + "task_desc": "Cool an egg in the fridge plus place it on the counter in front of the microwave.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Apple-None-SideTable-21/trial_T20190908_235409_008266/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Apple-None-SideTable-21/trial_T20190908_235409_008266/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..5c11a07826fd5b85192622ab57316a056ae17571 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Apple-None-SideTable-21/trial_T20190908_235409_008266/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 apple and put it 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_T20190908_235409_008266)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__plus_00_dot_84_bar__plus_00_dot_83_bar__minus_00_dot_52 - object\n Apple_bar__minus_01_dot_58_bar__plus_00_dot_75_bar__minus_03_dot_45 - 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_95_bar__plus_01_dot_46_bar__plus_00_dot_47 - object\n Bread_bar__minus_00_dot_87_bar__plus_00_dot_93_bar__plus_00_dot_98 - object\n ButterKnife_bar__minus_00_dot_65_bar__plus_00_dot_90_bar__plus_00_dot_84 - object\n ButterKnife_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_01_dot_20 - object\n Chair_bar__minus_01_dot_90_bar__minus_00_dot_03_bar__minus_01_dot_87 - object\n Cup_bar__plus_00_dot_75_bar__plus_00_dot_66_bar__minus_02_dot_19 - object\n DishSponge_bar__plus_00_dot_67_bar__plus_00_dot_76_bar__minus_00_dot_06 - object\n DishSponge_bar__plus_00_dot_72_bar__plus_00_dot_66_bar__plus_00_dot_51 - object\n DishSponge_bar__plus_00_dot_76_bar__plus_00_dot_77_bar__minus_00_dot_74 - object\n Egg_bar__plus_00_dot_67_bar__plus_01_dot_41_bar__minus_01_dot_73 - object\n Egg_bar__minus_00_dot_25_bar__plus_00_dot_94_bar__plus_01_dot_02 - object\n Egg_bar__minus_01_dot_26_bar__plus_00_dot_09_bar__minus_03_dot_54 - 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_76_bar__plus_00_dot_77_bar__minus_00_dot_63 - object\n Knife_bar__plus_00_dot_77_bar__plus_00_dot_78_bar__minus_00_dot_25 - object\n Knife_bar__plus_00_dot_82_bar__plus_00_dot_78_bar__minus_00_dot_19 - object\n Knife_bar__plus_01_dot_08_bar__plus_00_dot_91_bar__minus_00_dot_61 - object\n Lettuce_bar__minus_01_dot_08_bar__plus_00_dot_97_bar__plus_00_dot_96 - 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_79_bar__plus_01_dot_37_bar__minus_01_dot_73 - object\n Mug_bar__minus_01_dot_84_bar__plus_00_dot_79_bar__minus_03_dot_77 - object\n Pan_bar__plus_00_dot_74_bar__minus_00_dot_01_bar__minus_00_dot_60 - object\n PepperShaker_bar__plus_00_dot_57_bar__plus_00_dot_01_bar__minus_00_dot_83 - object\n PepperShaker_bar__plus_00_dot_84_bar__plus_00_dot_01_bar__minus_00_dot_77 - object\n PepperShaker_bar__plus_00_dot_90_bar__plus_00_dot_01_bar__minus_00_dot_83 - object\n Plate_bar__plus_00_dot_15_bar__plus_00_dot_90_bar__plus_00_dot_84 - object\n Plate_bar__minus_01_dot_72_bar__plus_00_dot_71_bar__minus_01_dot_09 - object\n Potato_bar__plus_00_dot_66_bar__plus_00_dot_92_bar__minus_00_dot_11 - object\n Pot_bar__minus_01_dot_56_bar__plus_00_dot_93_bar__plus_01_dot_05 - object\n Pot_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_00_dot_79 - object\n SaltShaker_bar__minus_00_dot_45_bar__plus_00_dot_90_bar__plus_01_dot_27 - object\n SaltShaker_bar__minus_01_dot_60_bar__plus_00_dot_69_bar__minus_03_dot_61 - object\n Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68 - object\n SoapBottle_bar__minus_01_dot_64_bar__plus_00_dot_70_bar__minus_01_dot_52 - object\n Spatula_bar__plus_00_dot_87_bar__plus_00_dot_77_bar__minus_00_dot_06 - object\n Spoon_bar__plus_00_dot_67_bar__plus_00_dot_76_bar__minus_00_dot_25 - object\n Spoon_bar__plus_00_dot_88_bar__plus_00_dot_88_bar__minus_00_dot_11 - object\n StoveKnob_bar__minus_01_dot_60_bar__plus_00_dot_87_bar__plus_00_dot_52 - object\n StoveKnob_bar__minus_01_dot_75_bar__plus_00_dot_87_bar__plus_00_dot_52 - object\n StoveKnob_bar__minus_01_dot_90_bar__plus_00_dot_87_bar__plus_00_dot_52 - object\n StoveKnob_bar__minus_02_dot_06_bar__plus_00_dot_87_bar__plus_00_dot_52 - object\n Tomato_bar__plus_00_dot_71_bar__plus_00_dot_71_bar__minus_01_dot_73 - object\n Tomato_bar__plus_00_dot_84_bar__plus_00_dot_71_bar__plus_00_dot_39 - object\n Tomato_bar__minus_01_dot_56_bar__plus_00_dot_75_bar__minus_03_dot_28 - object\n Window_bar__minus_02_dot_42_bar__plus_01_dot_64_bar__minus_02_dot_45 - object\n Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__plus_00_dot_16 - receptacle\n Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43 - receptacle\n Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67 - receptacle\n Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__minus_00_dot_40 - receptacle\n 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 StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79 - receptacle\n StoveBurner_bar__minus_01_dot_56_bar__plus_00_dot_89_bar__plus_01_dot_05 - receptacle\n StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79 - receptacle\n StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_01_dot_05 - receptacle\n Toaster_bar__minus_00_dot_52_bar__plus_00_dot_89_bar__plus_01_dot_07 - receptacle\n loc_bar__minus_6_bar_0_bar_0_bar_45 - location\n loc_bar__minus_4_bar__minus_5_bar_3_bar_60 - location\n loc_bar_1_bar__minus_3_bar_1_bar_0 - location\n loc_bar__minus_7_bar_0_bar_0_bar_30 - location\n loc_bar__minus_7_bar__minus_11_bar_2_bar_45 - location\n loc_bar_1_bar_1_bar_1_bar__minus_30 - location\n loc_bar__minus_7_bar_0_bar_0_bar_60 - location\n loc_bar__minus_6_bar_0_bar_0_bar_60 - location\n loc_bar__minus_7_bar__minus_11_bar_2_bar_60 - location\n loc_bar_1_bar__minus_2_bar_1_bar_60 - location\n loc_bar__minus_7_bar_0_bar_0_bar_45 - location\n 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_2_bar__minus_10_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96 FridgeType)\n (receptacleType StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79 StoveBurnerType)\n (receptacleType CoffeeMachine_bar__plus_00_dot_88_bar__plus_00_dot_86_bar__minus_01_dot_26 CoffeeMachineType)\n (receptacleType GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61 GarbageCanType)\n (receptacleType SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45 SideTableType)\n (receptacleType Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69 MicrowaveType)\n (receptacleType Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67 CabinetType)\n (receptacleType CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11 CounterTopType)\n (receptacleType Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__minus_00_dot_40 CabinetType)\n (receptacleType Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__plus_00_dot_16 CabinetType)\n (receptacleType DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96 DiningTableType)\n (receptacleType Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13 DrawerType)\n (receptacleType Toaster_bar__minus_00_dot_52_bar__plus_00_dot_89_bar__plus_01_dot_07 ToasterType)\n (receptacleType StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79 StoveBurnerType)\n (receptacleType DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95 DiningTableType)\n (receptacleType StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_01_dot_05 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43 CabinetType)\n (receptacleType DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37 DiningTableType)\n (receptacleType StoveBurner_bar__minus_01_dot_56_bar__plus_00_dot_89_bar__plus_01_dot_05 StoveBurnerType)\n (objectType SoapBottle_bar__minus_01_dot_64_bar__plus_00_dot_70_bar__minus_01_dot_52 SoapBottleType)\n (objectType StoveKnob_bar__minus_01_dot_90_bar__plus_00_dot_87_bar__plus_00_dot_52 StoveKnobType)\n (objectType Plate_bar__plus_00_dot_15_bar__plus_00_dot_90_bar__plus_00_dot_84 PlateType)\n (objectType DishSponge_bar__plus_00_dot_76_bar__plus_00_dot_77_bar__minus_00_dot_74 DishSpongeType)\n (objectType Lettuce_bar__minus_01_dot_08_bar__plus_00_dot_97_bar__plus_00_dot_96 LettuceType)\n (objectType Spatula_bar__plus_00_dot_87_bar__plus_00_dot_77_bar__minus_00_dot_06 SpatulaType)\n (objectType StoveKnob_bar__minus_01_dot_60_bar__plus_00_dot_87_bar__plus_00_dot_52 StoveKnobType)\n (objectType Tomato_bar__plus_00_dot_71_bar__plus_00_dot_71_bar__minus_01_dot_73 TomatoType)\n (objectType StoveKnob_bar__minus_02_dot_06_bar__plus_00_dot_87_bar__plus_00_dot_52 StoveKnobType)\n (objectType Mug_bar__minus_01_dot_84_bar__plus_00_dot_79_bar__minus_03_dot_77 MugType)\n (objectType Pot_bar__minus_01_dot_56_bar__plus_00_dot_93_bar__plus_01_dot_05 PotType)\n (objectType StoveKnob_bar__minus_01_dot_75_bar__plus_00_dot_87_bar__plus_00_dot_52 StoveKnobType)\n (objectType Bowl_bar__plus_00_dot_95_bar__plus_01_dot_46_bar__plus_00_dot_47 BowlType)\n (objectType ButterKnife_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_01_dot_20 ButterKnifeType)\n (objectType Potato_bar__plus_00_dot_66_bar__plus_00_dot_92_bar__minus_00_dot_11 PotatoType)\n (objectType SaltShaker_bar__minus_00_dot_45_bar__plus_00_dot_90_bar__plus_01_dot_27 SaltShakerType)\n (objectType Mirror_bar__plus_01_dot_09_bar__plus_01_dot_60_bar__minus_00_dot_64 MirrorType)\n (objectType Knife_bar__plus_00_dot_77_bar__plus_00_dot_78_bar__minus_00_dot_25 KnifeType)\n (objectType Window_bar__minus_02_dot_42_bar__plus_01_dot_64_bar__minus_02_dot_45 WindowType)\n (objectType Knife_bar__plus_01_dot_08_bar__plus_00_dot_91_bar__minus_00_dot_61 KnifeType)\n (objectType Tomato_bar__plus_00_dot_84_bar__plus_00_dot_71_bar__plus_00_dot_39 TomatoType)\n (objectType Egg_bar__minus_00_dot_25_bar__plus_00_dot_94_bar__plus_01_dot_02 EggType)\n (objectType PepperShaker_bar__plus_00_dot_84_bar__plus_00_dot_01_bar__minus_00_dot_77 PepperShakerType)\n (objectType Blinds_bar__minus_02_dot_34_bar__plus_02_dot_15_bar__minus_02_dot_44 BlindsType)\n (objectType Spoon_bar__plus_00_dot_67_bar__plus_00_dot_76_bar__minus_00_dot_25 SpoonType)\n (objectType Pot_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_00_dot_79 PotType)\n (objectType PepperShaker_bar__plus_00_dot_90_bar__plus_00_dot_01_bar__minus_00_dot_83 PepperShakerType)\n (objectType SaltShaker_bar__minus_01_dot_60_bar__plus_00_dot_69_bar__minus_03_dot_61 SaltShakerType)\n (objectType Apple_bar__minus_01_dot_58_bar__plus_00_dot_75_bar__minus_03_dot_45 AppleType)\n (objectType Apple_bar__plus_00_dot_84_bar__plus_00_dot_83_bar__minus_00_dot_52 AppleType)\n (objectType Egg_bar__plus_00_dot_67_bar__plus_01_dot_41_bar__minus_01_dot_73 EggType)\n (objectType Chair_bar__minus_01_dot_90_bar__minus_00_dot_03_bar__minus_01_dot_87 ChairType)\n (objectType Spoon_bar__plus_00_dot_88_bar__plus_00_dot_88_bar__minus_00_dot_11 SpoonType)\n (objectType ButterKnife_bar__minus_00_dot_65_bar__plus_00_dot_90_bar__plus_00_dot_84 ButterKnifeType)\n (objectType Mug_bar__plus_00_dot_79_bar__plus_01_dot_37_bar__minus_01_dot_73 MugType)\n (objectType Egg_bar__minus_01_dot_26_bar__plus_00_dot_09_bar__minus_03_dot_54 EggType)\n (objectType Cup_bar__plus_00_dot_75_bar__plus_00_dot_66_bar__minus_02_dot_19 CupType)\n (objectType LightSwitch_bar__plus_01_dot_10_bar__plus_01_dot_37_bar__minus_03_dot_74 LightSwitchType)\n (objectType Knife_bar__plus_00_dot_82_bar__plus_00_dot_78_bar__minus_00_dot_19 KnifeType)\n (objectType Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68 SinkType)\n (objectType Tomato_bar__minus_01_dot_56_bar__plus_00_dot_75_bar__minus_03_dot_28 TomatoType)\n (objectType PepperShaker_bar__plus_00_dot_57_bar__plus_00_dot_01_bar__minus_00_dot_83 PepperShakerType)\n (objectType DishSponge_bar__plus_00_dot_72_bar__plus_00_dot_66_bar__plus_00_dot_51 DishSpongeType)\n (objectType DishSponge_bar__plus_00_dot_67_bar__plus_00_dot_76_bar__minus_00_dot_06 DishSpongeType)\n (objectType Pan_bar__plus_00_dot_74_bar__minus_00_dot_01_bar__minus_00_dot_60 PanType)\n (objectType Bread_bar__minus_00_dot_87_bar__plus_00_dot_93_bar__plus_00_dot_98 BreadType)\n (objectType Plate_bar__minus_01_dot_72_bar__plus_00_dot_71_bar__minus_01_dot_09 PlateType)\n (objectType Fork_bar__plus_00_dot_76_bar__plus_00_dot_77_bar__minus_00_dot_63 ForkType)\n (canContain FridgeType BreadType)\n (canContain FridgeType BowlType)\n (canContain FridgeType PotType)\n (canContain FridgeType MugType)\n (canContain FridgeType EggType)\n (canContain FridgeType LettuceType)\n (canContain FridgeType PotatoType)\n (canContain FridgeType CupType)\n (canContain FridgeType PlateType)\n (canContain FridgeType TomatoType)\n (canContain FridgeType AppleType)\n (canContain FridgeType PanType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain CoffeeMachineType MugType)\n (canContain GarbageCanType BreadType)\n (canContain GarbageCanType DishSpongeType)\n (canContain GarbageCanType EggType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType LettuceType)\n (canContain GarbageCanType PotatoType)\n (canContain GarbageCanType TomatoType)\n (canContain GarbageCanType AppleType)\n (canContain SideTableType SaltShakerType)\n (canContain SideTableType BreadType)\n (canContain SideTableType DishSpongeType)\n (canContain SideTableType BowlType)\n (canContain SideTableType PotType)\n (canContain SideTableType MugType)\n (canContain SideTableType EggType)\n (canContain SideTableType ForkType)\n (canContain SideTableType SpoonType)\n (canContain SideTableType SoapBottleType)\n (canContain SideTableType LettuceType)\n (canContain SideTableType PotatoType)\n (canContain SideTableType ButterKnifeType)\n (canContain SideTableType CupType)\n (canContain SideTableType PlateType)\n (canContain SideTableType PepperShakerType)\n (canContain SideTableType TomatoType)\n (canContain SideTableType KnifeType)\n (canContain SideTableType AppleType)\n (canContain SideTableType PanType)\n (canContain SideTableType SpatulaType)\n (canContain MicrowaveType MugType)\n (canContain MicrowaveType PotatoType)\n (canContain MicrowaveType 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(canContain SinkBasinType MugType)\n (canContain SinkBasinType EggType)\n (canContain SinkBasinType ForkType)\n (canContain SinkBasinType SpoonType)\n (canContain SinkBasinType LettuceType)\n (canContain SinkBasinType PotatoType)\n (canContain SinkBasinType ButterKnifeType)\n (canContain SinkBasinType CupType)\n (canContain SinkBasinType PlateType)\n (canContain SinkBasinType TomatoType)\n (canContain SinkBasinType KnifeType)\n (canContain SinkBasinType AppleType)\n (canContain SinkBasinType PanType)\n (canContain SinkBasinType SpatulaType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain DiningTableType SaltShakerType)\n (canContain DiningTableType BreadType)\n (canContain DiningTableType DishSpongeType)\n (canContain DiningTableType BowlType)\n (canContain DiningTableType PotType)\n (canContain DiningTableType MugType)\n (canContain DiningTableType EggType)\n (canContain DiningTableType ForkType)\n (canContain DiningTableType SpoonType)\n (canContain DiningTableType SoapBottleType)\n (canContain DiningTableType LettuceType)\n (canContain DiningTableType PotatoType)\n (canContain DiningTableType ButterKnifeType)\n (canContain DiningTableType CupType)\n (canContain DiningTableType PlateType)\n (canContain DiningTableType PepperShakerType)\n (canContain DiningTableType TomatoType)\n (canContain DiningTableType KnifeType)\n (canContain DiningTableType AppleType)\n (canContain DiningTableType PanType)\n (canContain DiningTableType SpatulaType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType ForkType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType 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DiningTableType KnifeType)\n (canContain DiningTableType AppleType)\n (canContain DiningTableType PanType)\n (canContain DiningTableType SpatulaType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain DiningTableType SaltShakerType)\n (canContain DiningTableType BreadType)\n (canContain DiningTableType DishSpongeType)\n (canContain DiningTableType BowlType)\n (canContain DiningTableType PotType)\n (canContain DiningTableType MugType)\n (canContain DiningTableType EggType)\n (canContain DiningTableType ForkType)\n (canContain DiningTableType SpoonType)\n (canContain 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Tomato_bar__minus_01_dot_56_bar__plus_00_dot_75_bar__minus_03_dot_28)\n (heatable Bread_bar__minus_00_dot_87_bar__plus_00_dot_93_bar__plus_00_dot_98)\n (heatable Plate_bar__minus_01_dot_72_bar__plus_00_dot_71_bar__minus_01_dot_09)\n (coolable Plate_bar__plus_00_dot_15_bar__plus_00_dot_90_bar__plus_00_dot_84)\n (coolable Lettuce_bar__minus_01_dot_08_bar__plus_00_dot_97_bar__plus_00_dot_96)\n (coolable Tomato_bar__plus_00_dot_71_bar__plus_00_dot_71_bar__minus_01_dot_73)\n (coolable Mug_bar__minus_01_dot_84_bar__plus_00_dot_79_bar__minus_03_dot_77)\n (coolable Pot_bar__minus_01_dot_56_bar__plus_00_dot_93_bar__plus_01_dot_05)\n (coolable Bowl_bar__plus_00_dot_95_bar__plus_01_dot_46_bar__plus_00_dot_47)\n (coolable Potato_bar__plus_00_dot_66_bar__plus_00_dot_92_bar__minus_00_dot_11)\n (coolable Tomato_bar__plus_00_dot_84_bar__plus_00_dot_71_bar__plus_00_dot_39)\n (coolable Egg_bar__minus_00_dot_25_bar__plus_00_dot_94_bar__plus_01_dot_02)\n (coolable 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Tomato_bar__plus_00_dot_71_bar__plus_00_dot_71_bar__minus_01_dot_73)\n (sliceable Potato_bar__plus_00_dot_66_bar__plus_00_dot_92_bar__minus_00_dot_11)\n (sliceable Tomato_bar__plus_00_dot_84_bar__plus_00_dot_71_bar__plus_00_dot_39)\n (sliceable Egg_bar__minus_00_dot_25_bar__plus_00_dot_94_bar__plus_01_dot_02)\n (sliceable Apple_bar__minus_01_dot_58_bar__plus_00_dot_75_bar__minus_03_dot_45)\n (sliceable Apple_bar__plus_00_dot_84_bar__plus_00_dot_83_bar__minus_00_dot_52)\n (sliceable Egg_bar__plus_00_dot_67_bar__plus_01_dot_41_bar__minus_01_dot_73)\n (sliceable Egg_bar__minus_01_dot_26_bar__plus_00_dot_09_bar__minus_03_dot_54)\n (sliceable Tomato_bar__minus_01_dot_56_bar__plus_00_dot_75_bar__minus_03_dot_28)\n (sliceable Bread_bar__minus_00_dot_87_bar__plus_00_dot_93_bar__plus_00_dot_98)\n \n (inReceptacle Knife_bar__plus_00_dot_77_bar__plus_00_dot_78_bar__minus_00_dot_25 Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13)\n (inReceptacle Spatula_bar__plus_00_dot_87_bar__plus_00_dot_77_bar__minus_00_dot_06 Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13)\n (inReceptacle DishSponge_bar__plus_00_dot_67_bar__plus_00_dot_76_bar__minus_00_dot_06 Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13)\n (inReceptacle Spoon_bar__plus_00_dot_67_bar__plus_00_dot_76_bar__minus_00_dot_25 Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13)\n (inReceptacle Knife_bar__plus_00_dot_82_bar__plus_00_dot_78_bar__minus_00_dot_19 Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13)\n (inReceptacle Knife_bar__plus_01_dot_08_bar__plus_00_dot_91_bar__minus_00_dot_61 CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11)\n (inReceptacle Potato_bar__plus_00_dot_66_bar__plus_00_dot_92_bar__minus_00_dot_11 CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11)\n (inReceptacle Spoon_bar__plus_00_dot_88_bar__plus_00_dot_88_bar__minus_00_dot_11 CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11)\n (inReceptacle Pot_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_00_dot_79 StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79)\n (inReceptacle PepperShaker_bar__plus_00_dot_57_bar__plus_00_dot_01_bar__minus_00_dot_83 Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43)\n (inReceptacle Pan_bar__plus_00_dot_74_bar__minus_00_dot_01_bar__minus_00_dot_60 Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43)\n (inReceptacle PepperShaker_bar__plus_00_dot_84_bar__plus_00_dot_01_bar__minus_00_dot_77 Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43)\n (inReceptacle PepperShaker_bar__plus_00_dot_90_bar__plus_00_dot_01_bar__minus_00_dot_83 Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43)\n (inReceptacle Pot_bar__minus_01_dot_56_bar__plus_00_dot_93_bar__plus_01_dot_05 StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79)\n (inReceptacle Plate_bar__minus_01_dot_72_bar__plus_00_dot_71_bar__minus_01_dot_09 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96)\n (inReceptacle SoapBottle_bar__minus_01_dot_64_bar__plus_00_dot_70_bar__minus_01_dot_52 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96)\n (inReceptacle ButterKnife_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_01_dot_20 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96)\n (inReceptacle Tomato_bar__plus_00_dot_84_bar__plus_00_dot_71_bar__plus_00_dot_39 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45)\n (inReceptacle DishSponge_bar__plus_00_dot_72_bar__plus_00_dot_66_bar__plus_00_dot_51 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45)\n (inReceptacle Pot_bar__minus_01_dot_56_bar__plus_00_dot_93_bar__plus_01_dot_05 StoveBurner_bar__minus_01_dot_56_bar__plus_00_dot_89_bar__plus_01_dot_05)\n (inReceptacle Bowl_bar__plus_00_dot_95_bar__plus_01_dot_46_bar__plus_00_dot_47 Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67)\n (inReceptacle SaltShaker_bar__minus_00_dot_45_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 Plate_bar__plus_00_dot_15_bar__plus_00_dot_90_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__minus_01_dot_08_bar__plus_00_dot_97_bar__plus_00_dot_96 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_02 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle ButterKnife_bar__minus_00_dot_65_bar__plus_00_dot_90_bar__plus_00_dot_84 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 SaltShaker_bar__minus_01_dot_60_bar__plus_00_dot_69_bar__minus_03_dot_61 DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37)\n (inReceptacle Tomato_bar__minus_01_dot_56_bar__plus_00_dot_75_bar__minus_03_dot_28 DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37)\n (inReceptacle Apple_bar__minus_01_dot_58_bar__plus_00_dot_75_bar__minus_03_dot_45 DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37)\n (inReceptacle Egg_bar__minus_01_dot_26_bar__plus_00_dot_09_bar__minus_03_dot_54 GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61)\n (inReceptacle Egg_bar__plus_00_dot_67_bar__plus_01_dot_41_bar__minus_01_dot_73 Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96)\n (inReceptacle Tomato_bar__plus_00_dot_71_bar__plus_00_dot_71_bar__minus_01_dot_73 Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96)\n (inReceptacle Mug_bar__plus_00_dot_79_bar__plus_01_dot_37_bar__minus_01_dot_73 Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96)\n (inReceptacle Cup_bar__plus_00_dot_75_bar__plus_00_dot_66_bar__minus_02_dot_19 Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96)\n (inReceptacle Mug_bar__minus_01_dot_84_bar__plus_00_dot_79_bar__minus_03_dot_77 Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69)\n (inReceptacle Apple_bar__plus_00_dot_84_bar__plus_00_dot_83_bar__minus_00_dot_52 Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin)\n (inReceptacle DishSponge_bar__plus_00_dot_76_bar__plus_00_dot_77_bar__minus_00_dot_74 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 Mug_bar__minus_01_dot_84_bar__plus_00_dot_79_bar__minus_03_dot_77 loc_bar__minus_7_bar__minus_11_bar_2_bar_45)\n (objectAtLocation Knife_bar__plus_00_dot_77_bar__plus_00_dot_78_bar__minus_00_dot_25 loc_bar__minus_1_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Spoon_bar__plus_00_dot_88_bar__plus_00_dot_88_bar__minus_00_dot_11 loc_bar_1_bar_0_bar_1_bar_45)\n (objectAtLocation Tomato_bar__plus_00_dot_71_bar__plus_00_dot_71_bar__minus_01_dot_73 loc_bar__minus_1_bar__minus_8_bar_1_bar_60)\n (objectAtLocation DishSponge_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 ButterKnife_bar__minus_00_dot_65_bar__plus_00_dot_90_bar__plus_00_dot_84 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation PepperShaker_bar__plus_00_dot_84_bar__plus_00_dot_01_bar__minus_00_dot_77 loc_bar__minus_2_bar__minus_1_bar_1_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_45_bar__plus_00_dot_90_bar__plus_01_dot_27 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation Egg_bar__minus_00_dot_25_bar__plus_00_dot_94_bar__plus_01_dot_02 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation Apple_bar__minus_01_dot_58_bar__plus_00_dot_75_bar__minus_03_dot_45 loc_bar__minus_7_bar__minus_11_bar_2_bar_60)\n (objectAtLocation Plate_bar__plus_00_dot_15_bar__plus_00_dot_90_bar__plus_00_dot_84 loc_bar_0_bar_1_bar_0_bar_60)\n (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)\n (objectAtLocation PepperShaker_bar__plus_00_dot_57_bar__plus_00_dot_01_bar__minus_00_dot_83 loc_bar__minus_2_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Tomato_bar__minus_01_dot_56_bar__plus_00_dot_75_bar__minus_03_dot_28 loc_bar__minus_7_bar__minus_11_bar_2_bar_60)\n (objectAtLocation Knife_bar__plus_01_dot_08_bar__plus_00_dot_91_bar__minus_00_dot_61 loc_bar_1_bar_0_bar_1_bar_45)\n (objectAtLocation Egg_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)\n (objectAtLocation DishSponge_bar__plus_00_dot_72_bar__plus_00_dot_66_bar__plus_00_dot_51 loc_bar__minus_1_bar_1_bar_1_bar_45)\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_02_dot_10_bar__plus_00_dot_93_bar__plus_00_dot_79 loc_bar__minus_7_bar_0_bar_0_bar_45)\n (objectAtLocation Plate_bar__minus_01_dot_72_bar__plus_00_dot_71_bar__minus_01_dot_09 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_76_bar__plus_00_dot_77_bar__minus_00_dot_63 loc_bar_1_bar__minus_2_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__minus_01_dot_64_bar__plus_00_dot_70_bar__minus_01_dot_52 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Apple_bar__plus_00_dot_84_bar__plus_00_dot_83_bar__minus_00_dot_52 loc_bar_1_bar__minus_2_bar_1_bar_60)\n (objectAtLocation Pan_bar__plus_00_dot_74_bar__minus_00_dot_01_bar__minus_00_dot_60 loc_bar__minus_2_bar__minus_1_bar_1_bar_45)\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_01_dot_26_bar__plus_00_dot_09_bar__minus_03_dot_54 loc_bar__minus_4_bar__minus_13_bar_2_bar_60)\n (objectAtLocation Spatula_bar__plus_00_dot_87_bar__plus_00_dot_77_bar__minus_00_dot_06 loc_bar__minus_1_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Potato_bar__plus_00_dot_66_bar__plus_00_dot_92_bar__minus_00_dot_11 loc_bar_1_bar_0_bar_1_bar_45)\n (objectAtLocation Cup_bar__plus_00_dot_75_bar__plus_00_dot_66_bar__minus_02_dot_19 loc_bar__minus_1_bar__minus_8_bar_1_bar_60)\n (objectAtLocation SaltShaker_bar__minus_01_dot_60_bar__plus_00_dot_69_bar__minus_03_dot_61 loc_bar__minus_7_bar__minus_11_bar_2_bar_60)\n (objectAtLocation PepperShaker_bar__plus_00_dot_90_bar__plus_00_dot_01_bar__minus_00_dot_83 loc_bar__minus_2_bar__minus_1_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_01_dot_20 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__plus_00_dot_76_bar__plus_00_dot_77_bar__minus_00_dot_74 loc_bar_1_bar__minus_2_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 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__minus_01_dot_08_bar__plus_00_dot_97_bar__plus_00_dot_96 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_71_bar__plus_00_dot_39 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation Spoon_bar__plus_00_dot_67_bar__plus_00_dot_76_bar__minus_00_dot_25 loc_bar__minus_1_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Knife_bar__plus_00_dot_82_bar__plus_00_dot_78_bar__minus_00_dot_19 loc_bar__minus_1_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Mug_bar__plus_00_dot_79_bar__plus_01_dot_37_bar__minus_01_dot_73 loc_bar__minus_1_bar__minus_8_bar_1_bar_60)\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_95_bar__plus_01_dot_46_bar__plus_00_dot_47 loc_bar_1_bar_1_bar_1_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (heatable ?o)\n (objectType ?o AppleType)\n (receptacleType ?r SideTableType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sinkbasin 1", "take apple 1 from sinkbasin 1", "go to microwave 1", "heat apple 1 with microwave 1", "go to sidetable 1", "move apple 1 to sidetable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Apple-None-SideTable-21/trial_T20190908_235409_008266/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Apple-None-SideTable-21/trial_T20190908_235409_008266/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..f1130b161d5f3cd6f119fe41b8c49a08febe0367 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Apple-None-SideTable-21/trial_T20190908_235409_008266/initial_state.pddl @@ -0,0 +1,845 @@ + +(define (problem plan_trial_T20190908_235409_008266) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__plus_00_dot_84_bar__plus_00_dot_83_bar__minus_00_dot_52 - object + Apple_bar__minus_01_dot_58_bar__plus_00_dot_75_bar__minus_03_dot_45 - object + Blinds_bar__minus_02_dot_34_bar__plus_02_dot_15_bar__minus_02_dot_44 - object + Bowl_bar__plus_00_dot_95_bar__plus_01_dot_46_bar__plus_00_dot_47 - object + Bread_bar__minus_00_dot_87_bar__plus_00_dot_93_bar__plus_00_dot_98 - object + ButterKnife_bar__minus_00_dot_65_bar__plus_00_dot_90_bar__plus_00_dot_84 - object + ButterKnife_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_01_dot_20 - object + Chair_bar__minus_01_dot_90_bar__minus_00_dot_03_bar__minus_01_dot_87 - object + Cup_bar__plus_00_dot_75_bar__plus_00_dot_66_bar__minus_02_dot_19 - object + DishSponge_bar__plus_00_dot_67_bar__plus_00_dot_76_bar__minus_00_dot_06 - object + DishSponge_bar__plus_00_dot_72_bar__plus_00_dot_66_bar__plus_00_dot_51 - object + DishSponge_bar__plus_00_dot_76_bar__plus_00_dot_77_bar__minus_00_dot_74 - object + Egg_bar__plus_00_dot_67_bar__plus_01_dot_41_bar__minus_01_dot_73 - object + Egg_bar__minus_00_dot_25_bar__plus_00_dot_94_bar__plus_01_dot_02 - object + Egg_bar__minus_01_dot_26_bar__plus_00_dot_09_bar__minus_03_dot_54 - object + Faucet_bar__plus_01_dot_03_bar__plus_00_dot_87_bar__minus_00_dot_68 - object + Fork_bar__plus_00_dot_76_bar__plus_00_dot_77_bar__minus_00_dot_63 - object + Knife_bar__plus_00_dot_77_bar__plus_00_dot_78_bar__minus_00_dot_25 - object + Knife_bar__plus_00_dot_82_bar__plus_00_dot_78_bar__minus_00_dot_19 - object + Knife_bar__plus_01_dot_08_bar__plus_00_dot_91_bar__minus_00_dot_61 - object + Lettuce_bar__minus_01_dot_08_bar__plus_00_dot_97_bar__plus_00_dot_96 - object + LightSwitch_bar__plus_01_dot_10_bar__plus_01_dot_37_bar__minus_03_dot_74 - object + Mirror_bar__plus_01_dot_09_bar__plus_01_dot_60_bar__minus_00_dot_64 - object + Mug_bar__plus_00_dot_79_bar__plus_01_dot_37_bar__minus_01_dot_73 - object + Mug_bar__minus_01_dot_84_bar__plus_00_dot_79_bar__minus_03_dot_77 - object + Pan_bar__plus_00_dot_74_bar__minus_00_dot_01_bar__minus_00_dot_60 - object + PepperShaker_bar__plus_00_dot_57_bar__plus_00_dot_01_bar__minus_00_dot_83 - object + PepperShaker_bar__plus_00_dot_84_bar__plus_00_dot_01_bar__minus_00_dot_77 - object + PepperShaker_bar__plus_00_dot_90_bar__plus_00_dot_01_bar__minus_00_dot_83 - object + Plate_bar__plus_00_dot_15_bar__plus_00_dot_90_bar__plus_00_dot_84 - object + Plate_bar__minus_01_dot_72_bar__plus_00_dot_71_bar__minus_01_dot_09 - object + Potato_bar__plus_00_dot_66_bar__plus_00_dot_92_bar__minus_00_dot_11 - object + Pot_bar__minus_01_dot_56_bar__plus_00_dot_93_bar__plus_01_dot_05 - object + Pot_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_00_dot_79 - object + SaltShaker_bar__minus_00_dot_45_bar__plus_00_dot_90_bar__plus_01_dot_27 - object + SaltShaker_bar__minus_01_dot_60_bar__plus_00_dot_69_bar__minus_03_dot_61 - object + Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68 - object + SoapBottle_bar__minus_01_dot_64_bar__plus_00_dot_70_bar__minus_01_dot_52 - object + Spatula_bar__plus_00_dot_87_bar__plus_00_dot_77_bar__minus_00_dot_06 - object + Spoon_bar__plus_00_dot_67_bar__plus_00_dot_76_bar__minus_00_dot_25 - object + Spoon_bar__plus_00_dot_88_bar__plus_00_dot_88_bar__minus_00_dot_11 - object + StoveKnob_bar__minus_01_dot_60_bar__plus_00_dot_87_bar__plus_00_dot_52 - object + StoveKnob_bar__minus_01_dot_75_bar__plus_00_dot_87_bar__plus_00_dot_52 - object + StoveKnob_bar__minus_01_dot_90_bar__plus_00_dot_87_bar__plus_00_dot_52 - object + StoveKnob_bar__minus_02_dot_06_bar__plus_00_dot_87_bar__plus_00_dot_52 - object + Tomato_bar__plus_00_dot_71_bar__plus_00_dot_71_bar__minus_01_dot_73 - object + Tomato_bar__plus_00_dot_84_bar__plus_00_dot_71_bar__plus_00_dot_39 - object + Tomato_bar__minus_01_dot_56_bar__plus_00_dot_75_bar__minus_03_dot_28 - object + Window_bar__minus_02_dot_42_bar__plus_01_dot_64_bar__minus_02_dot_45 - object + Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__plus_00_dot_16 - receptacle + Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43 - receptacle + Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67 - receptacle + Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__minus_00_dot_40 - receptacle + CoffeeMachine_bar__plus_00_dot_88_bar__plus_00_dot_86_bar__minus_01_dot_26 - receptacle + CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11 - receptacle + DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95 - receptacle + DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96 - receptacle + DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37 - receptacle + Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13 - receptacle + Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96 - receptacle + GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61 - receptacle + Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69 - receptacle + SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45 - receptacle + Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin - receptacle + StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79 - receptacle + 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_2_bar__minus_10_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96 FridgeType) + (receptacleType StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79 StoveBurnerType) + (receptacleType CoffeeMachine_bar__plus_00_dot_88_bar__plus_00_dot_86_bar__minus_01_dot_26 CoffeeMachineType) + (receptacleType GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61 GarbageCanType) + (receptacleType SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45 SideTableType) + (receptacleType Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69 MicrowaveType) + (receptacleType Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67 CabinetType) + (receptacleType CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11 CounterTopType) + (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 Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__plus_00_dot_16 CabinetType) + (receptacleType DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96 DiningTableType) + (receptacleType Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13 DrawerType) + (receptacleType Toaster_bar__minus_00_dot_52_bar__plus_00_dot_89_bar__plus_01_dot_07 ToasterType) + (receptacleType StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79 StoveBurnerType) + (receptacleType DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95 DiningTableType) + (receptacleType StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_01_dot_05 StoveBurnerType) + (receptacleType Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43 CabinetType) + (receptacleType DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37 DiningTableType) + (receptacleType StoveBurner_bar__minus_01_dot_56_bar__plus_00_dot_89_bar__plus_01_dot_05 StoveBurnerType) + (objectType 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Pot_bar__minus_01_dot_56_bar__plus_00_dot_93_bar__plus_01_dot_05 PotType) + (objectType StoveKnob_bar__minus_01_dot_75_bar__plus_00_dot_87_bar__plus_00_dot_52 StoveKnobType) + (objectType Bowl_bar__plus_00_dot_95_bar__plus_01_dot_46_bar__plus_00_dot_47 BowlType) + (objectType ButterKnife_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_01_dot_20 ButterKnifeType) + (objectType Potato_bar__plus_00_dot_66_bar__plus_00_dot_92_bar__minus_00_dot_11 PotatoType) + (objectType SaltShaker_bar__minus_00_dot_45_bar__plus_00_dot_90_bar__plus_01_dot_27 SaltShakerType) + (objectType Mirror_bar__plus_01_dot_09_bar__plus_01_dot_60_bar__minus_00_dot_64 MirrorType) + (objectType Knife_bar__plus_00_dot_77_bar__plus_00_dot_78_bar__minus_00_dot_25 KnifeType) + (objectType Window_bar__minus_02_dot_42_bar__plus_01_dot_64_bar__minus_02_dot_45 WindowType) + (objectType Knife_bar__plus_01_dot_08_bar__plus_00_dot_91_bar__minus_00_dot_61 KnifeType) + (objectType 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Lettuce_bar__minus_01_dot_08_bar__plus_00_dot_97_bar__plus_00_dot_96) + (cleanable Spatula_bar__plus_00_dot_87_bar__plus_00_dot_77_bar__minus_00_dot_06) + (cleanable Tomato_bar__plus_00_dot_71_bar__plus_00_dot_71_bar__minus_01_dot_73) + (cleanable Mug_bar__minus_01_dot_84_bar__plus_00_dot_79_bar__minus_03_dot_77) + (cleanable Pot_bar__minus_01_dot_56_bar__plus_00_dot_93_bar__plus_01_dot_05) + (cleanable Bowl_bar__plus_00_dot_95_bar__plus_01_dot_46_bar__plus_00_dot_47) + (cleanable ButterKnife_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_01_dot_20) + (cleanable Potato_bar__plus_00_dot_66_bar__plus_00_dot_92_bar__minus_00_dot_11) + (cleanable Knife_bar__plus_00_dot_77_bar__plus_00_dot_78_bar__minus_00_dot_25) + (cleanable Knife_bar__plus_01_dot_08_bar__plus_00_dot_91_bar__minus_00_dot_61) + (cleanable Tomato_bar__plus_00_dot_84_bar__plus_00_dot_71_bar__plus_00_dot_39) + (cleanable Egg_bar__minus_00_dot_25_bar__plus_00_dot_94_bar__plus_01_dot_02) + (cleanable Spoon_bar__plus_00_dot_67_bar__plus_00_dot_76_bar__minus_00_dot_25) + (cleanable Pot_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_00_dot_79) + (cleanable Apple_bar__minus_01_dot_58_bar__plus_00_dot_75_bar__minus_03_dot_45) + (cleanable Apple_bar__plus_00_dot_84_bar__plus_00_dot_83_bar__minus_00_dot_52) + (cleanable Egg_bar__plus_00_dot_67_bar__plus_01_dot_41_bar__minus_01_dot_73) + (cleanable Spoon_bar__plus_00_dot_88_bar__plus_00_dot_88_bar__minus_00_dot_11) + (cleanable ButterKnife_bar__minus_00_dot_65_bar__plus_00_dot_90_bar__plus_00_dot_84) + (cleanable Mug_bar__plus_00_dot_79_bar__plus_01_dot_37_bar__minus_01_dot_73) + (cleanable Egg_bar__minus_01_dot_26_bar__plus_00_dot_09_bar__minus_03_dot_54) + (cleanable Cup_bar__plus_00_dot_75_bar__plus_00_dot_66_bar__minus_02_dot_19) + (cleanable Knife_bar__plus_00_dot_82_bar__plus_00_dot_78_bar__minus_00_dot_19) + (cleanable Tomato_bar__minus_01_dot_56_bar__plus_00_dot_75_bar__minus_03_dot_28) + (cleanable DishSponge_bar__plus_00_dot_72_bar__plus_00_dot_66_bar__plus_00_dot_51) + (cleanable DishSponge_bar__plus_00_dot_67_bar__plus_00_dot_76_bar__minus_00_dot_06) + (cleanable Pan_bar__plus_00_dot_74_bar__minus_00_dot_01_bar__minus_00_dot_60) + (cleanable Plate_bar__minus_01_dot_72_bar__plus_00_dot_71_bar__minus_01_dot_09) + (cleanable Fork_bar__plus_00_dot_76_bar__plus_00_dot_77_bar__minus_00_dot_63) + + (heatable Plate_bar__plus_00_dot_15_bar__plus_00_dot_90_bar__plus_00_dot_84) + (heatable Tomato_bar__plus_00_dot_71_bar__plus_00_dot_71_bar__minus_01_dot_73) + (heatable Mug_bar__minus_01_dot_84_bar__plus_00_dot_79_bar__minus_03_dot_77) + (heatable Potato_bar__plus_00_dot_66_bar__plus_00_dot_92_bar__minus_00_dot_11) + (heatable Tomato_bar__plus_00_dot_84_bar__plus_00_dot_71_bar__plus_00_dot_39) + (heatable Egg_bar__minus_00_dot_25_bar__plus_00_dot_94_bar__plus_01_dot_02) + (heatable Apple_bar__minus_01_dot_58_bar__plus_00_dot_75_bar__minus_03_dot_45) + (heatable Apple_bar__plus_00_dot_84_bar__plus_00_dot_83_bar__minus_00_dot_52) + (heatable Egg_bar__plus_00_dot_67_bar__plus_01_dot_41_bar__minus_01_dot_73) + (heatable Mug_bar__plus_00_dot_79_bar__plus_01_dot_37_bar__minus_01_dot_73) + (heatable Egg_bar__minus_01_dot_26_bar__plus_00_dot_09_bar__minus_03_dot_54) + (heatable Cup_bar__plus_00_dot_75_bar__plus_00_dot_66_bar__minus_02_dot_19) + (heatable Tomato_bar__minus_01_dot_56_bar__plus_00_dot_75_bar__minus_03_dot_28) + (heatable Bread_bar__minus_00_dot_87_bar__plus_00_dot_93_bar__plus_00_dot_98) + (heatable Plate_bar__minus_01_dot_72_bar__plus_00_dot_71_bar__minus_01_dot_09) + (coolable Plate_bar__plus_00_dot_15_bar__plus_00_dot_90_bar__plus_00_dot_84) + (coolable Lettuce_bar__minus_01_dot_08_bar__plus_00_dot_97_bar__plus_00_dot_96) + (coolable Tomato_bar__plus_00_dot_71_bar__plus_00_dot_71_bar__minus_01_dot_73) + (coolable Mug_bar__minus_01_dot_84_bar__plus_00_dot_79_bar__minus_03_dot_77) + (coolable Pot_bar__minus_01_dot_56_bar__plus_00_dot_93_bar__plus_01_dot_05) + (coolable Bowl_bar__plus_00_dot_95_bar__plus_01_dot_46_bar__plus_00_dot_47) + (coolable Potato_bar__plus_00_dot_66_bar__plus_00_dot_92_bar__minus_00_dot_11) + (coolable Tomato_bar__plus_00_dot_84_bar__plus_00_dot_71_bar__plus_00_dot_39) + (coolable Egg_bar__minus_00_dot_25_bar__plus_00_dot_94_bar__plus_01_dot_02) + (coolable Pot_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_00_dot_79) + (coolable Apple_bar__minus_01_dot_58_bar__plus_00_dot_75_bar__minus_03_dot_45) + (coolable Apple_bar__plus_00_dot_84_bar__plus_00_dot_83_bar__minus_00_dot_52) + (coolable Egg_bar__plus_00_dot_67_bar__plus_01_dot_41_bar__minus_01_dot_73) + (coolable Mug_bar__plus_00_dot_79_bar__plus_01_dot_37_bar__minus_01_dot_73) + (coolable Egg_bar__minus_01_dot_26_bar__plus_00_dot_09_bar__minus_03_dot_54) + (coolable Cup_bar__plus_00_dot_75_bar__plus_00_dot_66_bar__minus_02_dot_19) + (coolable Tomato_bar__minus_01_dot_56_bar__plus_00_dot_75_bar__minus_03_dot_28) + (coolable Pan_bar__plus_00_dot_74_bar__minus_00_dot_01_bar__minus_00_dot_60) + (coolable Bread_bar__minus_00_dot_87_bar__plus_00_dot_93_bar__plus_00_dot_98) + (coolable Plate_bar__minus_01_dot_72_bar__plus_00_dot_71_bar__minus_01_dot_09) + + + + + + (sliceable Lettuce_bar__minus_01_dot_08_bar__plus_00_dot_97_bar__plus_00_dot_96) + (sliceable Tomato_bar__plus_00_dot_71_bar__plus_00_dot_71_bar__minus_01_dot_73) + (sliceable Potato_bar__plus_00_dot_66_bar__plus_00_dot_92_bar__minus_00_dot_11) + (sliceable Tomato_bar__plus_00_dot_84_bar__plus_00_dot_71_bar__plus_00_dot_39) + (sliceable Egg_bar__minus_00_dot_25_bar__plus_00_dot_94_bar__plus_01_dot_02) + (sliceable Apple_bar__minus_01_dot_58_bar__plus_00_dot_75_bar__minus_03_dot_45) + (sliceable Apple_bar__plus_00_dot_84_bar__plus_00_dot_83_bar__minus_00_dot_52) + (sliceable Egg_bar__plus_00_dot_67_bar__plus_01_dot_41_bar__minus_01_dot_73) + (sliceable Egg_bar__minus_01_dot_26_bar__plus_00_dot_09_bar__minus_03_dot_54) + (sliceable Tomato_bar__minus_01_dot_56_bar__plus_00_dot_75_bar__minus_03_dot_28) + (sliceable Bread_bar__minus_00_dot_87_bar__plus_00_dot_93_bar__plus_00_dot_98) + + (inReceptacle Knife_bar__plus_00_dot_77_bar__plus_00_dot_78_bar__minus_00_dot_25 Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13) + (inReceptacle Spatula_bar__plus_00_dot_87_bar__plus_00_dot_77_bar__minus_00_dot_06 Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13) + (inReceptacle DishSponge_bar__plus_00_dot_67_bar__plus_00_dot_76_bar__minus_00_dot_06 Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13) + (inReceptacle Spoon_bar__plus_00_dot_67_bar__plus_00_dot_76_bar__minus_00_dot_25 Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13) + (inReceptacle Knife_bar__plus_00_dot_82_bar__plus_00_dot_78_bar__minus_00_dot_19 Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13) + (inReceptacle Knife_bar__plus_01_dot_08_bar__plus_00_dot_91_bar__minus_00_dot_61 CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11) + (inReceptacle Potato_bar__plus_00_dot_66_bar__plus_00_dot_92_bar__minus_00_dot_11 CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11) + (inReceptacle Spoon_bar__plus_00_dot_88_bar__plus_00_dot_88_bar__minus_00_dot_11 CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11) + (inReceptacle Pot_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_00_dot_79 StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79) + (inReceptacle PepperShaker_bar__plus_00_dot_57_bar__plus_00_dot_01_bar__minus_00_dot_83 Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43) + (inReceptacle Pan_bar__plus_00_dot_74_bar__minus_00_dot_01_bar__minus_00_dot_60 Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43) + (inReceptacle PepperShaker_bar__plus_00_dot_84_bar__plus_00_dot_01_bar__minus_00_dot_77 Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43) + (inReceptacle PepperShaker_bar__plus_00_dot_90_bar__plus_00_dot_01_bar__minus_00_dot_83 Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43) + (inReceptacle Pot_bar__minus_01_dot_56_bar__plus_00_dot_93_bar__plus_01_dot_05 StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79) + (inReceptacle Plate_bar__minus_01_dot_72_bar__plus_00_dot_71_bar__minus_01_dot_09 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96) + (inReceptacle SoapBottle_bar__minus_01_dot_64_bar__plus_00_dot_70_bar__minus_01_dot_52 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96) + (inReceptacle ButterKnife_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_01_dot_20 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96) + (inReceptacle Tomato_bar__plus_00_dot_84_bar__plus_00_dot_71_bar__plus_00_dot_39 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45) + (inReceptacle DishSponge_bar__plus_00_dot_72_bar__plus_00_dot_66_bar__plus_00_dot_51 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45) + (inReceptacle Pot_bar__minus_01_dot_56_bar__plus_00_dot_93_bar__plus_01_dot_05 StoveBurner_bar__minus_01_dot_56_bar__plus_00_dot_89_bar__plus_01_dot_05) + (inReceptacle Bowl_bar__plus_00_dot_95_bar__plus_01_dot_46_bar__plus_00_dot_47 Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67) + (inReceptacle SaltShaker_bar__minus_00_dot_45_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) + (inReceptacle Plate_bar__plus_00_dot_15_bar__plus_00_dot_90_bar__plus_00_dot_84 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle Lettuce_bar__minus_01_dot_08_bar__plus_00_dot_97_bar__plus_00_dot_96 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle Egg_bar__minus_00_dot_25_bar__plus_00_dot_94_bar__plus_01_dot_02 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle ButterKnife_bar__minus_00_dot_65_bar__plus_00_dot_90_bar__plus_00_dot_84 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95) + (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) + (inReceptacle SaltShaker_bar__minus_01_dot_60_bar__plus_00_dot_69_bar__minus_03_dot_61 DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37) + (inReceptacle Tomato_bar__minus_01_dot_56_bar__plus_00_dot_75_bar__minus_03_dot_28 DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37) + (inReceptacle Apple_bar__minus_01_dot_58_bar__plus_00_dot_75_bar__minus_03_dot_45 DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37) + (inReceptacle Egg_bar__minus_01_dot_26_bar__plus_00_dot_09_bar__minus_03_dot_54 GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61) + (inReceptacle Egg_bar__plus_00_dot_67_bar__plus_01_dot_41_bar__minus_01_dot_73 Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96) + (inReceptacle Tomato_bar__plus_00_dot_71_bar__plus_00_dot_71_bar__minus_01_dot_73 Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96) + (inReceptacle Mug_bar__plus_00_dot_79_bar__plus_01_dot_37_bar__minus_01_dot_73 Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96) + (inReceptacle Cup_bar__plus_00_dot_75_bar__plus_00_dot_66_bar__minus_02_dot_19 Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96) + (inReceptacle Mug_bar__minus_01_dot_84_bar__plus_00_dot_79_bar__minus_03_dot_77 Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69) + (inReceptacle Apple_bar__plus_00_dot_84_bar__plus_00_dot_83_bar__minus_00_dot_52 Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin) + (inReceptacle DishSponge_bar__plus_00_dot_76_bar__plus_00_dot_77_bar__minus_00_dot_74 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 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) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (receptacleAtLocation 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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) + (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) + (objectAtLocation Mug_bar__minus_01_dot_84_bar__plus_00_dot_79_bar__minus_03_dot_77 loc_bar__minus_7_bar__minus_11_bar_2_bar_45) + (objectAtLocation Knife_bar__plus_00_dot_77_bar__plus_00_dot_78_bar__minus_00_dot_25 loc_bar__minus_1_bar__minus_1_bar_1_bar_45) + (objectAtLocation Spoon_bar__plus_00_dot_88_bar__plus_00_dot_88_bar__minus_00_dot_11 loc_bar_1_bar_0_bar_1_bar_45) + (objectAtLocation Tomato_bar__plus_00_dot_71_bar__plus_00_dot_71_bar__minus_01_dot_73 loc_bar__minus_1_bar__minus_8_bar_1_bar_60) + (objectAtLocation DishSponge_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) + (objectAtLocation ButterKnife_bar__minus_00_dot_65_bar__plus_00_dot_90_bar__plus_00_dot_84 loc_bar_0_bar_1_bar_0_bar_60) + (objectAtLocation PepperShaker_bar__plus_00_dot_84_bar__plus_00_dot_01_bar__minus_00_dot_77 loc_bar__minus_2_bar__minus_1_bar_1_bar_45) + (objectAtLocation SaltShaker_bar__minus_00_dot_45_bar__plus_00_dot_90_bar__plus_01_dot_27 loc_bar_0_bar_1_bar_0_bar_60) + (objectAtLocation Egg_bar__minus_00_dot_25_bar__plus_00_dot_94_bar__plus_01_dot_02 loc_bar_0_bar_1_bar_0_bar_60) + (objectAtLocation Apple_bar__minus_01_dot_58_bar__plus_00_dot_75_bar__minus_03_dot_45 loc_bar__minus_7_bar__minus_11_bar_2_bar_60) + (objectAtLocation Plate_bar__plus_00_dot_15_bar__plus_00_dot_90_bar__plus_00_dot_84 loc_bar_0_bar_1_bar_0_bar_60) + (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 PepperShaker_bar__plus_00_dot_57_bar__plus_00_dot_01_bar__minus_00_dot_83 loc_bar__minus_2_bar__minus_1_bar_1_bar_45) + (objectAtLocation 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(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_63 loc_bar_1_bar__minus_2_bar_1_bar_60) + (objectAtLocation SoapBottle_bar__minus_01_dot_64_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_84_bar__plus_00_dot_83_bar__minus_00_dot_52 loc_bar_1_bar__minus_2_bar_1_bar_60) + (objectAtLocation Pan_bar__plus_00_dot_74_bar__minus_00_dot_01_bar__minus_00_dot_60 loc_bar__minus_2_bar__minus_1_bar_1_bar_45) + (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__minus_01_dot_26_bar__plus_00_dot_09_bar__minus_03_dot_54 loc_bar__minus_4_bar__minus_13_bar_2_bar_60) + (objectAtLocation Spatula_bar__plus_00_dot_87_bar__plus_00_dot_77_bar__minus_00_dot_06 loc_bar__minus_1_bar__minus_1_bar_1_bar_45) + (objectAtLocation Potato_bar__plus_00_dot_66_bar__plus_00_dot_92_bar__minus_00_dot_11 loc_bar_1_bar_0_bar_1_bar_45) + (objectAtLocation Cup_bar__plus_00_dot_75_bar__plus_00_dot_66_bar__minus_02_dot_19 loc_bar__minus_1_bar__minus_8_bar_1_bar_60) + (objectAtLocation SaltShaker_bar__minus_01_dot_60_bar__plus_00_dot_69_bar__minus_03_dot_61 loc_bar__minus_7_bar__minus_11_bar_2_bar_60) + (objectAtLocation PepperShaker_bar__plus_00_dot_90_bar__plus_00_dot_01_bar__minus_00_dot_83 loc_bar__minus_2_bar__minus_1_bar_1_bar_45) + (objectAtLocation ButterKnife_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_01_dot_20 loc_bar__minus_4_bar__minus_5_bar_3_bar_60) + (objectAtLocation DishSponge_bar__plus_00_dot_76_bar__plus_00_dot_77_bar__minus_00_dot_74 loc_bar_1_bar__minus_2_bar_1_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__minus_01_dot_08_bar__plus_00_dot_97_bar__plus_00_dot_96 loc_bar_0_bar_1_bar_0_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_39 loc_bar__minus_1_bar_1_bar_1_bar_45) + (objectAtLocation Spoon_bar__plus_00_dot_67_bar__plus_00_dot_76_bar__minus_00_dot_25 loc_bar__minus_1_bar__minus_1_bar_1_bar_45) + (objectAtLocation Knife_bar__plus_00_dot_82_bar__plus_00_dot_78_bar__minus_00_dot_19 loc_bar__minus_1_bar__minus_1_bar_1_bar_45) + (objectAtLocation Mug_bar__plus_00_dot_79_bar__plus_01_dot_37_bar__minus_01_dot_73 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_95_bar__plus_01_dot_46_bar__plus_00_dot_47 loc_bar_1_bar_1_bar_1_bar__minus_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (heatable ?o) + (objectType ?o AppleType) + (receptacleType ?r SideTableType) + (isHot ?o) + (inReceptacle ?o ?r) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Apple-None-SideTable-21/trial_T20190908_235409_008266/traj_data.json 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"Knife_33d4fba0", + "position": { + "x": 0.7690388, + "y": 0.7836356, + "z": -0.252836943 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_288ff1e3", + "position": { + "x": -1.84342444, + "y": 0.794504344, + "z": -3.77127218 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_737b77b7", + "position": { + "x": 0.9493945, + "y": 1.46226478, + "z": 0.473188043 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2455402312, + "scene_num": 21 + }, + "task_id": "trial_T20190908_235409_008266", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3MLUEOP3CCLXL_3AQF3RZ55B9JF7FFPKU6WLEMRZA6FF", + "high_descs": [ + "Turn right and walk to the wall, then turn right and walk to the trash can", + "Pick up the green apple that is sitting on the white table above the trash can. The table that the microwave is sitting on", + "Take a right to walk forward, then a left to walk around the table, turn left to face the microwave", + "Open the microwave and place the apple on the plate inside and then close the door and turn it on. Then open the microwave and pick up the apple and close the door", + "Turn left and walk to the fridge, halfway across the room turn left and walk to the table that is to the right of the stove then turn right to face the black shelf that is to the left of the sink", + "Place the apple on the top shelf in the lower right corner" + ], + "task_desc": "Place a cooked apple on a shelf", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3T9K2RY06UO14_3IO1LGZLKCOA0S5SH6O0MTX04VY68Z", + "high_descs": [ + "Turn and go to the table in the corner.", + "Pick up an apple on the small table. ", + "Turn and go to the microwave on the table in the corner.", + "Cook the apple in the microwave. ", + "Turn and go to the small shelves by the sink.", + "Put the apple on the small shelves by the sink." + ], + "task_desc": "Put a microwaved apple on the small shelves by the sink.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_3KMS4QQVK5HQEM04ROO764J4SUXFKW", + "high_descs": [ + "Turn right and walk up the wall, then turn right and walk over to the white table.", + "Pick up the apple off of the table.", + "Walk around to the front of the white table so you are facing the microwave.", + "Open the microwave door then put the apple inside and close the microwave, turn on the microwave, after a couple seconds open the microwave and take the heated apple out then close the door.", + "Turn left and walk toward the door, then hang a left and walk across the room, turn right and walk up to the small black shelving unit to the left of the counter.", + "Put the heated apple on the front right corner of the top of the black shelving unit." + ], + "task_desc": "Put a heated apple on top of a black shelving unit.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Apple-None-SideTable-21/trial_T20190909_000149_199484/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Apple-None-SideTable-21/trial_T20190909_000149_199484/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..63be489b9c835ac01abb1a3416a724df5f9d4889 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Apple-None-SideTable-21/trial_T20190909_000149_199484/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 apple and put it 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_T20190909_000149_199484)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__plus_00_dot_79_bar__plus_00_dot_72_bar__minus_01_dot_73 - object\n Apple_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__plus_00_dot_10 - object\n Apple_bar__plus_00_dot_96_bar__plus_00_dot_72_bar__plus_00_dot_45 - object\n Apple_bar__minus_00_dot_45_bar__plus_00_dot_95_bar__plus_00_dot_76 - 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_15_bar__plus_00_dot_90_bar__plus_00_dot_84 - object\n Bowl_bar__plus_00_dot_15_bar__plus_00_dot_90_bar__plus_01_dot_19 - object\n Bread_bar__minus_01_dot_06_bar__plus_00_dot_94_bar__plus_00_dot_93 - object\n ButterKnife_bar__plus_00_dot_76_bar__plus_00_dot_77_bar__minus_00_dot_63 - object\n ButterKnife_bar__plus_00_dot_77_bar__plus_00_dot_76_bar__minus_00_dot_06 - object\n Chair_bar__minus_01_dot_90_bar__minus_00_dot_03_bar__minus_01_dot_87 - object\n Cup_bar__plus_00_dot_80_bar__plus_00_dot_88_bar__minus_00_dot_04 - object\n DishSponge_bar__plus_00_dot_82_bar__plus_00_dot_76_bar__plus_00_dot_00 - object\n DishSponge_bar__plus_00_dot_84_bar__plus_00_dot_66_bar__plus_00_dot_45 - object\n DishSponge_bar__minus_01_dot_97_bar__plus_00_dot_70_bar__minus_01_dot_20 - object\n Egg_bar__plus_00_dot_84_bar__plus_00_dot_81_bar__minus_00_dot_52 - object\n Egg_bar__minus_01_dot_79_bar__plus_00_dot_84_bar__minus_03_dot_74 - 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_80_bar__plus_00_dot_77_bar__minus_00_dot_57 - object\n Fork_bar__plus_00_dot_84_bar__plus_00_dot_67_bar__plus_00_dot_39 - object\n Fork_bar__minus_01_dot_80_bar__plus_00_dot_70_bar__minus_01_dot_09 - object\n Knife_bar__plus_00_dot_67_bar__plus_00_dot_78_bar__minus_00_dot_25 - object\n Knife_bar__plus_00_dot_82_bar__plus_00_dot_78_bar__minus_00_dot_25 - object\n Lettuce_bar__plus_00_dot_72_bar__plus_00_dot_75_bar__plus_00_dot_33 - object\n Lettuce_bar__plus_00_dot_80_bar__plus_00_dot_86_bar__minus_00_dot_74 - object\n Lettuce_bar__minus_01_dot_26_bar__plus_00_dot_14_bar__minus_03_dot_61 - 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 Pan_bar__plus_00_dot_75_bar__plus_01_dot_37_bar__minus_01_dot_80 - object\n Pan_bar__minus_01_dot_56_bar__plus_00_dot_93_bar__plus_01_dot_05 - object\n PepperShaker_bar__plus_00_dot_60_bar__plus_00_dot_66_bar__plus_00_dot_63 - object\n PepperShaker_bar__plus_00_dot_77_bar__plus_01_dot_46_bar__plus_00_dot_35 - object\n PepperShaker_bar__plus_01_dot_04_bar__plus_01_dot_46_bar__plus_00_dot_23 - object\n Plate_bar__plus_00_dot_73_bar__plus_00_dot_02_bar__minus_00_dot_12 - object\n Potato_bar__plus_00_dot_63_bar__plus_00_dot_81_bar__minus_00_dot_79 - object\n Potato_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__plus_00_dot_76 - object\n Pot_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_00_dot_79 - object\n SaltShaker_bar__plus_00_dot_72_bar__plus_00_dot_66_bar__plus_00_dot_63 - object\n SaltShaker_bar__plus_00_dot_86_bar__plus_01_dot_46_bar__plus_00_dot_29 - object\n Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68 - object\n SoapBottle_bar__plus_00_dot_80_bar__plus_00_dot_88_bar__minus_00_dot_18 - object\n SoapBottle_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_01_dot_19 - object\n Spatula_bar__plus_00_dot_72_bar__plus_00_dot_78_bar__plus_00_dot_00 - object\n Spatula_bar__plus_00_dot_95_bar__plus_00_dot_90_bar__minus_00_dot_25 - object\n Spatula_bar__minus_01_dot_62_bar__plus_00_dot_71_bar__minus_03_dot_78 - object\n Spoon_bar__plus_00_dot_84_bar__plus_00_dot_67_bar__plus_00_dot_63 - object\n Spoon_bar__minus_02_dot_05_bar__plus_00_dot_70_bar__minus_01_dot_09 - object\n StoveKnob_bar__minus_01_dot_60_bar__plus_00_dot_87_bar__plus_00_dot_52 - object\n StoveKnob_bar__minus_01_dot_75_bar__plus_00_dot_87_bar__plus_00_dot_52 - object\n StoveKnob_bar__minus_01_dot_90_bar__plus_00_dot_87_bar__plus_00_dot_52 - object\n StoveKnob_bar__minus_02_dot_06_bar__plus_00_dot_87_bar__plus_00_dot_52 - object\n Tomato_bar__plus_00_dot_75_bar__plus_00_dot_71_bar__minus_02_dot_04 - object\n Tomato_bar__minus_00_dot_25_bar__plus_00_dot_95_bar__plus_00_dot_84 - object\n Tomato_bar__minus_01_dot_64_bar__plus_00_dot_75_bar__minus_01_dot_42 - object\n Window_bar__minus_02_dot_42_bar__plus_01_dot_64_bar__minus_02_dot_45 - object\n Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__plus_00_dot_16 - receptacle\n Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43 - receptacle\n Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67 - receptacle\n Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__minus_00_dot_40 - receptacle\n 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 StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79 - receptacle\n StoveBurner_bar__minus_01_dot_56_bar__plus_00_dot_89_bar__plus_01_dot_05 - receptacle\n StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79 - receptacle\n StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_01_dot_05 - receptacle\n Toaster_bar__minus_00_dot_52_bar__plus_00_dot_89_bar__plus_01_dot_07 - receptacle\n loc_bar__minus_6_bar_0_bar_0_bar_45 - location\n loc_bar__minus_4_bar__minus_5_bar_3_bar_60 - location\n loc_bar_1_bar__minus_3_bar_1_bar_0 - location\n loc_bar__minus_7_bar_0_bar_0_bar_30 - location\n loc_bar__minus_7_bar__minus_11_bar_2_bar_45 - location\n loc_bar_1_bar_1_bar_1_bar__minus_30 - location\n loc_bar__minus_7_bar_0_bar_0_bar_60 - location\n loc_bar__minus_6_bar_0_bar_0_bar_60 - location\n loc_bar__minus_7_bar__minus_11_bar_2_bar_60 - location\n loc_bar_1_bar__minus_2_bar_1_bar_60 - location\n loc_bar__minus_7_bar_0_bar_0_bar_45 - location\n 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_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_3_bar__minus_14_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96 FridgeType)\n (receptacleType StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79 StoveBurnerType)\n (receptacleType 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CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain SinkBasinType DishSpongeType)\n (canContain SinkBasinType BowlType)\n (canContain SinkBasinType PotType)\n (canContain SinkBasinType MugType)\n (canContain SinkBasinType EggType)\n (canContain SinkBasinType ForkType)\n (canContain SinkBasinType SpoonType)\n (canContain SinkBasinType LettuceType)\n (canContain SinkBasinType PotatoType)\n (canContain SinkBasinType ButterKnifeType)\n (canContain SinkBasinType CupType)\n (canContain SinkBasinType PlateType)\n (canContain SinkBasinType TomatoType)\n (canContain SinkBasinType KnifeType)\n (canContain SinkBasinType AppleType)\n (canContain SinkBasinType PanType)\n (canContain SinkBasinType SpatulaType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType 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SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45)\n (inReceptacle Fork_bar__plus_00_dot_84_bar__plus_00_dot_67_bar__plus_00_dot_39 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45)\n (inReceptacle Pan_bar__minus_01_dot_56_bar__plus_00_dot_93_bar__plus_01_dot_05 StoveBurner_bar__minus_01_dot_56_bar__plus_00_dot_89_bar__plus_01_dot_05)\n (inReceptacle SaltShaker_bar__plus_00_dot_86_bar__plus_01_dot_46_bar__plus_00_dot_29 Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67)\n (inReceptacle PepperShaker_bar__plus_01_dot_04_bar__plus_01_dot_46_bar__plus_00_dot_23 Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67)\n (inReceptacle PepperShaker_bar__plus_00_dot_77_bar__plus_01_dot_46_bar__plus_00_dot_35 Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67)\n (inReceptacle Bowl_bar__plus_00_dot_15_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 SoapBottle_bar__minus_00_dot_86_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 Bowl_bar__plus_00_dot_15_bar__plus_00_dot_90_bar__plus_00_dot_84 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Apple_bar__minus_00_dot_45_bar__plus_00_dot_95_bar__plus_00_dot_76 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Potato_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__plus_00_dot_76 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Tomato_bar__minus_00_dot_25_bar__plus_00_dot_95_bar__plus_00_dot_84 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Bread_bar__minus_01_dot_06_bar__plus_00_dot_94_bar__plus_00_dot_93 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Spatula_bar__minus_01_dot_62_bar__plus_00_dot_71_bar__minus_03_dot_78 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 Lettuce_bar__minus_01_dot_26_bar__plus_00_dot_14_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_71_bar__minus_02_dot_04 Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96)\n (inReceptacle Pan_bar__plus_00_dot_75_bar__plus_01_dot_37_bar__minus_01_dot_80 Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96)\n (inReceptacle Apple_bar__plus_00_dot_79_bar__plus_00_dot_72_bar__minus_01_dot_73 Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96)\n (inReceptacle Egg_bar__minus_01_dot_79_bar__plus_00_dot_84_bar__minus_03_dot_74 Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69)\n (inReceptacle Lettuce_bar__plus_00_dot_80_bar__plus_00_dot_86_bar__minus_00_dot_74 Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin)\n (inReceptacle ButterKnife_bar__plus_00_dot_76_bar__plus_00_dot_77_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 Fork_bar__plus_00_dot_80_bar__plus_00_dot_77_bar__minus_00_dot_57 Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin)\n (inReceptacle Egg_bar__plus_00_dot_84_bar__plus_00_dot_81_bar__minus_00_dot_52 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_63_bar__plus_00_dot_81_bar__minus_00_dot_79 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__plus_00_dot_15_bar__plus_00_dot_90_bar__plus_01_dot_19 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation Knife_bar__plus_00_dot_82_bar__plus_00_dot_78_bar__minus_00_dot_25 loc_bar__minus_1_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Spoon_bar__minus_02_dot_05_bar__plus_00_dot_70_bar__minus_01_dot_09 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Tomato_bar__minus_00_dot_25_bar__plus_00_dot_95_bar__plus_00_dot_84 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation Lettuce_bar__plus_00_dot_72_bar__plus_00_dot_75_bar__plus_00_dot_33 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__minus_01_dot_97_bar__plus_00_dot_70_bar__minus_01_dot_20 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (objectAtLocation ButterKnife_bar__plus_00_dot_77_bar__plus_00_dot_76_bar__minus_00_dot_06 loc_bar__minus_1_bar__minus_1_bar_1_bar_45)\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 SaltShaker_bar__plus_00_dot_86_bar__plus_01_dot_46_bar__plus_00_dot_29 loc_bar_1_bar_1_bar_1_bar__minus_30)\n (objectAtLocation Potato_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__plus_00_dot_76 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation Spatula_bar__plus_00_dot_95_bar__plus_00_dot_90_bar__minus_00_dot_25 loc_bar_1_bar_0_bar_1_bar_45)\n (objectAtLocation Egg_bar__minus_01_dot_79_bar__plus_00_dot_84_bar__minus_03_dot_74 loc_bar__minus_7_bar__minus_11_bar_2_bar_45)\n (objectAtLocation Pan_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)\n (objectAtLocation Apple_bar__plus_00_dot_96_bar__plus_00_dot_72_bar__plus_00_dot_45 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_01_dot_19 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation Fork_bar__plus_00_dot_80_bar__plus_00_dot_77_bar__minus_00_dot_57 loc_bar_1_bar__minus_2_bar_1_bar_60)\n (objectAtLocation Apple_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__plus_00_dot_10 loc_bar_1_bar_0_bar_1_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_45_bar__plus_00_dot_95_bar__plus_00_dot_76 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation Lettuce_bar__minus_01_dot_26_bar__plus_00_dot_14_bar__minus_03_dot_61 loc_bar__minus_4_bar__minus_13_bar_2_bar_60)\n (objectAtLocation PepperShaker_bar__plus_00_dot_77_bar__plus_01_dot_46_bar__plus_00_dot_35 loc_bar_1_bar_1_bar_1_bar__minus_30)\n (objectAtLocation Tomato_bar__plus_00_dot_75_bar__plus_00_dot_71_bar__minus_02_dot_04 loc_bar__minus_1_bar__minus_8_bar_1_bar_60)\n (objectAtLocation Fork_bar__minus_01_dot_80_bar__plus_00_dot_70_bar__minus_01_dot_09 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Spatula_bar__minus_01_dot_62_bar__plus_00_dot_71_bar__minus_03_dot_78 loc_bar__minus_7_bar__minus_11_bar_2_bar_60)\n (objectAtLocation DishSponge_bar__plus_00_dot_82_bar__plus_00_dot_76_bar__plus_00_dot_00 loc_bar__minus_1_bar__minus_1_bar_1_bar_45)\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_02_dot_10_bar__plus_00_dot_93_bar__plus_00_dot_79 loc_bar__minus_7_bar_0_bar_0_bar_45)\n (objectAtLocation Plate_bar__plus_00_dot_73_bar__plus_00_dot_02_bar__minus_00_dot_12 loc_bar_1_bar_0_bar_1_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_84_bar__plus_00_dot_67_bar__plus_00_dot_39 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__plus_00_dot_80_bar__plus_00_dot_88_bar__minus_00_dot_18 loc_bar_1_bar_0_bar_1_bar_45)\n (objectAtLocation Apple_bar__plus_00_dot_79_bar__plus_00_dot_72_bar__minus_01_dot_73 loc_bar__minus_1_bar__minus_8_bar_1_bar_60)\n (objectAtLocation Pan_bar__plus_00_dot_75_bar__plus_01_dot_37_bar__minus_01_dot_80 loc_bar__minus_1_bar__minus_8_bar_1_bar_60)\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__plus_00_dot_84_bar__plus_00_dot_81_bar__minus_00_dot_52 loc_bar_1_bar__minus_2_bar_1_bar_60)\n (objectAtLocation Spatula_bar__plus_00_dot_72_bar__plus_00_dot_78_bar__plus_00_dot_00 loc_bar__minus_1_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Potato_bar__plus_00_dot_63_bar__plus_00_dot_81_bar__minus_00_dot_79 loc_bar_1_bar__minus_2_bar_1_bar_60)\n (objectAtLocation Cup_bar__plus_00_dot_80_bar__plus_00_dot_88_bar__minus_00_dot_04 loc_bar_1_bar_0_bar_1_bar_45)\n (objectAtLocation SaltShaker_bar__plus_00_dot_72_bar__plus_00_dot_66_bar__plus_00_dot_63 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation PepperShaker_bar__plus_01_dot_04_bar__plus_01_dot_46_bar__plus_00_dot_23 loc_bar_1_bar_1_bar_1_bar__minus_30)\n (objectAtLocation ButterKnife_bar__plus_00_dot_76_bar__plus_00_dot_77_bar__minus_00_dot_63 loc_bar_1_bar__minus_2_bar_1_bar_60)\n (objectAtLocation DishSponge_bar__plus_00_dot_84_bar__plus_00_dot_66_bar__plus_00_dot_45 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation Bread_bar__minus_01_dot_06_bar__plus_00_dot_94_bar__plus_00_dot_93 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_80_bar__plus_00_dot_86_bar__minus_00_dot_74 loc_bar_1_bar__minus_2_bar_1_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__minus_01_dot_64_bar__plus_00_dot_75_bar__minus_01_dot_42 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Spoon_bar__plus_00_dot_84_bar__plus_00_dot_67_bar__plus_00_dot_63 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation Knife_bar__plus_00_dot_67_bar__plus_00_dot_78_bar__minus_00_dot_25 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_15_bar__plus_00_dot_90_bar__plus_00_dot_84 loc_bar_0_bar_1_bar_0_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (heatable ?o)\n (objectType ?o AppleType)\n (receptacleType ?r SideTableType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 3", "take apple 4 from diningtable 3", "go to microwave 1", "heat apple 4 with microwave 1", "go to sidetable 1", "move apple 4 to sidetable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Apple-None-SideTable-21/trial_T20190909_000149_199484/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Apple-None-SideTable-21/trial_T20190909_000149_199484/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..15d77ae91c28a72e98526be5d490bc54d3414cb9 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Apple-None-SideTable-21/trial_T20190909_000149_199484/initial_state.pddl @@ -0,0 +1,893 @@ + +(define (problem plan_trial_T20190909_000149_199484) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype 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PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__plus_00_dot_79_bar__plus_00_dot_72_bar__minus_01_dot_73 - object + Apple_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__plus_00_dot_10 - object + Apple_bar__plus_00_dot_96_bar__plus_00_dot_72_bar__plus_00_dot_45 - object + Apple_bar__minus_00_dot_45_bar__plus_00_dot_95_bar__plus_00_dot_76 - object + Blinds_bar__minus_02_dot_34_bar__plus_02_dot_15_bar__minus_02_dot_44 - object + Bowl_bar__plus_00_dot_15_bar__plus_00_dot_90_bar__plus_00_dot_84 - object + Bowl_bar__plus_00_dot_15_bar__plus_00_dot_90_bar__plus_01_dot_19 - object + Bread_bar__minus_01_dot_06_bar__plus_00_dot_94_bar__plus_00_dot_93 - object + ButterKnife_bar__plus_00_dot_76_bar__plus_00_dot_77_bar__minus_00_dot_63 - object + ButterKnife_bar__plus_00_dot_77_bar__plus_00_dot_76_bar__minus_00_dot_06 - object + Chair_bar__minus_01_dot_90_bar__minus_00_dot_03_bar__minus_01_dot_87 - 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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_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_3_bar__minus_14_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96 FridgeType) + (receptacleType StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79 StoveBurnerType) + (receptacleType CoffeeMachine_bar__plus_00_dot_88_bar__plus_00_dot_86_bar__minus_01_dot_26 CoffeeMachineType) + (receptacleType GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61 GarbageCanType) + (receptacleType SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45 SideTableType) + (receptacleType Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69 MicrowaveType) + (receptacleType Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67 CabinetType) + (receptacleType CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11 CounterTopType) + (receptacleType 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CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11) + (inReceptacle Apple_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__plus_00_dot_10 CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11) + (inReceptacle Pot_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_00_dot_79 StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79) + (inReceptacle Pan_bar__minus_01_dot_56_bar__plus_00_dot_93_bar__plus_01_dot_05 StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79) + (inReceptacle Spoon_bar__minus_02_dot_05_bar__plus_00_dot_70_bar__minus_01_dot_09 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96) + (inReceptacle DishSponge_bar__minus_01_dot_97_bar__plus_00_dot_70_bar__minus_01_dot_20 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96) + (inReceptacle Tomato_bar__minus_01_dot_64_bar__plus_00_dot_75_bar__minus_01_dot_42 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96) + (inReceptacle Fork_bar__minus_01_dot_80_bar__plus_00_dot_70_bar__minus_01_dot_09 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96) + (inReceptacle SaltShaker_bar__plus_00_dot_72_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) + (inReceptacle DishSponge_bar__plus_00_dot_84_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) + (inReceptacle Apple_bar__plus_00_dot_96_bar__plus_00_dot_72_bar__plus_00_dot_45 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45) + (inReceptacle Lettuce_bar__plus_00_dot_72_bar__plus_00_dot_75_bar__plus_00_dot_33 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45) + (inReceptacle Spoon_bar__plus_00_dot_84_bar__plus_00_dot_67_bar__plus_00_dot_63 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Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67) + (inReceptacle Bowl_bar__plus_00_dot_15_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) + (inReceptacle SoapBottle_bar__minus_00_dot_86_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) + (inReceptacle Bowl_bar__plus_00_dot_15_bar__plus_00_dot_90_bar__plus_00_dot_84 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle Apple_bar__minus_00_dot_45_bar__plus_00_dot_95_bar__plus_00_dot_76 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle Potato_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__plus_00_dot_76 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle Tomato_bar__minus_00_dot_25_bar__plus_00_dot_95_bar__plus_00_dot_84 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle Bread_bar__minus_01_dot_06_bar__plus_00_dot_94_bar__plus_00_dot_93 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle Spatula_bar__minus_01_dot_62_bar__plus_00_dot_71_bar__minus_03_dot_78 DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37) + (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) + (inReceptacle Lettuce_bar__minus_01_dot_26_bar__plus_00_dot_14_bar__minus_03_dot_61 GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61) + (inReceptacle Tomato_bar__plus_00_dot_75_bar__plus_00_dot_71_bar__minus_02_dot_04 Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96) + (inReceptacle Pan_bar__plus_00_dot_75_bar__plus_01_dot_37_bar__minus_01_dot_80 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"position": { + "x": 0.7690388, + "y": 0.75991, + "z": -0.061030075 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_11e4138d", + "position": { + "x": -1.97052181, + "y": 0.7013536, + "z": -1.19986916 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_42314d78", + "position": { + "x": -1.05636179, + "y": 0.9440833, + "z": 0.9297125 + }, + "rotation": { + "x": 0.0, + "y": 270.000336, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_0ad3089c", + "position": { + "x": 0.721681535, + "y": 0.7512058, + "z": 0.326432049 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_5a2cfc73", + "position": { + "x": -0.2527328, + "y": 0.949009538, + "z": 0.843939066 + }, + "rotation": { + "x": 0.0, + "y": 270.000336, + "z": 0.0 + } + }, + { + "objectName": "Spoon_93a81026", + "position": { + "x": -2.05416274, + "y": 0.702918768, + "z": -1.09179544 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_33d4fba0", + "position": { + "x": 0.8176422, + "y": 0.7836356, + "z": -0.252836943 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_288ff1e3", + "position": { + "x": 0.698199749, + "y": 0.941000044, + "z": -1.36019969 + }, + "rotation": { + "x": 0.0, + "y": 270.000122, + "z": 0.0 + } + }, + { + "objectName": "Bowl_737b77b7", + "position": { + "x": 0.149083853, + "y": 0.899054945, + "z": 1.1870122 + }, + "rotation": { + "x": 0.0, + "y": 270.000336, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2276882874, + "scene_num": 21 + }, + "task_id": "trial_T20190909_000149_199484", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3F7G1FSFWQPLE_3LS2AMNW5IH6V2BS3WRUPK4RJ1JOQM", + "high_descs": [ + "Begin walking across the room, then hang a right and walk forward, turn right and walk up to the end of the counter.", + "Pick up the apple off of the counter.", + "Turn around and walk towards the wall, then hang a left and walk over to the microwave on the small white table.", + "Open the microwave and put the apple inside then close the door, turn on the microwave, after a couple seconds open the microwave and take the apple out, then close the microwave.", + "Walk over to the black shelving unit in between the trash bag and counter behind you.", + "Put the heated apple on the front right corner of the black shelving unit." + ], + "task_desc": "Put a heated apple on top of a black shelving unit.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1RLO9LNUJIW5S_3P1L2B7AD4GV45VFBRJY8Y5X9VULOS", + "high_descs": [ + "Take a step forward then turn right and walk to the counter that's to the left of the sink then turn right to face it when you get to it.", + "Pick up the apple that's in front of you to the left of the black cup.", + "Turn around and turn left when you are almost to the white table then walk to the garbage then turn right and walk to the wall then turn left and walk to the microwave.", + "Cook the apple in the microwave then take it back out and close the door.", + "Walk back to where you got the apple then take a step to your left.", + "Put the apple on the small black table to the right of the lettuce." + ], + "task_desc": "Put a microwaved apple on the table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "ACSS93E03ZUGX_3PJUZCGDJ97XIB7QFDRC63O2UXD89L", + "high_descs": [ + "Walk straight to the end of the kitchen and turn right to face the white counter top.", + "Pick the apple up from off of the counter.", + "Turn around, go to the left and then to the right to face the microwave.", + "Microwave the apple in the the microwave.", + "Turn around then go straight to the end of the kitchen then to the right to face the black table.", + "Place the apple on the black table." + ], + "task_desc": "Place the microwaved apple on the black table in the corner of the kitchen.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Apple-None-SideTable-21/trial_T20190909_013359_039741/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Apple-None-SideTable-21/trial_T20190909_013359_039741/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..472f1d63ea24b13b1c55e8c176ce0aa8160e5680 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Apple-None-SideTable-21/trial_T20190909_013359_039741/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 apple 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_T20190909_013359_039741)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__plus_01_dot_10 - object\n Blinds_bar__minus_02_dot_34_bar__plus_02_dot_15_bar__minus_02_dot_44 - object\n Bowl_bar__minus_02_dot_04_bar__plus_00_dot_69_bar__minus_01_dot_00 - object\n 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Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67 - receptacle\n Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__minus_00_dot_40 - receptacle\n 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 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loc_bar__minus_6_bar_0_bar_0_bar_60 - location\n loc_bar__minus_7_bar__minus_11_bar_2_bar_60 - location\n loc_bar_1_bar__minus_2_bar_1_bar_60 - location\n loc_bar_1_bar__minus_1_bar_1_bar_60 - location\n loc_bar__minus_7_bar_0_bar_0_bar_45 - location\n 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_4_bar__minus_9_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96 FridgeType)\n (receptacleType StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79 StoveBurnerType)\n (receptacleType CoffeeMachine_bar__plus_00_dot_88_bar__plus_00_dot_86_bar__minus_01_dot_26 CoffeeMachineType)\n (receptacleType GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61 GarbageCanType)\n (receptacleType SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45 SideTableType)\n (receptacleType Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69 MicrowaveType)\n (receptacleType Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67 CabinetType)\n (receptacleType 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(canContain MicrowaveType AppleType)\n (canContain MicrowaveType TomatoType)\n (canContain MicrowaveType BreadType)\n (canContain MicrowaveType CupType)\n (canContain MicrowaveType PlateType)\n (canContain MicrowaveType BowlType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain CounterTopType SaltShakerType)\n (canContain CounterTopType BreadType)\n (canContain CounterTopType DishSpongeType)\n (canContain CounterTopType BowlType)\n (canContain CounterTopType PotType)\n (canContain CounterTopType MugType)\n (canContain CounterTopType EggType)\n (canContain CounterTopType ForkType)\n (canContain CounterTopType SpoonType)\n (canContain 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CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11)\n (inReceptacle Knife_bar__plus_00_dot_88_bar__plus_00_dot_91_bar__plus_00_dot_10 CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11)\n (inReceptacle PepperShaker_bar__plus_00_dot_88_bar__plus_00_dot_88_bar__plus_00_dot_10 CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11)\n (inReceptacle Pot_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 Pan_bar__plus_00_dot_74_bar__minus_00_dot_01_bar__minus_00_dot_60 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 Pot_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 DishSponge_bar__plus_00_dot_72_bar__plus_00_dot_66_bar__plus_00_dot_33 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45)\n (inReceptacle SaltShaker_bar__plus_00_dot_96_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 Cup_bar__plus_00_dot_90_bar__plus_00_dot_66_bar__plus_00_dot_27 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45)\n (inReceptacle Egg_bar__plus_00_dot_90_bar__plus_00_dot_70_bar__plus_00_dot_45 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45)\n (inReceptacle Cup_bar__plus_00_dot_66_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_90_bar__plus_01_dot_46_bar__minus_00_dot_02 Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__minus_00_dot_40)\n (inReceptacle Mug_bar__plus_00_dot_99_bar__plus_01_dot_46_bar__minus_00_dot_27 Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__minus_00_dot_40)\n (inReceptacle DishSponge_bar__plus_00_dot_81_bar__plus_01_dot_46_bar__plus_00_dot_41 Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67)\n (inReceptacle Spatula_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_01_dot_25 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Potato_bar__minus_01_dot_06_bar__plus_00_dot_93_bar__plus_00_dot_76 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Bread_bar__minus_00_dot_25_bar__plus_00_dot_94_bar__plus_01_dot_02 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Apple_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__plus_01_dot_10 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Plate_bar__plus_00_dot_15_bar__plus_00_dot_90_bar__plus_00_dot_93 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle ButterKnife_bar__minus_00_dot_65_bar__plus_00_dot_90_bar__plus_00_dot_84 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_97 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle Knife_bar__minus_00_dot_05_bar__plus_00_dot_92_bar__plus_01_dot_10 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle SoapBottle_bar__minus_00_dot_05_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 Lettuce_bar__minus_01_dot_26_bar__plus_00_dot_14_bar__minus_03_dot_61 GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61)\n (inReceptacle Lettuce_bar__plus_00_dot_75_bar__plus_00_dot_75_bar__minus_01_dot_80 Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96)\n (inReceptacle Mug_bar__minus_02_dot_00_bar__plus_00_dot_79_bar__minus_03_dot_71 Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69)\n (inReceptacle Egg_bar__plus_00_dot_72_bar__plus_00_dot_81_bar__minus_00_dot_74 Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin)\n (inReceptacle Tomato_bar__plus_00_dot_67_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 Cup_bar__plus_00_dot_80_bar__plus_00_dot_77_bar__minus_00_dot_79 Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin)\n (inReceptacle Spatula_bar__plus_00_dot_84_bar__plus_00_dot_79_bar__minus_00_dot_52 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 Mug_bar__plus_00_dot_99_bar__plus_01_dot_46_bar__minus_00_dot_27 loc_bar_1_bar_0_bar_1_bar__minus_30)\n (objectAtLocation Knife_bar__plus_00_dot_57_bar__plus_00_dot_78_bar__minus_00_dot_25 loc_bar__minus_1_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Lettuce_bar__minus_01_dot_26_bar__plus_00_dot_14_bar__minus_03_dot_61 loc_bar__minus_4_bar__minus_13_bar_2_bar_60)\n (objectAtLocation Bread_bar__minus_00_dot_87_bar__plus_00_dot_93_bar__plus_00_dot_97 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation DishSponge_bar__plus_00_dot_72_bar__plus_00_dot_66_bar__plus_00_dot_33 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__plus_00_dot_72_bar__plus_00_dot_76_bar__minus_00_dot_19 loc_bar__minus_1_bar__minus_1_bar_1_bar_45)\n (objectAtLocation PepperShaker_bar__plus_00_dot_88_bar__plus_00_dot_88_bar__plus_00_dot_10 loc_bar_1_bar_0_bar_1_bar_45)\n (objectAtLocation SaltShaker_bar__plus_00_dot_73_bar__plus_00_dot_88_bar__minus_00_dot_25 loc_bar_1_bar_0_bar_1_bar_45)\n (objectAtLocation Cup_bar__plus_00_dot_80_bar__plus_00_dot_77_bar__minus_00_dot_79 loc_bar_1_bar__minus_2_bar_1_bar_60)\n (objectAtLocation Potato_bar__plus_00_dot_95_bar__plus_00_dot_92_bar__minus_00_dot_04 loc_bar_1_bar_0_bar_1_bar_45)\n (objectAtLocation Spatula_bar__plus_00_dot_84_bar__plus_00_dot_79_bar__minus_00_dot_52 loc_bar_1_bar__minus_2_bar_1_bar_60)\n (objectAtLocation Egg_bar__plus_00_dot_72_bar__plus_00_dot_81_bar__minus_00_dot_74 loc_bar_1_bar__minus_2_bar_1_bar_60)\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 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 Mug_bar__plus_00_dot_62_bar__plus_00_dot_01_bar__minus_00_dot_32 loc_bar_1_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Knife_bar__minus_00_dot_05_bar__plus_00_dot_92_bar__plus_01_dot_10 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation Cup_bar__plus_00_dot_90_bar__plus_00_dot_66_bar__plus_00_dot_27 loc_bar__minus_1_bar_1_bar_1_bar_45)\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_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 Plate_bar__plus_00_dot_15_bar__plus_00_dot_90_bar__plus_00_dot_93 loc_bar_0_bar_1_bar_0_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_62_bar__plus_00_dot_76_bar__minus_00_dot_06 loc_bar__minus_1_bar__minus_1_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__plus_00_dot_76 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation Apple_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__plus_01_dot_10 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation Pan_bar__plus_00_dot_74_bar__minus_00_dot_01_bar__minus_00_dot_60 loc_bar__minus_2_bar__minus_1_bar_1_bar_45)\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__plus_00_dot_90_bar__plus_00_dot_70_bar__plus_00_dot_45 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation Spatula_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_01_dot_25 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation Potato_bar__minus_01_dot_06_bar__plus_00_dot_93_bar__plus_00_dot_76 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation Cup_bar__plus_00_dot_66_bar__plus_00_dot_66_bar__plus_00_dot_45 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation SaltShaker_bar__plus_00_dot_96_bar__plus_00_dot_66_bar__plus_00_dot_63 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation PepperShaker_bar__plus_00_dot_90_bar__plus_01_dot_46_bar__minus_00_dot_02 loc_bar_1_bar_0_bar_1_bar__minus_30)\n (objectAtLocation ButterKnife_bar__minus_00_dot_65_bar__plus_00_dot_90_bar__plus_00_dot_84 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation DishSponge_bar__plus_00_dot_81_bar__plus_01_dot_46_bar__plus_00_dot_41 loc_bar_1_bar_1_bar_1_bar__minus_30)\n (objectAtLocation Bread_bar__minus_00_dot_25_bar__plus_00_dot_94_bar__plus_01_dot_02 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_75_bar__plus_00_dot_75_bar__minus_01_dot_80 loc_bar__minus_1_bar__minus_8_bar_1_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_67_bar__plus_00_dot_82_bar__minus_00_dot_63 loc_bar_1_bar__minus_2_bar_1_bar_60)\n (objectAtLocation Spoon_bar__plus_00_dot_82_bar__plus_00_dot_76_bar__plus_00_dot_00 loc_bar__minus_1_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Knife_bar__plus_00_dot_88_bar__plus_00_dot_91_bar__plus_00_dot_10 loc_bar_1_bar_0_bar_1_bar_45)\n (objectAtLocation Mug_bar__minus_02_dot_00_bar__plus_00_dot_79_bar__minus_03_dot_71 loc_bar__minus_7_bar__minus_11_bar_2_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__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 )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (heatable ?o)\n (objectType ?o AppleType)\n (receptacleType ?r SideTableType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 3", "take apple 1 from diningtable 3", "go to microwave 1", "heat apple 1 with microwave 1", "go to sidetable 1", "move apple 1 to sidetable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Apple-None-SideTable-21/trial_T20190909_013359_039741/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Apple-None-SideTable-21/trial_T20190909_013359_039741/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..db8a9f2db209f864687ce0a5ed291e69069ab71a --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Apple-None-SideTable-21/trial_T20190909_013359_039741/initial_state.pddl @@ -0,0 +1,851 @@ + +(define (problem plan_trial_T20190909_013359_039741) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__plus_01_dot_10 - object + Blinds_bar__minus_02_dot_34_bar__plus_02_dot_15_bar__minus_02_dot_44 - object + Bowl_bar__minus_02_dot_04_bar__plus_00_dot_69_bar__minus_01_dot_00 - object + Bread_bar__minus_00_dot_25_bar__plus_00_dot_94_bar__plus_01_dot_02 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loc_bar__minus_4_bar__minus_5_bar_3_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (heatable ?o) + (objectType ?o AppleType) + (receptacleType ?r SideTableType) + (isHot ?o) + (inReceptacle ?o ?r) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Apple-None-SideTable-21/trial_T20190909_013359_039741/traj_data.json b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Apple-None-SideTable-21/trial_T20190909_013359_039741/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..2f694fee08be5ff6711b87c29baf4d572fb3c3cd --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Apple-None-SideTable-21/trial_T20190909_013359_039741/traj_data.json @@ -0,0 +1,9501 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000001.png", + 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90.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_288ff1e3", + "position": { + "x": 0.9949719, + "y": 1.4588306, + "z": -0.2695425 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "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": 2561319609, + "scene_num": 21 + }, + "task_id": "trial_T20190909_013359_039741", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A320QA9HJFUOZO_3JNQLM5FT7DHXY6AOTL11L2U8R72LE", + "high_descs": [ + "Walk forward to the white table by the stove", + "Pick up the green apple from the table", + "Turn around and walk over to the microwave in the corner", + "Heat the apple in the microwave then remove it", + "Turn around and walk forward and right to the small black table", + "Put the apple on the small table" + ], + "task_desc": "Put the cooked apple on the small dark table", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1SX8IVV82M0LW_3PJ71Z61R7TF7BN5GSIXRT1UGR719U", + "high_descs": [ + "Walk to the kitchen table in front of you.", + "Grab a yellow apple from the table.", + "Go to the microwave behind you and to the right.", + "Put the apple in the microwave, then grab it.", + "Walk to the end table to the left of the sink.", + "Place the apple on the table." + ], + "task_desc": "Warm an apple and put it on a table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1RLO9LNUJIW5S_3VAR3R6G1SS0PYBWH2AU3TJRPWB8OB", + "high_descs": [ + "Walk forward to the white table.", + "Pick up the apple that's in front of you.", + "Turn around and walk until you're near the table the microwave is on then turn right and walk to the wall then turn left and walk to the microwave.", + "Cook the apple in the microwave then take it back out and close the door.", + "Turn left and take two steps then turn left and walk to the white table then turn right and walk to the black table.", + "Put the apple near the front right corner of the small black table." + ], + "task_desc": "Put a microwaved apple on the table.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-AppleSliced-None-Fridge-6/trial_T20190907_181825_733631/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-AppleSliced-None-Fridge-6/trial_T20190907_181825_733631/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..68153f25f0ed62d0a7d9249545ba57201f58ce33 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-AppleSliced-None-Fridge-6/trial_T20190907_181825_733631/initial_state.pddl @@ -0,0 +1,1047 @@ + +(define (problem plan_trial_T20190907_181825_733631) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType 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CounterTop_bar__minus_00_dot_36_bar__plus_00_dot_95_bar__plus_01_dot_09) + (inReceptacle SaltShaker_bar__minus_00_dot_60_bar__plus_00_dot_91_bar__plus_01_dot_32 CounterTop_bar__minus_00_dot_36_bar__plus_00_dot_95_bar__plus_01_dot_09) + (inReceptacle Bread_bar__plus_00_dot_05_bar__plus_01_dot_00_bar__plus_00_dot_65 CounterTop_bar__minus_00_dot_36_bar__plus_00_dot_95_bar__plus_01_dot_09) + (inReceptacle Apple_bar__minus_00_dot_60_bar__plus_00_dot_97_bar__plus_01_dot_09 CounterTop_bar__minus_00_dot_36_bar__plus_00_dot_95_bar__plus_01_dot_09) + (inReceptacle Bowl_bar__minus_00_dot_34_bar__plus_00_dot_91_bar__plus_00_dot_87 CounterTop_bar__minus_00_dot_36_bar__plus_00_dot_95_bar__plus_01_dot_09) + (inReceptacle Kettle_bar__plus_01_dot_41_bar__plus_00_dot_93_bar__minus_00_dot_34 StoveBurner_bar__plus_01_dot_41_bar__plus_00_dot_92_bar__minus_00_dot_34) + (inReceptacle Knife_bar__minus_02_dot_23_bar__plus_00_dot_80_bar__plus_00_dot_86 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6 + }, + "task_id": "trial_T20190907_181825_733631", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A6SR4BU227GUH_392CY0QWG48HPMRTBWIV1YNYH9RI4D", + "high_descs": [ + "turn around, go to the door, then turn left and face the sink", + "pick up the knife on the sink with the yellow handle", + "turn right, then face the refrigerator with the rainbow on it", + "open the door and slice the apple on the top shelf", + "turn around, move to the stove, then face the trash can to the left of the stove", + "place the knife on the left edge of the counter top", + "go back to the refrigerator", + ", open the refrigerator door and pick up one slice of apple", + "turn right, go straight to the wall, and face the microwave on the left", + "open the microwave door, place the apple slice in the microwave for several seconds, and take it out", + "go back to the refrigerator door", + "open the refrigerator and place the slice of apple next to the egg" + ], + "task_desc": "Obtain an apple from the refrigerator, slice it, and heat it up in the microwave ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AKW57KYG90X61_39ASUFLU60OW7JDHZOU9DUM4IDIXEV", + "high_descs": [ + "turn right towards the sink ", + "pick up the knife", + "turn around towards the fridge", + "slice the apple inside the fridge", + "turn around and head for the bin", + "place the knife inside", + "turn around and head for the fridge", + "pick up the apple slice", + "head right towards the oven", + "place the apple to heat and then take it out", + "turn left towards the fridge ", + "place the apple inside the fridge" + ], + "task_desc": "place a cooked apple inside the fridge", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3MXBLYX2CDGTP_3ITXP059PZ0WMIDAJFZDB2I487WJSG", + "high_descs": [ + "Turn around and walk to the end of the counter then turn left and go to the sink.", + "Pick up the knife on the left side of the tomato next to the sink.", + "Turn around and walk to the refrigerator.", + "Cut the apple inside the refrigerator and close the door.", + "Turn around and walk towards the stove, then turn left and walk to the garbage can to the left of the stove.", + "Put the knife on the counter on the left side of the stove.", + "Turn right and walk past the stove then turn right and walk to the refrigerator.", + "Take an apple slice out of the fridge and close the door.", + "Turn right and walk to the microwave on the counter on your left.", + "Cook the apple slice in the microwave and take it out.", + "Turn left and walk to the refrigerator on your left.", + "Put the apple slice in the refrigerator next to the egg and close the door." + ], + "task_desc": "Put a cut cooked apple slice inside the refrigerator.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-AppleSliced-None-Fridge-6/trial_T20190907_182032_987487/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-AppleSliced-None-Fridge-6/trial_T20190907_182032_987487/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..56c3225cc778130e169005302fb227b8cdb98216 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-AppleSliced-None-Fridge-6/trial_T20190907_182032_987487/initial_state.pddl @@ -0,0 +1,1083 @@ + +(define (problem plan_trial_T20190907_182032_987487) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__plus_00_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_42 - object + Bowl_bar__minus_02_dot_47_bar__plus_00_dot_59_bar__minus_00_dot_69 - object + Bread_bar__minus_00_dot_73_bar__plus_01_dot_00_bar__plus_01_dot_54 - object + 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ButterKnife_bar__plus_01_dot_60_bar__plus_00_dot_91_bar__plus_00_dot_44) + (cleanable Mug_bar__plus_01_dot_37_bar__plus_00_dot_92_bar__minus_01_dot_15) + (cleanable Egg_bar__plus_01_dot_45_bar__plus_00_dot_95_bar__minus_01_dot_07) + (cleanable Kettle_bar__minus_02_dot_56_bar__plus_01_dot_54_bar__plus_02_dot_62) + (cleanable Plate_bar__minus_02_dot_37_bar__plus_00_dot_91_bar__plus_01_dot_53) + (cleanable Spatula_bar__minus_02_dot_35_bar__plus_00_dot_79_bar__plus_00_dot_02) + (cleanable Fork_bar__minus_02_dot_46_bar__plus_00_dot_91_bar__plus_00_dot_33) + (cleanable Knife_bar__minus_00_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_65) + (cleanable Knife_bar__minus_02_dot_26_bar__plus_00_dot_80_bar__plus_00_dot_49) + (cleanable Potato_bar__plus_01_dot_21_bar__plus_00_dot_95_bar__minus_01_dot_10) + (cleanable Pot_bar__plus_00_dot_52_bar__plus_01_dot_67_bar__minus_01_dot_77) + (cleanable Lettuce_bar__minus_00_dot_34_bar__plus_00_dot_99_bar__plus_01_dot_54) + (cleanable Lettuce_bar__minus_02_dot_62_bar__plus_00_dot_99_bar__plus_01_dot_23) + (cleanable Cup_bar__minus_02_dot_61_bar__plus_00_dot_18_bar__minus_00_dot_57) + (cleanable Plate_bar__minus_02_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_63) + + (heatable Cup_bar__minus_00_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_42) + (heatable Plate_bar__minus_02_dot_29_bar__plus_00_dot_91_bar__plus_00_dot_93) + (heatable Tomato_bar__minus_02_dot_53_bar__plus_01_dot_13_bar__minus_00_dot_98) + (heatable Apple_bar__plus_00_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_42) + (heatable Bread_bar__minus_00_dot_73_bar__plus_01_dot_00_bar__plus_01_dot_54) + (heatable Mug_bar__minus_02_dot_64_bar__plus_00_dot_99_bar__plus_02_dot_38) + (heatable Mug_bar__minus_02_dot_68_bar__plus_01_dot_53_bar__plus_00_dot_49) + (heatable Tomato_bar__minus_02_dot_53_bar__plus_01_dot_34_bar__minus_01_dot_07) + (heatable Egg_bar__plus_01_dot_73_bar__plus_00_dot_22_bar__plus_00_dot_65) + (heatable Mug_bar__plus_01_dot_37_bar__plus_00_dot_92_bar__minus_01_dot_15) + (heatable Egg_bar__plus_01_dot_45_bar__plus_00_dot_95_bar__minus_01_dot_07) + (heatable Plate_bar__minus_02_dot_37_bar__plus_00_dot_91_bar__plus_01_dot_53) + (heatable Potato_bar__plus_01_dot_21_bar__plus_00_dot_95_bar__minus_01_dot_10) + (heatable Cup_bar__minus_02_dot_61_bar__plus_00_dot_18_bar__minus_00_dot_57) + (heatable Plate_bar__minus_02_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_63) + (coolable Cup_bar__minus_00_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_42) + (coolable Plate_bar__minus_02_dot_29_bar__plus_00_dot_91_bar__plus_00_dot_93) + (coolable Tomato_bar__minus_02_dot_53_bar__plus_01_dot_13_bar__minus_00_dot_98) + (coolable Apple_bar__plus_00_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_42) + (coolable Bread_bar__minus_00_dot_73_bar__plus_01_dot_00_bar__plus_01_dot_54) + (coolable Pot_bar__plus_01_dot_41_bar__plus_00_dot_93_bar__plus_00_dot_06) + (coolable Bowl_bar__minus_02_dot_47_bar__plus_00_dot_59_bar__minus_00_dot_69) + (coolable Mug_bar__minus_02_dot_64_bar__plus_00_dot_99_bar__plus_02_dot_38) + (coolable Lettuce_bar__minus_00_dot_47_bar__plus_00_dot_99_bar__plus_00_dot_87) + (coolable Mug_bar__minus_02_dot_68_bar__plus_01_dot_53_bar__plus_00_dot_49) + (coolable Tomato_bar__minus_02_dot_53_bar__plus_01_dot_34_bar__minus_01_dot_07) + (coolable Pan_bar__plus_00_dot_00_bar__plus_00_dot_90_bar__plus_00_dot_95) + (coolable Egg_bar__plus_01_dot_73_bar__plus_00_dot_22_bar__plus_00_dot_65) + (coolable Mug_bar__plus_01_dot_37_bar__plus_00_dot_92_bar__minus_01_dot_15) + (coolable Egg_bar__plus_01_dot_45_bar__plus_00_dot_95_bar__minus_01_dot_07) + (coolable Plate_bar__minus_02_dot_37_bar__plus_00_dot_91_bar__plus_01_dot_53) + (coolable Potato_bar__plus_01_dot_21_bar__plus_00_dot_95_bar__minus_01_dot_10) + (coolable Pot_bar__plus_00_dot_52_bar__plus_01_dot_67_bar__minus_01_dot_77) + (coolable 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Bread_bar__minus_00_dot_73_bar__plus_01_dot_00_bar__plus_01_dot_54 CounterTop_bar__minus_00_dot_36_bar__plus_00_dot_95_bar__plus_01_dot_09) + (inReceptacle Knife_bar__minus_00_dot_21_bar__plus_00_dot_94_bar__plus_01_dot_09 CounterTop_bar__minus_00_dot_36_bar__plus_00_dot_95_bar__plus_01_dot_09) + (inReceptacle Knife_bar__minus_00_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_65 CounterTop_bar__minus_00_dot_36_bar__plus_00_dot_95_bar__plus_01_dot_09) + (inReceptacle Lettuce_bar__minus_00_dot_34_bar__plus_00_dot_99_bar__plus_01_dot_54 CounterTop_bar__minus_00_dot_36_bar__plus_00_dot_95_bar__plus_01_dot_09) + (inReceptacle Pan_bar__plus_00_dot_00_bar__plus_00_dot_90_bar__plus_00_dot_95 CounterTop_bar__minus_00_dot_36_bar__plus_00_dot_95_bar__plus_01_dot_09) + (inReceptacle DishSponge_bar__plus_00_dot_05_bar__plus_00_dot_91_bar__plus_01_dot_54 CounterTop_bar__minus_00_dot_36_bar__plus_00_dot_95_bar__plus_01_dot_09) + (inReceptacle Lettuce_bar__minus_00_dot_47_bar__plus_00_dot_99_bar__plus_00_dot_87 CounterTop_bar__minus_00_dot_36_bar__plus_00_dot_95_bar__plus_01_dot_09) + (inReceptacle Kettle_bar__plus_01_dot_41_bar__plus_00_dot_93_bar__minus_00_dot_34 StoveBurner_bar__plus_01_dot_41_bar__plus_00_dot_92_bar__minus_00_dot_34) + (inReceptacle Kettle_bar__minus_02_dot_56_bar__plus_01_dot_54_bar__plus_02_dot_62 Cabinet_bar__minus_02_dot_45_bar__plus_01_dot_95_bar__plus_02_dot_93) + (inReceptacle Spatula_bar__minus_02_dot_35_bar__plus_00_dot_79_bar__plus_00_dot_81 Drawer_bar__minus_02_dot_28_bar__plus_00_dot_79_bar__plus_00_dot_90) + (inReceptacle Pot_bar__plus_00_dot_52_bar__plus_01_dot_67_bar__minus_01_dot_77 Cabinet_bar__plus_00_dot_15_bar__plus_02_dot_01_bar__minus_01_dot_60) + (inReceptacle SoapBottle_bar__plus_01_dot_86_bar__plus_00_dot_91_bar__plus_00_dot_44 CounterTop_bar__plus_01_dot_59_bar__plus_00_dot_95_bar__plus_00_dot_41) + (inReceptacle ButterKnife_bar__plus_01_dot_60_bar__plus_00_dot_91_bar__plus_00_dot_44 CounterTop_bar__plus_01_dot_59_bar__plus_00_dot_95_bar__plus_00_dot_41) + (inReceptacle PaperTowelRoll_bar__plus_00_dot_74_bar__plus_01_dot_02_bar__minus_01_dot_50 CounterTop_bar__plus_00_dot_47_bar__plus_00_dot_95_bar__minus_01_dot_63) + (inReceptacle PepperShaker_bar__minus_02_dot_60_bar__plus_01_dot_53_bar__plus_01_dot_99 Cabinet_bar__minus_02_dot_45_bar__plus_01_dot_95_bar__plus_01_dot_69) + (inReceptacle SoapBottle_bar__minus_02_dot_52_bar__plus_01_dot_54_bar__plus_02_dot_13 Cabinet_bar__minus_02_dot_45_bar__plus_01_dot_95_bar__plus_01_dot_69) + (inReceptacle Knife_bar__minus_02_dot_26_bar__plus_00_dot_80_bar__plus_00_dot_49 Drawer_bar__minus_02_dot_28_bar__plus_00_dot_79_bar__plus_00_dot_44) + (inReceptacle Spatula_bar__minus_02_dot_35_bar__plus_00_dot_79_bar__plus_00_dot_02 Drawer_bar__minus_02_dot_28_bar__plus_00_dot_79_bar__minus_00_dot_03) + (inReceptacle SaltShaker_bar__plus_01_dot_70_bar__plus_01_dot_65_bar__plus_00_dot_24 Cabinet_bar__plus_01_dot_57_bar__plus_02_dot_01_bar__plus_00_dot_47) + (inReceptacle SaltShaker_bar__minus_02_dot_61_bar__plus_01_dot_93_bar__minus_01_dot_21 Cabinet_bar__minus_02_dot_45_bar__plus_02_dot_15_bar__minus_01_dot_28) + (inReceptacle Mug_bar__minus_02_dot_68_bar__plus_01_dot_53_bar__plus_00_dot_49 Cabinet_bar__minus_02_dot_45_bar__plus_01_dot_95_bar__plus_00_dot_41) + (inReceptacle Plate_bar__minus_02_dot_37_bar__plus_00_dot_91_bar__plus_01_dot_53 CounterTop_bar__minus_01_dot_49_bar__plus_00_dot_95_bar__plus_01_dot_32) + (inReceptacle Fork_bar__minus_02_dot_46_bar__plus_00_dot_91_bar__plus_00_dot_33 CounterTop_bar__minus_01_dot_49_bar__plus_00_dot_95_bar__plus_01_dot_32) + (inReceptacle Spoon_bar__minus_02_dot_54_bar__plus_00_dot_91_bar__plus_01_dot_53 CounterTop_bar__minus_01_dot_49_bar__plus_00_dot_95_bar__plus_01_dot_32) + (inReceptacle Plate_bar__minus_02_dot_29_bar__plus_00_dot_91_bar__plus_00_dot_93 CounterTop_bar__minus_01_dot_49_bar__plus_00_dot_95_bar__plus_01_dot_32) + (inReceptacle DishSponge_bar__minus_02_dot_29_bar__plus_00_dot_91_bar__plus_00_dot_03 CounterTop_bar__minus_01_dot_49_bar__plus_00_dot_95_bar__plus_01_dot_32) + (inReceptacle Lettuce_bar__minus_02_dot_62_bar__plus_00_dot_99_bar__plus_01_dot_23 CounterTop_bar__minus_01_dot_49_bar__plus_00_dot_95_bar__plus_01_dot_32) + (inReceptacle DishSponge_bar__minus_02_dot_29_bar__plus_00_dot_91_bar__plus_00_dot_33 CounterTop_bar__minus_01_dot_49_bar__plus_00_dot_95_bar__plus_01_dot_32) + (inReceptacle Plate_bar__minus_02_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_63 CounterTop_bar__minus_01_dot_49_bar__plus_00_dot_95_bar__plus_01_dot_32) + (inReceptacle Pot_bar__plus_01_dot_41_bar__plus_00_dot_93_bar__plus_00_dot_06 StoveBurner_bar__plus_01_dot_41_bar__plus_00_dot_92_bar__plus_00_dot_06) + (inReceptacle Cup_bar__minus_02_dot_61_bar__plus_00_dot_18_bar__minus_00_dot_57 Fridge_bar__minus_02_dot_48_bar__plus_00_dot_00_bar__minus_00_dot_78) + (inReceptacle Bowl_bar__minus_02_dot_47_bar__plus_00_dot_59_bar__minus_00_dot_69 Fridge_bar__minus_02_dot_48_bar__plus_00_dot_00_bar__minus_00_dot_78) + (inReceptacle Tomato_bar__minus_02_dot_53_bar__plus_01_dot_13_bar__minus_00_dot_98 Fridge_bar__minus_02_dot_48_bar__plus_00_dot_00_bar__minus_00_dot_78) + (inReceptacle Tomato_bar__minus_02_dot_53_bar__plus_01_dot_34_bar__minus_01_dot_07 Fridge_bar__minus_02_dot_48_bar__plus_00_dot_00_bar__minus_00_dot_78) + (inReceptacle Egg_bar__plus_01_dot_73_bar__plus_00_dot_22_bar__plus_00_dot_65 GarbageCan_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__plus_00_dot_68) + (inReceptacle SoapBottle_bar__plus_01_dot_56_bar__plus_00_dot_19_bar__plus_00_dot_71 GarbageCan_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__plus_00_dot_68) + (inReceptacle Mug_bar__minus_02_dot_64_bar__plus_00_dot_99_bar__plus_02_dot_38 Microwave_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_44) + + 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Cabinet_bar__minus_02_dot_29_bar__plus_01_dot_97_bar__minus_01_dot_33 loc_bar__minus_5_bar__minus_5_bar_3_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_02_dot_45_bar__plus_01_dot_95_bar__plus_00_dot_36 loc_bar__minus_6_bar_1_bar_3_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_02_dot_45_bar__plus_01_dot_95_bar__plus_00_dot_41 loc_bar__minus_7_bar_3_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_02_dot_45_bar__plus_01_dot_95_bar__plus_01_dot_64 loc_bar__minus_6_bar_5_bar_3_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_02_dot_45_bar__plus_01_dot_95_bar__plus_01_dot_69 loc_bar__minus_7_bar_8_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_02_dot_45_bar__plus_01_dot_95_bar__plus_02_dot_93 loc_bar__minus_7_bar_10_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_02_dot_45_bar__plus_02_dot_15_bar__minus_00_dot_29 loc_bar__minus_5_bar__minus_3_bar_3_bar__minus_30) + (receptacleAtLocation 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"Knife_f4ae1c7a", + "position": { + "x": -0.211414054, + "y": 0.9362496, + "z": 1.094 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_9b863229", + "position": { + "x": -2.53202271, + "y": 1.3427422, + "z": -1.07418323 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_b57df01c", + "position": { + "x": 1.85536671, + "y": 0.9130652, + "z": 0.435648441 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_b57df01c", + "position": { + "x": -2.52156973, + "y": 1.53996527, + "z": 2.12945318 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_e9198ae5", + "position": { + "x": -0.08153126, + "y": 0.905899942, + "z": 0.6473222 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_e9198ae5", + "position": { + "x": 0.0483515263, + "y": 0.905899942, + "z": 0.6473222 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_81e9b3dd", + "position": { + "x": 1.69797277, + "y": 1.65172625, + "z": 0.239913911 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_6f8b6e53", + "position": { + "x": -2.62175035, + "y": 0.994053841, + "z": 1.2309432 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_6f8b6e53", + "position": { + "x": -0.341296852, + "y": 0.994053841, + "z": 1.54067779 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_db7f1139", + "position": { + "x": -2.63572168, + "y": 0.992877245, + "z": 2.38029981 + }, + "rotation": { + "x": 0.0, + "y": 179.999817, + "z": 0.0 + } + }, + { + "objectName": "Mug_db7f1139", + "position": { + "x": 1.37260914, + "y": 0.9159435, + "z": -1.15027642 + }, + "rotation": { + "x": 0.0, + "y": 225.000031, + "z": 0.0 + } + }, + { + "objectName": "Pan_adb25946", + "position": { + "x": 0.0, + "y": 0.9, + "z": 0.948 + }, + "rotation": { + "x": 0.0, + "y": 29.9999466, + "z": 0.0 + } + }, + { + "objectName": "Knife_f4ae1c7a", + "position": { + "x": -2.25749445, + "y": 0.7987526, + "z": 0.486988872 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_57ff6e2f", + "position": { + "x": 0.0483515263, + "y": 0.9725113, + "z": 0.423983335 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_988570b5", + "position": { + "x": -2.466795, + "y": 0.5919727, + "z": -0.693344533 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Fork_850ba9bc", + "position": { + "x": -2.45561719, + "y": 0.911448538, + "z": 0.331450462 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_209e2ea9", + "position": { + "x": -0.7309452, + "y": 0.996719658, + "z": 1.54067779 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_7b0d90af", + "position": { + "x": -2.37255049, + "y": 0.913369656, + "z": 0.6312814 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Egg_2802642b", + "position": { + "x": 1.45373893, + "y": 0.949258566, + "z": -1.06914723 + }, + "rotation": { + "x": 0.0, + "y": 225.000031, + "z": 0.0 + } + }, + { + "objectName": "Kettle_0884e440", + "position": { + "x": -2.564922, + "y": 1.53865314, + "z": 2.62279987 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Potato_b563bb4b", + "position": { + "x": 1.21350443, + "y": 0.9549633, + "z": -1.09934354 + }, + "rotation": { + "x": 0.0, + "y": 225.000031, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_81e9b3dd", + "position": { + "x": -2.6099, + "y": 1.9287889, + "z": -1.20783758 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_6f8b6e53", + "position": { + "x": -0.471179664, + "y": 0.994053841, + "z": 0.870661139 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_b0ad5ef5", + "position": { + "x": -2.61399865, + "y": 0.1763367, + "z": -0.5704085 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_b57df01c", + "position": { + "x": 1.56212735, + "y": 0.187196583, + "z": 0.706531167 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spatula_3e5dadd0", + "position": { + "x": -2.34871125, + "y": 0.788402855, + "z": 0.8093223 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "PaperTowelRoll_40552007", + "position": { + "x": 0.7425509, + "y": 1.01518524, + "z": -1.5013628 + }, + "rotation": { + "x": 0.0, + "y": 44.9999161, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_f05a14b3", + "position": { + "x": 1.59833741, + "y": 0.9111421, + "z": 0.435648441 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_e9198ae5", + "position": { + "x": -2.59950018, + "y": 1.53300011, + "z": 1.9849999 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_1f5d88fd", + "position": { + "x": -2.289484, + "y": 0.9104642, + "z": 0.331450462 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pot_bc458cba", + "position": { + "x": 1.4114, + "y": 0.9295, + "z": 0.0642 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_0b8e1a97", + "position": { + "x": -2.538684, + "y": 0.9120294, + "z": 1.53077412 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_9b863229", + "position": { + "x": -2.53202271, + "y": 1.13154221, + "z": -0.9797808 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_db7f1139", + "position": { + "x": -2.67743039, + "y": 1.53300011, + "z": 0.4853204 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3014101491, + "scene_num": 6 + }, + "task_id": "trial_T20190907_182032_987487", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1RLO9LNUJIW5S_3CN4LGXD5053FM6YFE4YNMHM7RSY40", + "high_descs": [ + "Turn around and walk to the fridge then turn right and walk to the stove then take a step left.", + "Pick up the knife that's to the left of the stove.", + "Turn around and walk to the counter.", + "Cut the apple into three chunks.", + "Turn right and walk to the wall then turn left and walk to the microwave.", + "Put the knife in the microwave and close the door.", + "Go back to where you cut up the apple.", + "Pick up a chunk of apple.", + "Go back to the microwave.", + "Warm the chunk of apple in the microwave and then get it back out and close the door.", + "Turn left and walk to the fridge that will be on your right then turn right to face it when you get to it.", + "Put the apple chunk in the freezer." + ], + "task_desc": "Put a hot chunk of apple in the freezer.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AFU00NU09CFXE_3IO1LGZLKCE2F3JULYZJL7DYA5886Y", + "high_descs": [ + "Move to the stand at the narrow strip of counter between the stove and window.", + "Pick up the butter knife from the counter.", + "Turn around the carry the knife to the kitchen island, so you're standing in front of an apple and pepper grinder.", + "Slice the apple with the knife.", + "Carry the knife around the island to the microwave.", + "Place the knife on the plate inside the microwave.", + "Turn around and go back to the apple on the other side of the island.", + "Pick up a slice of apple from the island.", + "Carry the apple slice to the microwave.", + "Place the apple slice in the microwave, turn it on, and then remove once heated.", + "Carry the apple slice to the fridge.", + "Open the fridge and place the apple slice in the top section." + ], + "task_desc": "Place a microwaved apple slice in the fridge.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2RQMEPIHW5BOS_3PXX5PX6L0FM43T4EN05SE5LEUMABS", + "high_descs": [ + "Turn around, walk to the oven, turn left, and face the counter beside the stove.", + "Pick up the knife.", + "Turn around and walk to the counter.", + "Slice the apple on the counter.", + "Turn right, walk to the wall, turn left, and walk to the microwave.", + "Put the knife in the microwave.", + "Turn around, walk to the end of the counter, and turn right.", + "Pick up a slice of apple.", + "Turn right, walk to the wall, turn left, and walk to the microwave.", + "Put the slice of apple in the microwave, heat the slice of apple, and pick up the apple in the microwave.", + "Turn around and walk to the fridge.", + "Open the fridge, put the slice of apple in the freezer, and close the fridge." + ], + "task_desc": "Put a hot slice of apple in the freezer.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-AppleSliced-None-Fridge-6/trial_T20190910_231732_446078/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-AppleSliced-None-Fridge-6/trial_T20190910_231732_446078/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..63bc31c1175135c2f752e32ac679c2a6eb085627 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-AppleSliced-None-Fridge-6/trial_T20190910_231732_446078/initial_state.pddl @@ -0,0 +1,1109 @@ + +(define (problem plan_trial_T20190910_231732_446078) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__minus_02_dot_46_bar__plus_00_dot_97_bar__plus_00_dot_93 - object + Apple_bar__minus_02_dot_56_bar__plus_00_dot_66_bar__minus_00_dot_60 - object + Bowl_bar__plus_01_dot_74_bar__plus_01_dot_66_bar__minus_00_dot_48 - object + 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Egg_bar__plus_01_dot_86_bar__plus_00_dot_94_bar__plus_00_dot_47 - object + Faucet_bar__plus_01_dot_24_bar__plus_01_dot_14_bar__minus_01_dot_47 - object + Fork_bar__plus_01_dot_35_bar__plus_00_dot_92_bar__minus_01_dot_24 - object + Kettle_bar__plus_01_dot_41_bar__plus_00_dot_93_bar__minus_00_dot_34 - object + Kettle_bar__plus_01_dot_69_bar__plus_00_dot_93_bar__plus_00_dot_06 - object + Kettle_bar__plus_01_dot_69_bar__plus_00_dot_93_bar__minus_00_dot_34 - object + Knife_bar__plus_01_dot_43_bar__plus_00_dot_94_bar__minus_00_dot_77 - object + Knife_bar__plus_01_dot_68_bar__plus_00_dot_94_bar__plus_00_dot_49 - object + Knife_bar__minus_02_dot_32_bar__plus_00_dot_80_bar__plus_00_dot_02 - object + Lettuce_bar__minus_00_dot_21_bar__plus_00_dot_99_bar__plus_00_dot_42 - object + Lettuce_bar__minus_00_dot_34_bar__plus_00_dot_99_bar__plus_01_dot_76 - object + Lettuce_bar__minus_00_dot_47_bar__plus_00_dot_99_bar__plus_00_dot_87 - object + 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Knife_bar__minus_02_dot_32_bar__plus_00_dot_80_bar__plus_00_dot_02) + (cleanable Fork_bar__plus_01_dot_35_bar__plus_00_dot_92_bar__minus_01_dot_24) + (cleanable Plate_bar__minus_02_dot_49_bar__plus_01_dot_30_bar__minus_00_dot_60) + (cleanable Potato_bar__minus_02_dot_64_bar__plus_01_dot_05_bar__plus_02_dot_48) + (cleanable Mug_bar__plus_00_dot_46_bar__plus_00_dot_96_bar__minus_01_dot_59) + (cleanable Pan_bar__plus_00_dot_00_bar__plus_00_dot_90_bar__plus_00_dot_95) + (cleanable ButterKnife_bar__minus_00_dot_21_bar__plus_00_dot_91_bar__plus_01_dot_54) + (cleanable Tomato_bar__minus_02_dot_21_bar__plus_00_dot_95_bar__plus_00_dot_63) + (cleanable Knife_bar__plus_01_dot_43_bar__plus_00_dot_94_bar__minus_00_dot_77) + (cleanable Spoon_bar__plus_01_dot_39_bar__plus_00_dot_92_bar__minus_01_dot_06) + (cleanable Spatula_bar__minus_02_dot_70_bar__plus_00_dot_93_bar__plus_00_dot_93) + (cleanable Plate_bar__minus_00_dot_08_bar__plus_00_dot_91_bar__plus_01_dot_32) + (cleanable Egg_bar__plus_01_dot_52_bar__plus_00_dot_22_bar__plus_00_dot_60) + (cleanable Bowl_bar__minus_02_dot_28_bar__plus_00_dot_11_bar__plus_01_dot_42) + (cleanable DishSponge_bar__minus_02_dot_26_bar__plus_00_dot_77_bar__plus_01_dot_37) + + (heatable Apple_bar__minus_02_dot_56_bar__plus_00_dot_66_bar__minus_00_dot_60) + (heatable Apple_bar__minus_02_dot_46_bar__plus_00_dot_97_bar__plus_00_dot_93) + (heatable Mug_bar__minus_02_dot_70_bar__plus_00_dot_91_bar__plus_01_dot_23) + (heatable Bread_bar__plus_00_dot_05_bar__plus_01_dot_00_bar__plus_00_dot_65) + (heatable Cup_bar__minus_02_dot_42_bar__plus_00_dot_59_bar__minus_01_dot_05) + (heatable Egg_bar__plus_01_dot_68_bar__plus_00_dot_94_bar__plus_00_dot_44) + (heatable Egg_bar__plus_01_dot_86_bar__plus_00_dot_94_bar__plus_00_dot_47) + (heatable Potato_bar__minus_02_dot_46_bar__plus_00_dot_95_bar__plus_00_dot_33) + (heatable Tomato_bar__minus_02_dot_58_bar__plus_01_dot_34_bar__minus_00_dot_98) + (heatable 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Egg_bar__plus_01_dot_86_bar__plus_00_dot_94_bar__plus_00_dot_47) + (sliceable Lettuce_bar__minus_00_dot_34_bar__plus_00_dot_99_bar__plus_01_dot_76) + (sliceable Potato_bar__minus_02_dot_46_bar__plus_00_dot_95_bar__plus_00_dot_33) + (sliceable Lettuce_bar__minus_00_dot_21_bar__plus_00_dot_99_bar__plus_00_dot_42) + (sliceable Lettuce_bar__minus_00_dot_47_bar__plus_00_dot_99_bar__plus_00_dot_87) + (sliceable Tomato_bar__minus_02_dot_58_bar__plus_01_dot_34_bar__minus_00_dot_98) + (sliceable Potato_bar__minus_02_dot_64_bar__plus_01_dot_05_bar__plus_02_dot_48) + (sliceable Tomato_bar__minus_02_dot_21_bar__plus_00_dot_95_bar__plus_00_dot_63) + (sliceable Egg_bar__plus_01_dot_52_bar__plus_00_dot_22_bar__plus_00_dot_60) + + (inReceptacle ButterKnife_bar__minus_00_dot_21_bar__plus_00_dot_91_bar__plus_01_dot_54 CounterTop_bar__minus_00_dot_36_bar__plus_00_dot_95_bar__plus_01_dot_09) + (inReceptacle Plate_bar__minus_00_dot_08_bar__plus_00_dot_91_bar__plus_01_dot_32 CounterTop_bar__minus_00_dot_36_bar__plus_00_dot_95_bar__plus_01_dot_09) + (inReceptacle Lettuce_bar__minus_00_dot_47_bar__plus_00_dot_99_bar__plus_00_dot_87 CounterTop_bar__minus_00_dot_36_bar__plus_00_dot_95_bar__plus_01_dot_09) + (inReceptacle Lettuce_bar__minus_00_dot_34_bar__plus_00_dot_99_bar__plus_01_dot_76 CounterTop_bar__minus_00_dot_36_bar__plus_00_dot_95_bar__plus_01_dot_09) + (inReceptacle Pan_bar__plus_00_dot_00_bar__plus_00_dot_90_bar__plus_00_dot_95 CounterTop_bar__minus_00_dot_36_bar__plus_00_dot_95_bar__plus_01_dot_09) + (inReceptacle Bread_bar__plus_00_dot_05_bar__plus_01_dot_00_bar__plus_00_dot_65 CounterTop_bar__minus_00_dot_36_bar__plus_00_dot_95_bar__plus_01_dot_09) + (inReceptacle Lettuce_bar__minus_00_dot_21_bar__plus_00_dot_99_bar__plus_00_dot_42 CounterTop_bar__minus_00_dot_36_bar__plus_00_dot_95_bar__plus_01_dot_09) + (inReceptacle Kettle_bar__plus_01_dot_41_bar__plus_00_dot_93_bar__minus_00_dot_34 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CounterTop_bar__plus_01_dot_59_bar__plus_00_dot_95_bar__plus_00_dot_41) + (inReceptacle Egg_bar__plus_01_dot_86_bar__plus_00_dot_94_bar__plus_00_dot_47 CounterTop_bar__plus_01_dot_59_bar__plus_00_dot_95_bar__plus_00_dot_41) + (inReceptacle Knife_bar__plus_01_dot_43_bar__plus_00_dot_94_bar__minus_00_dot_77 CounterTop_bar__plus_00_dot_47_bar__plus_00_dot_95_bar__minus_01_dot_63) + (inReceptacle Mug_bar__plus_00_dot_46_bar__plus_00_dot_96_bar__minus_01_dot_59 CounterTop_bar__plus_00_dot_47_bar__plus_00_dot_95_bar__minus_01_dot_63) + (inReceptacle Kettle_bar__plus_01_dot_69_bar__plus_00_dot_93_bar__plus_00_dot_06 StoveBurner_bar__plus_01_dot_69_bar__plus_00_dot_92_bar__plus_00_dot_06) + (inReceptacle SaltShaker_bar__minus_02_dot_60_bar__plus_01_dot_53_bar__plus_01_dot_84 Cabinet_bar__minus_02_dot_45_bar__plus_01_dot_95_bar__plus_01_dot_69) + (inReceptacle PepperShaker_bar__minus_02_dot_56_bar__plus_01_dot_53_bar__plus_01_dot_77 Cabinet_bar__minus_02_dot_45_bar__plus_01_dot_95_bar__plus_01_dot_69) + (inReceptacle Knife_bar__minus_02_dot_32_bar__plus_00_dot_80_bar__plus_00_dot_02 Drawer_bar__minus_02_dot_28_bar__plus_00_dot_79_bar__minus_00_dot_03) + (inReceptacle Bowl_bar__plus_01_dot_74_bar__plus_01_dot_66_bar__minus_00_dot_48 Cabinet_bar__plus_01_dot_57_bar__plus_02_dot_01_bar__minus_00_dot_78) + (inReceptacle PepperShaker_bar__minus_02_dot_69_bar__plus_01_dot_93_bar__minus_01_dot_03 Cabinet_bar__minus_02_dot_45_bar__plus_02_dot_15_bar__minus_01_dot_28) + (inReceptacle Bowl_bar__minus_02_dot_56_bar__plus_01_dot_54_bar__plus_00_dot_70 Cabinet_bar__minus_02_dot_45_bar__plus_01_dot_95_bar__plus_00_dot_41) + (inReceptacle Pot_bar__minus_02_dot_31_bar__plus_00_dot_11_bar__plus_00_dot_90 Cabinet_bar__minus_02_dot_15_bar__plus_00_dot_40_bar__plus_00_dot_70) + (inReceptacle Spatula_bar__minus_02_dot_70_bar__plus_00_dot_93_bar__plus_00_dot_93 CounterTop_bar__minus_01_dot_49_bar__plus_00_dot_95_bar__plus_01_dot_32) + 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Apple_bar__minus_02_dot_56_bar__plus_00_dot_66_bar__minus_00_dot_60 Fridge_bar__minus_02_dot_48_bar__plus_00_dot_00_bar__minus_00_dot_78) + (inReceptacle Mug_bar__plus_00_dot_46_bar__plus_00_dot_96_bar__minus_01_dot_59 CoffeeMachine_bar__plus_00_dot_46_bar__plus_00_dot_90_bar__minus_01_dot_82) + (inReceptacleObject Spoon_bar__plus_01_dot_39_bar__plus_00_dot_92_bar__minus_01_dot_06 Cup_bar__plus_01_dot_33_bar__plus_00_dot_92_bar__minus_01_dot_05) + (inReceptacle DishSponge_bar__plus_01_dot_65_bar__plus_00_dot_18_bar__plus_00_dot_71 GarbageCan_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__plus_00_dot_68) + (inReceptacle Egg_bar__plus_01_dot_52_bar__plus_00_dot_22_bar__plus_00_dot_60 GarbageCan_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__plus_00_dot_68) + (inReceptacle Potato_bar__minus_02_dot_64_bar__plus_01_dot_05_bar__plus_02_dot_48 Microwave_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_44) + + + (receptacleAtLocation 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-2.31830549, + "y": 0.7752251, + "z": 0.8093223 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_9b863229", + "position": { + "x": -2.20641732, + "y": 0.9532293, + "z": 0.6312814 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_db7f1139", + "position": { + "x": 0.4640001, + "y": 0.9558, + "z": -1.5935 + }, + "rotation": { + "x": 0.0, + "y": 3.24433968e-05, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2546866067, + "scene_num": 6 + }, + "task_id": "trial_T20190910_231732_446078", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1O3TWBUDONVLO_3570Y55XZS0JR2ZIAF6ZWBEPXXLGYR", + "high_descs": [ + "Walk forward across the room and turn right to face the counter.", + "Pick up the knife on the counter.", + "Turn around and walk around the table to face the counter with tomato and apple on it on the far side of the room.", + "Cut the apple into three pieces.", + "Turn left, walk forward to the fridge and turn right to face it.", + "Place the knife on the top shelf in the fridge.", + "Turn right and walk forward and then turn left to face the apple on the counter.", + "Pick up a piece of the apple on the counter.", + "Turn right and walk over to face the microwave.", + "Heat the piece of apple in the microwave and then remove it.", + "Turn left, walk forward to the fridge and turn right to face it.", + "Place the piece of apple in the freezer." + ], + "task_desc": "To cut an apple as well as place a piece in the freezer.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1OWHPMKE7YAGL_3FTF2T8WLUZ0NNHAH8I1JX7MICKW9B", + "high_descs": [ + "Go forward, hang a left and go to the counter to the right of the stove. ", + "Pick up the big knife that is on the counter. ", + "Turn around and go to the fridge, hang a right, go forward to the counter with the paper towels on it that is on the left. ", + "Cut the apple that is on the counter behind the paper towels.", + "Turn around, go to the right to the fridge that will be on the right. ", + "Open the fridge, put the knife inside, close the fridge. ", + "Go to the right, go to the counter where the apple is on the left. ", + "Pick up a piece of the apple. ", + "Turn around, then turn to the left, go forward to the microwave that is on the left. ", + "Put the apple in the microwave and set it to cook, remove the apple when it is done cooking.", + "Turn around, turn to the right and go forward to the fridge that is on the right. ", + "Open the freezer, put the apple in the freezer and close the freezer. " + ], + "task_desc": "Put cooked apple in the freezer. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AIICJA0A5J8NF_3YZ8UPK3VW3PTHZ8YSDR3ZNX3G6CU1", + "high_descs": [ + "Turn to the left, walk to the right of the stove. ", + "Pick up the knife. ", + "Turn around, cross the room, face the counter to the right of the fridge. ", + "Cut the apple on the counter. ", + "Go to the left to the fridge. ", + "Put the knife on the top shelf of the bottom part of the fridge. ", + "Turn right, walk to the center of the counter on the left.", + "Pick up a slice of apple. ", + "Walk to the right to the microwave. ", + "Heat the apple slice in the microwave for a few seconds, take the apple slice back out. ", + "Walk to left to the fridge. ", + "Put the apple slice in the top part of the fridge. " + ], + "task_desc": "Place the warm apple slice in the fridge. ", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Bread-None-Fridge-15/trial_T20190906_215325_042307/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Bread-None-Fridge-15/trial_T20190906_215325_042307/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..f5f7c9bf876ffb12e16bf3b4be4bcd59976d901b --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Bread-None-Fridge-15/trial_T20190906_215325_042307/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 bread in fridge.\"\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_215325_042307)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__minus_00_dot_44_bar__plus_01_dot_05_bar__plus_03_dot_99 - object\n Apple_bar__minus_00_dot_99_bar__plus_00_dot_95_bar__plus_00_dot_05 - object\n Blinds_bar__minus_01_dot_41_bar__plus_02_dot_09_bar__minus_00_dot_30 - object\n 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location\n loc_bar__minus_5_bar_13_bar_0_bar_60 - location\n loc_bar__minus_9_bar_13_bar_0_bar_60 - location\n loc_bar__minus_10_bar_8_bar_3_bar_30 - location\n loc_bar__minus_5_bar_5_bar_2_bar_60 - location\n loc_bar__minus_10_bar_9_bar_3_bar_45 - location\n loc_bar__minus_2_bar_2_bar_3_bar_60 - location\n loc_bar__minus_10_bar_9_bar_3_bar__minus_30 - location\n loc_bar__minus_9_bar_10_bar_0_bar_60 - location\n loc_bar__minus_11_bar_12_bar_0_bar_30 - location\n loc_bar__minus_9_bar_1_bar_1_bar_15 - location\n loc_bar__minus_11_bar_12_bar_0_bar__minus_15 - location\n loc_bar__minus_1_bar_8_bar_1_bar_30 - location\n loc_bar__minus_9_bar_1_bar_1_bar__minus_30 - location\n loc_bar__minus_9_bar_13_bar_3_bar_45 - location\n loc_bar__minus_11_bar_6_bar_3_bar_30 - location\n loc_bar__minus_8_bar_11_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36 CounterTopType)\n (receptacleType 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(receptacleType Cabinet_bar__minus_02_dot_19_bar__plus_00_dot_39_bar__plus_03_dot_47 CabinetType)\n (receptacleType Cabinet_bar__minus_03_dot_37_bar__plus_01_dot_93_bar__plus_03_dot_96 CabinetType)\n (receptacleType Fridge_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__plus_04_dot_00 FridgeType)\n (receptacleType StoveBurner_bar__minus_03_dot_15_bar__plus_00_dot_96_bar__plus_02_dot_37 StoveBurnerType)\n (receptacleType Drawer_bar__minus_03_dot_12_bar__plus_00_dot_78_bar__plus_01_dot_36 DrawerType)\n (receptacleType Cabinet_bar__minus_02_dot_96_bar__plus_00_dot_39_bar__plus_03_dot_46 CabinetType)\n (receptacleType StoveBurner_bar__minus_03_dot_14_bar__plus_00_dot_96_bar__plus_01_dot_97 StoveBurnerType)\n (receptacleType GarbageCan_bar__minus_01_dot_19_bar__plus_00_dot_01_bar__plus_03_dot_79 GarbageCanType)\n (receptacleType CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34 CounterTopType)\n (receptacleType 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Bowl_bar__minus_03_dot_08_bar__plus_00_dot_91_bar__plus_02_dot_84 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34)\n (inReceptacle Lettuce_bar__minus_03_dot_27_bar__plus_01_dot_00_bar__plus_03_dot_66 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34)\n (inReceptacle Fork_bar__minus_02_dot_70_bar__plus_00_dot_92_bar__plus_03_dot_57 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34)\n (inReceptacle Knife_bar__minus_03_dot_27_bar__plus_00_dot_94_bar__plus_02_dot_84 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34)\n (inReceptacle SaltShaker_bar__minus_03_dot_10_bar__plus_00_dot_74_bar__plus_03_dot_08 Drawer_bar__minus_03_dot_12_bar__plus_00_dot_78_bar__plus_02_dot_92)\n (inReceptacle Spatula_bar__minus_01_dot_79_bar__plus_00_dot_91_bar__minus_00_dot_05 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33)\n (inReceptacle Tomato_bar__minus_01_dot_13_bar__plus_00_dot_96_bar__plus_00_dot_46 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33)\n (inReceptacle ButterKnife_bar__minus_01_dot_66_bar__plus_00_dot_89_bar__plus_00_dot_15 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33)\n (inReceptacle Apple_bar__minus_00_dot_99_bar__plus_00_dot_95_bar__plus_00_dot_05 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33)\n (inReceptacle Plate_bar__minus_01_dot_26_bar__plus_00_dot_90_bar__plus_00_dot_26 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33)\n (inReceptacle Bowl_bar__minus_01_dot_66_bar__plus_00_dot_89_bar__plus_00_dot_56 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33)\n (inReceptacle Bowl_bar__minus_01_dot_52_bar__plus_00_dot_89_bar__plus_00_dot_26 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33)\n (inReceptacle SaltShaker_bar__minus_00_dot_99_bar__plus_00_dot_89_bar__minus_00_dot_05 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33)\n (inReceptacle Bread_bar__minus_01_dot_39_bar__plus_00_dot_97_bar__minus_00_dot_05 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33)\n (inReceptacle Cup_bar__minus_00_dot_99_bar__plus_00_dot_89_bar__plus_00_dot_36 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33)\n (inReceptacle Pot_bar__minus_03_dot_14_bar__plus_00_dot_96_bar__plus_02_dot_37 StoveBurner_bar__minus_03_dot_15_bar__plus_00_dot_96_bar__plus_02_dot_37)\n (inReceptacle Pot_bar__minus_03_dot_14_bar__plus_00_dot_96_bar__plus_02_dot_37 StoveBurner_bar__minus_03_dot_42_bar__plus_00_dot_96_bar__plus_02_dot_37)\n (inReceptacle WineBottle_bar__minus_03_dot_48_bar__plus_01_dot_46_bar__plus_03_dot_07 Cabinet_bar__minus_03_dot_37_bar__plus_01_dot_93_bar__plus_02_dot_68)\n (inReceptacle Pan_bar__minus_03_dot_42_bar__plus_00_dot_97_bar__plus_01_dot_97 StoveBurner_bar__minus_03_dot_42_bar__plus_00_dot_96_bar__plus_01_dot_97)\n (inReceptacle SaltShaker_bar__minus_03_dot_08_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)\n (inReceptacle Plate_bar__minus_03_dot_37_bar__plus_00_dot_92_bar__plus_01_dot_36 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36)\n (inReceptacle PepperShaker_bar__minus_03_dot_08_bar__plus_00_dot_91_bar__plus_01_dot_52 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36)\n (inReceptacle Cup_bar__minus_03_dot_65_bar__plus_00_dot_92_bar__plus_01_dot_11 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36)\n (inReceptacle Kettle_bar__minus_02_dot_84_bar__plus_00_dot_08_bar__plus_03_dot_66 Cabinet_bar__minus_02_dot_96_bar__plus_00_dot_39_bar__plus_03_dot_46)\n (inReceptacle DishSponge_bar__minus_03_dot_46_bar__plus_01_dot_99_bar__plus_02_dot_42 Cabinet_bar__minus_03_dot_35_bar__plus_02_dot_21_bar__plus_02_dot_65)\n (inReceptacle Cup_bar__minus_03_dot_46_bar__plus_01_dot_99_bar__plus_02_dot_54 Cabinet_bar__minus_03_dot_35_bar__plus_02_dot_21_bar__plus_02_dot_65)\n (inReceptacle SoapBottle_bar__minus_03_dot_51_bar__plus_01_dot_46_bar__plus_01_dot_38 Cabinet_bar__minus_03_dot_37_bar__plus_01_dot_93_bar__plus_01_dot_06)\n (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)\n (inReceptacle Bread_bar__minus_00_dot_09_bar__plus_01_dot_07_bar__plus_04_dot_05 Fridge_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__plus_04_dot_00)\n (inReceptacle Apple_bar__minus_00_dot_44_bar__plus_01_dot_05_bar__plus_03_dot_99 Fridge_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__plus_04_dot_00)\n (inReceptacle Potato_bar__minus_00_dot_67_bar__plus_00_dot_76_bar__plus_03_dot_87 Fridge_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__plus_04_dot_00)\n (inReceptacle Mug_bar__minus_03_dot_42_bar__plus_00_dot_95_bar__plus_03_dot_28 CoffeeMachine_bar__minus_03_dot_57_bar__plus_00_dot_90_bar__plus_03_dot_28)\n (inReceptacle Egg_bar__minus_01_dot_73_bar__plus_00_dot_82_bar__plus_03_dot_77 Sink_bar__minus_01_dot_80_bar__plus_00_dot_92_bar__plus_03_dot_66_bar_SinkBasin)\n (inReceptacle Egg_bar__minus_01_dot_86_bar__plus_00_dot_82_bar__plus_03_dot_70 Sink_bar__minus_01_dot_80_bar__plus_00_dot_92_bar__plus_03_dot_66_bar_SinkBasin)\n (inReceptacle Spoon_bar__minus_01_dot_67_bar__plus_00_dot_79_bar__plus_03_dot_66 Sink_bar__minus_01_dot_80_bar__plus_00_dot_92_bar__plus_03_dot_66_bar_SinkBasin)\n (inReceptacle DishSponge_bar__minus_01_dot_16_bar__plus_00_dot_09_bar__plus_03_dot_72 GarbageCan_bar__minus_01_dot_19_bar__plus_00_dot_01_bar__plus_03_dot_79)\n (inReceptacle Egg_bar__minus_01_dot_19_bar__plus_00_dot_12_bar__plus_03_dot_85 GarbageCan_bar__minus_01_dot_19_bar__plus_00_dot_01_bar__plus_03_dot_79)\n \n \n (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)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_19_bar__plus_00_dot_39_bar__plus_03_dot_47 loc_bar__minus_9_bar_13_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_21_bar__plus_00_dot_39_bar__plus_03_dot_46 loc_bar__minus_7_bar_10_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_96_bar__plus_00_dot_39_bar__plus_03_dot_46 loc_bar__minus_9_bar_10_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_99_bar__plus_00_dot_39_bar__plus_01_dot_04 loc_bar__minus_8_bar_7_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_99_bar__plus_00_dot_39_bar__plus_02_dot_68 loc_bar__minus_11_bar_11_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_35_bar__plus_02_dot_21_bar__plus_01_dot_72 loc_bar__minus_10_bar_9_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_35_bar__plus_02_dot_21_bar__plus_02_dot_65 loc_bar__minus_11_bar_11_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_37_bar__plus_01_dot_93_bar__plus_01_dot_06 loc_bar__minus_11_bar_6_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_37_bar__plus_01_dot_93_bar__plus_02_dot_68 loc_bar__minus_11_bar_12_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_37_bar__plus_01_dot_93_bar__plus_03_dot_96 loc_bar__minus_11_bar_12_bar_0_bar__minus_15)\n (receptacleAtLocation CoffeeMachine_bar__minus_03_dot_57_bar__plus_00_dot_90_bar__plus_03_dot_28 loc_bar__minus_11_bar_12_bar_3_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36 loc_bar__minus_11_bar_6_bar_3_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34 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(objectAtLocation StoveKnob_bar__minus_03_dot_60_bar__plus_01_dot_11_bar__plus_02_dot_02 loc_bar__minus_10_bar_8_bar_3_bar_30)\n (objectAtLocation StoveKnob_bar__minus_03_dot_60_bar__plus_01_dot_11_bar__plus_01_dot_87 loc_bar__minus_11_bar_6_bar_3_bar_30)\n (objectAtLocation StoveKnob_bar__minus_03_dot_60_bar__plus_01_dot_11_bar__plus_02_dot_27 loc_bar__minus_10_bar_9_bar_3_bar_30)\n (objectAtLocation StoveKnob_bar__minus_03_dot_60_bar__plus_01_dot_11_bar__plus_02_dot_43 loc_bar__minus_10_bar_10_bar_3_bar_30)\n (objectAtLocation Fork_bar__minus_02_dot_70_bar__plus_00_dot_92_bar__plus_03_dot_57 loc_bar__minus_11_bar_12_bar_3_bar_45)\n (objectAtLocation Bread_bar__minus_01_dot_39_bar__plus_00_dot_97_bar__minus_00_dot_05 loc_bar__minus_2_bar_2_bar_3_bar_60)\n (objectAtLocation Potato_bar__minus_00_dot_67_bar__plus_00_dot_76_bar__plus_03_dot_87 loc_bar__minus_2_bar_12_bar_0_bar_60)\n (objectAtLocation Plate_bar__minus_03_dot_37_bar__plus_00_dot_92_bar__plus_01_dot_36 loc_bar__minus_11_bar_6_bar_3_bar_45)\n (objectAtLocation Pot_bar__minus_03_dot_14_bar__plus_00_dot_96_bar__plus_02_dot_37 loc_bar__minus_10_bar_9_bar_3_bar_30)\n (objectAtLocation Kettle_bar__minus_02_dot_84_bar__plus_00_dot_08_bar__plus_03_dot_66 loc_bar__minus_9_bar_10_bar_0_bar_60)\n (objectAtLocation LightSwitch_bar__plus_00_dot_25_bar__plus_01_dot_38_bar__plus_02_dot_09 loc_bar__minus_1_bar_8_bar_1_bar_30)\n (objectAtLocation Window_bar__minus_01_dot_43_bar__plus_01_dot_34_bar__minus_00_dot_35 loc_bar__minus_9_bar_1_bar_1_bar_15)\n (objectAtLocation WineBottle_bar__minus_03_dot_48_bar__plus_01_dot_46_bar__plus_03_dot_07 loc_bar__minus_11_bar_12_bar_3_bar__minus_30)\n (objectAtLocation Bowl_bar__minus_01_dot_52_bar__plus_00_dot_89_bar__plus_00_dot_26 loc_bar__minus_2_bar_2_bar_3_bar_60)\n (objectAtLocation Tomato_bar__minus_01_dot_13_bar__plus_00_dot_96_bar__plus_00_dot_46 loc_bar__minus_2_bar_2_bar_3_bar_60)\n (objectAtLocation Cup_bar__minus_00_dot_99_bar__plus_00_dot_89_bar__plus_00_dot_36 loc_bar__minus_2_bar_2_bar_3_bar_60)\n (objectAtLocation Spatula_bar__minus_01_dot_79_bar__plus_00_dot_91_bar__minus_00_dot_05 loc_bar__minus_2_bar_2_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__minus_03_dot_51_bar__plus_01_dot_46_bar__plus_01_dot_38 loc_bar__minus_11_bar_6_bar_3_bar__minus_30)\n (objectAtLocation Lettuce_bar__minus_03_dot_27_bar__plus_01_dot_00_bar__plus_03_dot_66 loc_bar__minus_11_bar_12_bar_3_bar_45)\n (objectAtLocation Pan_bar__minus_03_dot_14_bar__plus_00_dot_97_bar__plus_01_dot_97 loc_bar__minus_10_bar_8_bar_3_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_44_bar__plus_01_dot_05_bar__plus_03_dot_99 loc_bar__minus_2_bar_12_bar_0_bar_60)\n (objectAtLocation SaltShaker_bar__minus_00_dot_99_bar__plus_00_dot_89_bar__minus_00_dot_05 loc_bar__minus_2_bar_2_bar_3_bar_60)\n (objectAtLocation PepperShaker_bar__minus_03_dot_08_bar__plus_00_dot_91_bar__plus_01_dot_52 loc_bar__minus_11_bar_6_bar_3_bar_45)\n (objectAtLocation ButterKnife_bar__minus_01_dot_66_bar__plus_00_dot_89_bar__plus_00_dot_15 loc_bar__minus_2_bar_2_bar_3_bar_60)\n (objectAtLocation Chair_bar__minus_01_dot_41_bar__plus_00_dot_55_bar__plus_00_dot_96 loc_bar__minus_5_bar_5_bar_2_bar_60)\n (objectAtLocation DishSponge_bar__minus_01_dot_61_bar__plus_00_dot_92_bar__plus_04_dot_15 loc_bar__minus_11_bar_12_bar_3_bar_45)\n (objectAtLocation Spoon_bar__minus_01_dot_67_bar__plus_00_dot_79_bar__plus_03_dot_66 loc_bar__minus_6_bar_12_bar_0_bar_45)\n (objectAtLocation Mug_bar__minus_03_dot_42_bar__plus_00_dot_95_bar__plus_03_dot_28 loc_bar__minus_11_bar_12_bar_3_bar_45)\n (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)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (heatable ?o)\n (objectType ?o BreadType)\n (receptacleType ?r FridgeType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to fridge 1", "open fridge 1", "take bread 2 from fridge 1", "go to microwave 1", "heat bread 2 with microwave 1", "go to fridge 1", "move bread 2 to fridge 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Bread-None-Fridge-15/trial_T20190906_215325_042307/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Bread-None-Fridge-15/trial_T20190906_215325_042307/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..23616a737880c940be1266c82c32fd6b2bd746dc --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Bread-None-Fridge-15/trial_T20190906_215325_042307/initial_state.pddl @@ -0,0 +1,955 @@ + +(define (problem plan_trial_T20190906_215325_042307) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__minus_00_dot_44_bar__plus_01_dot_05_bar__plus_03_dot_99 - object + Apple_bar__minus_00_dot_99_bar__plus_00_dot_95_bar__plus_00_dot_05 - object + Blinds_bar__minus_01_dot_41_bar__plus_02_dot_09_bar__minus_00_dot_30 - object + Bowl_bar__minus_01_dot_52_bar__plus_00_dot_89_bar__plus_00_dot_26 - object + Bowl_bar__minus_01_dot_66_bar__plus_00_dot_89_bar__plus_00_dot_56 - object + Bowl_bar__minus_03_dot_08_bar__plus_00_dot_91_bar__plus_02_dot_84 - object + Bread_bar__minus_00_dot_09_bar__plus_01_dot_07_bar__plus_04_dot_05 - object + Bread_bar__minus_01_dot_39_bar__plus_00_dot_97_bar__minus_00_dot_05 - object + ButterKnife_bar__minus_01_dot_66_bar__plus_00_dot_89_bar__plus_00_dot_15 - object + Chair_bar__minus_01_dot_41_bar__plus_00_dot_55_bar__plus_00_dot_96 - object + Cup_bar__minus_00_dot_99_bar__plus_00_dot_89_bar__plus_00_dot_36 - object + Cup_bar__minus_03_dot_46_bar__plus_01_dot_99_bar__plus_02_dot_54 - object + Cup_bar__minus_03_dot_65_bar__plus_00_dot_92_bar__plus_01_dot_11 - object + DishSponge_bar__minus_01_dot_16_bar__plus_00_dot_09_bar__plus_03_dot_72 - object + DishSponge_bar__minus_01_dot_61_bar__plus_00_dot_92_bar__plus_04_dot_15 - object + DishSponge_bar__minus_03_dot_46_bar__plus_01_dot_99_bar__plus_02_dot_42 - object + Egg_bar__minus_01_dot_19_bar__plus_00_dot_12_bar__plus_03_dot_85 - object + Egg_bar__minus_01_dot_73_bar__plus_00_dot_82_bar__plus_03_dot_77 - object + Egg_bar__minus_01_dot_86_bar__plus_00_dot_82_bar__plus_03_dot_70 - object + Faucet_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__plus_03_dot_93 - object + Fork_bar__minus_02_dot_70_bar__plus_00_dot_92_bar__plus_03_dot_57 - object + Kettle_bar__minus_02_dot_84_bar__plus_00_dot_08_bar__plus_03_dot_66 - object + Knife_bar__minus_03_dot_27_bar__plus_00_dot_94_bar__plus_02_dot_84 - object + Lettuce_bar__minus_03_dot_27_bar__plus_01_dot_00_bar__plus_03_dot_66 - object + LightSwitch_bar__plus_00_dot_25_bar__plus_01_dot_38_bar__plus_02_dot_09 - object + Mug_bar__minus_03_dot_42_bar__plus_00_dot_95_bar__plus_03_dot_28 - object + Pan_bar__minus_03_dot_14_bar__plus_00_dot_97_bar__plus_01_dot_97 - object + Pan_bar__minus_03_dot_42_bar__plus_00_dot_97_bar__plus_01_dot_97 - object + PepperShaker_bar__minus_03_dot_08_bar__plus_00_dot_91_bar__plus_01_dot_52 - object + Plate_bar__minus_01_dot_26_bar__plus_00_dot_90_bar__plus_00_dot_26 - object + Plate_bar__minus_03_dot_37_bar__plus_00_dot_92_bar__plus_01_dot_36 - object + Potato_bar__minus_00_dot_67_bar__plus_00_dot_76_bar__plus_03_dot_87 - object + Pot_bar__minus_03_dot_14_bar__plus_00_dot_96_bar__plus_02_dot_37 - object + SaltShaker_bar__minus_00_dot_99_bar__plus_00_dot_89_bar__minus_00_dot_05 - object + SaltShaker_bar__minus_03_dot_08_bar__plus_00_dot_91_bar__plus_01_dot_19 - object + SaltShaker_bar__minus_03_dot_10_bar__plus_00_dot_74_bar__plus_03_dot_08 - object + Sink_bar__minus_01_dot_80_bar__plus_00_dot_92_bar__plus_03_dot_66 - object + SoapBottle_bar__minus_03_dot_51_bar__plus_01_dot_46_bar__plus_01_dot_38 - object + Spatula_bar__minus_01_dot_79_bar__plus_00_dot_91_bar__minus_00_dot_05 - object + Spoon_bar__minus_01_dot_67_bar__plus_00_dot_79_bar__plus_03_dot_66 - 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 + StoveKnob_bar__minus_03_dot_60_bar__plus_01_dot_11_bar__plus_02_dot_43 - object + Tomato_bar__minus_01_dot_13_bar__plus_00_dot_96_bar__plus_00_dot_46 - object + Window_bar__minus_01_dot_43_bar__plus_01_dot_34_bar__minus_00_dot_35 - object + WineBottle_bar__minus_03_dot_48_bar__plus_01_dot_46_bar__plus_03_dot_07 - object + Cabinet_bar__minus_01_dot_42_bar__plus_00_dot_39_bar__plus_03_dot_46 - receptacle + Cabinet_bar__minus_02_dot_19_bar__plus_00_dot_39_bar__plus_03_dot_47 - receptacle + Cabinet_bar__minus_02_dot_21_bar__plus_00_dot_39_bar__plus_03_dot_46 - receptacle + Cabinet_bar__minus_02_dot_96_bar__plus_00_dot_39_bar__plus_03_dot_46 - receptacle + Cabinet_bar__minus_02_dot_99_bar__plus_00_dot_39_bar__plus_01_dot_04 - receptacle + Cabinet_bar__minus_02_dot_99_bar__plus_00_dot_39_bar__plus_02_dot_68 - receptacle + Cabinet_bar__minus_03_dot_35_bar__plus_02_dot_21_bar__plus_01_dot_72 - receptacle + Cabinet_bar__minus_03_dot_35_bar__plus_02_dot_21_bar__plus_02_dot_65 - receptacle + Cabinet_bar__minus_03_dot_37_bar__plus_01_dot_93_bar__plus_01_dot_06 - receptacle + Cabinet_bar__minus_03_dot_37_bar__plus_01_dot_93_bar__plus_02_dot_68 - receptacle + Cabinet_bar__minus_03_dot_37_bar__plus_01_dot_93_bar__plus_03_dot_96 - receptacle + CoffeeMachine_bar__minus_03_dot_57_bar__plus_00_dot_90_bar__plus_03_dot_28 - receptacle + CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36 - receptacle + CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34 - receptacle + DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33 - receptacle + Drawer_bar__minus_03_dot_12_bar__plus_00_dot_78_bar__plus_01_dot_36 - receptacle + Drawer_bar__minus_03_dot_12_bar__plus_00_dot_78_bar__plus_02_dot_92 - receptacle + Drawer_bar__minus_03_dot_12_bar__plus_00_dot_78_bar__plus_03_dot_30 - receptacle + Fridge_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__plus_04_dot_00 - receptacle + GarbageCan_bar__minus_01_dot_19_bar__plus_00_dot_01_bar__plus_03_dot_79 - receptacle + Microwave_bar__minus_03_dot_49_bar__plus_01_dot_43_bar__plus_02_dot_18 - receptacle + Sink_bar__minus_01_dot_80_bar__plus_00_dot_92_bar__plus_03_dot_66_bar_SinkBasin - receptacle + StoveBurner_bar__minus_03_dot_14_bar__plus_00_dot_96_bar__plus_01_dot_97 - receptacle + StoveBurner_bar__minus_03_dot_15_bar__plus_00_dot_96_bar__plus_02_dot_37 - receptacle + StoveBurner_bar__minus_03_dot_42_bar__plus_00_dot_96_bar__plus_01_dot_97 - receptacle + StoveBurner_bar__minus_03_dot_42_bar__plus_00_dot_96_bar__plus_02_dot_37 - receptacle + Toaster_bar__minus_02_dot_65_bar__plus_00_dot_90_bar__plus_04_dot_06 - receptacle + loc_bar__minus_7_bar_13_bar_0_bar_60 - location + loc_bar__minus_11_bar_11_bar_3_bar__minus_30 - location + loc_bar__minus_10_bar_10_bar_3_bar_30 - location + loc_bar__minus_10_bar_8_bar_3_bar_45 - location + 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_8_bar_11_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36 CounterTopType) + (receptacleType Cabinet_bar__minus_02_dot_99_bar__plus_00_dot_39_bar__plus_02_dot_68 CabinetType) + (receptacleType Drawer_bar__minus_03_dot_12_bar__plus_00_dot_78_bar__plus_03_dot_30 DrawerType) + (receptacleType Cabinet_bar__minus_03_dot_35_bar__plus_02_dot_21_bar__plus_02_dot_65 CabinetType) + (receptacleType Cabinet_bar__minus_03_dot_35_bar__plus_02_dot_21_bar__plus_01_dot_72 CabinetType) + (receptacleType Cabinet_bar__minus_03_dot_37_bar__plus_01_dot_93_bar__plus_01_dot_06 CabinetType) + (receptacleType Cabinet_bar__minus_03_dot_37_bar__plus_01_dot_93_bar__plus_02_dot_68 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_42_bar__plus_00_dot_39_bar__plus_03_dot_46 CabinetType) + (receptacleType Sink_bar__minus_01_dot_80_bar__plus_00_dot_92_bar__plus_03_dot_66_bar_SinkBasin SinkBasinType) + (receptacleType Microwave_bar__minus_03_dot_49_bar__plus_01_dot_43_bar__plus_02_dot_18 MicrowaveType) + (receptacleType Cabinet_bar__minus_02_dot_21_bar__plus_00_dot_39_bar__plus_03_dot_46 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_19_bar__plus_00_dot_39_bar__plus_03_dot_47 CabinetType) + (receptacleType Cabinet_bar__minus_03_dot_37_bar__plus_01_dot_93_bar__plus_03_dot_96 CabinetType) + (receptacleType Fridge_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__plus_04_dot_00 FridgeType) + (receptacleType StoveBurner_bar__minus_03_dot_15_bar__plus_00_dot_96_bar__plus_02_dot_37 StoveBurnerType) + (receptacleType Drawer_bar__minus_03_dot_12_bar__plus_00_dot_78_bar__plus_01_dot_36 DrawerType) + (receptacleType Cabinet_bar__minus_02_dot_96_bar__plus_00_dot_39_bar__plus_03_dot_46 CabinetType) + (receptacleType StoveBurner_bar__minus_03_dot_14_bar__plus_00_dot_96_bar__plus_01_dot_97 StoveBurnerType) + (receptacleType GarbageCan_bar__minus_01_dot_19_bar__plus_00_dot_01_bar__plus_03_dot_79 GarbageCanType) + (receptacleType CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34 CounterTopType) + (receptacleType Toaster_bar__minus_02_dot_65_bar__plus_00_dot_90_bar__plus_04_dot_06 ToasterType) + (receptacleType StoveBurner_bar__minus_03_dot_42_bar__plus_00_dot_96_bar__plus_01_dot_97 StoveBurnerType) + (receptacleType Drawer_bar__minus_03_dot_12_bar__plus_00_dot_78_bar__plus_02_dot_92 DrawerType) + (receptacleType DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33 DiningTableType) + (receptacleType CoffeeMachine_bar__minus_03_dot_57_bar__plus_00_dot_90_bar__plus_03_dot_28 CoffeeMachineType) + (receptacleType Cabinet_bar__minus_02_dot_99_bar__plus_00_dot_39_bar__plus_01_dot_04 CabinetType) + (receptacleType StoveBurner_bar__minus_03_dot_42_bar__plus_00_dot_96_bar__plus_02_dot_37 StoveBurnerType) + (objectType 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Drawer_bar__minus_03_dot_12_bar__plus_00_dot_78_bar__plus_01_dot_36) + (openable Cabinet_bar__minus_02_dot_96_bar__plus_00_dot_39_bar__plus_03_dot_46) + (openable Drawer_bar__minus_03_dot_12_bar__plus_00_dot_78_bar__plus_02_dot_92) + (openable Cabinet_bar__minus_02_dot_99_bar__plus_00_dot_39_bar__plus_01_dot_04) + + (atLocation agent1 loc_bar__minus_8_bar_11_bar_3_bar_30) + + (cleanable DishSponge_bar__minus_01_dot_61_bar__plus_00_dot_92_bar__plus_04_dot_15) + (cleanable Bowl_bar__minus_03_dot_08_bar__plus_00_dot_91_bar__plus_02_dot_84) + (cleanable Lettuce_bar__minus_03_dot_27_bar__plus_01_dot_00_bar__plus_03_dot_66) + (cleanable Fork_bar__minus_02_dot_70_bar__plus_00_dot_92_bar__plus_03_dot_57) + (cleanable DishSponge_bar__minus_03_dot_46_bar__plus_01_dot_99_bar__plus_02_dot_42) + (cleanable Pot_bar__minus_03_dot_14_bar__plus_00_dot_96_bar__plus_02_dot_37) + (cleanable Potato_bar__minus_00_dot_67_bar__plus_00_dot_76_bar__plus_03_dot_87) + (cleanable Plate_bar__minus_03_dot_37_bar__plus_00_dot_92_bar__plus_01_dot_36) + (cleanable Tomato_bar__minus_01_dot_13_bar__plus_00_dot_96_bar__plus_00_dot_46) + (cleanable ButterKnife_bar__minus_01_dot_66_bar__plus_00_dot_89_bar__plus_00_dot_15) + (cleanable Mug_bar__minus_03_dot_42_bar__plus_00_dot_95_bar__plus_03_dot_28) + (cleanable Plate_bar__minus_01_dot_26_bar__plus_00_dot_90_bar__plus_00_dot_26) + (cleanable Egg_bar__minus_01_dot_19_bar__plus_00_dot_12_bar__plus_03_dot_85) + (cleanable Cup_bar__minus_03_dot_46_bar__plus_01_dot_99_bar__plus_02_dot_54) + (cleanable Egg_bar__minus_01_dot_86_bar__plus_00_dot_82_bar__plus_03_dot_70) + (cleanable Pan_bar__minus_03_dot_14_bar__plus_00_dot_97_bar__plus_01_dot_97) + (cleanable Spatula_bar__minus_01_dot_79_bar__plus_00_dot_91_bar__minus_00_dot_05) + (cleanable Spoon_bar__minus_01_dot_67_bar__plus_00_dot_79_bar__plus_03_dot_66) + (cleanable Egg_bar__minus_01_dot_73_bar__plus_00_dot_82_bar__plus_03_dot_77) + (cleanable Pan_bar__minus_03_dot_42_bar__plus_00_dot_97_bar__plus_01_dot_97) + (cleanable Apple_bar__minus_00_dot_99_bar__plus_00_dot_95_bar__plus_00_dot_05) + (cleanable Cup_bar__minus_03_dot_65_bar__plus_00_dot_92_bar__plus_01_dot_11) + (cleanable DishSponge_bar__minus_01_dot_16_bar__plus_00_dot_09_bar__plus_03_dot_72) + (cleanable Bowl_bar__minus_01_dot_66_bar__plus_00_dot_89_bar__plus_00_dot_56) + (cleanable Bowl_bar__minus_01_dot_52_bar__plus_00_dot_89_bar__plus_00_dot_26) + (cleanable Knife_bar__minus_03_dot_27_bar__plus_00_dot_94_bar__plus_02_dot_84) + (cleanable Apple_bar__minus_00_dot_44_bar__plus_01_dot_05_bar__plus_03_dot_99) + (cleanable Kettle_bar__minus_02_dot_84_bar__plus_00_dot_08_bar__plus_03_dot_66) + (cleanable Cup_bar__minus_00_dot_99_bar__plus_00_dot_89_bar__plus_00_dot_36) + + (heatable Potato_bar__minus_00_dot_67_bar__plus_00_dot_76_bar__plus_03_dot_87) + (heatable Plate_bar__minus_03_dot_37_bar__plus_00_dot_92_bar__plus_01_dot_36) + (heatable Tomato_bar__minus_01_dot_13_bar__plus_00_dot_96_bar__plus_00_dot_46) + (heatable Mug_bar__minus_03_dot_42_bar__plus_00_dot_95_bar__plus_03_dot_28) + (heatable Plate_bar__minus_01_dot_26_bar__plus_00_dot_90_bar__plus_00_dot_26) + (heatable Egg_bar__minus_01_dot_19_bar__plus_00_dot_12_bar__plus_03_dot_85) + (heatable Bread_bar__minus_00_dot_09_bar__plus_01_dot_07_bar__plus_04_dot_05) + (heatable Bread_bar__minus_01_dot_39_bar__plus_00_dot_97_bar__minus_00_dot_05) + (heatable Cup_bar__minus_03_dot_46_bar__plus_01_dot_99_bar__plus_02_dot_54) + (heatable Egg_bar__minus_01_dot_86_bar__plus_00_dot_82_bar__plus_03_dot_70) + (heatable Egg_bar__minus_01_dot_73_bar__plus_00_dot_82_bar__plus_03_dot_77) + (heatable Apple_bar__minus_00_dot_99_bar__plus_00_dot_95_bar__plus_00_dot_05) + (heatable Cup_bar__minus_03_dot_65_bar__plus_00_dot_92_bar__plus_01_dot_11) + (heatable Apple_bar__minus_00_dot_44_bar__plus_01_dot_05_bar__plus_03_dot_99) + (heatable Cup_bar__minus_00_dot_99_bar__plus_00_dot_89_bar__plus_00_dot_36) + (coolable Bowl_bar__minus_03_dot_08_bar__plus_00_dot_91_bar__plus_02_dot_84) + (coolable Lettuce_bar__minus_03_dot_27_bar__plus_01_dot_00_bar__plus_03_dot_66) + (coolable Pot_bar__minus_03_dot_14_bar__plus_00_dot_96_bar__plus_02_dot_37) + (coolable Potato_bar__minus_00_dot_67_bar__plus_00_dot_76_bar__plus_03_dot_87) + (coolable Plate_bar__minus_03_dot_37_bar__plus_00_dot_92_bar__plus_01_dot_36) + (coolable Tomato_bar__minus_01_dot_13_bar__plus_00_dot_96_bar__plus_00_dot_46) + (coolable Mug_bar__minus_03_dot_42_bar__plus_00_dot_95_bar__plus_03_dot_28) + (coolable Plate_bar__minus_01_dot_26_bar__plus_00_dot_90_bar__plus_00_dot_26) + (coolable Egg_bar__minus_01_dot_19_bar__plus_00_dot_12_bar__plus_03_dot_85) + (coolable Bread_bar__minus_00_dot_09_bar__plus_01_dot_07_bar__plus_04_dot_05) + (coolable Bread_bar__minus_01_dot_39_bar__plus_00_dot_97_bar__minus_00_dot_05) + (coolable Cup_bar__minus_03_dot_46_bar__plus_01_dot_99_bar__plus_02_dot_54) + (coolable Egg_bar__minus_01_dot_86_bar__plus_00_dot_82_bar__plus_03_dot_70) + (coolable Pan_bar__minus_03_dot_14_bar__plus_00_dot_97_bar__plus_01_dot_97) + (coolable Egg_bar__minus_01_dot_73_bar__plus_00_dot_82_bar__plus_03_dot_77) + (coolable WineBottle_bar__minus_03_dot_48_bar__plus_01_dot_46_bar__plus_03_dot_07) + (coolable Pan_bar__minus_03_dot_42_bar__plus_00_dot_97_bar__plus_01_dot_97) + (coolable Apple_bar__minus_00_dot_99_bar__plus_00_dot_95_bar__plus_00_dot_05) + (coolable Cup_bar__minus_03_dot_65_bar__plus_00_dot_92_bar__plus_01_dot_11) + (coolable Bowl_bar__minus_01_dot_66_bar__plus_00_dot_89_bar__plus_00_dot_56) + (coolable Bowl_bar__minus_01_dot_52_bar__plus_00_dot_89_bar__plus_00_dot_26) + (coolable Apple_bar__minus_00_dot_44_bar__plus_01_dot_05_bar__plus_03_dot_99) + (coolable Cup_bar__minus_00_dot_99_bar__plus_00_dot_89_bar__plus_00_dot_36) + + (isCool Bread_bar__minus_00_dot_09_bar__plus_01_dot_07_bar__plus_04_dot_05) + + + + (sliceable Lettuce_bar__minus_03_dot_27_bar__plus_01_dot_00_bar__plus_03_dot_66) + (sliceable Potato_bar__minus_00_dot_67_bar__plus_00_dot_76_bar__plus_03_dot_87) + (sliceable Tomato_bar__minus_01_dot_13_bar__plus_00_dot_96_bar__plus_00_dot_46) + (sliceable Egg_bar__minus_01_dot_19_bar__plus_00_dot_12_bar__plus_03_dot_85) + (sliceable Bread_bar__minus_00_dot_09_bar__plus_01_dot_07_bar__plus_04_dot_05) + (sliceable Bread_bar__minus_01_dot_39_bar__plus_00_dot_97_bar__minus_00_dot_05) + (sliceable Egg_bar__minus_01_dot_86_bar__plus_00_dot_82_bar__plus_03_dot_70) + (sliceable Egg_bar__minus_01_dot_73_bar__plus_00_dot_82_bar__plus_03_dot_77) + (sliceable Apple_bar__minus_00_dot_99_bar__plus_00_dot_95_bar__plus_00_dot_05) + (sliceable Apple_bar__minus_00_dot_44_bar__plus_01_dot_05_bar__plus_03_dot_99) + + (inReceptacle Mug_bar__minus_03_dot_42_bar__plus_00_dot_95_bar__plus_03_dot_28 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34) + (inReceptacle DishSponge_bar__minus_01_dot_61_bar__plus_00_dot_92_bar__plus_04_dot_15 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34) + (inReceptacle Bowl_bar__minus_03_dot_08_bar__plus_00_dot_91_bar__plus_02_dot_84 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34) + (inReceptacle Lettuce_bar__minus_03_dot_27_bar__plus_01_dot_00_bar__plus_03_dot_66 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34) + (inReceptacle Fork_bar__minus_02_dot_70_bar__plus_00_dot_92_bar__plus_03_dot_57 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34) + (inReceptacle Knife_bar__minus_03_dot_27_bar__plus_00_dot_94_bar__plus_02_dot_84 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34) + (inReceptacle SaltShaker_bar__minus_03_dot_10_bar__plus_00_dot_74_bar__plus_03_dot_08 Drawer_bar__minus_03_dot_12_bar__plus_00_dot_78_bar__plus_02_dot_92) + (inReceptacle Spatula_bar__minus_01_dot_79_bar__plus_00_dot_91_bar__minus_00_dot_05 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33) + (inReceptacle Tomato_bar__minus_01_dot_13_bar__plus_00_dot_96_bar__plus_00_dot_46 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33) + (inReceptacle ButterKnife_bar__minus_01_dot_66_bar__plus_00_dot_89_bar__plus_00_dot_15 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33) + (inReceptacle Apple_bar__minus_00_dot_99_bar__plus_00_dot_95_bar__plus_00_dot_05 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33) + (inReceptacle Plate_bar__minus_01_dot_26_bar__plus_00_dot_90_bar__plus_00_dot_26 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33) + (inReceptacle Bowl_bar__minus_01_dot_66_bar__plus_00_dot_89_bar__plus_00_dot_56 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33) + (inReceptacle Bowl_bar__minus_01_dot_52_bar__plus_00_dot_89_bar__plus_00_dot_26 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33) + (inReceptacle SaltShaker_bar__minus_00_dot_99_bar__plus_00_dot_89_bar__minus_00_dot_05 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33) + (inReceptacle Bread_bar__minus_01_dot_39_bar__plus_00_dot_97_bar__minus_00_dot_05 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33) + (inReceptacle Cup_bar__minus_00_dot_99_bar__plus_00_dot_89_bar__plus_00_dot_36 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33) + (inReceptacle Pot_bar__minus_03_dot_14_bar__plus_00_dot_96_bar__plus_02_dot_37 StoveBurner_bar__minus_03_dot_15_bar__plus_00_dot_96_bar__plus_02_dot_37) + (inReceptacle Pot_bar__minus_03_dot_14_bar__plus_00_dot_96_bar__plus_02_dot_37 StoveBurner_bar__minus_03_dot_42_bar__plus_00_dot_96_bar__plus_02_dot_37) + (inReceptacle WineBottle_bar__minus_03_dot_48_bar__plus_01_dot_46_bar__plus_03_dot_07 Cabinet_bar__minus_03_dot_37_bar__plus_01_dot_93_bar__plus_02_dot_68) + (inReceptacle Pan_bar__minus_03_dot_42_bar__plus_00_dot_97_bar__plus_01_dot_97 StoveBurner_bar__minus_03_dot_42_bar__plus_00_dot_96_bar__plus_01_dot_97) + (inReceptacle SaltShaker_bar__minus_03_dot_08_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 Plate_bar__minus_03_dot_37_bar__plus_00_dot_92_bar__plus_01_dot_36 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36) + (inReceptacle PepperShaker_bar__minus_03_dot_08_bar__plus_00_dot_91_bar__plus_01_dot_52 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36) + (inReceptacle Cup_bar__minus_03_dot_65_bar__plus_00_dot_92_bar__plus_01_dot_11 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36) + (inReceptacle Kettle_bar__minus_02_dot_84_bar__plus_00_dot_08_bar__plus_03_dot_66 Cabinet_bar__minus_02_dot_96_bar__plus_00_dot_39_bar__plus_03_dot_46) + (inReceptacle DishSponge_bar__minus_03_dot_46_bar__plus_01_dot_99_bar__plus_02_dot_42 Cabinet_bar__minus_03_dot_35_bar__plus_02_dot_21_bar__plus_02_dot_65) + (inReceptacle Cup_bar__minus_03_dot_46_bar__plus_01_dot_99_bar__plus_02_dot_54 Cabinet_bar__minus_03_dot_35_bar__plus_02_dot_21_bar__plus_02_dot_65) + (inReceptacle SoapBottle_bar__minus_03_dot_51_bar__plus_01_dot_46_bar__plus_01_dot_38 Cabinet_bar__minus_03_dot_37_bar__plus_01_dot_93_bar__plus_01_dot_06) + (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 Bread_bar__minus_00_dot_09_bar__plus_01_dot_07_bar__plus_04_dot_05 Fridge_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__plus_04_dot_00) + (inReceptacle Apple_bar__minus_00_dot_44_bar__plus_01_dot_05_bar__plus_03_dot_99 Fridge_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__plus_04_dot_00) + (inReceptacle Potato_bar__minus_00_dot_67_bar__plus_00_dot_76_bar__plus_03_dot_87 Fridge_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__plus_04_dot_00) + (inReceptacle Mug_bar__minus_03_dot_42_bar__plus_00_dot_95_bar__plus_03_dot_28 CoffeeMachine_bar__minus_03_dot_57_bar__plus_00_dot_90_bar__plus_03_dot_28) + (inReceptacle Egg_bar__minus_01_dot_73_bar__plus_00_dot_82_bar__plus_03_dot_77 Sink_bar__minus_01_dot_80_bar__plus_00_dot_92_bar__plus_03_dot_66_bar_SinkBasin) + (inReceptacle Egg_bar__minus_01_dot_86_bar__plus_00_dot_82_bar__plus_03_dot_70 Sink_bar__minus_01_dot_80_bar__plus_00_dot_92_bar__plus_03_dot_66_bar_SinkBasin) + (inReceptacle Spoon_bar__minus_01_dot_67_bar__plus_00_dot_79_bar__plus_03_dot_66 Sink_bar__minus_01_dot_80_bar__plus_00_dot_92_bar__plus_03_dot_66_bar_SinkBasin) + (inReceptacle DishSponge_bar__minus_01_dot_16_bar__plus_00_dot_09_bar__plus_03_dot_72 GarbageCan_bar__minus_01_dot_19_bar__plus_00_dot_01_bar__plus_03_dot_79) + (inReceptacle Egg_bar__minus_01_dot_19_bar__plus_00_dot_12_bar__plus_03_dot_85 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) + (receptacleAtLocation Cabinet_bar__minus_02_dot_19_bar__plus_00_dot_39_bar__plus_03_dot_47 loc_bar__minus_9_bar_13_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_21_bar__plus_00_dot_39_bar__plus_03_dot_46 loc_bar__minus_7_bar_10_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_96_bar__plus_00_dot_39_bar__plus_03_dot_46 loc_bar__minus_9_bar_10_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_99_bar__plus_00_dot_39_bar__plus_01_dot_04 loc_bar__minus_8_bar_7_bar_3_bar_45) + (receptacleAtLocation Cabinet_bar__minus_02_dot_99_bar__plus_00_dot_39_bar__plus_02_dot_68 loc_bar__minus_11_bar_11_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_03_dot_35_bar__plus_02_dot_21_bar__plus_01_dot_72 loc_bar__minus_10_bar_9_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_03_dot_35_bar__plus_02_dot_21_bar__plus_02_dot_65 loc_bar__minus_11_bar_11_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_03_dot_37_bar__plus_01_dot_93_bar__plus_01_dot_06 loc_bar__minus_11_bar_6_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_03_dot_37_bar__plus_01_dot_93_bar__plus_02_dot_68 loc_bar__minus_11_bar_12_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_03_dot_37_bar__plus_01_dot_93_bar__plus_03_dot_96 loc_bar__minus_11_bar_12_bar_0_bar__minus_15) + (receptacleAtLocation CoffeeMachine_bar__minus_03_dot_57_bar__plus_00_dot_90_bar__plus_03_dot_28 loc_bar__minus_11_bar_12_bar_3_bar_45) + (receptacleAtLocation 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(objectAtLocation Potato_bar__minus_00_dot_67_bar__plus_00_dot_76_bar__plus_03_dot_87 loc_bar__minus_2_bar_12_bar_0_bar_60) + (objectAtLocation Plate_bar__minus_03_dot_37_bar__plus_00_dot_92_bar__plus_01_dot_36 loc_bar__minus_11_bar_6_bar_3_bar_45) + (objectAtLocation Pot_bar__minus_03_dot_14_bar__plus_00_dot_96_bar__plus_02_dot_37 loc_bar__minus_10_bar_9_bar_3_bar_30) + (objectAtLocation Kettle_bar__minus_02_dot_84_bar__plus_00_dot_08_bar__plus_03_dot_66 loc_bar__minus_9_bar_10_bar_0_bar_60) + (objectAtLocation LightSwitch_bar__plus_00_dot_25_bar__plus_01_dot_38_bar__plus_02_dot_09 loc_bar__minus_1_bar_8_bar_1_bar_30) + (objectAtLocation Window_bar__minus_01_dot_43_bar__plus_01_dot_34_bar__minus_00_dot_35 loc_bar__minus_9_bar_1_bar_1_bar_15) + (objectAtLocation WineBottle_bar__minus_03_dot_48_bar__plus_01_dot_46_bar__plus_03_dot_07 loc_bar__minus_11_bar_12_bar_3_bar__minus_30) + (objectAtLocation Bowl_bar__minus_01_dot_52_bar__plus_00_dot_89_bar__plus_00_dot_26 loc_bar__minus_2_bar_2_bar_3_bar_60) + (objectAtLocation Tomato_bar__minus_01_dot_13_bar__plus_00_dot_96_bar__plus_00_dot_46 loc_bar__minus_2_bar_2_bar_3_bar_60) + (objectAtLocation Cup_bar__minus_00_dot_99_bar__plus_00_dot_89_bar__plus_00_dot_36 loc_bar__minus_2_bar_2_bar_3_bar_60) + (objectAtLocation Spatula_bar__minus_01_dot_79_bar__plus_00_dot_91_bar__minus_00_dot_05 loc_bar__minus_2_bar_2_bar_3_bar_60) + (objectAtLocation SoapBottle_bar__minus_03_dot_51_bar__plus_01_dot_46_bar__plus_01_dot_38 loc_bar__minus_11_bar_6_bar_3_bar__minus_30) + (objectAtLocation Lettuce_bar__minus_03_dot_27_bar__plus_01_dot_00_bar__plus_03_dot_66 loc_bar__minus_11_bar_12_bar_3_bar_45) + (objectAtLocation Pan_bar__minus_03_dot_14_bar__plus_00_dot_97_bar__plus_01_dot_97 loc_bar__minus_10_bar_8_bar_3_bar_45) + (objectAtLocation Apple_bar__minus_00_dot_44_bar__plus_01_dot_05_bar__plus_03_dot_99 loc_bar__minus_2_bar_12_bar_0_bar_60) + (objectAtLocation 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loc_bar__minus_9_bar_1_bar_1_bar__minus_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (heatable ?o) + (objectType ?o BreadType) + (receptacleType ?r FridgeType) + (isHot ?o) + (inReceptacle ?o ?r) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Bread-None-Fridge-15/trial_T20190906_215325_042307/traj_data.json b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Bread-None-Fridge-15/trial_T20190906_215325_042307/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..5c17d7a1110b9ee2da9154327ecc1261c5ce44c1 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Bread-None-Fridge-15/trial_T20190906_215325_042307/traj_data.json @@ -0,0 +1,13137 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000001.png", + "low_idx": 0 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", + "Bring the bread to the microwave. ", + "Heat the bread in the microwave. ", + "Take the bread to the fridge.", + "Put the bread back in the fridge. " + ], + "task_desc": "Heat the bread, put it back in the fridge. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A23HZ18KTCK2DA_3AMW0RGHOGJVSGO36WNB94UATZTPNS", + "high_descs": [ + "Turn around. Move towards the door. At the door turn left to face the fridge.", + "Grab the bread that is on the top shelf.", + "Turn left and move to the stove.", + "Open the microwave. Put the bread in the microwave. Turn the microwave on. When finished take the bread out of the microwave.", + "Turn all the way around. Move towards the door. At the door turn left to face the fridge.", + "Open the fridge and place the bread on the top shelf to the left of the green jar." + ], + "task_desc": "Warm the bread up in the microwave.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1ELPYAFO7MANS_3X31TUMD7032NO2G9HW6VG8NLLNL1C", + "high_descs": [ + "Turn around and walk to the fridge.", + "Take the bread out of the fridge.", + "Turn around and walk right to the microwave.", + "Heat the bread in the microwave.", + "Turn around and walk back to the fridge.", + "Put the bread on the top shelf of the fridge to the left of the green item." + ], + "task_desc": "Place a heated loaf of bread in a fridge.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Bread-None-Fridge-15/trial_T20190906_215400_394248/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Bread-None-Fridge-15/trial_T20190906_215400_394248/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..e503f16a769f42be3561389c162a490391470c0f --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Bread-None-Fridge-15/trial_T20190906_215400_394248/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 bread and put it in fridge.\"\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_215400_394248)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__minus_01_dot_92_bar__plus_00_dot_85_bar__plus_03_dot_70 - object\n Blinds_bar__minus_01_dot_41_bar__plus_02_dot_09_bar__minus_00_dot_30 - object\n Bowl_bar__minus_02_dot_80_bar__plus_00_dot_08_bar__plus_03_dot_62 - object\n Bread_bar__minus_00_dot_99_bar__plus_00_dot_97_bar__plus_00_dot_15 - object\n Bread_bar__minus_00_dot_99_bar__plus_00_dot_97_bar__plus_00_dot_36 - object\n Bread_bar__minus_01_dot_39_bar__plus_00_dot_97_bar__minus_00_dot_05 - object\n Bread_bar__minus_01_dot_50_bar__plus_01_dot_00_bar__plus_04_dot_19 - object\n ButterKnife_bar__minus_01_dot_84_bar__plus_00_dot_78_bar__plus_03_dot_67 - object\n Chair_bar__minus_01_dot_41_bar__plus_00_dot_55_bar__plus_00_dot_96 - object\n Cup_bar__minus_01_dot_26_bar__plus_00_dot_89_bar__plus_00_dot_56 - object\n DishSponge_bar__minus_03_dot_48_bar__plus_01_dot_46_bar__plus_02_dot_77 - object\n Egg_bar__minus_00_dot_21_bar__plus_01_dot_31_bar__plus_03_dot_99 - object\n Egg_bar__minus_00_dot_32_bar__plus_01_dot_58_bar__plus_04_dot_10 - object\n Egg_bar__minus_01_dot_79_bar__plus_00_dot_82_bar__plus_03_dot_81 - object\n Faucet_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__plus_03_dot_93 - object\n Fork_bar__minus_02_dot_40_bar__plus_00_dot_92_bar__plus_03_dot_57 - object\n Fork_bar__minus_02_dot_80_bar__plus_00_dot_92_bar__plus_04_dot_11 - object\n Kettle_bar__minus_01_dot_26_bar__plus_00_dot_89_bar__plus_00_dot_15 - object\n Kettle_bar__minus_03_dot_15_bar__plus_00_dot_08_bar__plus_01_dot_28 - object\n Knife_bar__minus_01_dot_79_bar__plus_00_dot_92_bar__plus_00_dot_15 - object\n Knife_bar__minus_03_dot_56_bar__plus_00_dot_94_bar__plus_01_dot_19 - object\n Lettuce_bar__minus_01_dot_52_bar__plus_00_dot_98_bar__plus_00_dot_26 - object\n Lettuce_bar__minus_01_dot_82_bar__plus_01_dot_00_bar__plus_04_dot_15 - object\n LightSwitch_bar__plus_00_dot_25_bar__plus_01_dot_38_bar__plus_02_dot_09 - object\n Mug_bar__minus_03_dot_37_bar__plus_00_dot_91_bar__plus_01_dot_19 - object\n Mug_bar__minus_03_dot_43_bar__plus_00_dot_95_bar__plus_03_dot_28 - object\n Pan_bar__minus_03_dot_42_bar__plus_00_dot_97_bar__plus_01_dot_97 - object\n Pan_bar__minus_03_dot_46_bar__plus_00_dot_92_bar__plus_02_dot_84 - object\n PepperShaker_bar__minus_03_dot_65_bar__plus_00_dot_91_bar__plus_01_dot_36 - object\n Plate_bar__minus_03_dot_01_bar__plus_00_dot_90_bar__plus_03_dot_68 - object\n Potato_bar__minus_00_dot_21_bar__plus_01_dot_57_bar__plus_04_dot_10 - object\n Pot_bar__minus_03_dot_14_bar__plus_00_dot_96_bar__plus_02_dot_37 - object\n SaltShaker_bar__minus_03_dot_19_bar__plus_00_dot_74_bar__plus_03_dot_08 - object\n SaltShaker_bar__minus_03_dot_65_bar__plus_00_dot_91_bar__plus_01_dot_44 - object\n Sink_bar__minus_01_dot_80_bar__plus_00_dot_92_bar__plus_03_dot_66 - object\n SoapBottle_bar__minus_00_dot_99_bar__plus_00_dot_90_bar__minus_00_dot_05 - object\n SoapBottle_bar__minus_01_dot_26_bar__plus_00_dot_89_bar__plus_00_dot_36 - object\n Spatula_bar__minus_01_dot_52_bar__plus_00_dot_91_bar__plus_00_dot_05 - object\n Spatula_bar__minus_01_dot_79_bar__plus_00_dot_91_bar__minus_00_dot_05 - object\n Spoon_bar__minus_03_dot_46_bar__plus_00_dot_92_bar__plus_01_dot_61 - object\n StoveKnob_bar__minus_03_dot_60_bar__plus_01_dot_11_bar__plus_01_dot_87 - object\n StoveKnob_bar__minus_03_dot_60_bar__plus_01_dot_11_bar__plus_02_dot_02 - object\n StoveKnob_bar__minus_03_dot_60_bar__plus_01_dot_11_bar__plus_02_dot_27 - object\n StoveKnob_bar__minus_03_dot_60_bar__plus_01_dot_11_bar__plus_02_dot_43 - object\n Tomato_bar__minus_00_dot_67_bar__plus_01_dot_05_bar__plus_03_dot_80 - object\n Tomato_bar__minus_01_dot_16_bar__plus_00_dot_16_bar__plus_03_dot_82 - object\n Tomato_bar__minus_02_dot_13_bar__plus_00_dot_98_bar__plus_04_dot_06 - object\n Window_bar__minus_01_dot_43_bar__plus_01_dot_34_bar__minus_00_dot_35 - object\n WineBottle_bar__minus_03_dot_12_bar__plus_00_dot_08_bar__plus_03_dot_09 - object\n WineBottle_bar__minus_03_dot_18_bar__plus_00_dot_92_bar__plus_03_dot_17 - object\n Cabinet_bar__minus_01_dot_42_bar__plus_00_dot_39_bar__plus_03_dot_46 - receptacle\n Cabinet_bar__minus_02_dot_19_bar__plus_00_dot_39_bar__plus_03_dot_47 - receptacle\n Cabinet_bar__minus_02_dot_21_bar__plus_00_dot_39_bar__plus_03_dot_46 - receptacle\n Cabinet_bar__minus_02_dot_96_bar__plus_00_dot_39_bar__plus_03_dot_46 - receptacle\n Cabinet_bar__minus_02_dot_99_bar__plus_00_dot_39_bar__plus_01_dot_04 - receptacle\n Cabinet_bar__minus_02_dot_99_bar__plus_00_dot_39_bar__plus_02_dot_68 - receptacle\n Cabinet_bar__minus_03_dot_35_bar__plus_02_dot_21_bar__plus_01_dot_72 - receptacle\n Cabinet_bar__minus_03_dot_35_bar__plus_02_dot_21_bar__plus_02_dot_65 - receptacle\n Cabinet_bar__minus_03_dot_37_bar__plus_01_dot_93_bar__plus_01_dot_06 - receptacle\n Cabinet_bar__minus_03_dot_37_bar__plus_01_dot_93_bar__plus_02_dot_68 - receptacle\n Cabinet_bar__minus_03_dot_37_bar__plus_01_dot_93_bar__plus_03_dot_96 - receptacle\n CoffeeMachine_bar__minus_03_dot_57_bar__plus_00_dot_90_bar__plus_03_dot_28 - receptacle\n CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36 - receptacle\n CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34 - receptacle\n DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33 - receptacle\n Drawer_bar__minus_03_dot_12_bar__plus_00_dot_78_bar__plus_01_dot_36 - receptacle\n Drawer_bar__minus_03_dot_12_bar__plus_00_dot_78_bar__plus_02_dot_92 - receptacle\n Drawer_bar__minus_03_dot_12_bar__plus_00_dot_78_bar__plus_03_dot_30 - receptacle\n Fridge_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__plus_04_dot_00 - receptacle\n GarbageCan_bar__minus_01_dot_19_bar__plus_00_dot_01_bar__plus_03_dot_79 - receptacle\n Microwave_bar__minus_03_dot_49_bar__plus_01_dot_43_bar__plus_02_dot_18 - receptacle\n Sink_bar__minus_01_dot_80_bar__plus_00_dot_92_bar__plus_03_dot_66_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_03_dot_14_bar__plus_00_dot_96_bar__plus_01_dot_97 - receptacle\n StoveBurner_bar__minus_03_dot_15_bar__plus_00_dot_96_bar__plus_02_dot_37 - receptacle\n StoveBurner_bar__minus_03_dot_42_bar__plus_00_dot_96_bar__plus_01_dot_97 - receptacle\n StoveBurner_bar__minus_03_dot_42_bar__plus_00_dot_96_bar__plus_02_dot_37 - receptacle\n Toaster_bar__minus_02_dot_65_bar__plus_00_dot_90_bar__plus_04_dot_06 - receptacle\n loc_bar__minus_7_bar_13_bar_0_bar_60 - location\n loc_bar__minus_11_bar_11_bar_3_bar__minus_30 - location\n loc_bar__minus_10_bar_10_bar_3_bar_30 - location\n loc_bar__minus_10_bar_8_bar_3_bar_45 - location\n loc_bar__minus_11_bar_6_bar_3_bar_45 - location\n loc_bar__minus_9_bar_12_bar_3_bar_45 - location\n loc_bar__minus_2_bar_12_bar_0_bar_60 - location\n loc_bar__minus_11_bar_11_bar_3_bar_60 - location\n loc_bar__minus_6_bar_12_bar_0_bar_45 - location\n loc_bar__minus_10_bar_9_bar_3_bar_15 - location\n loc_bar__minus_7_bar_10_bar_0_bar_60 - location\n loc_bar__minus_8_bar_7_bar_3_bar_45 - location\n loc_bar__minus_11_bar_12_bar_3_bar__minus_30 - location\n loc_bar__minus_11_bar_6_bar_3_bar__minus_30 - location\n loc_bar__minus_8_bar_10_bar_0_bar_60 - location\n loc_bar__minus_9_bar_6_bar_3_bar_45 - location\n loc_bar__minus_11_bar_12_bar_3_bar_45 - location\n loc_bar__minus_10_bar_9_bar_3_bar_30 - location\n loc_bar__minus_5_bar_13_bar_0_bar_60 - location\n loc_bar__minus_9_bar_13_bar_0_bar_60 - location\n loc_bar__minus_10_bar_8_bar_3_bar_30 - location\n loc_bar__minus_5_bar_5_bar_2_bar_60 - location\n loc_bar__minus_10_bar_9_bar_3_bar_45 - location\n loc_bar__minus_2_bar_2_bar_3_bar_60 - location\n loc_bar__minus_10_bar_9_bar_3_bar__minus_30 - location\n loc_bar__minus_9_bar_10_bar_0_bar_60 - location\n loc_bar__minus_11_bar_12_bar_0_bar_30 - location\n loc_bar__minus_9_bar_1_bar_1_bar_15 - location\n loc_bar__minus_11_bar_12_bar_0_bar__minus_15 - location\n loc_bar__minus_1_bar_8_bar_1_bar_30 - location\n loc_bar__minus_9_bar_1_bar_1_bar__minus_30 - location\n loc_bar__minus_9_bar_13_bar_3_bar_45 - location\n loc_bar__minus_11_bar_6_bar_3_bar_30 - location\n loc_bar__minus_2_bar_3_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36 CounterTopType)\n (receptacleType Cabinet_bar__minus_02_dot_99_bar__plus_00_dot_39_bar__plus_02_dot_68 CabinetType)\n (receptacleType Drawer_bar__minus_03_dot_12_bar__plus_00_dot_78_bar__plus_03_dot_30 DrawerType)\n (receptacleType Cabinet_bar__minus_03_dot_35_bar__plus_02_dot_21_bar__plus_02_dot_65 CabinetType)\n (receptacleType Cabinet_bar__minus_03_dot_35_bar__plus_02_dot_21_bar__plus_01_dot_72 CabinetType)\n (receptacleType Cabinet_bar__minus_03_dot_37_bar__plus_01_dot_93_bar__plus_01_dot_06 CabinetType)\n (receptacleType Cabinet_bar__minus_03_dot_37_bar__plus_01_dot_93_bar__plus_02_dot_68 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_42_bar__plus_00_dot_39_bar__plus_03_dot_46 CabinetType)\n (receptacleType Sink_bar__minus_01_dot_80_bar__plus_00_dot_92_bar__plus_03_dot_66_bar_SinkBasin SinkBasinType)\n (receptacleType Microwave_bar__minus_03_dot_49_bar__plus_01_dot_43_bar__plus_02_dot_18 MicrowaveType)\n (receptacleType Cabinet_bar__minus_02_dot_21_bar__plus_00_dot_39_bar__plus_03_dot_46 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_19_bar__plus_00_dot_39_bar__plus_03_dot_47 CabinetType)\n (receptacleType Cabinet_bar__minus_03_dot_37_bar__plus_01_dot_93_bar__plus_03_dot_96 CabinetType)\n (receptacleType Fridge_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__plus_04_dot_00 FridgeType)\n (receptacleType StoveBurner_bar__minus_03_dot_15_bar__plus_00_dot_96_bar__plus_02_dot_37 StoveBurnerType)\n (receptacleType Drawer_bar__minus_03_dot_12_bar__plus_00_dot_78_bar__plus_01_dot_36 DrawerType)\n (receptacleType Cabinet_bar__minus_02_dot_96_bar__plus_00_dot_39_bar__plus_03_dot_46 CabinetType)\n (receptacleType StoveBurner_bar__minus_03_dot_14_bar__plus_00_dot_96_bar__plus_01_dot_97 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CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34)\n (inReceptacle Fork_bar__minus_02_dot_80_bar__plus_00_dot_92_bar__plus_04_dot_11 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34)\n (inReceptacle Pan_bar__minus_03_dot_46_bar__plus_00_dot_92_bar__plus_02_dot_84 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34)\n (inReceptacle Lettuce_bar__minus_01_dot_82_bar__plus_01_dot_00_bar__plus_04_dot_15 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34)\n (inReceptacle Mug_bar__minus_03_dot_43_bar__plus_00_dot_95_bar__plus_03_dot_28 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34)\n (inReceptacle Tomato_bar__minus_02_dot_13_bar__plus_00_dot_98_bar__plus_04_dot_06 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34)\n (inReceptacle SaltShaker_bar__minus_03_dot_19_bar__plus_00_dot_74_bar__plus_03_dot_08 Drawer_bar__minus_03_dot_12_bar__plus_00_dot_78_bar__plus_02_dot_92)\n (inReceptacle Spatula_bar__minus_01_dot_79_bar__plus_00_dot_91_bar__minus_00_dot_05 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33)\n (inReceptacle Bread_bar__minus_00_dot_99_bar__plus_00_dot_97_bar__plus_00_dot_36 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33)\n (inReceptacle Knife_bar__minus_01_dot_79_bar__plus_00_dot_92_bar__plus_00_dot_15 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33)\n (inReceptacle Kettle_bar__minus_01_dot_26_bar__plus_00_dot_89_bar__plus_00_dot_15 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33)\n (inReceptacle SoapBottle_bar__minus_01_dot_26_bar__plus_00_dot_89_bar__plus_00_dot_36 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33)\n (inReceptacle Spatula_bar__minus_01_dot_52_bar__plus_00_dot_91_bar__plus_00_dot_05 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33)\n (inReceptacle Lettuce_bar__minus_01_dot_52_bar__plus_00_dot_98_bar__plus_00_dot_26 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33)\n (inReceptacle Bread_bar__minus_00_dot_99_bar__plus_00_dot_97_bar__plus_00_dot_15 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33)\n (inReceptacle Cup_bar__minus_01_dot_26_bar__plus_00_dot_89_bar__plus_00_dot_56 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33)\n (inReceptacle Bread_bar__minus_01_dot_39_bar__plus_00_dot_97_bar__minus_00_dot_05 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33)\n (inReceptacle SoapBottle_bar__minus_00_dot_99_bar__plus_00_dot_90_bar__minus_00_dot_05 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33)\n (inReceptacle Pot_bar__minus_03_dot_14_bar__plus_00_dot_96_bar__plus_02_dot_37 StoveBurner_bar__minus_03_dot_15_bar__plus_00_dot_96_bar__plus_02_dot_37)\n (inReceptacle Pot_bar__minus_03_dot_14_bar__plus_00_dot_96_bar__plus_02_dot_37 StoveBurner_bar__minus_03_dot_42_bar__plus_00_dot_96_bar__plus_02_dot_37)\n (inReceptacle DishSponge_bar__minus_03_dot_48_bar__plus_01_dot_46_bar__plus_02_dot_77 Cabinet_bar__minus_03_dot_37_bar__plus_01_dot_93_bar__plus_02_dot_68)\n (inReceptacle Pan_bar__minus_03_dot_42_bar__plus_00_dot_97_bar__plus_01_dot_97 StoveBurner_bar__minus_03_dot_42_bar__plus_00_dot_96_bar__plus_01_dot_97)\n (inReceptacle Mug_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)\n (inReceptacle Knife_bar__minus_03_dot_56_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)\n (inReceptacle PepperShaker_bar__minus_03_dot_65_bar__plus_00_dot_91_bar__plus_01_dot_36 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36)\n (inReceptacle SaltShaker_bar__minus_03_dot_65_bar__plus_00_dot_91_bar__plus_01_dot_44 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36)\n (inReceptacle Spoon_bar__minus_03_dot_46_bar__plus_00_dot_92_bar__plus_01_dot_61 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36)\n (inReceptacle Bowl_bar__minus_02_dot_80_bar__plus_00_dot_08_bar__plus_03_dot_62 Cabinet_bar__minus_02_dot_96_bar__plus_00_dot_39_bar__plus_03_dot_46)\n (inReceptacle WineBottle_bar__minus_03_dot_12_bar__plus_00_dot_08_bar__plus_03_dot_09 Cabinet_bar__minus_02_dot_99_bar__plus_00_dot_39_bar__plus_02_dot_68)\n (inReceptacle Kettle_bar__minus_03_dot_15_bar__plus_00_dot_08_bar__plus_01_dot_28 Cabinet_bar__minus_02_dot_99_bar__plus_00_dot_39_bar__plus_01_dot_04)\n (inReceptacle Potato_bar__minus_00_dot_21_bar__plus_01_dot_57_bar__plus_04_dot_10 Fridge_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__plus_04_dot_00)\n (inReceptacle Egg_bar__minus_00_dot_32_bar__plus_01_dot_58_bar__plus_04_dot_10 Fridge_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__plus_04_dot_00)\n (inReceptacle Tomato_bar__minus_00_dot_67_bar__plus_01_dot_05_bar__plus_03_dot_80 Fridge_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__plus_04_dot_00)\n (inReceptacle Egg_bar__minus_00_dot_21_bar__plus_01_dot_31_bar__plus_03_dot_99 Fridge_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__plus_04_dot_00)\n (inReceptacle Mug_bar__minus_03_dot_43_bar__plus_00_dot_95_bar__plus_03_dot_28 CoffeeMachine_bar__minus_03_dot_57_bar__plus_00_dot_90_bar__plus_03_dot_28)\n (inReceptacle Egg_bar__minus_01_dot_79_bar__plus_00_dot_82_bar__plus_03_dot_81 Sink_bar__minus_01_dot_80_bar__plus_00_dot_92_bar__plus_03_dot_66_bar_SinkBasin)\n (inReceptacle Apple_bar__minus_01_dot_92_bar__plus_00_dot_85_bar__plus_03_dot_70 Sink_bar__minus_01_dot_80_bar__plus_00_dot_92_bar__plus_03_dot_66_bar_SinkBasin)\n (inReceptacle ButterKnife_bar__minus_01_dot_84_bar__plus_00_dot_78_bar__plus_03_dot_67 Sink_bar__minus_01_dot_80_bar__plus_00_dot_92_bar__plus_03_dot_66_bar_SinkBasin)\n (inReceptacle Tomato_bar__minus_01_dot_16_bar__plus_00_dot_16_bar__plus_03_dot_82 GarbageCan_bar__minus_01_dot_19_bar__plus_00_dot_01_bar__plus_03_dot_79)\n \n \n (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)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_19_bar__plus_00_dot_39_bar__plus_03_dot_47 loc_bar__minus_9_bar_13_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_21_bar__plus_00_dot_39_bar__plus_03_dot_46 loc_bar__minus_7_bar_10_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_96_bar__plus_00_dot_39_bar__plus_03_dot_46 loc_bar__minus_9_bar_10_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_99_bar__plus_00_dot_39_bar__plus_01_dot_04 loc_bar__minus_8_bar_7_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_99_bar__plus_00_dot_39_bar__plus_02_dot_68 loc_bar__minus_11_bar_11_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_35_bar__plus_02_dot_21_bar__plus_01_dot_72 loc_bar__minus_10_bar_9_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_35_bar__plus_02_dot_21_bar__plus_02_dot_65 loc_bar__minus_11_bar_11_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_37_bar__plus_01_dot_93_bar__plus_01_dot_06 loc_bar__minus_11_bar_6_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_37_bar__plus_01_dot_93_bar__plus_02_dot_68 loc_bar__minus_11_bar_12_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_37_bar__plus_01_dot_93_bar__plus_03_dot_96 loc_bar__minus_11_bar_12_bar_0_bar__minus_15)\n (receptacleAtLocation CoffeeMachine_bar__minus_03_dot_57_bar__plus_00_dot_90_bar__plus_03_dot_28 loc_bar__minus_11_bar_12_bar_3_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36 loc_bar__minus_11_bar_6_bar_3_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34 loc_bar__minus_11_bar_12_bar_3_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33 loc_bar__minus_2_bar_2_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_03_dot_12_bar__plus_00_dot_78_bar__plus_01_dot_36 loc_bar__minus_9_bar_6_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_03_dot_12_bar__plus_00_dot_78_bar__plus_02_dot_92 loc_bar__minus_9_bar_13_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_03_dot_12_bar__plus_00_dot_78_bar__plus_03_dot_30 loc_bar__minus_9_bar_12_bar_3_bar_45)\n (receptacleAtLocation Fridge_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__plus_04_dot_00 loc_bar__minus_2_bar_12_bar_0_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_19_bar__plus_00_dot_01_bar__plus_03_dot_79 loc_bar__minus_5_bar_13_bar_0_bar_60)\n (receptacleAtLocation Microwave_bar__minus_03_dot_49_bar__plus_01_dot_43_bar__plus_02_dot_18 loc_bar__minus_10_bar_9_bar_3_bar_15)\n (receptacleAtLocation Sink_bar__minus_01_dot_80_bar__plus_00_dot_92_bar__plus_03_dot_66_bar_SinkBasin loc_bar__minus_6_bar_12_bar_0_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_03_dot_14_bar__plus_00_dot_96_bar__plus_01_dot_97 loc_bar__minus_10_bar_8_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_03_dot_15_bar__plus_00_dot_96_bar__plus_02_dot_37 loc_bar__minus_10_bar_9_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_03_dot_42_bar__plus_00_dot_96_bar__plus_01_dot_97 loc_bar__minus_10_bar_8_bar_3_bar_30)\n (receptacleAtLocation StoveBurner_bar__minus_03_dot_42_bar__plus_00_dot_96_bar__plus_02_dot_37 loc_bar__minus_10_bar_9_bar_3_bar_30)\n (receptacleAtLocation Toaster_bar__minus_02_dot_65_bar__plus_00_dot_90_bar__plus_04_dot_06 loc_bar__minus_11_bar_12_bar_0_bar_30)\n (objectAtLocation Mug_bar__minus_03_dot_37_bar__plus_00_dot_91_bar__plus_01_dot_19 loc_bar__minus_11_bar_6_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__minus_03_dot_19_bar__plus_00_dot_74_bar__plus_03_dot_08 loc_bar__minus_9_bar_13_bar_3_bar_45)\n (objectAtLocation Pan_bar__minus_03_dot_46_bar__plus_00_dot_92_bar__plus_02_dot_84 loc_bar__minus_11_bar_12_bar_3_bar_45)\n (objectAtLocation Lettuce_bar__minus_01_dot_52_bar__plus_00_dot_98_bar__plus_00_dot_26 loc_bar__minus_2_bar_2_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__minus_00_dot_99_bar__plus_00_dot_90_bar__minus_00_dot_05 loc_bar__minus_2_bar_2_bar_3_bar_60)\n (objectAtLocation Spatula_bar__minus_01_dot_52_bar__plus_00_dot_91_bar__plus_00_dot_05 loc_bar__minus_2_bar_2_bar_3_bar_60)\n (objectAtLocation Tomato_bar__minus_00_dot_67_bar__plus_01_dot_05_bar__plus_03_dot_80 loc_bar__minus_2_bar_12_bar_0_bar_60)\n (objectAtLocation WineBottle_bar__minus_03_dot_12_bar__plus_00_dot_08_bar__plus_03_dot_09 loc_bar__minus_11_bar_11_bar_3_bar_60)\n (objectAtLocation Kettle_bar__minus_01_dot_26_bar__plus_00_dot_89_bar__plus_00_dot_15 loc_bar__minus_2_bar_2_bar_3_bar_60)\n (objectAtLocation Bread_bar__minus_00_dot_99_bar__plus_00_dot_97_bar__plus_00_dot_15 loc_bar__minus_2_bar_2_bar_3_bar_60)\n (objectAtLocation Fork_bar__minus_02_dot_80_bar__plus_00_dot_92_bar__plus_04_dot_11 loc_bar__minus_11_bar_12_bar_3_bar_45)\n (objectAtLocation Knife_bar__minus_01_dot_79_bar__plus_00_dot_92_bar__plus_00_dot_15 loc_bar__minus_2_bar_2_bar_3_bar_60)\n (objectAtLocation Egg_bar__minus_00_dot_21_bar__plus_01_dot_31_bar__plus_03_dot_99 loc_bar__minus_2_bar_12_bar_0_bar_60)\n (objectAtLocation Bread_bar__minus_00_dot_99_bar__plus_00_dot_97_bar__plus_00_dot_36 loc_bar__minus_2_bar_2_bar_3_bar_60)\n (objectAtLocation Bread_bar__minus_01_dot_50_bar__plus_01_dot_00_bar__plus_04_dot_19 loc_bar__minus_11_bar_12_bar_3_bar_45)\n (objectAtLocation Tomato_bar__minus_02_dot_13_bar__plus_00_dot_98_bar__plus_04_dot_06 loc_bar__minus_11_bar_12_bar_3_bar_45)\n (objectAtLocation Egg_bar__minus_01_dot_79_bar__plus_00_dot_82_bar__plus_03_dot_81 loc_bar__minus_6_bar_12_bar_0_bar_45)\n (objectAtLocation Sink_bar__minus_01_dot_80_bar__plus_00_dot_92_bar__plus_03_dot_66 loc_bar__minus_7_bar_13_bar_0_bar_60)\n (objectAtLocation Egg_bar__minus_00_dot_32_bar__plus_01_dot_58_bar__plus_04_dot_10 loc_bar__minus_2_bar_12_bar_0_bar_60)\n (objectAtLocation Knife_bar__minus_03_dot_56_bar__plus_00_dot_94_bar__plus_01_dot_19 loc_bar__minus_11_bar_6_bar_3_bar_45)\n (objectAtLocation StoveKnob_bar__minus_03_dot_60_bar__plus_01_dot_11_bar__plus_02_dot_02 loc_bar__minus_10_bar_8_bar_3_bar_30)\n (objectAtLocation StoveKnob_bar__minus_03_dot_60_bar__plus_01_dot_11_bar__plus_01_dot_87 loc_bar__minus_11_bar_6_bar_3_bar_30)\n (objectAtLocation StoveKnob_bar__minus_03_dot_60_bar__plus_01_dot_11_bar__plus_02_dot_27 loc_bar__minus_10_bar_9_bar_3_bar_30)\n (objectAtLocation StoveKnob_bar__minus_03_dot_60_bar__plus_01_dot_11_bar__plus_02_dot_43 loc_bar__minus_10_bar_10_bar_3_bar_30)\n (objectAtLocation Fork_bar__minus_02_dot_40_bar__plus_00_dot_92_bar__plus_03_dot_57 loc_bar__minus_11_bar_12_bar_3_bar_45)\n (objectAtLocation Bread_bar__minus_01_dot_39_bar__plus_00_dot_97_bar__minus_00_dot_05 loc_bar__minus_2_bar_2_bar_3_bar_60)\n (objectAtLocation Potato_bar__minus_00_dot_21_bar__plus_01_dot_57_bar__plus_04_dot_10 loc_bar__minus_2_bar_12_bar_0_bar_60)\n (objectAtLocation Plate_bar__minus_03_dot_01_bar__plus_00_dot_90_bar__plus_03_dot_68 loc_bar__minus_11_bar_12_bar_3_bar_45)\n (objectAtLocation Pot_bar__minus_03_dot_14_bar__plus_00_dot_96_bar__plus_02_dot_37 loc_bar__minus_10_bar_9_bar_3_bar_30)\n (objectAtLocation Kettle_bar__minus_03_dot_15_bar__plus_00_dot_08_bar__plus_01_dot_28 loc_bar__minus_8_bar_7_bar_3_bar_45)\n (objectAtLocation LightSwitch_bar__plus_00_dot_25_bar__plus_01_dot_38_bar__plus_02_dot_09 loc_bar__minus_1_bar_8_bar_1_bar_30)\n (objectAtLocation Window_bar__minus_01_dot_43_bar__plus_01_dot_34_bar__minus_00_dot_35 loc_bar__minus_9_bar_1_bar_1_bar_15)\n (objectAtLocation WineBottle_bar__minus_03_dot_18_bar__plus_00_dot_92_bar__plus_03_dot_17 loc_bar__minus_11_bar_12_bar_3_bar_45)\n (objectAtLocation Bowl_bar__minus_02_dot_80_bar__plus_00_dot_08_bar__plus_03_dot_62 loc_bar__minus_9_bar_10_bar_0_bar_60)\n (objectAtLocation Tomato_bar__minus_01_dot_16_bar__plus_00_dot_16_bar__plus_03_dot_82 loc_bar__minus_5_bar_13_bar_0_bar_60)\n (objectAtLocation Cup_bar__minus_01_dot_26_bar__plus_00_dot_89_bar__plus_00_dot_56 loc_bar__minus_2_bar_2_bar_3_bar_60)\n (objectAtLocation Spatula_bar__minus_01_dot_79_bar__plus_00_dot_91_bar__minus_00_dot_05 loc_bar__minus_2_bar_2_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__minus_01_dot_26_bar__plus_00_dot_89_bar__plus_00_dot_36 loc_bar__minus_2_bar_2_bar_3_bar_60)\n (objectAtLocation Lettuce_bar__minus_01_dot_82_bar__plus_01_dot_00_bar__plus_04_dot_15 loc_bar__minus_11_bar_12_bar_3_bar_45)\n (objectAtLocation Pan_bar__minus_03_dot_42_bar__plus_00_dot_97_bar__plus_01_dot_97 loc_bar__minus_10_bar_8_bar_3_bar_30)\n (objectAtLocation Apple_bar__minus_01_dot_92_bar__plus_00_dot_85_bar__plus_03_dot_70 loc_bar__minus_6_bar_12_bar_0_bar_45)\n (objectAtLocation SaltShaker_bar__minus_03_dot_65_bar__plus_00_dot_91_bar__plus_01_dot_44 loc_bar__minus_11_bar_6_bar_3_bar_45)\n (objectAtLocation PepperShaker_bar__minus_03_dot_65_bar__plus_00_dot_91_bar__plus_01_dot_36 loc_bar__minus_11_bar_6_bar_3_bar_45)\n (objectAtLocation ButterKnife_bar__minus_01_dot_84_bar__plus_00_dot_78_bar__plus_03_dot_67 loc_bar__minus_6_bar_12_bar_0_bar_45)\n (objectAtLocation Chair_bar__minus_01_dot_41_bar__plus_00_dot_55_bar__plus_00_dot_96 loc_bar__minus_5_bar_5_bar_2_bar_60)\n (objectAtLocation DishSponge_bar__minus_03_dot_48_bar__plus_01_dot_46_bar__plus_02_dot_77 loc_bar__minus_11_bar_12_bar_3_bar__minus_30)\n (objectAtLocation Spoon_bar__minus_03_dot_46_bar__plus_00_dot_92_bar__plus_01_dot_61 loc_bar__minus_11_bar_6_bar_3_bar_45)\n (objectAtLocation Mug_bar__minus_03_dot_43_bar__plus_00_dot_95_bar__plus_03_dot_28 loc_bar__minus_11_bar_12_bar_3_bar_45)\n (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)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (heatable ?o)\n (objectType ?o BreadType)\n (receptacleType ?r FridgeType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to coffeemachine 1", "take bread 1 from countertop 1", "go to microwave 1", "heat bread 1 with microwave 1", "go to fridge 1", "open fridge 1", "move bread 1 to fridge 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Bread-None-Fridge-15/trial_T20190906_215400_394248/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Bread-None-Fridge-15/trial_T20190906_215400_394248/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..f2f96fee918dfd2fd01b4677dfe199491e9a352c --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Bread-None-Fridge-15/trial_T20190906_215400_394248/initial_state.pddl @@ -0,0 +1,972 @@ + +(define (problem plan_trial_T20190906_215400_394248) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__minus_01_dot_92_bar__plus_00_dot_85_bar__plus_03_dot_70 - object + Blinds_bar__minus_01_dot_41_bar__plus_02_dot_09_bar__minus_00_dot_30 - object + Bowl_bar__minus_02_dot_80_bar__plus_00_dot_08_bar__plus_03_dot_62 - object + Bread_bar__minus_00_dot_99_bar__plus_00_dot_97_bar__plus_00_dot_15 - object + Bread_bar__minus_00_dot_99_bar__plus_00_dot_97_bar__plus_00_dot_36 - object + Bread_bar__minus_01_dot_39_bar__plus_00_dot_97_bar__minus_00_dot_05 - object + Bread_bar__minus_01_dot_50_bar__plus_01_dot_00_bar__plus_04_dot_19 - object + ButterKnife_bar__minus_01_dot_84_bar__plus_00_dot_78_bar__plus_03_dot_67 - object + Chair_bar__minus_01_dot_41_bar__plus_00_dot_55_bar__plus_00_dot_96 - object + Cup_bar__minus_01_dot_26_bar__plus_00_dot_89_bar__plus_00_dot_56 - object + DishSponge_bar__minus_03_dot_48_bar__plus_01_dot_46_bar__plus_02_dot_77 - object + Egg_bar__minus_00_dot_21_bar__plus_01_dot_31_bar__plus_03_dot_99 - object + Egg_bar__minus_00_dot_32_bar__plus_01_dot_58_bar__plus_04_dot_10 - object + Egg_bar__minus_01_dot_79_bar__plus_00_dot_82_bar__plus_03_dot_81 - object + Faucet_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__plus_03_dot_93 - object + Fork_bar__minus_02_dot_40_bar__plus_00_dot_92_bar__plus_03_dot_57 - object + Fork_bar__minus_02_dot_80_bar__plus_00_dot_92_bar__plus_04_dot_11 - object + Kettle_bar__minus_01_dot_26_bar__plus_00_dot_89_bar__plus_00_dot_15 - object + Kettle_bar__minus_03_dot_15_bar__plus_00_dot_08_bar__plus_01_dot_28 - object + Knife_bar__minus_01_dot_79_bar__plus_00_dot_92_bar__plus_00_dot_15 - object + Knife_bar__minus_03_dot_56_bar__plus_00_dot_94_bar__plus_01_dot_19 - object + Lettuce_bar__minus_01_dot_52_bar__plus_00_dot_98_bar__plus_00_dot_26 - object + Lettuce_bar__minus_01_dot_82_bar__plus_01_dot_00_bar__plus_04_dot_15 - object + LightSwitch_bar__plus_00_dot_25_bar__plus_01_dot_38_bar__plus_02_dot_09 - object + Mug_bar__minus_03_dot_37_bar__plus_00_dot_91_bar__plus_01_dot_19 - object + Mug_bar__minus_03_dot_43_bar__plus_00_dot_95_bar__plus_03_dot_28 - object + Pan_bar__minus_03_dot_42_bar__plus_00_dot_97_bar__plus_01_dot_97 - object + Pan_bar__minus_03_dot_46_bar__plus_00_dot_92_bar__plus_02_dot_84 - object + 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Tomato_bar__minus_00_dot_67_bar__plus_01_dot_05_bar__plus_03_dot_80) + (sliceable Tomato_bar__minus_01_dot_16_bar__plus_00_dot_16_bar__plus_03_dot_82) + (sliceable Egg_bar__minus_00_dot_21_bar__plus_01_dot_31_bar__plus_03_dot_99) + (sliceable Lettuce_bar__minus_01_dot_82_bar__plus_01_dot_00_bar__plus_04_dot_15) + (sliceable Egg_bar__minus_00_dot_32_bar__plus_01_dot_58_bar__plus_04_dot_10) + + (inReceptacle Bread_bar__minus_01_dot_50_bar__plus_01_dot_00_bar__plus_04_dot_19 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34) + (inReceptacle Plate_bar__minus_03_dot_01_bar__plus_00_dot_90_bar__plus_03_dot_68 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34) + (inReceptacle Fork_bar__minus_02_dot_40_bar__plus_00_dot_92_bar__plus_03_dot_57 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34) + (inReceptacle WineBottle_bar__minus_03_dot_18_bar__plus_00_dot_92_bar__plus_03_dot_17 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34) + (inReceptacle Fork_bar__minus_02_dot_80_bar__plus_00_dot_92_bar__plus_04_dot_11 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34) + (inReceptacle Pan_bar__minus_03_dot_46_bar__plus_00_dot_92_bar__plus_02_dot_84 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34) + (inReceptacle Lettuce_bar__minus_01_dot_82_bar__plus_01_dot_00_bar__plus_04_dot_15 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34) + (inReceptacle Mug_bar__minus_03_dot_43_bar__plus_00_dot_95_bar__plus_03_dot_28 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34) + (inReceptacle Tomato_bar__minus_02_dot_13_bar__plus_00_dot_98_bar__plus_04_dot_06 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34) + (inReceptacle SaltShaker_bar__minus_03_dot_19_bar__plus_00_dot_74_bar__plus_03_dot_08 Drawer_bar__minus_03_dot_12_bar__plus_00_dot_78_bar__plus_02_dot_92) + (inReceptacle Spatula_bar__minus_01_dot_79_bar__plus_00_dot_91_bar__minus_00_dot_05 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33) + (inReceptacle Bread_bar__minus_00_dot_99_bar__plus_00_dot_97_bar__plus_00_dot_36 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33) + (inReceptacle Knife_bar__minus_01_dot_79_bar__plus_00_dot_92_bar__plus_00_dot_15 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33) + (inReceptacle Kettle_bar__minus_01_dot_26_bar__plus_00_dot_89_bar__plus_00_dot_15 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33) + (inReceptacle SoapBottle_bar__minus_01_dot_26_bar__plus_00_dot_89_bar__plus_00_dot_36 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33) + (inReceptacle Spatula_bar__minus_01_dot_52_bar__plus_00_dot_91_bar__plus_00_dot_05 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33) + (inReceptacle Lettuce_bar__minus_01_dot_52_bar__plus_00_dot_98_bar__plus_00_dot_26 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33) + (inReceptacle Bread_bar__minus_00_dot_99_bar__plus_00_dot_97_bar__plus_00_dot_15 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33) + (inReceptacle Cup_bar__minus_01_dot_26_bar__plus_00_dot_89_bar__plus_00_dot_56 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33) + (inReceptacle Bread_bar__minus_01_dot_39_bar__plus_00_dot_97_bar__minus_00_dot_05 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33) + (inReceptacle SoapBottle_bar__minus_00_dot_99_bar__plus_00_dot_90_bar__minus_00_dot_05 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33) + (inReceptacle Pot_bar__minus_03_dot_14_bar__plus_00_dot_96_bar__plus_02_dot_37 StoveBurner_bar__minus_03_dot_15_bar__plus_00_dot_96_bar__plus_02_dot_37) + (inReceptacle Pot_bar__minus_03_dot_14_bar__plus_00_dot_96_bar__plus_02_dot_37 StoveBurner_bar__minus_03_dot_42_bar__plus_00_dot_96_bar__plus_02_dot_37) + (inReceptacle DishSponge_bar__minus_03_dot_48_bar__plus_01_dot_46_bar__plus_02_dot_77 Cabinet_bar__minus_03_dot_37_bar__plus_01_dot_93_bar__plus_02_dot_68) + (inReceptacle Pan_bar__minus_03_dot_42_bar__plus_00_dot_97_bar__plus_01_dot_97 StoveBurner_bar__minus_03_dot_42_bar__plus_00_dot_96_bar__plus_01_dot_97) + (inReceptacle Mug_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 Knife_bar__minus_03_dot_56_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 PepperShaker_bar__minus_03_dot_65_bar__plus_00_dot_91_bar__plus_01_dot_36 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36) + (inReceptacle SaltShaker_bar__minus_03_dot_65_bar__plus_00_dot_91_bar__plus_01_dot_44 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36) + (inReceptacle Spoon_bar__minus_03_dot_46_bar__plus_00_dot_92_bar__plus_01_dot_61 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36) + (inReceptacle Bowl_bar__minus_02_dot_80_bar__plus_00_dot_08_bar__plus_03_dot_62 Cabinet_bar__minus_02_dot_96_bar__plus_00_dot_39_bar__plus_03_dot_46) + (inReceptacle WineBottle_bar__minus_03_dot_12_bar__plus_00_dot_08_bar__plus_03_dot_09 Cabinet_bar__minus_02_dot_99_bar__plus_00_dot_39_bar__plus_02_dot_68) + (inReceptacle Kettle_bar__minus_03_dot_15_bar__plus_00_dot_08_bar__plus_01_dot_28 Cabinet_bar__minus_02_dot_99_bar__plus_00_dot_39_bar__plus_01_dot_04) + (inReceptacle Potato_bar__minus_00_dot_21_bar__plus_01_dot_57_bar__plus_04_dot_10 Fridge_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__plus_04_dot_00) + (inReceptacle Egg_bar__minus_00_dot_32_bar__plus_01_dot_58_bar__plus_04_dot_10 Fridge_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__plus_04_dot_00) + (inReceptacle Tomato_bar__minus_00_dot_67_bar__plus_01_dot_05_bar__plus_03_dot_80 Fridge_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__plus_04_dot_00) + (inReceptacle Egg_bar__minus_00_dot_21_bar__plus_01_dot_31_bar__plus_03_dot_99 Fridge_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__plus_04_dot_00) + (inReceptacle Mug_bar__minus_03_dot_43_bar__plus_00_dot_95_bar__plus_03_dot_28 CoffeeMachine_bar__minus_03_dot_57_bar__plus_00_dot_90_bar__plus_03_dot_28) + (inReceptacle Egg_bar__minus_01_dot_79_bar__plus_00_dot_82_bar__plus_03_dot_81 Sink_bar__minus_01_dot_80_bar__plus_00_dot_92_bar__plus_03_dot_66_bar_SinkBasin) + (inReceptacle Apple_bar__minus_01_dot_92_bar__plus_00_dot_85_bar__plus_03_dot_70 Sink_bar__minus_01_dot_80_bar__plus_00_dot_92_bar__plus_03_dot_66_bar_SinkBasin) + (inReceptacle ButterKnife_bar__minus_01_dot_84_bar__plus_00_dot_78_bar__plus_03_dot_67 Sink_bar__minus_01_dot_80_bar__plus_00_dot_92_bar__plus_03_dot_66_bar_SinkBasin) + (inReceptacle Tomato_bar__minus_01_dot_16_bar__plus_00_dot_16_bar__plus_03_dot_82 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) + (receptacleAtLocation Cabinet_bar__minus_02_dot_19_bar__plus_00_dot_39_bar__plus_03_dot_47 loc_bar__minus_9_bar_13_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_21_bar__plus_00_dot_39_bar__plus_03_dot_46 loc_bar__minus_7_bar_10_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_96_bar__plus_00_dot_39_bar__plus_03_dot_46 loc_bar__minus_9_bar_10_bar_0_bar_60) + (receptacleAtLocation 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loc_bar__minus_2_bar_12_bar_0_bar_60) + (objectAtLocation WineBottle_bar__minus_03_dot_12_bar__plus_00_dot_08_bar__plus_03_dot_09 loc_bar__minus_11_bar_11_bar_3_bar_60) + (objectAtLocation Kettle_bar__minus_01_dot_26_bar__plus_00_dot_89_bar__plus_00_dot_15 loc_bar__minus_2_bar_2_bar_3_bar_60) + (objectAtLocation Bread_bar__minus_00_dot_99_bar__plus_00_dot_97_bar__plus_00_dot_15 loc_bar__minus_2_bar_2_bar_3_bar_60) + (objectAtLocation Fork_bar__minus_02_dot_80_bar__plus_00_dot_92_bar__plus_04_dot_11 loc_bar__minus_11_bar_12_bar_3_bar_45) + (objectAtLocation Knife_bar__minus_01_dot_79_bar__plus_00_dot_92_bar__plus_00_dot_15 loc_bar__minus_2_bar_2_bar_3_bar_60) + (objectAtLocation Egg_bar__minus_00_dot_21_bar__plus_01_dot_31_bar__plus_03_dot_99 loc_bar__minus_2_bar_12_bar_0_bar_60) + (objectAtLocation Bread_bar__minus_00_dot_99_bar__plus_00_dot_97_bar__plus_00_dot_36 loc_bar__minus_2_bar_2_bar_3_bar_60) + (objectAtLocation Bread_bar__minus_01_dot_50_bar__plus_01_dot_00_bar__plus_04_dot_19 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} + } + ], + "object_toggles": [], + "random_seed": 1198660003, + "scene_num": 15 + }, + "task_id": "trial_T20190906_215400_394248", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AITP2LUW8GPB_3BQU611VFS1PBR42OX895DZBJ4E99Y", + "high_descs": [ + "Turn right, turn left, go towards counter. ", + "Pick up loaf of bread. ", + "Go towards microwave, open door. ", + "Place bread into microwave, close door.", + "Go towards the fridge.", + "Open fridge door, place bread into fridge." + ], + "task_desc": "Get bread, cook bread, put bread into fridge.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1P0XSCJ9XAV74_3DH6GAKTY16JIJUN07UOHIUV7L3YZH", + "high_descs": [ + "Turn around to the right and halfway turn left towards the stove. Make another left and walk towards the sink.", + "Pick up the loaf of bread sitting on the counter by the sink.", + "Turn around to walk towards the table then a quick right to the stove holding the bread up near the microwave.", + "Heat up the bread in the microwave and take it back out.", + "Turn around to walk to the door and make a left so you are standing in front of the fridge.", + "Open the fridge to put the bread on the shelf with the tomato and then shut the door." + ], + "task_desc": "Heat up a loaf of bread to put it away in the fridge.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A10AVWALIHR4UQ_3V0Z7YWSI1HC8EW66PYQN8GU4VS2VU", + "high_descs": [ + "Turn right and move towards the refrigerator next to the door then turn left and move towards the oven then turn right and move to the sink next to the rubbish bin. ", + "Pick up the loaf of bread to the right of the lettuce from the corner of the counter.", + "Turn around and move towards the table with the stool in front of it then turn right and move to the oven.", + "Open the microwave above the oven, microwave the loaf of bread, then pick up the loaf of bread from the microwave. Close the microwave door.", + "Turn around and move towards the kitchen door and then turn right and move to the refrigerator in the corner of the room.", + "Place the loaf of bread to the right of the tomato on the top shelf in the refrigerator and close the refrigerator door." + ], + "task_desc": "Chill a warmed loaf of bread.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Bread-None-Fridge-15/trial_T20190906_215435_171947/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Bread-None-Fridge-15/trial_T20190906_215435_171947/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..4b6141f531f672fbdbf969b80d3beb3d0ca11f11 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Bread-None-Fridge-15/trial_T20190906_215435_171947/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 bread and put it in fridge.\"\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_215435_171947)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__minus_01_dot_16_bar__plus_00_dot_15_bar__plus_03_dot_82 - object\n Apple_bar__minus_03_dot_08_bar__plus_00_dot_98_bar__plus_01_dot_44 - object\n Blinds_bar__minus_01_dot_41_bar__plus_02_dot_09_bar__minus_00_dot_30 - object\n 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loc_bar__minus_11_bar_11_bar_3_bar_60 - location\n loc_bar__minus_6_bar_12_bar_0_bar_45 - location\n loc_bar__minus_10_bar_9_bar_3_bar_15 - location\n loc_bar__minus_7_bar_10_bar_0_bar_60 - location\n loc_bar__minus_8_bar_7_bar_3_bar_45 - location\n loc_bar__minus_11_bar_12_bar_3_bar__minus_30 - location\n loc_bar__minus_11_bar_6_bar_3_bar__minus_30 - location\n loc_bar__minus_8_bar_10_bar_0_bar_60 - location\n loc_bar__minus_9_bar_6_bar_3_bar_45 - location\n loc_bar__minus_11_bar_12_bar_3_bar_45 - location\n loc_bar__minus_10_bar_9_bar_3_bar_30 - location\n loc_bar__minus_5_bar_13_bar_0_bar_60 - location\n loc_bar__minus_9_bar_13_bar_0_bar_60 - location\n loc_bar__minus_10_bar_8_bar_3_bar_30 - location\n loc_bar__minus_5_bar_5_bar_2_bar_60 - location\n loc_bar__minus_10_bar_9_bar_3_bar_45 - location\n loc_bar__minus_2_bar_2_bar_3_bar_60 - location\n loc_bar__minus_10_bar_9_bar_3_bar__minus_30 - location\n loc_bar__minus_9_bar_10_bar_0_bar_60 - location\n loc_bar__minus_11_bar_12_bar_0_bar_30 - location\n loc_bar__minus_9_bar_1_bar_1_bar_15 - location\n loc_bar__minus_11_bar_12_bar_0_bar__minus_15 - location\n loc_bar__minus_1_bar_8_bar_1_bar_30 - location\n loc_bar__minus_9_bar_1_bar_1_bar__minus_30 - location\n loc_bar__minus_9_bar_13_bar_3_bar_45 - location\n loc_bar__minus_11_bar_6_bar_3_bar_30 - location\n loc_bar__minus_11_bar_6_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36 CounterTopType)\n (receptacleType Cabinet_bar__minus_02_dot_99_bar__plus_00_dot_39_bar__plus_02_dot_68 CabinetType)\n (receptacleType Drawer_bar__minus_03_dot_12_bar__plus_00_dot_78_bar__plus_03_dot_30 DrawerType)\n (receptacleType Cabinet_bar__minus_03_dot_35_bar__plus_02_dot_21_bar__plus_02_dot_65 CabinetType)\n (receptacleType Cabinet_bar__minus_03_dot_35_bar__plus_02_dot_21_bar__plus_01_dot_72 CabinetType)\n (receptacleType 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Tomato_bar__minus_02_dot_30_bar__plus_00_dot_97_bar__plus_03_dot_69)\n (heatable Bread_bar__minus_03_dot_08_bar__plus_01_dot_00_bar__plus_03_dot_17)\n (heatable Egg_bar__minus_01_dot_82_bar__plus_00_dot_95_bar__plus_04_dot_27)\n (heatable Egg_bar__minus_00_dot_32_bar__plus_00_dot_76_bar__plus_03_dot_87)\n (heatable Bread_bar__minus_00_dot_99_bar__plus_00_dot_98_bar__minus_00_dot_05)\n (coolable Lettuce_bar__minus_01_dot_52_bar__plus_00_dot_98_bar__minus_00_dot_05)\n (coolable Mug_bar__minus_01_dot_13_bar__plus_00_dot_89_bar__plus_00_dot_15)\n (coolable Cup_bar__minus_00_dot_99_bar__plus_00_dot_89_bar__plus_00_dot_46)\n (coolable Cup_bar__minus_01_dot_67_bar__plus_00_dot_79_bar__plus_03_dot_70)\n (coolable Pot_bar__minus_03_dot_14_bar__plus_00_dot_96_bar__plus_02_dot_37)\n (coolable Mug_bar__minus_03_dot_54_bar__plus_01_dot_45_bar__plus_01_dot_53)\n (coolable Apple_bar__minus_01_dot_16_bar__plus_00_dot_15_bar__plus_03_dot_82)\n (coolable Potato_bar__minus_00_dot_09_bar__plus_01_dot_31_bar__plus_04_dot_06)\n (coolable Potato_bar__minus_01_dot_86_bar__plus_00_dot_82_bar__plus_03_dot_66)\n (coolable Cup_bar__minus_02_dot_88_bar__plus_00_dot_08_bar__plus_03_dot_70)\n (coolable Apple_bar__minus_03_dot_08_bar__plus_00_dot_98_bar__plus_01_dot_44)\n (coolable Bowl_bar__minus_03_dot_19_bar__plus_00_dot_08_bar__plus_01_dot_43)\n (coolable Egg_bar__minus_01_dot_26_bar__plus_00_dot_12_bar__plus_03_dot_82)\n (coolable Plate_bar__minus_03_dot_56_bar__plus_00_dot_92_bar__plus_01_dot_44)\n (coolable WineBottle_bar__minus_01_dot_39_bar__plus_00_dot_89_bar__plus_00_dot_26)\n (coolable Mug_bar__minus_03_dot_43_bar__plus_00_dot_95_bar__plus_03_dot_28)\n (coolable Tomato_bar__minus_02_dot_30_bar__plus_00_dot_97_bar__plus_03_dot_69)\n (coolable Bread_bar__minus_03_dot_08_bar__plus_01_dot_00_bar__plus_03_dot_17)\n (coolable WineBottle_bar__minus_01_dot_61_bar__plus_00_dot_92_bar__plus_04_dot_19)\n (coolable Egg_bar__minus_01_dot_82_bar__plus_00_dot_95_bar__plus_04_dot_27)\n (coolable Pan_bar__minus_03_dot_42_bar__plus_00_dot_97_bar__plus_01_dot_97)\n (coolable Egg_bar__minus_00_dot_32_bar__plus_00_dot_76_bar__plus_03_dot_87)\n (coolable Bowl_bar__minus_00_dot_56_bar__plus_00_dot_99_bar__plus_03_dot_86)\n (coolable Bread_bar__minus_00_dot_99_bar__plus_00_dot_98_bar__minus_00_dot_05)\n (coolable Lettuce_bar__minus_01_dot_26_bar__plus_00_dot_98_bar__plus_00_dot_36)\n \n \n \n \n \n (sliceable Lettuce_bar__minus_01_dot_52_bar__plus_00_dot_98_bar__minus_00_dot_05)\n (sliceable Apple_bar__minus_01_dot_16_bar__plus_00_dot_15_bar__plus_03_dot_82)\n (sliceable Potato_bar__minus_00_dot_09_bar__plus_01_dot_31_bar__plus_04_dot_06)\n (sliceable Potato_bar__minus_01_dot_86_bar__plus_00_dot_82_bar__plus_03_dot_66)\n (sliceable Apple_bar__minus_03_dot_08_bar__plus_00_dot_98_bar__plus_01_dot_44)\n (sliceable Egg_bar__minus_01_dot_26_bar__plus_00_dot_12_bar__plus_03_dot_82)\n (sliceable Tomato_bar__minus_02_dot_30_bar__plus_00_dot_97_bar__plus_03_dot_69)\n (sliceable Bread_bar__minus_03_dot_08_bar__plus_01_dot_00_bar__plus_03_dot_17)\n (sliceable Egg_bar__minus_01_dot_82_bar__plus_00_dot_95_bar__plus_04_dot_27)\n (sliceable Egg_bar__minus_00_dot_32_bar__plus_00_dot_76_bar__plus_03_dot_87)\n (sliceable Bread_bar__minus_00_dot_99_bar__plus_00_dot_98_bar__minus_00_dot_05)\n (sliceable Lettuce_bar__minus_01_dot_26_bar__plus_00_dot_98_bar__plus_00_dot_36)\n \n (inReceptacleObject Spoon_bar__minus_01_dot_13_bar__plus_00_dot_89_bar__plus_00_dot_05 Mug_bar__minus_01_dot_13_bar__plus_00_dot_89_bar__plus_00_dot_15)\n (inReceptacle Egg_bar__minus_01_dot_82_bar__plus_00_dot_95_bar__plus_04_dot_27 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34)\n (inReceptacle ButterKnife_bar__minus_03_dot_18_bar__plus_00_dot_92_bar__plus_02_dot_84 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34)\n (inReceptacle Mug_bar__minus_03_dot_43_bar__plus_00_dot_95_bar__plus_03_dot_28 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34)\n (inReceptacle DishSponge_bar__minus_01_dot_92_bar__plus_00_dot_92_bar__plus_04_dot_15 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34)\n (inReceptacle Tomato_bar__minus_02_dot_30_bar__plus_00_dot_97_bar__plus_03_dot_69 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34)\n (inReceptacle Bread_bar__minus_03_dot_08_bar__plus_01_dot_00_bar__plus_03_dot_17 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34)\n (inReceptacle ButterKnife_bar__minus_02_dot_50_bar__plus_00_dot_92_bar__plus_03_dot_89 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34)\n (inReceptacle WineBottle_bar__minus_01_dot_61_bar__plus_00_dot_92_bar__plus_04_dot_19 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34)\n (inReceptacle Spatula_bar__minus_03_dot_16_bar__plus_00_dot_76_bar__plus_01_dot_28 Drawer_bar__minus_03_dot_12_bar__plus_00_dot_78_bar__plus_01_dot_36)\n (inReceptacle Fork_bar__minus_03_dot_21_bar__plus_00_dot_75_bar__plus_01_dot_28 Drawer_bar__minus_03_dot_12_bar__plus_00_dot_78_bar__plus_01_dot_36)\n (inReceptacle Fork_bar__minus_01_dot_52_bar__plus_00_dot_89_bar__plus_00_dot_15 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33)\n (inReceptacle Spoon_bar__minus_01_dot_13_bar__plus_00_dot_89_bar__plus_00_dot_05 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33)\n (inReceptacle WineBottle_bar__minus_01_dot_39_bar__plus_00_dot_89_bar__plus_00_dot_26 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33)\n (inReceptacle SoapBottle_bar__minus_00_dot_99_bar__plus_00_dot_89_bar__plus_00_dot_15 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33)\n (inReceptacle Lettuce_bar__minus_01_dot_52_bar__plus_00_dot_98_bar__minus_00_dot_05 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33)\n (inReceptacle ButterKnife_bar__minus_01_dot_79_bar__plus_00_dot_89_bar__plus_00_dot_05 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33)\n (inReceptacle Mug_bar__minus_01_dot_13_bar__plus_00_dot_89_bar__plus_00_dot_15 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33)\n (inReceptacle Spoon_bar__minus_01_dot_79_bar__plus_00_dot_89_bar__plus_00_dot_26 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33)\n (inReceptacle DishSponge_bar__minus_01_dot_66_bar__plus_00_dot_89_bar__plus_00_dot_26 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33)\n (inReceptacle Knife_bar__minus_00_dot_99_bar__plus_00_dot_92_bar__plus_00_dot_36 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33)\n (inReceptacle PepperShaker_bar__minus_01_dot_26_bar__plus_00_dot_89_bar__plus_00_dot_15 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33)\n (inReceptacle Lettuce_bar__minus_01_dot_26_bar__plus_00_dot_98_bar__plus_00_dot_36 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33)\n (inReceptacle Bread_bar__minus_00_dot_99_bar__plus_00_dot_98_bar__minus_00_dot_05 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33)\n (inReceptacle DishSponge_bar__minus_01_dot_39_bar__plus_00_dot_89_bar__minus_00_dot_05 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33)\n (inReceptacle Pot_bar__minus_03_dot_14_bar__plus_00_dot_96_bar__plus_02_dot_37 StoveBurner_bar__minus_03_dot_15_bar__plus_00_dot_96_bar__plus_02_dot_37)\n (inReceptacle Pot_bar__minus_03_dot_14_bar__plus_00_dot_96_bar__plus_02_dot_37 StoveBurner_bar__minus_03_dot_42_bar__plus_00_dot_96_bar__plus_02_dot_37)\n (inReceptacle Kettle_bar__minus_03_dot_42_bar__plus_00_dot_97_bar__plus_02_dot_37 StoveBurner_bar__minus_03_dot_42_bar__plus_00_dot_96_bar__plus_02_dot_37)\n (inReceptacle Pan_bar__minus_03_dot_42_bar__plus_00_dot_97_bar__plus_01_dot_97 StoveBurner_bar__minus_03_dot_42_bar__plus_00_dot_96_bar__plus_01_dot_97)\n (inReceptacle Spatula_bar__minus_03_dot_37_bar__plus_00_dot_93_bar__plus_01_dot_19 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36)\n (inReceptacle Apple_bar__minus_03_dot_08_bar__plus_00_dot_98_bar__plus_01_dot_44 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36)\n (inReceptacle Plate_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)\n (inReceptacle Spoon_bar__minus_03_dot_27_bar__plus_00_dot_92_bar__plus_01_dot_36 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36)\n (inReceptacle Cup_bar__minus_02_dot_88_bar__plus_00_dot_08_bar__plus_03_dot_70 Cabinet_bar__minus_02_dot_96_bar__plus_00_dot_39_bar__plus_03_dot_46)\n (inReceptacle SaltShaker_bar__minus_03_dot_04_bar__plus_00_dot_08_bar__plus_02_dot_86 Cabinet_bar__minus_02_dot_99_bar__plus_00_dot_39_bar__plus_02_dot_68)\n (inReceptacle PepperShaker_bar__minus_03_dot_57_bar__plus_01_dot_46_bar__plus_01_dot_23 Cabinet_bar__minus_03_dot_37_bar__plus_01_dot_93_bar__plus_01_dot_06)\n (inReceptacle Mug_bar__minus_03_dot_54_bar__plus_01_dot_45_bar__plus_01_dot_53 Cabinet_bar__minus_03_dot_37_bar__plus_01_dot_93_bar__plus_01_dot_06)\n (inReceptacle Bowl_bar__minus_03_dot_19_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)\n (inReceptacle Egg_bar__minus_00_dot_32_bar__plus_00_dot_76_bar__plus_03_dot_87 Fridge_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__plus_04_dot_00)\n (inReceptacle Potato_bar__minus_00_dot_09_bar__plus_01_dot_31_bar__plus_04_dot_06 Fridge_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__plus_04_dot_00)\n (inReceptacle Bowl_bar__minus_00_dot_56_bar__plus_00_dot_99_bar__plus_03_dot_86 Fridge_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__plus_04_dot_00)\n (inReceptacleObject Knife_bar__minus_00_dot_99_bar__plus_00_dot_92_bar__plus_00_dot_36 Cup_bar__minus_00_dot_99_bar__plus_00_dot_89_bar__plus_00_dot_46)\n (inReceptacle Mug_bar__minus_03_dot_43_bar__plus_00_dot_95_bar__plus_03_dot_28 CoffeeMachine_bar__minus_03_dot_57_bar__plus_00_dot_90_bar__plus_03_dot_28)\n (inReceptacle Cup_bar__minus_01_dot_67_bar__plus_00_dot_79_bar__plus_03_dot_70 Sink_bar__minus_01_dot_80_bar__plus_00_dot_92_bar__plus_03_dot_66_bar_SinkBasin)\n (inReceptacle Potato_bar__minus_01_dot_86_bar__plus_00_dot_82_bar__plus_03_dot_66 Sink_bar__minus_01_dot_80_bar__plus_00_dot_92_bar__plus_03_dot_66_bar_SinkBasin)\n (inReceptacle Apple_bar__minus_01_dot_16_bar__plus_00_dot_15_bar__plus_03_dot_82 GarbageCan_bar__minus_01_dot_19_bar__plus_00_dot_01_bar__plus_03_dot_79)\n (inReceptacle Egg_bar__minus_01_dot_26_bar__plus_00_dot_12_bar__plus_03_dot_82 GarbageCan_bar__minus_01_dot_19_bar__plus_00_dot_01_bar__plus_03_dot_79)\n \n \n (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)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_19_bar__plus_00_dot_39_bar__plus_03_dot_47 loc_bar__minus_9_bar_13_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_21_bar__plus_00_dot_39_bar__plus_03_dot_46 loc_bar__minus_7_bar_10_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_96_bar__plus_00_dot_39_bar__plus_03_dot_46 loc_bar__minus_9_bar_10_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_99_bar__plus_00_dot_39_bar__plus_01_dot_04 loc_bar__minus_8_bar_7_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_99_bar__plus_00_dot_39_bar__plus_02_dot_68 loc_bar__minus_11_bar_11_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_35_bar__plus_02_dot_21_bar__plus_01_dot_72 loc_bar__minus_10_bar_9_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_35_bar__plus_02_dot_21_bar__plus_02_dot_65 loc_bar__minus_11_bar_11_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_37_bar__plus_01_dot_93_bar__plus_01_dot_06 loc_bar__minus_11_bar_6_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_37_bar__plus_01_dot_93_bar__plus_02_dot_68 loc_bar__minus_11_bar_12_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_37_bar__plus_01_dot_93_bar__plus_03_dot_96 loc_bar__minus_11_bar_12_bar_0_bar__minus_15)\n (receptacleAtLocation CoffeeMachine_bar__minus_03_dot_57_bar__plus_00_dot_90_bar__plus_03_dot_28 loc_bar__minus_11_bar_12_bar_3_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36 loc_bar__minus_11_bar_6_bar_3_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34 loc_bar__minus_11_bar_12_bar_3_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33 loc_bar__minus_2_bar_2_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_03_dot_12_bar__plus_00_dot_78_bar__plus_01_dot_36 loc_bar__minus_9_bar_6_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_03_dot_12_bar__plus_00_dot_78_bar__plus_02_dot_92 loc_bar__minus_9_bar_13_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_03_dot_12_bar__plus_00_dot_78_bar__plus_03_dot_30 loc_bar__minus_9_bar_12_bar_3_bar_45)\n (receptacleAtLocation Fridge_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__plus_04_dot_00 loc_bar__minus_2_bar_12_bar_0_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_19_bar__plus_00_dot_01_bar__plus_03_dot_79 loc_bar__minus_5_bar_13_bar_0_bar_60)\n (receptacleAtLocation Microwave_bar__minus_03_dot_49_bar__plus_01_dot_43_bar__plus_02_dot_18 loc_bar__minus_10_bar_9_bar_3_bar_15)\n (receptacleAtLocation Sink_bar__minus_01_dot_80_bar__plus_00_dot_92_bar__plus_03_dot_66_bar_SinkBasin loc_bar__minus_6_bar_12_bar_0_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_03_dot_14_bar__plus_00_dot_96_bar__plus_01_dot_97 loc_bar__minus_10_bar_8_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_03_dot_15_bar__plus_00_dot_96_bar__plus_02_dot_37 loc_bar__minus_10_bar_9_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_03_dot_42_bar__plus_00_dot_96_bar__plus_01_dot_97 loc_bar__minus_10_bar_8_bar_3_bar_30)\n (receptacleAtLocation StoveBurner_bar__minus_03_dot_42_bar__plus_00_dot_96_bar__plus_02_dot_37 loc_bar__minus_10_bar_9_bar_3_bar_30)\n (receptacleAtLocation Toaster_bar__minus_02_dot_65_bar__plus_00_dot_90_bar__plus_04_dot_06 loc_bar__minus_11_bar_12_bar_0_bar_30)\n (objectAtLocation Mug_bar__minus_03_dot_54_bar__plus_01_dot_45_bar__plus_01_dot_53 loc_bar__minus_11_bar_6_bar_3_bar__minus_30)\n (objectAtLocation Spoon_bar__minus_01_dot_13_bar__plus_00_dot_89_bar__plus_00_dot_05 loc_bar__minus_2_bar_2_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__minus_01_dot_39_bar__plus_00_dot_89_bar__minus_00_dot_05 loc_bar__minus_2_bar_2_bar_3_bar_60)\n (objectAtLocation ButterKnife_bar__minus_02_dot_50_bar__plus_00_dot_92_bar__plus_03_dot_89 loc_bar__minus_11_bar_12_bar_3_bar_45)\n (objectAtLocation PepperShaker_bar__minus_03_dot_57_bar__plus_01_dot_46_bar__plus_01_dot_23 loc_bar__minus_11_bar_6_bar_3_bar__minus_30)\n (objectAtLocation Apple_bar__minus_01_dot_16_bar__plus_00_dot_15_bar__plus_03_dot_82 loc_bar__minus_5_bar_13_bar_0_bar_60)\n (objectAtLocation Lettuce_bar__minus_01_dot_26_bar__plus_00_dot_98_bar__plus_00_dot_36 loc_bar__minus_2_bar_2_bar_3_bar_60)\n (objectAtLocation Spatula_bar__minus_03_dot_37_bar__plus_00_dot_93_bar__plus_01_dot_19 loc_bar__minus_11_bar_6_bar_3_bar_45)\n (objectAtLocation Cup_bar__minus_01_dot_67_bar__plus_00_dot_79_bar__plus_03_dot_70 loc_bar__minus_6_bar_12_bar_0_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_56_bar__plus_00_dot_99_bar__plus_03_dot_86 loc_bar__minus_2_bar_12_bar_0_bar_60)\n (objectAtLocation WineBottle_bar__minus_01_dot_39_bar__plus_00_dot_89_bar__plus_00_dot_26 loc_bar__minus_2_bar_2_bar_3_bar_60)\n (objectAtLocation Potato_bar__minus_01_dot_86_bar__plus_00_dot_82_bar__plus_03_dot_66 loc_bar__minus_6_bar_12_bar_0_bar_45)\n (objectAtLocation Bread_bar__minus_00_dot_99_bar__plus_00_dot_98_bar__minus_00_dot_05 loc_bar__minus_2_bar_2_bar_3_bar_60)\n (objectAtLocation Fork_bar__minus_01_dot_52_bar__plus_00_dot_89_bar__plus_00_dot_15 loc_bar__minus_2_bar_2_bar_3_bar_60)\n (objectAtLocation Egg_bar__minus_01_dot_82_bar__plus_00_dot_95_bar__plus_04_dot_27 loc_bar__minus_11_bar_12_bar_3_bar_45)\n (objectAtLocation Mug_bar__minus_01_dot_13_bar__plus_00_dot_89_bar__plus_00_dot_15 loc_bar__minus_2_bar_2_bar_3_bar_60)\n (objectAtLocation Cup_bar__minus_02_dot_88_bar__plus_00_dot_08_bar__plus_03_dot_70 loc_bar__minus_9_bar_10_bar_0_bar_60)\n (objectAtLocation Egg_bar__minus_00_dot_32_bar__plus_00_dot_76_bar__plus_03_dot_87 loc_bar__minus_2_bar_12_bar_0_bar_60)\n (objectAtLocation Spoon_bar__minus_01_dot_79_bar__plus_00_dot_89_bar__plus_00_dot_26 loc_bar__minus_2_bar_2_bar_3_bar_60)\n (objectAtLocation ButterKnife_bar__minus_01_dot_79_bar__plus_00_dot_89_bar__plus_00_dot_05 loc_bar__minus_2_bar_2_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__minus_01_dot_66_bar__plus_00_dot_89_bar__plus_00_dot_26 loc_bar__minus_2_bar_2_bar_3_bar_60)\n (objectAtLocation Sink_bar__minus_01_dot_80_bar__plus_00_dot_92_bar__plus_03_dot_66 loc_bar__minus_7_bar_13_bar_0_bar_60)\n (objectAtLocation Egg_bar__minus_01_dot_26_bar__plus_00_dot_12_bar__plus_03_dot_82 loc_bar__minus_5_bar_13_bar_0_bar_60)\n (objectAtLocation Knife_bar__minus_00_dot_99_bar__plus_00_dot_92_bar__plus_00_dot_36 loc_bar__minus_2_bar_2_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_03_dot_60_bar__plus_01_dot_11_bar__plus_02_dot_02 loc_bar__minus_10_bar_8_bar_3_bar_30)\n (objectAtLocation StoveKnob_bar__minus_03_dot_60_bar__plus_01_dot_11_bar__plus_01_dot_87 loc_bar__minus_11_bar_6_bar_3_bar_30)\n (objectAtLocation StoveKnob_bar__minus_03_dot_60_bar__plus_01_dot_11_bar__plus_02_dot_27 loc_bar__minus_10_bar_9_bar_3_bar_30)\n (objectAtLocation StoveKnob_bar__minus_03_dot_60_bar__plus_01_dot_11_bar__plus_02_dot_43 loc_bar__minus_10_bar_10_bar_3_bar_30)\n (objectAtLocation Fork_bar__minus_03_dot_21_bar__plus_00_dot_75_bar__plus_01_dot_28 loc_bar__minus_9_bar_6_bar_3_bar_45)\n (objectAtLocation Bread_bar__minus_03_dot_08_bar__plus_01_dot_00_bar__plus_03_dot_17 loc_bar__minus_11_bar_12_bar_3_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_09_bar__plus_01_dot_31_bar__plus_04_dot_06 loc_bar__minus_2_bar_12_bar_0_bar_60)\n (objectAtLocation Plate_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)\n (objectAtLocation Pot_bar__minus_03_dot_14_bar__plus_00_dot_96_bar__plus_02_dot_37 loc_bar__minus_10_bar_9_bar_3_bar_30)\n (objectAtLocation Kettle_bar__minus_03_dot_42_bar__plus_00_dot_97_bar__plus_02_dot_37 loc_bar__minus_10_bar_9_bar_3_bar_30)\n (objectAtLocation LightSwitch_bar__plus_00_dot_25_bar__plus_01_dot_38_bar__plus_02_dot_09 loc_bar__minus_1_bar_8_bar_1_bar_30)\n (objectAtLocation Window_bar__minus_01_dot_43_bar__plus_01_dot_34_bar__minus_00_dot_35 loc_bar__minus_9_bar_1_bar_1_bar_15)\n (objectAtLocation WineBottle_bar__minus_01_dot_61_bar__plus_00_dot_92_bar__plus_04_dot_19 loc_bar__minus_11_bar_12_bar_3_bar_45)\n (objectAtLocation Bowl_bar__minus_03_dot_19_bar__plus_00_dot_08_bar__plus_01_dot_43 loc_bar__minus_8_bar_7_bar_3_bar_45)\n (objectAtLocation Tomato_bar__minus_02_dot_30_bar__plus_00_dot_97_bar__plus_03_dot_69 loc_bar__minus_11_bar_12_bar_3_bar_45)\n (objectAtLocation Cup_bar__minus_00_dot_99_bar__plus_00_dot_89_bar__plus_00_dot_46 loc_bar__minus_2_bar_2_bar_3_bar_60)\n (objectAtLocation Spatula_bar__minus_03_dot_16_bar__plus_00_dot_76_bar__plus_01_dot_28 loc_bar__minus_9_bar_6_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_99_bar__plus_00_dot_89_bar__plus_00_dot_15 loc_bar__minus_2_bar_2_bar_3_bar_60)\n (objectAtLocation Lettuce_bar__minus_01_dot_52_bar__plus_00_dot_98_bar__minus_00_dot_05 loc_bar__minus_2_bar_2_bar_3_bar_60)\n (objectAtLocation Pan_bar__minus_03_dot_42_bar__plus_00_dot_97_bar__plus_01_dot_97 loc_bar__minus_10_bar_8_bar_3_bar_30)\n (objectAtLocation Apple_bar__minus_03_dot_08_bar__plus_00_dot_98_bar__plus_01_dot_44 loc_bar__minus_11_bar_6_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__minus_03_dot_04_bar__plus_00_dot_08_bar__plus_02_dot_86 loc_bar__minus_11_bar_11_bar_3_bar_60)\n (objectAtLocation PepperShaker_bar__minus_01_dot_26_bar__plus_00_dot_89_bar__plus_00_dot_15 loc_bar__minus_2_bar_2_bar_3_bar_60)\n (objectAtLocation ButterKnife_bar__minus_03_dot_18_bar__plus_00_dot_92_bar__plus_02_dot_84 loc_bar__minus_11_bar_12_bar_3_bar_45)\n (objectAtLocation Chair_bar__minus_01_dot_41_bar__plus_00_dot_55_bar__plus_00_dot_96 loc_bar__minus_5_bar_5_bar_2_bar_60)\n (objectAtLocation DishSponge_bar__minus_01_dot_92_bar__plus_00_dot_92_bar__plus_04_dot_15 loc_bar__minus_11_bar_12_bar_3_bar_45)\n (objectAtLocation Spoon_bar__minus_03_dot_27_bar__plus_00_dot_92_bar__plus_01_dot_36 loc_bar__minus_11_bar_6_bar_3_bar_45)\n (objectAtLocation Mug_bar__minus_03_dot_43_bar__plus_00_dot_95_bar__plus_03_dot_28 loc_bar__minus_11_bar_12_bar_3_bar_45)\n (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)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (heatable ?o)\n (objectType ?o BreadType)\n (receptacleType ?r FridgeType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to coffeemachine 1", "take bread 1 from countertop 1", "go to microwave 1", "heat bread 1 with microwave 1", "go to fridge 1", "open fridge 1", "move bread 1 to fridge 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Bread-None-Fridge-15/trial_T20190906_215435_171947/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Bread-None-Fridge-15/trial_T20190906_215435_171947/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..e605f7c7fdb0fe7aca73b95d34ccc1094436f704 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Bread-None-Fridge-15/trial_T20190906_215435_171947/initial_state.pddl @@ -0,0 +1,1003 @@ + +(define (problem plan_trial_T20190906_215435_171947) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__minus_01_dot_16_bar__plus_00_dot_15_bar__plus_03_dot_82 - object + Apple_bar__minus_03_dot_08_bar__plus_00_dot_98_bar__plus_01_dot_44 - object + Blinds_bar__minus_01_dot_41_bar__plus_02_dot_09_bar__minus_00_dot_30 - object + Bowl_bar__minus_00_dot_56_bar__plus_00_dot_99_bar__plus_03_dot_86 - object + Bowl_bar__minus_03_dot_19_bar__plus_00_dot_08_bar__plus_01_dot_43 - object + Bread_bar__minus_00_dot_99_bar__plus_00_dot_98_bar__minus_00_dot_05 - object + Bread_bar__minus_03_dot_08_bar__plus_01_dot_00_bar__plus_03_dot_17 - object + ButterKnife_bar__minus_01_dot_79_bar__plus_00_dot_89_bar__plus_00_dot_05 - object + ButterKnife_bar__minus_02_dot_50_bar__plus_00_dot_92_bar__plus_03_dot_89 - object + ButterKnife_bar__minus_03_dot_18_bar__plus_00_dot_92_bar__plus_02_dot_84 - object + Chair_bar__minus_01_dot_41_bar__plus_00_dot_55_bar__plus_00_dot_96 - object + Cup_bar__minus_00_dot_99_bar__plus_00_dot_89_bar__plus_00_dot_46 - object + Cup_bar__minus_01_dot_67_bar__plus_00_dot_79_bar__plus_03_dot_70 - object + Cup_bar__minus_02_dot_88_bar__plus_00_dot_08_bar__plus_03_dot_70 - object + DishSponge_bar__minus_01_dot_39_bar__plus_00_dot_89_bar__minus_00_dot_05 - object + DishSponge_bar__minus_01_dot_66_bar__plus_00_dot_89_bar__plus_00_dot_26 - object + DishSponge_bar__minus_01_dot_92_bar__plus_00_dot_92_bar__plus_04_dot_15 - object + Egg_bar__minus_00_dot_32_bar__plus_00_dot_76_bar__plus_03_dot_87 - object + Egg_bar__minus_01_dot_26_bar__plus_00_dot_12_bar__plus_03_dot_82 - object + Egg_bar__minus_01_dot_82_bar__plus_00_dot_95_bar__plus_04_dot_27 - object + Faucet_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__plus_03_dot_93 - object + Fork_bar__minus_01_dot_52_bar__plus_00_dot_89_bar__plus_00_dot_15 - object + Fork_bar__minus_03_dot_21_bar__plus_00_dot_75_bar__plus_01_dot_28 - object + Kettle_bar__minus_03_dot_42_bar__plus_00_dot_97_bar__plus_02_dot_37 - object + Knife_bar__minus_00_dot_99_bar__plus_00_dot_92_bar__plus_00_dot_36 - object + Lettuce_bar__minus_01_dot_26_bar__plus_00_dot_98_bar__plus_00_dot_36 - object + Lettuce_bar__minus_01_dot_52_bar__plus_00_dot_98_bar__minus_00_dot_05 - 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_15 - object + Mug_bar__minus_03_dot_43_bar__plus_00_dot_95_bar__plus_03_dot_28 - object + Mug_bar__minus_03_dot_54_bar__plus_01_dot_45_bar__plus_01_dot_53 - object + Pan_bar__minus_03_dot_42_bar__plus_00_dot_97_bar__plus_01_dot_97 - object + PepperShaker_bar__minus_01_dot_26_bar__plus_00_dot_89_bar__plus_00_dot_15 - object + PepperShaker_bar__minus_03_dot_57_bar__plus_01_dot_46_bar__plus_01_dot_23 - object + Plate_bar__minus_03_dot_56_bar__plus_00_dot_92_bar__plus_01_dot_44 - object + Potato_bar__minus_00_dot_09_bar__plus_01_dot_31_bar__plus_04_dot_06 - object + Potato_bar__minus_01_dot_86_bar__plus_00_dot_82_bar__plus_03_dot_66 - object + Pot_bar__minus_03_dot_14_bar__plus_00_dot_96_bar__plus_02_dot_37 - object + SaltShaker_bar__minus_03_dot_04_bar__plus_00_dot_08_bar__plus_02_dot_86 - object + Sink_bar__minus_01_dot_80_bar__plus_00_dot_92_bar__plus_03_dot_66 - object + SoapBottle_bar__minus_00_dot_99_bar__plus_00_dot_89_bar__plus_00_dot_15 - object + Spatula_bar__minus_03_dot_16_bar__plus_00_dot_76_bar__plus_01_dot_28 - object + Spatula_bar__minus_03_dot_37_bar__plus_00_dot_93_bar__plus_01_dot_19 - object + Spoon_bar__minus_01_dot_13_bar__plus_00_dot_89_bar__plus_00_dot_05 - object + Spoon_bar__minus_01_dot_79_bar__plus_00_dot_89_bar__plus_00_dot_26 - object + Spoon_bar__minus_03_dot_27_bar__plus_00_dot_92_bar__plus_01_dot_36 - 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 + StoveKnob_bar__minus_03_dot_60_bar__plus_01_dot_11_bar__plus_02_dot_43 - object + Tomato_bar__minus_02_dot_30_bar__plus_00_dot_97_bar__plus_03_dot_69 - object + Window_bar__minus_01_dot_43_bar__plus_01_dot_34_bar__minus_00_dot_35 - object + WineBottle_bar__minus_01_dot_39_bar__plus_00_dot_89_bar__plus_00_dot_26 - object + WineBottle_bar__minus_01_dot_61_bar__plus_00_dot_92_bar__plus_04_dot_19 - object + Cabinet_bar__minus_01_dot_42_bar__plus_00_dot_39_bar__plus_03_dot_46 - receptacle + Cabinet_bar__minus_02_dot_19_bar__plus_00_dot_39_bar__plus_03_dot_47 - receptacle + Cabinet_bar__minus_02_dot_21_bar__plus_00_dot_39_bar__plus_03_dot_46 - receptacle + Cabinet_bar__minus_02_dot_96_bar__plus_00_dot_39_bar__plus_03_dot_46 - receptacle + Cabinet_bar__minus_02_dot_99_bar__plus_00_dot_39_bar__plus_01_dot_04 - receptacle + Cabinet_bar__minus_02_dot_99_bar__plus_00_dot_39_bar__plus_02_dot_68 - receptacle + Cabinet_bar__minus_03_dot_35_bar__plus_02_dot_21_bar__plus_01_dot_72 - receptacle + Cabinet_bar__minus_03_dot_35_bar__plus_02_dot_21_bar__plus_02_dot_65 - receptacle + Cabinet_bar__minus_03_dot_37_bar__plus_01_dot_93_bar__plus_01_dot_06 - receptacle + Cabinet_bar__minus_03_dot_37_bar__plus_01_dot_93_bar__plus_02_dot_68 - receptacle + Cabinet_bar__minus_03_dot_37_bar__plus_01_dot_93_bar__plus_03_dot_96 - receptacle + CoffeeMachine_bar__minus_03_dot_57_bar__plus_00_dot_90_bar__plus_03_dot_28 - receptacle + CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36 - receptacle + CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34 - receptacle + DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33 - receptacle + Drawer_bar__minus_03_dot_12_bar__plus_00_dot_78_bar__plus_01_dot_36 - receptacle + Drawer_bar__minus_03_dot_12_bar__plus_00_dot_78_bar__plus_02_dot_92 - receptacle + Drawer_bar__minus_03_dot_12_bar__plus_00_dot_78_bar__plus_03_dot_30 - receptacle + Fridge_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__plus_04_dot_00 - receptacle + GarbageCan_bar__minus_01_dot_19_bar__plus_00_dot_01_bar__plus_03_dot_79 - receptacle + Microwave_bar__minus_03_dot_49_bar__plus_01_dot_43_bar__plus_02_dot_18 - receptacle + Sink_bar__minus_01_dot_80_bar__plus_00_dot_92_bar__plus_03_dot_66_bar_SinkBasin - receptacle + StoveBurner_bar__minus_03_dot_14_bar__plus_00_dot_96_bar__plus_01_dot_97 - receptacle + StoveBurner_bar__minus_03_dot_15_bar__plus_00_dot_96_bar__plus_02_dot_37 - receptacle + StoveBurner_bar__minus_03_dot_42_bar__plus_00_dot_96_bar__plus_01_dot_97 - receptacle + StoveBurner_bar__minus_03_dot_42_bar__plus_00_dot_96_bar__plus_02_dot_37 - receptacle + Toaster_bar__minus_02_dot_65_bar__plus_00_dot_90_bar__plus_04_dot_06 - receptacle + loc_bar__minus_7_bar_13_bar_0_bar_60 - location + loc_bar__minus_11_bar_11_bar_3_bar__minus_30 - location + 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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_11_bar_6_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36 CounterTopType) + (receptacleType Cabinet_bar__minus_02_dot_99_bar__plus_00_dot_39_bar__plus_02_dot_68 CabinetType) + (receptacleType Drawer_bar__minus_03_dot_12_bar__plus_00_dot_78_bar__plus_03_dot_30 DrawerType) + 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StoveBurner_bar__minus_03_dot_42_bar__plus_00_dot_96_bar__plus_02_dot_37) + (inReceptacle Kettle_bar__minus_03_dot_42_bar__plus_00_dot_97_bar__plus_02_dot_37 StoveBurner_bar__minus_03_dot_42_bar__plus_00_dot_96_bar__plus_02_dot_37) + (inReceptacle Pan_bar__minus_03_dot_42_bar__plus_00_dot_97_bar__plus_01_dot_97 StoveBurner_bar__minus_03_dot_42_bar__plus_00_dot_96_bar__plus_01_dot_97) + (inReceptacle Spatula_bar__minus_03_dot_37_bar__plus_00_dot_93_bar__plus_01_dot_19 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36) + (inReceptacle Apple_bar__minus_03_dot_08_bar__plus_00_dot_98_bar__plus_01_dot_44 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36) + (inReceptacle Plate_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 Spoon_bar__minus_03_dot_27_bar__plus_00_dot_92_bar__plus_01_dot_36 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36) + (inReceptacle Cup_bar__minus_02_dot_88_bar__plus_00_dot_08_bar__plus_03_dot_70 Cabinet_bar__minus_02_dot_96_bar__plus_00_dot_39_bar__plus_03_dot_46) + (inReceptacle SaltShaker_bar__minus_03_dot_04_bar__plus_00_dot_08_bar__plus_02_dot_86 Cabinet_bar__minus_02_dot_99_bar__plus_00_dot_39_bar__plus_02_dot_68) + (inReceptacle PepperShaker_bar__minus_03_dot_57_bar__plus_01_dot_46_bar__plus_01_dot_23 Cabinet_bar__minus_03_dot_37_bar__plus_01_dot_93_bar__plus_01_dot_06) + (inReceptacle Mug_bar__minus_03_dot_54_bar__plus_01_dot_45_bar__plus_01_dot_53 Cabinet_bar__minus_03_dot_37_bar__plus_01_dot_93_bar__plus_01_dot_06) + (inReceptacle Bowl_bar__minus_03_dot_19_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 Egg_bar__minus_00_dot_32_bar__plus_00_dot_76_bar__plus_03_dot_87 Fridge_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__plus_04_dot_00) + 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Apple_bar__minus_01_dot_16_bar__plus_00_dot_15_bar__plus_03_dot_82 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_82 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) + (receptacleAtLocation Cabinet_bar__minus_02_dot_19_bar__plus_00_dot_39_bar__plus_03_dot_47 loc_bar__minus_9_bar_13_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_21_bar__plus_00_dot_39_bar__plus_03_dot_46 loc_bar__minus_7_bar_10_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_96_bar__plus_00_dot_39_bar__plus_03_dot_46 loc_bar__minus_9_bar_10_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_99_bar__plus_00_dot_39_bar__plus_01_dot_04 loc_bar__minus_8_bar_7_bar_3_bar_45) + (receptacleAtLocation 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(objectAtLocation Cup_bar__minus_00_dot_99_bar__plus_00_dot_89_bar__plus_00_dot_46 loc_bar__minus_2_bar_2_bar_3_bar_60) + (objectAtLocation Spatula_bar__minus_03_dot_16_bar__plus_00_dot_76_bar__plus_01_dot_28 loc_bar__minus_9_bar_6_bar_3_bar_45) + (objectAtLocation SoapBottle_bar__minus_00_dot_99_bar__plus_00_dot_89_bar__plus_00_dot_15 loc_bar__minus_2_bar_2_bar_3_bar_60) + (objectAtLocation Lettuce_bar__minus_01_dot_52_bar__plus_00_dot_98_bar__minus_00_dot_05 loc_bar__minus_2_bar_2_bar_3_bar_60) + (objectAtLocation Pan_bar__minus_03_dot_42_bar__plus_00_dot_97_bar__plus_01_dot_97 loc_bar__minus_10_bar_8_bar_3_bar_30) + (objectAtLocation Apple_bar__minus_03_dot_08_bar__plus_00_dot_98_bar__plus_01_dot_44 loc_bar__minus_11_bar_6_bar_3_bar_45) + (objectAtLocation SaltShaker_bar__minus_03_dot_04_bar__plus_00_dot_08_bar__plus_02_dot_86 loc_bar__minus_11_bar_11_bar_3_bar_60) + (objectAtLocation PepperShaker_bar__minus_01_dot_26_bar__plus_00_dot_89_bar__plus_00_dot_15 loc_bar__minus_2_bar_2_bar_3_bar_60) + (objectAtLocation ButterKnife_bar__minus_03_dot_18_bar__plus_00_dot_92_bar__plus_02_dot_84 loc_bar__minus_11_bar_12_bar_3_bar_45) + (objectAtLocation Chair_bar__minus_01_dot_41_bar__plus_00_dot_55_bar__plus_00_dot_96 loc_bar__minus_5_bar_5_bar_2_bar_60) + (objectAtLocation DishSponge_bar__minus_01_dot_92_bar__plus_00_dot_92_bar__plus_04_dot_15 loc_bar__minus_11_bar_12_bar_3_bar_45) + (objectAtLocation Spoon_bar__minus_03_dot_27_bar__plus_00_dot_92_bar__plus_01_dot_36 loc_bar__minus_11_bar_6_bar_3_bar_45) + (objectAtLocation Mug_bar__minus_03_dot_43_bar__plus_00_dot_95_bar__plus_03_dot_28 loc_bar__minus_11_bar_12_bar_3_bar_45) + (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 + (heatable ?o) + (objectType ?o BreadType) + (receptacleType ?r FridgeType) + (isHot ?o) + (inReceptacle ?o ?r) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Bread-None-Fridge-15/trial_T20190906_215435_171947/traj_data.json b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Bread-None-Fridge-15/trial_T20190906_215435_171947/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..f2dcdc3607aab11c095893ad460f5a752560c42f --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Bread-None-Fridge-15/trial_T20190906_215435_171947/traj_data.json @@ -0,0 +1,10404 @@ +{ + "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": "000000004.png", + "low_idx": 0 + }, + { + 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0.0 + } + }, + { + "objectName": "Spoon_58cf1806", + "position": { + "x": -1.12702918, + "y": 0.892602, + "z": 0.04945582 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_0af3d2bb", + "position": { + "x": -3.54094815, + "y": 1.45412147, + "z": 1.53008878 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 408179266, + "scene_num": 15 + }, + "task_id": "trial_T20190906_215435_171947", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3FY6THWKRYN9M_39GAF6DQWUH5JTEANLYCIP6PCJK1V6", + "high_descs": [ + "Take left, walk to counter and take left", + "Grab bread in front of coffee maker", + "Go to the stove next to the counter, place bread in microwave", + "Heat bread and remove from microwave", + "Turn around and go to the door, take left to fridge", + "Place bread in the fridge and close the door" + ], + "task_desc": "Heat the bread in microwave, cool it down in the fridge", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1HKHM4NVAO98H_3QAVNHZ3EPLYHCFG50PZ6H1QPKVLAC", + "high_descs": [ + "turn left and walk forwards towards the toaster, then face the counter on the left", + "grab the bread off of the counter there", + "turn around and walk to the right, when you get to the stove stop and turn to it", + "place the bread in the microwave above the stove, cook the bread and then take it out", + "turn around and move towards the door, turn and face the fridge once you reach it", + "place the bread inside the fridge" + ], + "task_desc": "put microwaved bread inside the fridge", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1MKCTVKE7J0ZP_3XXU1SWE8PCLKGQUG73G8X92MIF0A5", + "high_descs": [ + "Go to the counter next to the stove.", + "Pick up the bread in front of the coffee maker.", + "Go to the microwave above the stove.", + "Heat the bread in the microwave.", + "Go to the fridge behind you.", + "Put the bread in the fridge on the top shelf." + ], + "task_desc": "Put warmed bread in the fridge. ", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-GarbageCan-2/trial_T20190909_100933_506578/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-GarbageCan-2/trial_T20190909_100933_506578/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..9495762a47ca9ebb10b349048370c82f0ef0b1d2 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-GarbageCan-2/trial_T20190909_100933_506578/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 egg and put it in garbagecan.\"\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_100933_506578)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__plus_00_dot_32_bar__plus_00_dot_98_bar__plus_00_dot_27 - object\n Apple_bar__plus_01_dot_89_bar__plus_01_dot_06_bar__minus_00_dot_76 - object\n Apple_bar__minus_01_dot_65_bar__plus_01_dot_52_bar__plus_00_dot_20 - object\n Bowl_bar__plus_00_dot_14_bar__plus_00_dot_11_bar__minus_01_dot_47 - object\n Bowl_bar__minus_01_dot_15_bar__plus_00_dot_11_bar__minus_01_dot_42 - object\n Bread_bar__plus_00_dot_00_bar__plus_01_dot_01_bar__plus_00_dot_51 - object\n Bread_bar__minus_00_dot_84_bar__plus_00_dot_99_bar__minus_01_dot_32 - object\n Bread_bar__minus_01_dot_46_bar__plus_00_dot_99_bar__minus_01_dot_71 - object\n ButterKnife_bar__plus_01_dot_71_bar__plus_00_dot_46_bar__plus_01_dot_15 - object\n ButterKnife_bar__minus_01_dot_90_bar__plus_00_dot_91_bar__minus_00_dot_91 - object\n CellPhone_bar__plus_01_dot_77_bar__plus_00_dot_76_bar__plus_01_dot_22 - object\n CellPhone_bar__minus_00_dot_21_bar__plus_00_dot_92_bar__plus_00_dot_27 - object\n CellPhone_bar__minus_00_dot_32_bar__plus_00_dot_92_bar__plus_00_dot_04 - object\n Chair_bar__minus_00_dot_06_bar__plus_00_dot_52_bar__plus_01_dot_37 - object\n Cup_bar__minus_01_dot_24_bar__plus_00_dot_11_bar__minus_01_dot_23 - object\n DishSponge_bar__plus_01_dot_66_bar__plus_00_dot_22_bar__plus_01_dot_09 - object\n Egg_bar__plus_01_dot_65_bar__plus_00_dot_97_bar__minus_00_dot_13 - object\n Faucet_bar__minus_00_dot_02_bar__plus_01_dot_14_bar__minus_01_dot_61 - object\n Fork_bar__plus_01_dot_66_bar__plus_00_dot_58_bar__minus_00_dot_02 - object\n Fork_bar__plus_01_dot_86_bar__plus_00_dot_23_bar__plus_01_dot_35 - object\n Fork_bar__minus_00_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_20 - object\n Kettle_bar__plus_00_dot_32_bar__plus_00_dot_93_bar__plus_00_dot_51 - object\n Kettle_bar__plus_01_dot_46_bar__plus_01_dot_68_bar__minus_01_dot_58 - object\n Kettle_bar__plus_01_dot_68_bar__plus_00_dot_90_bar__plus_00_dot_09 - object\n Knife_bar__plus_00_dot_11_bar__plus_00_dot_95_bar__plus_00_dot_04 - object\n Knife_bar__plus_02_dot_07_bar__plus_00_dot_93_bar__plus_01_dot_41 - object\n Knife_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__minus_01_dot_06 - object\n 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loc_bar__minus_10_bar_11_bar_3_bar_0 - location\n loc_bar_4_bar_3_bar_2_bar_60 - location\n loc_bar__minus_5_bar_6_bar_3_bar_60 - location\n loc_bar__minus_3_bar_0_bar_3_bar_60 - location\n loc_bar__minus_3_bar__minus_3_bar_3_bar__minus_15 - location\n loc_bar__minus_1_bar_12_bar_0_bar_30 - location\n loc_bar_5_bar_3_bar_1_bar_45 - location\n loc_bar__minus_3_bar__minus_3_bar_2_bar_45 - location\n loc_bar__minus_3_bar__minus_3_bar_2_bar__minus_30 - location\n loc_bar_4_bar__minus_3_bar_2_bar_45 - location\n loc_bar_5_bar_2_bar_1_bar_45 - location\n loc_bar_3_bar__minus_1_bar_2_bar_60 - location\n loc_bar_3_bar_6_bar_1_bar_45 - location\n loc_bar_3_bar_2_bar_3_bar_45 - location\n loc_bar_4_bar__minus_1_bar_1_bar_45 - location\n loc_bar_0_bar__minus_3_bar_2_bar_60 - location\n loc_bar_3_bar_6_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_82 StoveBurnerType)\n (receptacleType 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(receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_31_bar__plus_00_dot_60 DrawerType)\n (receptacleType Toaster_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__minus_00_dot_34 ToasterType)\n (receptacleType CoffeeMachine_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__minus_01_dot_60 CoffeeMachineType)\n (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_14_bar__plus_00_dot_60 DrawerType)\n (receptacleType Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77 MicrowaveType)\n (receptacleType StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_60 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 CabinetType)\n (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__minus_00_dot_02 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_63_bar__plus_02_dot_02_bar__minus_01_dot_45 CabinetType)\n (receptacleType 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(inReceptacle Plate_bar__minus_00_dot_21_bar__plus_00_dot_92_bar__plus_00_dot_51 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Pot_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_97 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Fork_bar__minus_00_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_20 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Apple_bar__plus_00_dot_32_bar__plus_00_dot_98_bar__plus_00_dot_27 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle CellPhone_bar__minus_00_dot_32_bar__plus_00_dot_92_bar__plus_00_dot_04 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle CellPhone_bar__minus_00_dot_21_bar__plus_00_dot_92_bar__plus_00_dot_27 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Potato_bar__minus_00_dot_32_bar__plus_00_dot_95_bar__plus_00_dot_27 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Bread_bar__plus_00_dot_00_bar__plus_01_dot_01_bar__plus_00_dot_51 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle PepperShaker_bar__minus_00_dot_11_bar__plus_00_dot_92_bar__minus_00_dot_19 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Ladle_bar__plus_00_dot_21_bar__plus_00_dot_97_bar__plus_00_dot_97 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle SaltShaker_bar__plus_01_dot_61_bar__plus_00_dot_22_bar__plus_01_dot_42 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__plus_01_dot_22)\n (inReceptacle Spoon_bar__plus_01_dot_66_bar__plus_00_dot_14_bar__plus_01_dot_22 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__plus_01_dot_22)\n (inReceptacle Fork_bar__plus_01_dot_86_bar__plus_00_dot_23_bar__plus_01_dot_35 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__plus_01_dot_22)\n (inReceptacle DishSponge_bar__plus_01_dot_66_bar__plus_00_dot_22_bar__plus_01_dot_09 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__plus_01_dot_22)\n (inReceptacle Pan_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_82 StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_82)\n (inReceptacle Cup_bar__minus_01_dot_24_bar__plus_00_dot_11_bar__minus_01_dot_23 Cabinet_bar__minus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15)\n (inReceptacle Bowl_bar__minus_01_dot_15_bar__plus_00_dot_11_bar__minus_01_dot_42 Cabinet_bar__minus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15)\n (inReceptacle Potato_bar__minus_01_dot_80_bar__plus_00_dot_07_bar__plus_01_dot_33 GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_01_dot_33)\n (inReceptacle Apple_bar__plus_01_dot_89_bar__plus_01_dot_06_bar__minus_00_dot_76 Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77)\n (inReceptacle Mug_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__minus_01_dot_36 CoffeeMachine_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__minus_01_dot_60)\n (inReceptacle Mug_bar__minus_01_dot_75_bar__plus_01_dot_46_bar__plus_00_dot_20 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01)\n (inReceptacle Tomato_bar__minus_01_dot_75_bar__plus_01_dot_52_bar__minus_00_dot_27 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01)\n (inReceptacle Apple_bar__minus_01_dot_65_bar__plus_01_dot_52_bar__plus_00_dot_20 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01)\n (inReceptacle Lettuce_bar__minus_01_dot_75_bar__plus_01_dot_75_bar__plus_00_dot_20 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01)\n (inReceptacle Pot_bar__plus_00_dot_08_bar__plus_00_dot_76_bar__minus_01_dot_44 Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin)\n (inReceptacle Spatula_bar__plus_00_dot_26_bar__plus_00_dot_78_bar__minus_01_dot_55 Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin)\n (inReceptacle Mug_bar__minus_00_dot_26_bar__plus_00_dot_76_bar__minus_01_dot_49 Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin)\n (inReceptacle Spatula_bar__minus_00_dot_18_bar__plus_00_dot_78_bar__minus_01_dot_44 Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_41_bar__plus_00_dot_48_bar__plus_00_dot_45 loc_bar_5_bar_4_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 loc_bar_3_bar__minus_1_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 loc_bar_3_bar__minus_1_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_71_bar__plus_02_dot_02_bar__minus_01_dot_45 loc_bar_4_bar__minus_3_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_79_bar__plus_02_dot_02_bar__minus_00_dot_82 loc_bar_4_bar__minus_3_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 loc_bar__minus_3_bar__minus_1_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_63_bar__plus_02_dot_02_bar__minus_01_dot_45 loc_bar__minus_3_bar__minus_3_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 loc_bar__minus_3_bar__minus_1_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_70_bar__plus_02_dot_02_bar__minus_01_dot_45 loc_bar__minus_3_bar__minus_3_bar_3_bar__minus_15)\n (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__minus_01_dot_60 loc_bar_4_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51 loc_bar_3_bar_2_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_81_bar__plus_00_dot_48_bar__minus_01_dot_16 loc_bar_5_bar_0_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_14_bar__plus_00_dot_60 loc_bar_3_bar_7_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__plus_01_dot_22 loc_bar_2_bar_7_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__minus_00_dot_02 loc_bar_5_bar_0_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_31_bar__plus_00_dot_60 loc_bar_5_bar_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__minus_00_dot_02 loc_bar_5_bar_0_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_52_bar__plus_01_dot_22 loc_bar_3_bar_3_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_54_bar__plus_00_dot_60 loc_bar_5_bar_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_60_bar__minus_00_dot_02 loc_bar_4_bar_3_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__plus_00_dot_61 loc_bar_3_bar_4_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__minus_00_dot_02 loc_bar_3_bar_1_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_78_bar__plus_01_dot_22 loc_bar_3_bar_6_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_48_bar__minus_01_dot_16 loc_bar__minus_3_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01 loc_bar__minus_3_bar_0_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_01_dot_33 loc_bar__minus_5_bar_6_bar_3_bar_60)\n (receptacleAtLocation Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77 loc_bar_4_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin loc_bar_0_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_38 loc_bar_5_bar_2_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_60 loc_bar_5_bar_2_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_82 loc_bar_5_bar_3_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_38 loc_bar_5_bar_2_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_60 loc_bar_5_bar_2_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_82 loc_bar_5_bar_3_bar_1_bar_45)\n (receptacleAtLocation Toaster_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__minus_00_dot_34 loc_bar_4_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Bowl_bar__minus_01_dot_15_bar__plus_00_dot_11_bar__minus_01_dot_42 loc_bar__minus_3_bar__minus_1_bar_2_bar_60)\n (objectAtLocation Mug_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__minus_01_dot_36 loc_bar_4_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Spoon_bar__plus_01_dot_66_bar__plus_00_dot_14_bar__plus_01_dot_22 loc_bar_2_bar_7_bar_1_bar_60)\n (objectAtLocation Potato_bar__minus_01_dot_80_bar__plus_00_dot_07_bar__plus_01_dot_33 loc_bar__minus_5_bar_6_bar_3_bar_60)\n (objectAtLocation Tomato_bar__minus_01_dot_75_bar__plus_01_dot_52_bar__minus_00_dot_27 loc_bar__minus_3_bar_0_bar_3_bar_60)\n (objectAtLocation Bread_bar__minus_01_dot_46_bar__plus_00_dot_99_bar__minus_01_dot_71 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation ButterKnife_bar__plus_01_dot_71_bar__plus_00_dot_46_bar__plus_01_dot_15 loc_bar_3_bar_3_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__plus_01_dot_77_bar__plus_00_dot_76_bar__plus_01_dot_22 loc_bar_3_bar_6_bar_1_bar_45)\n (objectAtLocation PepperShaker_bar__minus_00_dot_11_bar__plus_00_dot_92_bar__minus_00_dot_19 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__plus_01_dot_61_bar__plus_00_dot_22_bar__plus_01_dot_42 loc_bar_2_bar_7_bar_1_bar_60)\n (objectAtLocation Knife_bar__plus_02_dot_07_bar__plus_00_dot_93_bar__plus_01_dot_41 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Apple_bar__plus_01_dot_89_bar__plus_01_dot_06_bar__minus_00_dot_76 loc_bar_4_bar__minus_3_bar_1_bar_45)\n (objectAtLocation Spatula_bar__plus_00_dot_26_bar__plus_00_dot_78_bar__minus_01_dot_55 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Plate_bar__minus_00_dot_21_bar__plus_00_dot_92_bar__plus_00_dot_51 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Kettle_bar__plus_01_dot_68_bar__plus_00_dot_90_bar__plus_00_dot_09 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Ladle_bar__plus_00_dot_21_bar__plus_00_dot_97_bar__plus_00_dot_97 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Fork_bar__minus_00_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_20 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Pot_bar__plus_00_dot_08_bar__plus_00_dot_76_bar__minus_01_dot_44 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__plus_01_dot_96_bar__plus_01_dot_66_bar__minus_01_dot_28 loc_bar_4_bar__minus_3_bar_1_bar__minus_30)\n (objectAtLocation Apple_bar__plus_00_dot_32_bar__plus_00_dot_98_bar__plus_00_dot_27 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_26_bar__plus_00_dot_76_bar__minus_01_dot_49 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Bread_bar__minus_00_dot_84_bar__plus_00_dot_99_bar__minus_01_dot_32 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n 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(objectAtLocation Window_bar__plus_02_dot_22_bar__plus_01_dot_57_bar__minus_00_dot_39 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Chair_bar__minus_00_dot_06_bar__plus_00_dot_52_bar__plus_01_dot_37 loc_bar_0_bar_8_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_03_dot_24_bar__plus_01_dot_62_bar__plus_02_dot_69 loc_bar__minus_10_bar_11_bar_3_bar_0)\n (objectAtLocation SoapBottle_bar__plus_02_dot_03_bar__plus_00_dot_92_bar__plus_00_dot_03 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Cup_bar__minus_01_dot_24_bar__plus_00_dot_11_bar__minus_01_dot_23 loc_bar__minus_3_bar__minus_1_bar_2_bar_60)\n (objectAtLocation LightSwitch_bar__minus_00_dot_15_bar__plus_01_dot_29_bar__plus_03_dot_70 loc_bar__minus_1_bar_12_bar_0_bar_30)\n (objectAtLocation Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_38 loc_bar_5_bar_2_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_57 loc_bar_5_bar_2_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_63 loc_bar_5_bar_3_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_74 loc_bar_5_bar_3_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_68 loc_bar_5_bar_3_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_46 loc_bar_5_bar_2_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_52 loc_bar_5_bar_2_bar_1_bar_60)\n (objectAtLocation Fork_bar__plus_01_dot_66_bar__plus_00_dot_58_bar__minus_00_dot_02 loc_bar_4_bar_3_bar_2_bar_60)\n (objectAtLocation Ladle_bar__plus_01_dot_22_bar__plus_01_dot_72_bar__minus_01_dot_61 loc_bar_4_bar__minus_3_bar_1_bar__minus_30)\n (objectAtLocation Kettle_bar__plus_00_dot_32_bar__plus_00_dot_93_bar__plus_00_dot_51 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Egg_bar__plus_01_dot_65_bar__plus_00_dot_97_bar__minus_00_dot_13 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Plate_bar__minus_01_dot_87_bar__plus_00_dot_91_bar__minus_01_dot_32 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Pan_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_82 loc_bar_5_bar_3_bar_1_bar_45)\n (objectAtLocation Lettuce_bar__minus_01_dot_75_bar__plus_01_dot_75_bar__plus_00_dot_20 loc_bar__minus_3_bar_0_bar_3_bar_60)\n (objectAtLocation Spatula_bar__minus_00_dot_18_bar__plus_00_dot_78_bar__minus_01_dot_44 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Apple_bar__minus_01_dot_65_bar__plus_01_dot_52_bar__plus_00_dot_20 loc_bar__minus_3_bar_0_bar_3_bar_60)\n (objectAtLocation Knife_bar__plus_00_dot_11_bar__plus_00_dot_95_bar__plus_00_dot_04 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__plus_01_dot_66_bar__plus_00_dot_69_bar__plus_00_dot_18 loc_bar_3_bar_1_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__minus_01_dot_80_bar__plus_01_dot_66_bar__minus_01_dot_36 loc_bar__minus_3_bar__minus_3_bar_3_bar__minus_15)\n (objectAtLocation CellPhone_bar__minus_00_dot_32_bar__plus_00_dot_92_bar__plus_00_dot_04 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation ButterKnife_bar__minus_01_dot_90_bar__plus_00_dot_91_bar__minus_00_dot_91 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Bread_bar__plus_00_dot_00_bar__plus_01_dot_01_bar__plus_00_dot_51 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Tomato_bar__minus_01_dot_67_bar__plus_00_dot_97_bar__minus_01_dot_71 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Potato_bar__plus_01_dot_99_bar__plus_00_dot_94_bar__plus_01_dot_41 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation DishSponge_bar__plus_01_dot_66_bar__plus_00_dot_22_bar__plus_01_dot_09 loc_bar_2_bar_7_bar_1_bar_60)\n (objectAtLocation Spoon_bar__plus_01_dot_66_bar__plus_00_dot_46_bar__plus_00_dot_74 loc_bar_5_bar_2_bar_1_bar_60)\n (objectAtLocation Mug_bar__minus_01_dot_75_bar__plus_01_dot_46_bar__plus_00_dot_20 loc_bar__minus_3_bar_0_bar_3_bar_60)\n (objectAtLocation Bowl_bar__plus_00_dot_14_bar__plus_00_dot_11_bar__minus_01_dot_47 loc_bar_3_bar__minus_1_bar_2_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (heatable ?o)\n (objectType ?o EggType)\n (receptacleType ?r GarbageCanType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take egg 1 from countertop 1", "go to microwave 1", "heat egg 1 with microwave 1", "go to garbagecan 1", "move egg 1 to garbagecan 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-GarbageCan-2/trial_T20190909_100933_506578/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-GarbageCan-2/trial_T20190909_100933_506578/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..b9f3e878777a8c70ab16f6b3d9db7f18425541b5 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-GarbageCan-2/trial_T20190909_100933_506578/initial_state.pddl @@ -0,0 +1,1175 @@ + +(define (problem plan_trial_T20190909_100933_506578) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__plus_00_dot_32_bar__plus_00_dot_98_bar__plus_00_dot_27 - object + Apple_bar__plus_01_dot_89_bar__plus_01_dot_06_bar__minus_00_dot_76 - object + Apple_bar__minus_01_dot_65_bar__plus_01_dot_52_bar__plus_00_dot_20 - object + Bowl_bar__plus_00_dot_14_bar__plus_00_dot_11_bar__minus_01_dot_47 - object + Bowl_bar__minus_01_dot_15_bar__plus_00_dot_11_bar__minus_01_dot_42 - object + Bread_bar__plus_00_dot_00_bar__plus_01_dot_01_bar__plus_00_dot_51 - object + Bread_bar__minus_00_dot_84_bar__plus_00_dot_99_bar__minus_01_dot_32 - object + Bread_bar__minus_01_dot_46_bar__plus_00_dot_99_bar__minus_01_dot_71 - object + ButterKnife_bar__plus_01_dot_71_bar__plus_00_dot_46_bar__plus_01_dot_15 - object + ButterKnife_bar__minus_01_dot_90_bar__plus_00_dot_91_bar__minus_00_dot_91 - object + CellPhone_bar__plus_01_dot_77_bar__plus_00_dot_76_bar__plus_01_dot_22 - object + CellPhone_bar__minus_00_dot_21_bar__plus_00_dot_92_bar__plus_00_dot_27 - object + CellPhone_bar__minus_00_dot_32_bar__plus_00_dot_92_bar__plus_00_dot_04 - object + Chair_bar__minus_00_dot_06_bar__plus_00_dot_52_bar__plus_01_dot_37 - object + Cup_bar__minus_01_dot_24_bar__plus_00_dot_11_bar__minus_01_dot_23 - object + DishSponge_bar__plus_01_dot_66_bar__plus_00_dot_22_bar__plus_01_dot_09 - object + Egg_bar__plus_01_dot_65_bar__plus_00_dot_97_bar__minus_00_dot_13 - object + Faucet_bar__minus_00_dot_02_bar__plus_01_dot_14_bar__minus_01_dot_61 - object + Fork_bar__plus_01_dot_66_bar__plus_00_dot_58_bar__minus_00_dot_02 - object + Fork_bar__plus_01_dot_86_bar__plus_00_dot_23_bar__plus_01_dot_35 - object + Fork_bar__minus_00_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_20 - object + Kettle_bar__plus_00_dot_32_bar__plus_00_dot_93_bar__plus_00_dot_51 - object + Kettle_bar__plus_01_dot_46_bar__plus_01_dot_68_bar__minus_01_dot_58 - object + Kettle_bar__plus_01_dot_68_bar__plus_00_dot_90_bar__plus_00_dot_09 - object + Knife_bar__plus_00_dot_11_bar__plus_00_dot_95_bar__plus_00_dot_04 - object + Knife_bar__plus_02_dot_07_bar__plus_00_dot_93_bar__plus_01_dot_41 - object + Knife_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__minus_01_dot_06 - object + Ladle_bar__plus_00_dot_21_bar__plus_00_dot_97_bar__plus_00_dot_97 - object + Ladle_bar__plus_01_dot_22_bar__plus_01_dot_72_bar__minus_01_dot_61 - object + Lettuce_bar__minus_01_dot_75_bar__plus_01_dot_75_bar__plus_00_dot_20 - object + LightSwitch_bar__minus_00_dot_15_bar__plus_01_dot_29_bar__plus_03_dot_70 - object + Mug_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__minus_01_dot_36 - object + Mug_bar__minus_00_dot_26_bar__plus_00_dot_76_bar__minus_01_dot_49 - object + Mug_bar__minus_01_dot_75_bar__plus_01_dot_46_bar__plus_00_dot_20 - object + Pan_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_82 - object + PepperShaker_bar__minus_00_dot_11_bar__plus_00_dot_92_bar__minus_00_dot_19 - object + PepperShaker_bar__minus_01_dot_80_bar__plus_01_dot_66_bar__minus_01_dot_36 - object + Plate_bar__minus_00_dot_21_bar__plus_00_dot_92_bar__plus_00_dot_51 - object + Plate_bar__minus_01_dot_87_bar__plus_00_dot_91_bar__minus_01_dot_32 - object + Potato_bar__plus_01_dot_99_bar__plus_00_dot_94_bar__plus_01_dot_41 - object + Potato_bar__minus_00_dot_32_bar__plus_00_dot_95_bar__plus_00_dot_27 - object + Potato_bar__minus_01_dot_80_bar__plus_00_dot_07_bar__plus_01_dot_33 - object + Pot_bar__plus_00_dot_08_bar__plus_00_dot_76_bar__minus_01_dot_44 - object + Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_38 - object + Pot_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_97 - object + SaltShaker_bar__plus_01_dot_61_bar__plus_00_dot_22_bar__plus_01_dot_42 - object + SaltShaker_bar__plus_01_dot_66_bar__plus_00_dot_69_bar__plus_00_dot_18 - object + Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44 - object + SoapBottle_bar__plus_01_dot_96_bar__plus_01_dot_66_bar__minus_01_dot_28 - object + SoapBottle_bar__plus_02_dot_03_bar__plus_00_dot_92_bar__plus_00_dot_03 - object + Spatula_bar__plus_00_dot_26_bar__plus_00_dot_78_bar__minus_01_dot_55 - object + Spatula_bar__minus_00_dot_18_bar__plus_00_dot_78_bar__minus_01_dot_44 - object + Spoon_bar__plus_01_dot_66_bar__plus_00_dot_14_bar__plus_01_dot_22 - object + Spoon_bar__plus_01_dot_66_bar__plus_00_dot_46_bar__plus_00_dot_74 - object + StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_46 - object + StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_52 - object + StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_57 - object + StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_63 - object + StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_68 - object + StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_74 - object + Tomato_bar__minus_01_dot_67_bar__plus_00_dot_97_bar__minus_01_dot_71 - object + Tomato_bar__minus_01_dot_75_bar__plus_01_dot_52_bar__minus_00_dot_27 - object + Window_bar__plus_02_dot_22_bar__plus_01_dot_57_bar__minus_00_dot_39 - object + Window_bar__minus_00_dot_01_bar__plus_01_dot_58_bar__minus_01_dot_82 - object + Window_bar__minus_03_dot_24_bar__plus_01_dot_62_bar__plus_02_dot_69 - object + Cabinet_bar__plus_00_dot_41_bar__plus_00_dot_48_bar__plus_00_dot_45 - receptacle + Cabinet_bar__plus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 - receptacle + Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 - receptacle + Cabinet_bar__plus_01_dot_71_bar__plus_02_dot_02_bar__minus_01_dot_45 - receptacle + Cabinet_bar__plus_01_dot_79_bar__plus_02_dot_02_bar__minus_00_dot_82 - receptacle + Cabinet_bar__minus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 - receptacle + Cabinet_bar__minus_00_dot_63_bar__plus_02_dot_02_bar__minus_01_dot_45 - receptacle + Cabinet_bar__minus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 - receptacle + Cabinet_bar__minus_01_dot_70_bar__plus_02_dot_02_bar__minus_01_dot_45 - receptacle + CoffeeMachine_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__minus_01_dot_60 - receptacle + CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51 - receptacle + CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51 - receptacle + Drawer_bar__plus_00_dot_81_bar__plus_00_dot_48_bar__minus_01_dot_16 - receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_14_bar__plus_00_dot_60 - receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__plus_01_dot_22 - receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__minus_00_dot_02 - receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_31_bar__plus_00_dot_60 - receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__minus_00_dot_02 - receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_52_bar__plus_01_dot_22 - receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_54_bar__plus_00_dot_60 - receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_60_bar__minus_00_dot_02 - receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__plus_00_dot_61 - receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__minus_00_dot_02 - receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_78_bar__plus_01_dot_22 - receptacle + Drawer_bar__minus_00_dot_70_bar__plus_00_dot_48_bar__minus_01_dot_16 - receptacle + Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01 - receptacle + GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_01_dot_33 - receptacle + Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77 - receptacle + Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin - receptacle + StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_38 - receptacle + StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_60 - receptacle + StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_82 - receptacle + StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_38 - receptacle + StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_60 - receptacle + StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_82 - receptacle + Toaster_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__minus_00_dot_34 - receptacle + loc_bar_4_bar__minus_3_bar_1_bar__minus_30 - location + loc_bar_3_bar_1_bar_1_bar_60 - location + loc_bar_5_bar_2_bar_1_bar_60 - location + loc_bar_3_bar_4_bar_1_bar_60 - location + loc_bar_2_bar_7_bar_1_bar_60 - location + loc_bar__minus_3_bar__minus_1_bar_2_bar_60 - location + loc_bar__minus_3_bar__minus_2_bar_2_bar_60 - location + loc_bar_4_bar__minus_3_bar_1_bar_45 - location + loc_bar_0_bar__minus_3_bar_2_bar_45 - location + loc_bar_5_bar_3_bar_1_bar_60 - location + loc_bar_3_bar_7_bar_2_bar_60 - location + loc_bar_0_bar_8_bar_2_bar_60 - location + loc_bar_3_bar_3_bar_1_bar_60 - location + loc_bar_5_bar_0_bar_1_bar_60 - location + loc_bar_5_bar_0_bar_2_bar_45 - location + loc_bar_5_bar_4_bar_3_bar_60 - location + loc_bar__minus_10_bar_11_bar_3_bar_0 - location + loc_bar_4_bar_3_bar_2_bar_60 - location + loc_bar__minus_5_bar_6_bar_3_bar_60 - location + loc_bar__minus_3_bar_0_bar_3_bar_60 - location + loc_bar__minus_3_bar__minus_3_bar_3_bar__minus_15 - location + loc_bar__minus_1_bar_12_bar_0_bar_30 - location + loc_bar_5_bar_3_bar_1_bar_45 - location + loc_bar__minus_3_bar__minus_3_bar_2_bar_45 - location + loc_bar__minus_3_bar__minus_3_bar_2_bar__minus_30 - location + loc_bar_4_bar__minus_3_bar_2_bar_45 - location + loc_bar_5_bar_2_bar_1_bar_45 - location + loc_bar_3_bar__minus_1_bar_2_bar_60 - location + loc_bar_3_bar_6_bar_1_bar_45 - location + loc_bar_3_bar_2_bar_3_bar_45 - location + loc_bar_4_bar__minus_1_bar_1_bar_45 - location + loc_bar_0_bar__minus_3_bar_2_bar_60 - location + loc_bar_3_bar_6_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_82 StoveBurnerType) + (receptacleType Cabinet_bar__minus_01_dot_70_bar__plus_02_dot_02_bar__minus_01_dot_45 CabinetType) + (receptacleType CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51 CounterTopType) + (receptacleType Cabinet_bar__plus_01_dot_79_bar__plus_02_dot_02_bar__minus_00_dot_82 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 CabinetType) + (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__plus_00_dot_61 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_70_bar__plus_00_dot_48_bar__minus_01_dot_16 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_78_bar__plus_01_dot_22 DrawerType) + (receptacleType Cabinet_bar__minus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 CabinetType) + (receptacleType Cabinet_bar__plus_00_dot_41_bar__plus_00_dot_48_bar__plus_00_dot_45 CabinetType) + (receptacleType CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51 CounterTopType) + (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_31_bar__plus_00_dot_60 DrawerType) + 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Apple_bar__minus_01_dot_65_bar__plus_01_dot_52_bar__plus_00_dot_20) + (coolable Potato_bar__minus_00_dot_32_bar__plus_00_dot_95_bar__plus_00_dot_27) + (coolable Potato_bar__minus_01_dot_80_bar__plus_00_dot_07_bar__plus_01_dot_33) + (coolable Bread_bar__plus_00_dot_00_bar__plus_01_dot_01_bar__plus_00_dot_51) + + + + + + (sliceable Apple_bar__plus_00_dot_32_bar__plus_00_dot_98_bar__plus_00_dot_27) + (sliceable Egg_bar__plus_01_dot_65_bar__plus_00_dot_97_bar__minus_00_dot_13) + (sliceable Tomato_bar__minus_01_dot_67_bar__plus_00_dot_97_bar__minus_01_dot_71) + (sliceable Lettuce_bar__minus_01_dot_75_bar__plus_01_dot_75_bar__plus_00_dot_20) + (sliceable Bread_bar__minus_00_dot_84_bar__plus_00_dot_99_bar__minus_01_dot_32) + (sliceable Tomato_bar__minus_01_dot_75_bar__plus_01_dot_52_bar__minus_00_dot_27) + (sliceable Potato_bar__plus_01_dot_99_bar__plus_00_dot_94_bar__plus_01_dot_41) + (sliceable Bread_bar__minus_01_dot_46_bar__plus_00_dot_99_bar__minus_01_dot_71) + (sliceable Apple_bar__plus_01_dot_89_bar__plus_01_dot_06_bar__minus_00_dot_76) + (sliceable Apple_bar__minus_01_dot_65_bar__plus_01_dot_52_bar__plus_00_dot_20) + (sliceable Potato_bar__minus_00_dot_32_bar__plus_00_dot_95_bar__plus_00_dot_27) + (sliceable Potato_bar__minus_01_dot_80_bar__plus_00_dot_07_bar__plus_01_dot_33) + (sliceable Bread_bar__plus_00_dot_00_bar__plus_01_dot_01_bar__plus_00_dot_51) + + (inReceptacleObject Spatula_bar__minus_00_dot_18_bar__plus_00_dot_78_bar__minus_01_dot_44 Pot_bar__plus_00_dot_08_bar__plus_00_dot_76_bar__minus_01_dot_44) + (inReceptacle Pan_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_82 StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_60) + (inReceptacle SaltShaker_bar__plus_01_dot_66_bar__plus_00_dot_69_bar__plus_00_dot_18 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__minus_00_dot_02) + (inReceptacle Fork_bar__plus_01_dot_66_bar__plus_00_dot_58_bar__minus_00_dot_02 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_60_bar__minus_00_dot_02) + (inReceptacle Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_38 StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_38) + (inReceptacle PepperShaker_bar__minus_01_dot_80_bar__plus_01_dot_66_bar__minus_01_dot_36 Cabinet_bar__minus_01_dot_70_bar__plus_02_dot_02_bar__minus_01_dot_45) + (inReceptacle SoapBottle_bar__plus_01_dot_96_bar__plus_01_dot_66_bar__minus_01_dot_28 Cabinet_bar__plus_01_dot_79_bar__plus_02_dot_02_bar__minus_00_dot_82) + (inReceptacle Bowl_bar__plus_00_dot_14_bar__plus_00_dot_11_bar__minus_01_dot_47 Cabinet_bar__plus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15) + (inReceptacle Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_38 StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_60) + (inReceptacle Pan_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_82 StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_82) + (inReceptacle ButterKnife_bar__plus_01_dot_71_bar__plus_00_dot_46_bar__plus_01_dot_15 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_52_bar__plus_01_dot_22) + (inReceptacle Ladle_bar__plus_01_dot_22_bar__plus_01_dot_72_bar__minus_01_dot_61 Cabinet_bar__plus_01_dot_71_bar__plus_02_dot_02_bar__minus_01_dot_45) + (inReceptacle Kettle_bar__plus_01_dot_46_bar__plus_01_dot_68_bar__minus_01_dot_58 Cabinet_bar__plus_01_dot_71_bar__plus_02_dot_02_bar__minus_01_dot_45) + (inReceptacle Plate_bar__minus_01_dot_87_bar__plus_00_dot_91_bar__minus_01_dot_32 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Kettle_bar__plus_01_dot_68_bar__plus_00_dot_90_bar__plus_00_dot_09 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_38 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Knife_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__minus_01_dot_06 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Egg_bar__plus_01_dot_65_bar__plus_00_dot_97_bar__minus_00_dot_13 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle ButterKnife_bar__minus_01_dot_90_bar__plus_00_dot_91_bar__minus_00_dot_91 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Knife_bar__plus_02_dot_07_bar__plus_00_dot_93_bar__plus_01_dot_41 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Bread_bar__minus_01_dot_46_bar__plus_00_dot_99_bar__minus_01_dot_71 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Mug_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__minus_01_dot_36 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle SoapBottle_bar__plus_02_dot_03_bar__plus_00_dot_92_bar__plus_00_dot_03 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Pan_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_82 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Tomato_bar__minus_01_dot_67_bar__plus_00_dot_97_bar__minus_01_dot_71 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Potato_bar__plus_01_dot_99_bar__plus_00_dot_94_bar__plus_01_dot_41 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Window_bar__plus_02_dot_22_bar__plus_01_dot_57_bar__minus_00_dot_39 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Bread_bar__minus_00_dot_84_bar__plus_00_dot_99_bar__minus_01_dot_32 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Window_bar__minus_00_dot_01_bar__plus_01_dot_58_bar__minus_01_dot_82 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_38 StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_38) + (inReceptacle Spoon_bar__plus_01_dot_66_bar__plus_00_dot_46_bar__plus_00_dot_74 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_54_bar__plus_00_dot_60) + (inReceptacle CellPhone_bar__plus_01_dot_77_bar__plus_00_dot_76_bar__plus_01_dot_22 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_78_bar__plus_01_dot_22) + (inReceptacle Knife_bar__plus_00_dot_11_bar__plus_00_dot_95_bar__plus_00_dot_04 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Kettle_bar__plus_00_dot_32_bar__plus_00_dot_93_bar__plus_00_dot_51 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Plate_bar__minus_00_dot_21_bar__plus_00_dot_92_bar__plus_00_dot_51 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Pot_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_97 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Fork_bar__minus_00_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_20 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Apple_bar__plus_00_dot_32_bar__plus_00_dot_98_bar__plus_00_dot_27 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle CellPhone_bar__minus_00_dot_32_bar__plus_00_dot_92_bar__plus_00_dot_04 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle CellPhone_bar__minus_00_dot_21_bar__plus_00_dot_92_bar__plus_00_dot_27 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Potato_bar__minus_00_dot_32_bar__plus_00_dot_95_bar__plus_00_dot_27 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Bread_bar__plus_00_dot_00_bar__plus_01_dot_01_bar__plus_00_dot_51 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle PepperShaker_bar__minus_00_dot_11_bar__plus_00_dot_92_bar__minus_00_dot_19 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Ladle_bar__plus_00_dot_21_bar__plus_00_dot_97_bar__plus_00_dot_97 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle SaltShaker_bar__plus_01_dot_61_bar__plus_00_dot_22_bar__plus_01_dot_42 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__plus_01_dot_22) + (inReceptacle Spoon_bar__plus_01_dot_66_bar__plus_00_dot_14_bar__plus_01_dot_22 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__plus_01_dot_22) + (inReceptacle Fork_bar__plus_01_dot_86_bar__plus_00_dot_23_bar__plus_01_dot_35 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__plus_01_dot_22) + (inReceptacle DishSponge_bar__plus_01_dot_66_bar__plus_00_dot_22_bar__plus_01_dot_09 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__plus_01_dot_22) + (inReceptacle Pan_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_82 StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_82) + (inReceptacle Cup_bar__minus_01_dot_24_bar__plus_00_dot_11_bar__minus_01_dot_23 Cabinet_bar__minus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15) + (inReceptacle Bowl_bar__minus_01_dot_15_bar__plus_00_dot_11_bar__minus_01_dot_42 Cabinet_bar__minus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15) + (inReceptacle Potato_bar__minus_01_dot_80_bar__plus_00_dot_07_bar__plus_01_dot_33 GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_01_dot_33) + (inReceptacle Apple_bar__plus_01_dot_89_bar__plus_01_dot_06_bar__minus_00_dot_76 Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77) + (inReceptacle Mug_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__minus_01_dot_36 CoffeeMachine_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__minus_01_dot_60) + (inReceptacle Mug_bar__minus_01_dot_75_bar__plus_01_dot_46_bar__plus_00_dot_20 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01) + (inReceptacle Tomato_bar__minus_01_dot_75_bar__plus_01_dot_52_bar__minus_00_dot_27 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01) + (inReceptacle Apple_bar__minus_01_dot_65_bar__plus_01_dot_52_bar__plus_00_dot_20 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01) + (inReceptacle Lettuce_bar__minus_01_dot_75_bar__plus_01_dot_75_bar__plus_00_dot_20 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01) + (inReceptacle Pot_bar__plus_00_dot_08_bar__plus_00_dot_76_bar__minus_01_dot_44 Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin) + (inReceptacle Spatula_bar__plus_00_dot_26_bar__plus_00_dot_78_bar__minus_01_dot_55 Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin) + (inReceptacle Mug_bar__minus_00_dot_26_bar__plus_00_dot_76_bar__minus_01_dot_49 Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin) + (inReceptacle Spatula_bar__minus_00_dot_18_bar__plus_00_dot_78_bar__minus_01_dot_44 Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_41_bar__plus_00_dot_48_bar__plus_00_dot_45 loc_bar_5_bar_4_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__plus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 loc_bar_3_bar__minus_1_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 loc_bar_3_bar__minus_1_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_71_bar__plus_02_dot_02_bar__minus_01_dot_45 loc_bar_4_bar__minus_3_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_79_bar__plus_02_dot_02_bar__minus_00_dot_82 loc_bar_4_bar__minus_3_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 loc_bar__minus_3_bar__minus_1_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_63_bar__plus_02_dot_02_bar__minus_01_dot_45 loc_bar__minus_3_bar__minus_3_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 loc_bar__minus_3_bar__minus_1_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_70_bar__plus_02_dot_02_bar__minus_01_dot_45 loc_bar__minus_3_bar__minus_3_bar_3_bar__minus_15) + (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__minus_01_dot_60 loc_bar_4_bar__minus_3_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51 loc_bar__minus_3_bar__minus_3_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51 loc_bar_3_bar_2_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_81_bar__plus_00_dot_48_bar__minus_01_dot_16 loc_bar_5_bar_0_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_14_bar__plus_00_dot_60 loc_bar_3_bar_7_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__plus_01_dot_22 loc_bar_2_bar_7_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__minus_00_dot_02 loc_bar_5_bar_0_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_31_bar__plus_00_dot_60 loc_bar_5_bar_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__minus_00_dot_02 loc_bar_5_bar_0_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_52_bar__plus_01_dot_22 loc_bar_3_bar_3_bar_1_bar_60) + (receptacleAtLocation 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"DishSponge_e1c57c26", + "position": { + "x": 1.66222787, + "y": 0.2249842, + "z": 1.08805 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_bfeb74cb", + "position": { + "x": 1.66222787, + "y": 0.1423721, + "z": 1.2193 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_b045e42b", + "position": { + "x": 1.3554858, + "y": 0.9554, + "z": -1.36239815 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_253fa632", + "position": { + "x": -1.15179658, + "y": 0.111906528, + "z": -1.42369986 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 613427638, + "scene_num": 2 + }, + "task_id": "trial_T20190909_100933_506578", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A19LVWX8ZLO6CS_34HJIJKLP8NUWHXR6B6VH9XUJFA4VO", + "high_descs": [ + "Turn right and walk forward, then turn left to face the kitchen counter.", + "Pick up the egg to the right of the kettle.", + "Turn around, step forward, then turn left and walk to the counter on the far side, turn left to face the microwave.", + "Open the microwave, place the egg to the left of the apple and turn on. Wait till the microwave is off and remove the egg.", + "Turn around, walk towards the fridge, turn right and go straight till you reach the trash can on the left.", + "Place the egg in the trash can." + ], + "task_desc": "Heat up an egg in the microwave and put in the trash.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1ELPYAFO7MANS_3A1PQ49WVK88MH5OE46P4AZIZGQ1HJ", + "high_descs": [ + "Walk ahead and turn left to face the counter on the right side of the stove. ", + "Pick up the egg on the counter.", + "Take a step right.", + "Heat the egg in the microwave.", + "Turn right and walk to the fridge, then go past it and face the bin on the right side of it.", + "Place the egg in the bin." + ], + "task_desc": "Place a cooked egg in a garbage bin.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2JBNDG0U9IA6I_3AAPLD8UCF89V1HXGNQZAGIDRZCTHF", + "high_descs": [ + "Turn right and walk straight slightly then turn left and face the counter right of the stove", + "Pick up the egg next to the tea kettle", + "Move slightly to the right and face the microwave", + "Place the egg in the microwave and heat it then remove it", + "Turn around and walk straight then turn right at the kitchen island walk straight then face left at the trash bin", + "Place the egg inside the trash bin next to the refrigerator" + ], + "task_desc": "Heat an egg and place it in the trash bin", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-GarbageCan-2/trial_T20190909_101128_479012/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-GarbageCan-2/trial_T20190909_101128_479012/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..f1c253e7038042592113eb0eb6b789deb293fc63 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-GarbageCan-2/trial_T20190909_101128_479012/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 egg and put it in garbagecan.\"\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_101128_479012)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__minus_00_dot_09_bar__plus_00_dot_81_bar__minus_01_dot_44 - object\n Apple_bar__minus_01_dot_72_bar__plus_00_dot_62_bar__plus_00_dot_20 - object\n Bowl_bar__plus_00_dot_32_bar__plus_00_dot_92_bar__plus_00_dot_74 - object\n 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location\n loc_bar_5_bar_2_bar_1_bar_45 - location\n loc_bar_3_bar__minus_1_bar_2_bar_60 - location\n loc_bar_3_bar_6_bar_1_bar_45 - location\n loc_bar_3_bar_2_bar_3_bar_45 - location\n loc_bar_4_bar__minus_1_bar_1_bar_45 - location\n loc_bar_0_bar__minus_3_bar_2_bar_60 - location\n loc_bar__minus_1_bar_11_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_82 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_01_dot_70_bar__plus_02_dot_02_bar__minus_01_dot_45 CabinetType)\n (receptacleType CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51 CounterTopType)\n (receptacleType Cabinet_bar__plus_01_dot_79_bar__plus_02_dot_02_bar__minus_00_dot_82 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 CabinetType)\n (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__plus_00_dot_61 DrawerType)\n (receptacleType 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Egg_bar__plus_00_dot_21_bar__plus_00_dot_98_bar__plus_00_dot_51)\n (heatable Bread_bar__minus_01_dot_80_bar__plus_01_dot_55_bar__plus_00_dot_01)\n (heatable Bread_bar__minus_01_dot_75_bar__plus_01_dot_76_bar__minus_00_dot_18)\n (heatable Egg_bar__minus_01_dot_79_bar__plus_01_dot_09_bar__minus_00_dot_18)\n (heatable Cup_bar__minus_01_dot_65_bar__plus_01_dot_47_bar__plus_00_dot_30)\n (heatable Plate_bar__minus_00_dot_11_bar__plus_00_dot_92_bar__plus_00_dot_04)\n (heatable Mug_bar__minus_01_dot_59_bar__plus_01_dot_46_bar__minus_00_dot_18)\n (heatable Apple_bar__minus_00_dot_09_bar__plus_00_dot_81_bar__minus_01_dot_44)\n (heatable Tomato_bar__plus_00_dot_17_bar__plus_00_dot_82_bar__minus_01_dot_49)\n (heatable Bread_bar__minus_01_dot_26_bar__plus_00_dot_99_bar__minus_01_dot_71)\n (heatable Egg_bar__plus_00_dot_32_bar__plus_00_dot_98_bar__plus_00_dot_27)\n (heatable Egg_bar__minus_00_dot_21_bar__plus_00_dot_98_bar__plus_00_dot_97)\n (heatable 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Pot_bar__plus_00_dot_21_bar__plus_00_dot_93_bar__minus_00_dot_19 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Plate_bar__plus_00_dot_00_bar__plus_00_dot_92_bar__plus_01_dot_20 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Egg_bar__plus_00_dot_21_bar__plus_00_dot_98_bar__plus_00_dot_51 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Knife_bar__minus_00_dot_11_bar__plus_00_dot_95_bar__plus_00_dot_74 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Bowl_bar__plus_00_dot_32_bar__plus_00_dot_92_bar__plus_00_dot_74 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51)\n (inReceptacle Spatula_bar__plus_01_dot_86_bar__plus_00_dot_24_bar__plus_01_dot_35 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__plus_01_dot_22)\n (inReceptacle Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_82 StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_82)\n (inReceptacle Kettle_bar__minus_01_dot_15_bar__plus_00_dot_11_bar__minus_01_dot_30 Cabinet_bar__minus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15)\n (inReceptacle Potato_bar__minus_01_dot_80_bar__plus_00_dot_07_bar__plus_01_dot_33 GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_01_dot_33)\n (inReceptacleObject Spatula_bar__plus_00_dot_11_bar__plus_00_dot_94_bar__plus_01_dot_20 Plate_bar__plus_00_dot_00_bar__plus_00_dot_92_bar__plus_01_dot_20)\n (inReceptacle Mug_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__minus_01_dot_36 CoffeeMachine_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__minus_01_dot_60)\n (inReceptacle Tomato_bar__minus_01_dot_75_bar__plus_00_dot_89_bar__plus_00_dot_30 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01)\n (inReceptacle Mug_bar__minus_01_dot_59_bar__plus_01_dot_46_bar__minus_00_dot_18 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01)\n (inReceptacle Apple_bar__minus_01_dot_72_bar__plus_00_dot_62_bar__plus_00_dot_20 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01)\n (inReceptacle Bread_bar__minus_01_dot_80_bar__plus_01_dot_55_bar__plus_00_dot_01 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01)\n (inReceptacle Bread_bar__minus_01_dot_75_bar__plus_01_dot_76_bar__minus_00_dot_18 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01)\n (inReceptacle Tomato_bar__minus_01_dot_72_bar__plus_00_dot_62_bar__minus_00_dot_27 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01)\n (inReceptacle Egg_bar__minus_01_dot_79_bar__plus_01_dot_09_bar__minus_00_dot_18 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01)\n (inReceptacle Cup_bar__minus_01_dot_65_bar__plus_01_dot_47_bar__plus_00_dot_30 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01)\n (inReceptacle 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loc_bar_3_bar_3_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_54_bar__plus_00_dot_60 loc_bar_5_bar_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_60_bar__minus_00_dot_02 loc_bar_4_bar_3_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__plus_00_dot_61 loc_bar_3_bar_4_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__minus_00_dot_02 loc_bar_3_bar_1_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_78_bar__plus_01_dot_22 loc_bar_3_bar_6_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_48_bar__minus_01_dot_16 loc_bar__minus_3_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01 loc_bar__minus_3_bar_0_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_01_dot_33 loc_bar__minus_5_bar_6_bar_3_bar_60)\n (receptacleAtLocation Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77 loc_bar_4_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin loc_bar_0_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_38 loc_bar_5_bar_2_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_60 loc_bar_5_bar_2_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_82 loc_bar_5_bar_3_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_38 loc_bar_5_bar_2_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_60 loc_bar_5_bar_2_bar_1_bar_45)\n (receptacleAtLocation 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Knife_bar__plus_01_dot_76_bar__plus_00_dot_49_bar__plus_00_dot_05 loc_bar_5_bar_0_bar_1_bar_60)\n (objectAtLocation SaltShaker_bar__plus_02_dot_07_bar__plus_00_dot_91_bar__plus_01_dot_33 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__plus_01_dot_34_bar__plus_01_dot_68_bar__minus_01_dot_65 loc_bar_4_bar__minus_3_bar_1_bar__minus_30)\n (objectAtLocation CellPhone_bar__plus_00_dot_75_bar__plus_00_dot_67_bar__minus_01_dot_30 loc_bar_5_bar_0_bar_2_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__minus_00_dot_19 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Bread_bar__minus_01_dot_75_bar__plus_01_dot_76_bar__minus_00_dot_18 loc_bar__minus_3_bar_0_bar_3_bar_60)\n (objectAtLocation Tomato_bar__plus_00_dot_17_bar__plus_00_dot_82_bar__minus_01_dot_49 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Potato_bar__minus_01_dot_80_bar__plus_00_dot_07_bar__plus_01_dot_33 loc_bar__minus_5_bar_6_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__minus_00_dot_18_bar__plus_00_dot_76_bar__minus_01_dot_32 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Spoon_bar__minus_01_dot_46_bar__plus_00_dot_91_bar__minus_01_dot_61 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Mug_bar__minus_01_dot_59_bar__plus_01_dot_46_bar__minus_00_dot_18 loc_bar__minus_3_bar_0_bar_3_bar_60)\n (objectAtLocation Bowl_bar__plus_00_dot_32_bar__plus_00_dot_92_bar__plus_00_dot_74 loc_bar_3_bar_2_bar_3_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 EggType)\n (receptacleType ?r GarbageCanType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 2", "take egg 4 from countertop 2", "go to microwave 1", "heat egg 4 with microwave 1", "go to garbagecan 1", "move egg 4 to garbagecan 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-GarbageCan-2/trial_T20190909_101128_479012/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-GarbageCan-2/trial_T20190909_101128_479012/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..20f56f151fdb4df7d560b087928a9892bfca62fc --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-GarbageCan-2/trial_T20190909_101128_479012/initial_state.pddl @@ -0,0 +1,1141 @@ + +(define (problem plan_trial_T20190909_101128_479012) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__minus_00_dot_09_bar__plus_00_dot_81_bar__minus_01_dot_44 - object + Apple_bar__minus_01_dot_72_bar__plus_00_dot_62_bar__plus_00_dot_20 - object + Bowl_bar__plus_00_dot_32_bar__plus_00_dot_92_bar__plus_00_dot_74 - object + Bread_bar__minus_01_dot_26_bar__plus_00_dot_99_bar__minus_01_dot_71 - object + Bread_bar__minus_01_dot_75_bar__plus_01_dot_76_bar__minus_00_dot_18 - object + Bread_bar__minus_01_dot_80_bar__plus_01_dot_55_bar__plus_00_dot_01 - object + ButterKnife_bar__plus_01_dot_66_bar__plus_00_dot_12_bar__plus_00_dot_45 - object + ButterKnife_bar__plus_01_dot_66_bar__plus_00_dot_12_bar__minus_00_dot_09 - object + ButterKnife_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__minus_00_dot_19 - object + CellPhone_bar__plus_00_dot_75_bar__plus_00_dot_67_bar__minus_01_dot_30 - object + CellPhone_bar__plus_01_dot_66_bar__plus_00_dot_22_bar__plus_00_dot_53 - object + Chair_bar__minus_00_dot_06_bar__plus_00_dot_52_bar__plus_01_dot_37 - object + Cup_bar__minus_01_dot_65_bar__plus_01_dot_47_bar__plus_00_dot_30 - object + DishSponge_bar__minus_00_dot_18_bar__plus_00_dot_76_bar__minus_01_dot_32 - object + Egg_bar__plus_00_dot_21_bar__plus_00_dot_98_bar__plus_00_dot_51 - object + Egg_bar__plus_00_dot_32_bar__plus_00_dot_98_bar__plus_00_dot_27 - object + Egg_bar__minus_00_dot_21_bar__plus_00_dot_98_bar__plus_00_dot_97 - object + Egg_bar__minus_01_dot_79_bar__plus_01_dot_09_bar__minus_00_dot_18 - object + Faucet_bar__minus_00_dot_02_bar__plus_01_dot_14_bar__minus_01_dot_61 - object + Fork_bar__plus_01_dot_71_bar__plus_00_dot_12_bar__plus_00_dot_12 - object + Kettle_bar__plus_02_dot_03_bar__plus_00_dot_91_bar__minus_00_dot_13 - object + Kettle_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_51 - object + Kettle_bar__minus_01_dot_15_bar__plus_00_dot_11_bar__minus_01_dot_30 - object + Knife_bar__plus_01_dot_76_bar__plus_00_dot_49_bar__plus_00_dot_05 - object + Knife_bar__minus_00_dot_11_bar__plus_00_dot_95_bar__plus_00_dot_74 - object + Ladle_bar__plus_01_dot_66_bar__plus_00_dot_63_bar__minus_00_dot_09 - object + Ladle_bar__plus_01_dot_90_bar__plus_00_dot_96_bar__plus_01_dot_41 - object + Ladle_bar__plus_01_dot_99_bar__plus_00_dot_96_bar__plus_01_dot_11 - object + Lettuce_bar__plus_00_dot_11_bar__plus_01_dot_00_bar__plus_00_dot_97 - object + LightSwitch_bar__minus_00_dot_15_bar__plus_01_dot_29_bar__plus_03_dot_70 - object + Mug_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__minus_01_dot_36 - object + Mug_bar__minus_01_dot_59_bar__plus_01_dot_46_bar__minus_00_dot_18 - object + Pan_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_38 - object + PepperShaker_bar__plus_01_dot_34_bar__plus_01_dot_68_bar__minus_01_dot_65 - object + Plate_bar__plus_00_dot_00_bar__plus_00_dot_92_bar__plus_01_dot_20 - object + Plate_bar__plus_00_dot_19_bar__plus_00_dot_11_bar__minus_01_dot_35 - object + Plate_bar__minus_00_dot_11_bar__plus_00_dot_92_bar__plus_00_dot_04 - object + Potato_bar__minus_01_dot_80_bar__plus_00_dot_07_bar__plus_01_dot_33 - object + Pot_bar__plus_00_dot_21_bar__plus_00_dot_93_bar__minus_00_dot_19 - object + Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_82 - object + SaltShaker_bar__plus_02_dot_07_bar__plus_00_dot_91_bar__plus_01_dot_33 - object + SaltShaker_bar__minus_00_dot_11_bar__plus_00_dot_92_bar__plus_00_dot_27 - object + Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44 - object + SoapBottle_bar__plus_01_dot_92_bar__plus_01_dot_66_bar__minus_01_dot_28 - object + Spatula_bar__plus_00_dot_11_bar__plus_00_dot_94_bar__plus_01_dot_20 - object + Spatula_bar__plus_01_dot_86_bar__plus_00_dot_24_bar__plus_01_dot_35 - object + Spoon_bar__minus_01_dot_46_bar__plus_00_dot_91_bar__minus_01_dot_61 - object + StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_46 - object + StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_52 - object + StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_57 - object + StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_63 - object + StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_68 - object + StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_74 - object + Tomato_bar__plus_00_dot_17_bar__plus_00_dot_82_bar__minus_01_dot_49 - object + Tomato_bar__minus_01_dot_72_bar__plus_00_dot_62_bar__minus_00_dot_27 - object + Tomato_bar__minus_01_dot_75_bar__plus_00_dot_89_bar__plus_00_dot_30 - object + Window_bar__plus_02_dot_22_bar__plus_01_dot_57_bar__minus_00_dot_39 - object + Window_bar__minus_00_dot_01_bar__plus_01_dot_58_bar__minus_01_dot_82 - object + Window_bar__minus_03_dot_24_bar__plus_01_dot_62_bar__plus_02_dot_69 - object + Cabinet_bar__plus_00_dot_41_bar__plus_00_dot_48_bar__plus_00_dot_45 - receptacle + Cabinet_bar__plus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 - receptacle + Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 - receptacle + Cabinet_bar__plus_01_dot_71_bar__plus_02_dot_02_bar__minus_01_dot_45 - receptacle + Cabinet_bar__plus_01_dot_79_bar__plus_02_dot_02_bar__minus_00_dot_82 - receptacle + Cabinet_bar__minus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 - receptacle + Cabinet_bar__minus_00_dot_63_bar__plus_02_dot_02_bar__minus_01_dot_45 - receptacle + Cabinet_bar__minus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 - receptacle + Cabinet_bar__minus_01_dot_70_bar__plus_02_dot_02_bar__minus_01_dot_45 - receptacle + CoffeeMachine_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__minus_01_dot_60 - receptacle + CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51 - receptacle + CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51 - receptacle + Drawer_bar__plus_00_dot_81_bar__plus_00_dot_48_bar__minus_01_dot_16 - receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_14_bar__plus_00_dot_60 - receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__plus_01_dot_22 - receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__minus_00_dot_02 - receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_31_bar__plus_00_dot_60 - receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__minus_00_dot_02 - receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_52_bar__plus_01_dot_22 - receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_54_bar__plus_00_dot_60 - receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_60_bar__minus_00_dot_02 - receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__plus_00_dot_61 - receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__minus_00_dot_02 - receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_78_bar__plus_01_dot_22 - receptacle + Drawer_bar__minus_00_dot_70_bar__plus_00_dot_48_bar__minus_01_dot_16 - receptacle + Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01 - receptacle + GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_01_dot_33 - receptacle + Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77 - receptacle + Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin - receptacle + StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_38 - receptacle + StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_60 - receptacle + StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_82 - receptacle + StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_38 - receptacle + StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_60 - receptacle + StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_82 - receptacle + Toaster_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__minus_00_dot_34 - receptacle + loc_bar_4_bar__minus_3_bar_1_bar__minus_30 - location + loc_bar_3_bar_1_bar_1_bar_60 - location + loc_bar_5_bar_2_bar_1_bar_60 - location + loc_bar_3_bar_4_bar_1_bar_60 - location + loc_bar_2_bar_7_bar_1_bar_60 - location + loc_bar__minus_3_bar__minus_1_bar_2_bar_60 - location + loc_bar__minus_3_bar__minus_2_bar_2_bar_60 - location + loc_bar_4_bar__minus_3_bar_1_bar_45 - location + loc_bar_3_bar_5_bar_3_bar_45 - location + loc_bar_5_bar_3_bar_1_bar_60 - location + loc_bar_0_bar__minus_3_bar_2_bar_45 - location + loc_bar_3_bar_7_bar_2_bar_60 - location + loc_bar_0_bar_8_bar_2_bar_60 - location + loc_bar_3_bar_3_bar_1_bar_60 - location + loc_bar_5_bar_0_bar_1_bar_60 - location + loc_bar_5_bar_0_bar_2_bar_45 - location + loc_bar_5_bar_4_bar_3_bar_60 - location + loc_bar__minus_10_bar_11_bar_3_bar_0 - location + loc_bar_4_bar_3_bar_2_bar_60 - location + loc_bar__minus_5_bar_6_bar_3_bar_60 - location + loc_bar__minus_3_bar_0_bar_3_bar_60 - location + loc_bar__minus_3_bar__minus_3_bar_3_bar__minus_15 - location + loc_bar__minus_1_bar_12_bar_0_bar_30 - location + loc_bar_5_bar_3_bar_1_bar_45 - location + loc_bar__minus_3_bar__minus_3_bar_2_bar_45 - location + loc_bar__minus_3_bar__minus_3_bar_2_bar__minus_30 - location + loc_bar_4_bar__minus_3_bar_2_bar_45 - location + loc_bar_5_bar_2_bar_1_bar_45 - location + loc_bar_3_bar__minus_1_bar_2_bar_60 - location + loc_bar_3_bar_6_bar_1_bar_45 - location + loc_bar_3_bar_2_bar_3_bar_45 - location + loc_bar_4_bar__minus_1_bar_1_bar_45 - location + loc_bar_0_bar__minus_3_bar_2_bar_60 - location + loc_bar__minus_1_bar_11_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_82 StoveBurnerType) + (receptacleType Cabinet_bar__minus_01_dot_70_bar__plus_02_dot_02_bar__minus_01_dot_45 CabinetType) + (receptacleType CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51 CounterTopType) + (receptacleType Cabinet_bar__plus_01_dot_79_bar__plus_02_dot_02_bar__minus_00_dot_82 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 CabinetType) + (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__plus_00_dot_61 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_70_bar__plus_00_dot_48_bar__minus_01_dot_16 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_78_bar__plus_01_dot_22 DrawerType) + (receptacleType Cabinet_bar__minus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 CabinetType) + (receptacleType Cabinet_bar__plus_00_dot_41_bar__plus_00_dot_48_bar__plus_00_dot_45 CabinetType) + (receptacleType CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51 CounterTopType) + (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_31_bar__plus_00_dot_60 DrawerType) + (receptacleType Toaster_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__minus_00_dot_34 ToasterType) + (receptacleType CoffeeMachine_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__minus_01_dot_60 CoffeeMachineType) + (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_14_bar__plus_00_dot_60 DrawerType) + (receptacleType Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77 MicrowaveType) + 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Knife_bar__plus_01_dot_76_bar__plus_00_dot_49_bar__plus_00_dot_05) + (cleanable DishSponge_bar__minus_00_dot_18_bar__plus_00_dot_76_bar__minus_01_dot_32) + (cleanable Knife_bar__minus_00_dot_11_bar__plus_00_dot_95_bar__plus_00_dot_74) + (cleanable Tomato_bar__minus_01_dot_72_bar__plus_00_dot_62_bar__minus_00_dot_27) + (cleanable Tomato_bar__minus_01_dot_75_bar__plus_00_dot_89_bar__plus_00_dot_30) + (cleanable Spatula_bar__plus_01_dot_86_bar__plus_00_dot_24_bar__plus_01_dot_35) + (cleanable Potato_bar__minus_01_dot_80_bar__plus_00_dot_07_bar__plus_01_dot_33) + (cleanable Bowl_bar__plus_00_dot_32_bar__plus_00_dot_92_bar__plus_00_dot_74) + (cleanable Ladle_bar__plus_01_dot_99_bar__plus_00_dot_96_bar__plus_01_dot_11) + + (heatable Mug_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__minus_01_dot_36) + (heatable Plate_bar__plus_00_dot_19_bar__plus_00_dot_11_bar__minus_01_dot_35) + (heatable Plate_bar__plus_00_dot_00_bar__plus_00_dot_92_bar__plus_01_dot_20) + (heatable 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Kettle_bar__plus_02_dot_03_bar__plus_00_dot_91_bar__minus_00_dot_13 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Mug_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__minus_01_dot_36 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Ladle_bar__plus_01_dot_90_bar__plus_00_dot_96_bar__plus_01_dot_41 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle SaltShaker_bar__plus_02_dot_07_bar__plus_00_dot_91_bar__plus_01_dot_33 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Window_bar__plus_02_dot_22_bar__plus_01_dot_57_bar__minus_00_dot_39 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Spoon_bar__minus_01_dot_46_bar__plus_00_dot_91_bar__minus_01_dot_61 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Bread_bar__minus_01_dot_26_bar__plus_00_dot_99_bar__minus_01_dot_71 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Window_bar__minus_00_dot_01_bar__plus_01_dot_58_bar__minus_01_dot_82 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Ladle_bar__plus_01_dot_99_bar__plus_00_dot_96_bar__plus_01_dot_11 CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51) + (inReceptacle Pan_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_38 StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_38) + (inReceptacle SaltShaker_bar__minus_00_dot_11_bar__plus_00_dot_92_bar__plus_00_dot_27 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Egg_bar__plus_00_dot_32_bar__plus_00_dot_98_bar__plus_00_dot_27 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle ButterKnife_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__minus_00_dot_19 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Spatula_bar__plus_00_dot_11_bar__plus_00_dot_94_bar__plus_01_dot_20 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Plate_bar__minus_00_dot_11_bar__plus_00_dot_92_bar__plus_00_dot_04 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Kettle_bar__minus_00_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_51 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Egg_bar__minus_00_dot_21_bar__plus_00_dot_98_bar__plus_00_dot_97 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Lettuce_bar__plus_00_dot_11_bar__plus_01_dot_00_bar__plus_00_dot_97 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Pot_bar__plus_00_dot_21_bar__plus_00_dot_93_bar__minus_00_dot_19 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Plate_bar__plus_00_dot_00_bar__plus_00_dot_92_bar__plus_01_dot_20 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Egg_bar__plus_00_dot_21_bar__plus_00_dot_98_bar__plus_00_dot_51 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Knife_bar__minus_00_dot_11_bar__plus_00_dot_95_bar__plus_00_dot_74 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Bowl_bar__plus_00_dot_32_bar__plus_00_dot_92_bar__plus_00_dot_74 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Spatula_bar__plus_01_dot_86_bar__plus_00_dot_24_bar__plus_01_dot_35 Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__plus_01_dot_22) + (inReceptacle Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_82 StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_82) + (inReceptacle Kettle_bar__minus_01_dot_15_bar__plus_00_dot_11_bar__minus_01_dot_30 Cabinet_bar__minus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15) + (inReceptacle Potato_bar__minus_01_dot_80_bar__plus_00_dot_07_bar__plus_01_dot_33 GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_01_dot_33) + (inReceptacleObject Spatula_bar__plus_00_dot_11_bar__plus_00_dot_94_bar__plus_01_dot_20 Plate_bar__plus_00_dot_00_bar__plus_00_dot_92_bar__plus_01_dot_20) + (inReceptacle Mug_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__minus_01_dot_36 CoffeeMachine_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__minus_01_dot_60) + (inReceptacle Tomato_bar__minus_01_dot_75_bar__plus_00_dot_89_bar__plus_00_dot_30 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01) + (inReceptacle Mug_bar__minus_01_dot_59_bar__plus_01_dot_46_bar__minus_00_dot_18 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01) + (inReceptacle Apple_bar__minus_01_dot_72_bar__plus_00_dot_62_bar__plus_00_dot_20 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01) + (inReceptacle Bread_bar__minus_01_dot_80_bar__plus_01_dot_55_bar__plus_00_dot_01 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01) + (inReceptacle Bread_bar__minus_01_dot_75_bar__plus_01_dot_76_bar__minus_00_dot_18 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01) + (inReceptacle Tomato_bar__minus_01_dot_72_bar__plus_00_dot_62_bar__minus_00_dot_27 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01) + (inReceptacle Egg_bar__minus_01_dot_79_bar__plus_01_dot_09_bar__minus_00_dot_18 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01) + (inReceptacle Cup_bar__minus_01_dot_65_bar__plus_01_dot_47_bar__plus_00_dot_30 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01) + (inReceptacle 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loc_bar_4_bar__minus_3_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_79_bar__plus_02_dot_02_bar__minus_00_dot_82 loc_bar_4_bar__minus_3_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 loc_bar__minus_3_bar__minus_1_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_63_bar__plus_02_dot_02_bar__minus_01_dot_45 loc_bar__minus_3_bar__minus_3_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 loc_bar__minus_3_bar__minus_1_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_70_bar__plus_02_dot_02_bar__minus_01_dot_45 loc_bar__minus_3_bar__minus_3_bar_3_bar__minus_15) + (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__minus_01_dot_60 loc_bar_4_bar__minus_3_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51 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loc_bar_3_bar_3_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_54_bar__plus_00_dot_60 loc_bar_5_bar_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_60_bar__minus_00_dot_02 loc_bar_4_bar_3_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__plus_00_dot_61 loc_bar_3_bar_4_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__minus_00_dot_02 loc_bar_3_bar_1_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_50_bar__plus_00_dot_78_bar__plus_01_dot_22 loc_bar_3_bar_6_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_48_bar__minus_01_dot_16 loc_bar__minus_3_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01 loc_bar__minus_3_bar_0_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_01_dot_33 loc_bar__minus_5_bar_6_bar_3_bar_60) + (receptacleAtLocation Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77 loc_bar_4_bar__minus_3_bar_1_bar_45) + (receptacleAtLocation Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin loc_bar_0_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_38 loc_bar_5_bar_2_bar_1_bar_60) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_60 loc_bar_5_bar_2_bar_1_bar_60) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_82 loc_bar_5_bar_3_bar_1_bar_60) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_38 loc_bar_5_bar_2_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_60 loc_bar_5_bar_2_bar_1_bar_45) + (receptacleAtLocation 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face the egg on the island.", + "Pick up the egg on the left side of the island. ", + "Turn right, bring the egg around the island to the left, to the microwave on the counter.", + "Heat the egg in the microwave. ", + "Take the heated egg back around the center island, to the trash can on the right side of the fridge.", + "Put the heated egg in the trash can. " + ], + "task_desc": "Put a heated egg in the trash can. ", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-GarbageCan-2/trial_T20190909_101236_908258/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-GarbageCan-2/trial_T20190909_101236_908258/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..bd4221d91cf33fd6a3c9d9a8be487270d700f8bb --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-GarbageCan-2/trial_T20190909_101236_908258/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 egg in garbagecan.\"\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_101236_908258)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__minus_00_dot_32_bar__plus_00_dot_98_bar__plus_00_dot_97 - object\n Bowl_bar__minus_00_dot_32_bar__plus_00_dot_92_bar__minus_00_dot_19 - object\n Bread_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__minus_00_dot_13 - object\n ButterKnife_bar__plus_01_dot_57_bar__plus_00_dot_91_bar__minus_01_dot_32 - object\n CellPhone_bar__plus_00_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_61 - object\n CellPhone_bar__plus_01_dot_66_bar__plus_00_dot_34_bar__plus_00_dot_67 - object\n CellPhone_bar__plus_01_dot_71_bar__plus_00_dot_12_bar__plus_00_dot_60 - object\n Chair_bar__minus_00_dot_06_bar__plus_00_dot_52_bar__plus_01_dot_37 - object\n Cup_bar__minus_00_dot_32_bar__plus_00_dot_92_bar__plus_00_dot_74 - object\n DishSponge_bar__plus_00_dot_65_bar__plus_00_dot_67_bar__minus_01_dot_27 - object\n DishSponge_bar__plus_01_dot_66_bar__plus_00_dot_46_bar__plus_00_dot_67 - object\n DishSponge_bar__minus_01_dot_48_bar__plus_01_dot_68_bar__minus_01_dot_54 - object\n Egg_bar__minus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_97 - object\n Faucet_bar__minus_00_dot_02_bar__plus_01_dot_14_bar__minus_01_dot_61 - object\n Fork_bar__plus_00_dot_32_bar__plus_00_dot_93_bar__plus_00_dot_27 - object\n Fork_bar__plus_01_dot_80_bar__plus_00_dot_91_bar__minus_01_dot_22 - object\n Fork_bar_00_dot_00_bar__plus_00_dot_76_bar__minus_01_dot_49 - object\n Kettle_bar__plus_01_dot_68_bar__plus_00_dot_90_bar__plus_00_dot_09 - object\n Kettle_bar__minus_00_dot_25_bar__plus_00_dot_12_bar__minus_01_dot_53 - object\n Knife_bar__plus_01_dot_71_bar__plus_00_dot_61_bar__plus_00_dot_13 - object\n Knife_bar__minus_00_dot_11_bar__plus_00_dot_95_bar__plus_00_dot_51 - object\n Ladle_bar__plus_00_dot_11_bar__plus_00_dot_97_bar__plus_00_dot_51 - object\n Ladle_bar__plus_00_dot_31_bar__plus_00_dot_16_bar__minus_01_dot_47 - object\n Ladle_bar__plus_01_dot_71_bar__plus_00_dot_81_bar__plus_01_dot_07 - object\n Lettuce_bar__plus_00_dot_17_bar__plus_00_dot_84_bar__minus_01_dot_49 - object\n Lettuce_bar__plus_00_dot_21_bar__plus_01_dot_00_bar__plus_00_dot_27 - object\n Lettuce_bar__minus_00_dot_18_bar__plus_00_dot_84_bar__minus_01_dot_49 - object\n LightSwitch_bar__minus_00_dot_15_bar__plus_01_dot_29_bar__plus_03_dot_70 - object\n Mug_bar__plus_00_dot_32_bar__plus_00_dot_92_bar__plus_00_dot_74 - object\n Mug_bar__minus_00_dot_11_bar__plus_00_dot_92_bar__plus_00_dot_74 - object\n Mug_bar__minus_00_dot_25_bar__plus_00_dot_11_bar__minus_01_dot_22 - object\n Pan_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_82 - object\n PepperShaker_bar__minus_01_dot_46_bar__plus_00_dot_91_bar__minus_01_dot_11 - object\n Plate_bar__plus_00_dot_00_bar__plus_00_dot_92_bar__plus_01_dot_20 - object\n Plate_bar__minus_00_dot_21_bar__plus_00_dot_92_bar__plus_00_dot_27 - object\n Potato_bar__minus_01_dot_75_bar__plus_00_dot_59_bar__minus_00_dot_08 - object\n Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_38 - object\n Pot_bar__minus_01_dot_67_bar__plus_00_dot_92_bar__minus_01_dot_61 - object\n SaltShaker_bar__minus_01_dot_48_bar__plus_01_dot_68_bar__minus_01_dot_69 - object\n SaltShaker_bar__minus_01_dot_90_bar__plus_00_dot_91_bar__minus_00_dot_91 - object\n Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44 - object\n SoapBottle_bar__plus_02_dot_03_bar__plus_00_dot_92_bar__minus_01_dot_71 - object\n Spatula_bar__plus_01_dot_12_bar__plus_00_dot_93_bar__minus_01_dot_22 - object\n Spatula_bar__plus_01_dot_66_bar__plus_00_dot_70_bar__minus_00_dot_15 - object\n Spoon_bar__plus_01_dot_77_bar__plus_00_dot_58_bar__minus_00_dot_17 - object\n StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_46 - object\n StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_52 - object\n StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_57 - object\n StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_63 - object\n StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_68 - object\n StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_74 - object\n Tomato_bar__plus_02_dot_03_bar__plus_00_dot_97_bar__plus_00_dot_18 - object\n Tomato_bar__minus_00_dot_21_bar__plus_00_dot_98_bar__plus_00_dot_04 - object\n Tomato_bar__minus_01_dot_73_bar__plus_00_dot_97_bar__minus_00_dot_86 - object\n Window_bar__plus_02_dot_22_bar__plus_01_dot_57_bar__minus_00_dot_39 - object\n Window_bar__minus_00_dot_01_bar__plus_01_dot_58_bar__minus_01_dot_82 - object\n Window_bar__minus_03_dot_24_bar__plus_01_dot_62_bar__plus_02_dot_69 - object\n Cabinet_bar__plus_00_dot_41_bar__plus_00_dot_48_bar__plus_00_dot_45 - receptacle\n Cabinet_bar__plus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 - receptacle\n Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 - receptacle\n Cabinet_bar__plus_01_dot_71_bar__plus_02_dot_02_bar__minus_01_dot_45 - receptacle\n Cabinet_bar__plus_01_dot_79_bar__plus_02_dot_02_bar__minus_00_dot_82 - receptacle\n Cabinet_bar__minus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 - receptacle\n Cabinet_bar__minus_00_dot_63_bar__plus_02_dot_02_bar__minus_01_dot_45 - receptacle\n Cabinet_bar__minus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 - receptacle\n Cabinet_bar__minus_01_dot_70_bar__plus_02_dot_02_bar__minus_01_dot_45 - receptacle\n CoffeeMachine_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__minus_01_dot_60 - receptacle\n CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51 - receptacle\n CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51 - receptacle\n Drawer_bar__plus_00_dot_81_bar__plus_00_dot_48_bar__minus_01_dot_16 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_14_bar__plus_00_dot_60 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__plus_01_dot_22 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__minus_00_dot_02 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_31_bar__plus_00_dot_60 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__minus_00_dot_02 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_52_bar__plus_01_dot_22 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_54_bar__plus_00_dot_60 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_60_bar__minus_00_dot_02 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__plus_00_dot_61 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__minus_00_dot_02 - receptacle\n Drawer_bar__plus_01_dot_50_bar__plus_00_dot_78_bar__plus_01_dot_22 - receptacle\n Drawer_bar__minus_00_dot_70_bar__plus_00_dot_48_bar__minus_01_dot_16 - receptacle\n Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01 - receptacle\n GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_01_dot_33 - receptacle\n Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77 - receptacle\n Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin - receptacle\n StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_38 - receptacle\n StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_60 - receptacle\n StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_82 - receptacle\n StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_38 - receptacle\n StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_60 - receptacle\n StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_82 - receptacle\n Toaster_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__minus_00_dot_34 - receptacle\n loc_bar_4_bar__minus_3_bar_1_bar__minus_30 - location\n loc_bar_3_bar_1_bar_1_bar_60 - location\n loc_bar_5_bar_2_bar_1_bar_60 - location\n loc_bar_3_bar_4_bar_1_bar_60 - location\n loc_bar_2_bar_7_bar_1_bar_60 - location\n loc_bar__minus_3_bar__minus_1_bar_2_bar_60 - location\n loc_bar__minus_3_bar__minus_2_bar_2_bar_60 - location\n loc_bar_4_bar__minus_3_bar_1_bar_45 - location\n loc_bar_0_bar__minus_3_bar_2_bar_45 - location\n loc_bar_5_bar_3_bar_1_bar_60 - location\n loc_bar_3_bar_7_bar_2_bar_60 - location\n loc_bar_0_bar_8_bar_2_bar_60 - location\n loc_bar_3_bar_3_bar_1_bar_60 - location\n loc_bar_5_bar_0_bar_1_bar_60 - location\n loc_bar_5_bar_0_bar_2_bar_45 - location\n loc_bar_5_bar_4_bar_3_bar_60 - location\n loc_bar__minus_10_bar_11_bar_3_bar_0 - location\n loc_bar_4_bar_3_bar_2_bar_60 - location\n loc_bar__minus_5_bar_6_bar_3_bar_60 - location\n loc_bar__minus_3_bar_0_bar_3_bar_60 - location\n loc_bar__minus_3_bar__minus_3_bar_3_bar__minus_15 - location\n loc_bar__minus_1_bar_12_bar_0_bar_30 - location\n loc_bar_5_bar_3_bar_1_bar_45 - location\n loc_bar__minus_3_bar__minus_3_bar_2_bar_45 - location\n loc_bar__minus_3_bar__minus_3_bar_2_bar__minus_30 - location\n loc_bar_4_bar__minus_3_bar_2_bar_45 - location\n loc_bar_5_bar_2_bar_1_bar_45 - location\n loc_bar_3_bar__minus_1_bar_2_bar_60 - location\n loc_bar_3_bar_6_bar_1_bar_45 - location\n loc_bar_3_bar_2_bar_3_bar_45 - location\n loc_bar_4_bar__minus_1_bar_1_bar_45 - location\n loc_bar_0_bar__minus_3_bar_2_bar_60 - location\n loc_bar__minus_11_bar_9_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_82 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_01_dot_70_bar__plus_02_dot_02_bar__minus_01_dot_45 CabinetType)\n (receptacleType CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51 CounterTopType)\n (receptacleType Cabinet_bar__plus_01_dot_79_bar__plus_02_dot_02_bar__minus_00_dot_82 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 CabinetType)\n (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__plus_00_dot_61 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_70_bar__plus_00_dot_48_bar__minus_01_dot_16 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_78_bar__plus_01_dot_22 DrawerType)\n (receptacleType Cabinet_bar__minus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_41_bar__plus_00_dot_48_bar__plus_00_dot_45 CabinetType)\n (receptacleType CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51 CounterTopType)\n (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_31_bar__plus_00_dot_60 DrawerType)\n (receptacleType Toaster_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__minus_00_dot_34 ToasterType)\n (receptacleType CoffeeMachine_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__minus_01_dot_60 CoffeeMachineType)\n (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_14_bar__plus_00_dot_60 DrawerType)\n (receptacleType Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77 MicrowaveType)\n (receptacleType StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_60 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 CabinetType)\n (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__minus_00_dot_02 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_63_bar__plus_02_dot_02_bar__minus_01_dot_45 CabinetType)\n (receptacleType Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin SinkBasinType)\n (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__minus_00_dot_02 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_54_bar__plus_00_dot_60 DrawerType)\n (receptacleType Cabinet_bar__plus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 CabinetType)\n (receptacleType StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_38 StoveBurnerType)\n (receptacleType Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__minus_00_dot_02 DrawerType)\n (receptacleType 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Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin)\n (inReceptacle Lettuce_bar__plus_00_dot_17_bar__plus_00_dot_84_bar__minus_01_dot_49 Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_41_bar__plus_00_dot_48_bar__plus_00_dot_45 loc_bar_5_bar_4_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 loc_bar_3_bar__minus_1_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 loc_bar_3_bar__minus_1_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_71_bar__plus_02_dot_02_bar__minus_01_dot_45 loc_bar_4_bar__minus_3_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_79_bar__plus_02_dot_02_bar__minus_00_dot_82 loc_bar_4_bar__minus_3_bar_1_bar__minus_30)\n (receptacleAtLocation 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(receptacleAtLocation Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin loc_bar_0_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_38 loc_bar_5_bar_2_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_60 loc_bar_5_bar_2_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_82 loc_bar_5_bar_3_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_38 loc_bar_5_bar_2_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_60 loc_bar_5_bar_2_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_82 loc_bar_5_bar_3_bar_1_bar_45)\n (receptacleAtLocation Toaster_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__minus_00_dot_34 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StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_74 loc_bar_5_bar_3_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_68 loc_bar_5_bar_3_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_46 loc_bar_5_bar_2_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_52 loc_bar_5_bar_2_bar_1_bar_60)\n (objectAtLocation Fork_bar__plus_00_dot_32_bar__plus_00_dot_93_bar__plus_00_dot_27 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Ladle_bar__plus_01_dot_71_bar__plus_00_dot_81_bar__plus_01_dot_07 loc_bar_3_bar_6_bar_1_bar_45)\n (objectAtLocation Kettle_bar__minus_00_dot_25_bar__plus_00_dot_12_bar__minus_01_dot_53 loc_bar__minus_3_bar__minus_1_bar_2_bar_60)\n (objectAtLocation Egg_bar__minus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_97 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Plate_bar__plus_00_dot_00_bar__plus_00_dot_92_bar__plus_01_dot_20 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Pan_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_82 loc_bar_5_bar_3_bar_1_bar_45)\n (objectAtLocation Lettuce_bar__minus_00_dot_18_bar__plus_00_dot_84_bar__minus_01_dot_49 loc_bar_0_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Spatula_bar__plus_01_dot_66_bar__plus_00_dot_70_bar__minus_00_dot_15 loc_bar_3_bar_1_bar_1_bar_60)\n (objectAtLocation Apple_bar__minus_00_dot_32_bar__plus_00_dot_98_bar__plus_00_dot_97 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_11_bar__plus_00_dot_95_bar__plus_00_dot_51 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__minus_01_dot_48_bar__plus_01_dot_68_bar__minus_01_dot_69 loc_bar__minus_3_bar__minus_3_bar_2_bar__minus_30)\n (objectAtLocation PepperShaker_bar__minus_01_dot_46_bar__plus_00_dot_91_bar__minus_01_dot_11 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation CellPhone_bar__plus_01_dot_66_bar__plus_00_dot_34_bar__plus_00_dot_67 loc_bar_5_bar_2_bar_1_bar_60)\n (objectAtLocation ButterKnife_bar__plus_01_dot_57_bar__plus_00_dot_91_bar__minus_01_dot_32 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Bread_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__minus_00_dot_13 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Tomato_bar__minus_01_dot_73_bar__plus_00_dot_97_bar__minus_00_dot_86 loc_bar__minus_3_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Potato_bar__minus_01_dot_75_bar__plus_00_dot_59_bar__minus_00_dot_08 loc_bar__minus_3_bar_0_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__minus_01_dot_48_bar__plus_01_dot_68_bar__minus_01_dot_54 loc_bar__minus_3_bar__minus_3_bar_2_bar__minus_30)\n (objectAtLocation Spoon_bar__plus_01_dot_77_bar__plus_00_dot_58_bar__minus_00_dot_17 loc_bar_4_bar_3_bar_2_bar_60)\n (objectAtLocation Mug_bar__minus_00_dot_11_bar__plus_00_dot_92_bar__plus_00_dot_74 loc_bar_3_bar_2_bar_3_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_32_bar__plus_00_dot_92_bar__minus_00_dot_19 loc_bar_3_bar_2_bar_3_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 EggType)\n (receptacleType ?r GarbageCanType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 2", "take egg 1 from countertop 2", "go to microwave 1", "heat egg 1 with microwave 1", "go to garbagecan 1", "move egg 1 to garbagecan 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-GarbageCan-2/trial_T20190909_101236_908258/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-GarbageCan-2/trial_T20190909_101236_908258/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..bd7d040961ee7622cae47e8274d235a2ce0d4300 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-GarbageCan-2/trial_T20190909_101236_908258/initial_state.pddl @@ -0,0 +1,1114 @@ + +(define (problem plan_trial_T20190909_101236_908258) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__minus_00_dot_32_bar__plus_00_dot_98_bar__plus_00_dot_97 - object + Bowl_bar__minus_00_dot_32_bar__plus_00_dot_92_bar__minus_00_dot_19 - object + Bread_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__minus_00_dot_13 - object + ButterKnife_bar__plus_01_dot_57_bar__plus_00_dot_91_bar__minus_01_dot_32 - object + CellPhone_bar__plus_00_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_61 - object + CellPhone_bar__plus_01_dot_66_bar__plus_00_dot_34_bar__plus_00_dot_67 - object + CellPhone_bar__plus_01_dot_71_bar__plus_00_dot_12_bar__plus_00_dot_60 - object + Chair_bar__minus_00_dot_06_bar__plus_00_dot_52_bar__plus_01_dot_37 - object + Cup_bar__minus_00_dot_32_bar__plus_00_dot_92_bar__plus_00_dot_74 - object + DishSponge_bar__plus_00_dot_65_bar__plus_00_dot_67_bar__minus_01_dot_27 - object + DishSponge_bar__plus_01_dot_66_bar__plus_00_dot_46_bar__plus_00_dot_67 - object + DishSponge_bar__minus_01_dot_48_bar__plus_01_dot_68_bar__minus_01_dot_54 - object + Egg_bar__minus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_97 - object + Faucet_bar__minus_00_dot_02_bar__plus_01_dot_14_bar__minus_01_dot_61 - object + Fork_bar__plus_00_dot_32_bar__plus_00_dot_93_bar__plus_00_dot_27 - object + Fork_bar__plus_01_dot_80_bar__plus_00_dot_91_bar__minus_01_dot_22 - object + Fork_bar_00_dot_00_bar__plus_00_dot_76_bar__minus_01_dot_49 - object + Kettle_bar__plus_01_dot_68_bar__plus_00_dot_90_bar__plus_00_dot_09 - object + Kettle_bar__minus_00_dot_25_bar__plus_00_dot_12_bar__minus_01_dot_53 - object + Knife_bar__plus_01_dot_71_bar__plus_00_dot_61_bar__plus_00_dot_13 - object + Knife_bar__minus_00_dot_11_bar__plus_00_dot_95_bar__plus_00_dot_51 - object + Ladle_bar__plus_00_dot_11_bar__plus_00_dot_97_bar__plus_00_dot_51 - object + Ladle_bar__plus_00_dot_31_bar__plus_00_dot_16_bar__minus_01_dot_47 - object + Ladle_bar__plus_01_dot_71_bar__plus_00_dot_81_bar__plus_01_dot_07 - object + Lettuce_bar__plus_00_dot_17_bar__plus_00_dot_84_bar__minus_01_dot_49 - object + Lettuce_bar__plus_00_dot_21_bar__plus_01_dot_00_bar__plus_00_dot_27 - object + Lettuce_bar__minus_00_dot_18_bar__plus_00_dot_84_bar__minus_01_dot_49 - object + LightSwitch_bar__minus_00_dot_15_bar__plus_01_dot_29_bar__plus_03_dot_70 - object + Mug_bar__plus_00_dot_32_bar__plus_00_dot_92_bar__plus_00_dot_74 - object + Mug_bar__minus_00_dot_11_bar__plus_00_dot_92_bar__plus_00_dot_74 - object + Mug_bar__minus_00_dot_25_bar__plus_00_dot_11_bar__minus_01_dot_22 - object + Pan_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_82 - object + PepperShaker_bar__minus_01_dot_46_bar__plus_00_dot_91_bar__minus_01_dot_11 - object + Plate_bar__plus_00_dot_00_bar__plus_00_dot_92_bar__plus_01_dot_20 - object + Plate_bar__minus_00_dot_21_bar__plus_00_dot_92_bar__plus_00_dot_27 - object + Potato_bar__minus_01_dot_75_bar__plus_00_dot_59_bar__minus_00_dot_08 - object + Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_38 - object + Pot_bar__minus_01_dot_67_bar__plus_00_dot_92_bar__minus_01_dot_61 - object + SaltShaker_bar__minus_01_dot_48_bar__plus_01_dot_68_bar__minus_01_dot_69 - object + SaltShaker_bar__minus_01_dot_90_bar__plus_00_dot_91_bar__minus_00_dot_91 - object + Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44 - object + SoapBottle_bar__plus_02_dot_03_bar__plus_00_dot_92_bar__minus_01_dot_71 - object + Spatula_bar__plus_01_dot_12_bar__plus_00_dot_93_bar__minus_01_dot_22 - object + Spatula_bar__plus_01_dot_66_bar__plus_00_dot_70_bar__minus_00_dot_15 - object + Spoon_bar__plus_01_dot_77_bar__plus_00_dot_58_bar__minus_00_dot_17 - object + StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_46 - object + StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_52 - object + StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_57 - object + StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_63 - object + StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_68 - object + StoveKnob_bar__plus_01_dot_60_bar__plus_00_dot_92_bar__plus_00_dot_74 - object + Tomato_bar__plus_02_dot_03_bar__plus_00_dot_97_bar__plus_00_dot_18 - object + Tomato_bar__minus_00_dot_21_bar__plus_00_dot_98_bar__plus_00_dot_04 - object + Tomato_bar__minus_01_dot_73_bar__plus_00_dot_97_bar__minus_00_dot_86 - object + Window_bar__plus_02_dot_22_bar__plus_01_dot_57_bar__minus_00_dot_39 - object + Window_bar__minus_00_dot_01_bar__plus_01_dot_58_bar__minus_01_dot_82 - object + Window_bar__minus_03_dot_24_bar__plus_01_dot_62_bar__plus_02_dot_69 - object + Cabinet_bar__plus_00_dot_41_bar__plus_00_dot_48_bar__plus_00_dot_45 - receptacle + Cabinet_bar__plus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 - receptacle + Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 - receptacle + Cabinet_bar__plus_01_dot_71_bar__plus_02_dot_02_bar__minus_01_dot_45 - receptacle + Cabinet_bar__plus_01_dot_79_bar__plus_02_dot_02_bar__minus_00_dot_82 - receptacle + Cabinet_bar__minus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 - receptacle + Cabinet_bar__minus_00_dot_63_bar__plus_02_dot_02_bar__minus_01_dot_45 - receptacle + Cabinet_bar__minus_01_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_15 - receptacle + Cabinet_bar__minus_01_dot_70_bar__plus_02_dot_02_bar__minus_01_dot_45 - receptacle + CoffeeMachine_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__minus_01_dot_60 - receptacle + CounterTop_bar__plus_00_dot_00_bar__plus_00_dot_95_bar__minus_01_dot_51 - receptacle + CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51 - receptacle + Drawer_bar__plus_00_dot_81_bar__plus_00_dot_48_bar__minus_01_dot_16 - receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_14_bar__plus_00_dot_60 - receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__plus_01_dot_22 - receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_20_bar__minus_00_dot_02 - receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_31_bar__plus_00_dot_60 - receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__minus_00_dot_02 - receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_52_bar__plus_01_dot_22 - receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_54_bar__plus_00_dot_60 - receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_60_bar__minus_00_dot_02 - receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__plus_00_dot_61 - receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_63_bar__minus_00_dot_02 - receptacle + Drawer_bar__plus_01_dot_50_bar__plus_00_dot_78_bar__plus_01_dot_22 - receptacle + Drawer_bar__minus_00_dot_70_bar__plus_00_dot_48_bar__minus_01_dot_16 - receptacle + Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01 - receptacle + GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_01_dot_33 - receptacle + Microwave_bar__plus_01_dot_93_bar__plus_00_dot_90_bar__minus_00_dot_77 - receptacle + Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin - receptacle + StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_38 - receptacle + StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_60 - receptacle + StoveBurner_bar__plus_01_dot_77_bar__plus_00_dot_90_bar__plus_00_dot_82 - receptacle + StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_38 - receptacle + StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_60 - receptacle + StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_82 - receptacle + Toaster_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__minus_00_dot_34 - receptacle + loc_bar_4_bar__minus_3_bar_1_bar__minus_30 - location + loc_bar_3_bar_1_bar_1_bar_60 - location + loc_bar_5_bar_2_bar_1_bar_60 - location + loc_bar_3_bar_4_bar_1_bar_60 - location + loc_bar_2_bar_7_bar_1_bar_60 - location + loc_bar__minus_3_bar__minus_1_bar_2_bar_60 - location + loc_bar__minus_3_bar__minus_2_bar_2_bar_60 - location + loc_bar_4_bar__minus_3_bar_1_bar_45 - location + loc_bar_0_bar__minus_3_bar_2_bar_45 - location + loc_bar_5_bar_3_bar_1_bar_60 - location + loc_bar_3_bar_7_bar_2_bar_60 - location + loc_bar_0_bar_8_bar_2_bar_60 - location + loc_bar_3_bar_3_bar_1_bar_60 - location + loc_bar_5_bar_0_bar_1_bar_60 - location + loc_bar_5_bar_0_bar_2_bar_45 - location + loc_bar_5_bar_4_bar_3_bar_60 - location + loc_bar__minus_10_bar_11_bar_3_bar_0 - location + loc_bar_4_bar_3_bar_2_bar_60 - location + loc_bar__minus_5_bar_6_bar_3_bar_60 - location + loc_bar__minus_3_bar_0_bar_3_bar_60 - location + loc_bar__minus_3_bar__minus_3_bar_3_bar__minus_15 - location + loc_bar__minus_1_bar_12_bar_0_bar_30 - location + loc_bar_5_bar_3_bar_1_bar_45 - location + loc_bar__minus_3_bar__minus_3_bar_2_bar_45 - location + loc_bar__minus_3_bar__minus_3_bar_2_bar__minus_30 - location + loc_bar_4_bar__minus_3_bar_2_bar_45 - location + loc_bar_5_bar_2_bar_1_bar_45 - location + loc_bar_3_bar__minus_1_bar_2_bar_60 - location + loc_bar_3_bar_6_bar_1_bar_45 - location + loc_bar_3_bar_2_bar_3_bar_45 - location + loc_bar_4_bar__minus_1_bar_1_bar_45 - location + loc_bar_0_bar__minus_3_bar_2_bar_60 - location + loc_bar__minus_11_bar_9_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_82 StoveBurnerType) + (receptacleType Cabinet_bar__minus_01_dot_70_bar__plus_02_dot_02_bar__minus_01_dot_45 CabinetType) + (receptacleType 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Ladle_bar__plus_01_dot_71_bar__plus_00_dot_81_bar__plus_01_dot_07) + (cleanable Bowl_bar__minus_00_dot_32_bar__plus_00_dot_92_bar__minus_00_dot_19) + (cleanable Tomato_bar__minus_01_dot_73_bar__plus_00_dot_97_bar__minus_00_dot_86) + (cleanable Pot_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_38) + (cleanable Mug_bar__minus_00_dot_11_bar__plus_00_dot_92_bar__plus_00_dot_74) + (cleanable Spatula_bar__plus_01_dot_12_bar__plus_00_dot_93_bar__minus_01_dot_22) + (cleanable Potato_bar__minus_01_dot_75_bar__plus_00_dot_59_bar__minus_00_dot_08) + (cleanable Knife_bar__minus_00_dot_11_bar__plus_00_dot_95_bar__plus_00_dot_51) + + (heatable Plate_bar__plus_00_dot_00_bar__plus_00_dot_92_bar__plus_01_dot_20) + (heatable Plate_bar__minus_00_dot_21_bar__plus_00_dot_92_bar__plus_00_dot_27) + (heatable Egg_bar__minus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_97) + (heatable Mug_bar__plus_00_dot_32_bar__plus_00_dot_92_bar__plus_00_dot_74) + (heatable 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CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Bowl_bar__minus_00_dot_32_bar__plus_00_dot_92_bar__minus_00_dot_19 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Plate_bar__plus_00_dot_00_bar__plus_00_dot_92_bar__plus_01_dot_20 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Plate_bar__minus_00_dot_21_bar__plus_00_dot_92_bar__plus_00_dot_27 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Cup_bar__minus_00_dot_32_bar__plus_00_dot_92_bar__plus_00_dot_74 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Fork_bar__plus_00_dot_32_bar__plus_00_dot_93_bar__plus_00_dot_27 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Apple_bar__minus_00_dot_32_bar__plus_00_dot_98_bar__plus_00_dot_97 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Egg_bar__minus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_97 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Mug_bar__plus_00_dot_32_bar__plus_00_dot_92_bar__plus_00_dot_74 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Tomato_bar__minus_00_dot_21_bar__plus_00_dot_98_bar__plus_00_dot_04 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Lettuce_bar__plus_00_dot_21_bar__plus_01_dot_00_bar__plus_00_dot_27 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Knife_bar__minus_00_dot_11_bar__plus_00_dot_95_bar__plus_00_dot_51 CounterTop_bar__minus_00_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_51) + (inReceptacle Pan_bar__plus_01_dot_98_bar__plus_00_dot_94_bar__plus_00_dot_82 StoveBurner_bar__plus_01_dot_98_bar__plus_00_dot_90_bar__plus_00_dot_82) + (inReceptacle Potato_bar__minus_01_dot_75_bar__plus_00_dot_59_bar__minus_00_dot_08 Fridge_bar__minus_01_dot_76_bar__plus_00_dot_00_bar__plus_00_dot_01) + (inReceptacle Fork_bar_00_dot_00_bar__plus_00_dot_76_bar__minus_01_dot_49 Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin) + (inReceptacle Lettuce_bar__minus_00_dot_18_bar__plus_00_dot_84_bar__minus_01_dot_49 Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin) + (inReceptacle Lettuce_bar__plus_00_dot_17_bar__plus_00_dot_84_bar__minus_01_dot_49 Sink_bar__plus_00_dot_00_bar__plus_00_dot_89_bar__minus_01_dot_44_bar_SinkBasin) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_41_bar__plus_00_dot_48_bar__plus_00_dot_45 loc_bar_5_bar_4_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__plus_00_dot_50_bar__plus_00_dot_48_bar__minus_01_dot_15 loc_bar_3_bar__minus_1_bar_2_bar_60) + (receptacleAtLocation 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and walk to the counter, then walk left to the microwave.", + "Heat the egg in the microwave.", + "Turn around and walk to the fridge, walking a step past it and turning left to look at the garbage bin.", + "Place the egg in the garbage." + ], + "task_desc": "Place a heated egg in the garbage.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AKW57KYG90X61_3VHP9MDGRQB8VOOGZB79IL6WNYAFCV", + "high_descs": [ + "move around to the table", + "pick up the egg on the table", + "head to the oven ", + "cook the egg in the oven and take it out", + "turn around and head for the trash bin", + "drop the cooked egg in the trash bin" + ], + "task_desc": "trash a cooked egg", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1CY7IOJ9YH136_3WAKVUDHUZ7R2PQA3JUXOZFLWAXU7F", + "high_descs": [ + "turn around, go to center counter with black chair on the left", + "pick up egg behind green apple on counter", + "turn right, go around table to the left to microwave on counter", + "open microwave, place egg on blue plate in microwave, close microwave, microwave egg, open microwave, pick up egg from microwave, close microwave", + "turn around, go to white bin to the right of black refrigerator", + "place egg in white bin" + ], + "task_desc": "place microwaved egg in white bin", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Plate-None-CounterTop-5/trial_T20190908_202750_896176/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Plate-None-CounterTop-5/trial_T20190908_202750_896176/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..2cf0d4ef0f13d54c50d58635ecf96bfb2f5163b8 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Plate-None-CounterTop-5/trial_T20190908_202750_896176/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast 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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 plate and put it in countertop.\"\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_202750_896176)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__plus_01_dot_85_bar__plus_00_dot_11_bar__plus_00_dot_11 - object\n Apple_bar__plus_01_dot_96_bar__plus_00_dot_11_bar__plus_00_dot_14 - object\n Apple_bar__minus_00_dot_03_bar__plus_00_dot_81_bar__minus_02_dot_06 - object\n Bowl_bar__plus_01_dot_88_bar__plus_01_dot_65_bar__minus_01_dot_67 - object\n Bread_bar__plus_01_dot_95_bar__plus_01_dot_18_bar__minus_00_dot_74 - object\n Bread_bar__minus_01_dot_15_bar__plus_00_dot_98_bar__minus_00_dot_18 - object\n ButterKnife_bar__plus_01_dot_42_bar__plus_00_dot_91_bar__minus_02_dot_01 - object\n ButterKnife_bar__minus_00_dot_19_bar__plus_00_dot_70_bar__plus_00_dot_18 - object\n Chair_bar__minus_00_dot_08_bar__plus_00_dot_01_bar__plus_00_dot_76 - object\n Chair_bar__minus_00_dot_46_bar__plus_00_dot_01_bar__plus_00_dot_75 - object\n Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 - object\n DishSponge_bar__minus_00_dot_62_bar__plus_00_dot_69_bar__minus_01_dot_98 - object\n Egg_bar__plus_01_dot_78_bar__plus_01_dot_46_bar__minus_00_dot_27 - object\n Faucet_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_02_dot_20 - object\n Fork_bar__minus_00_dot_29_bar__plus_00_dot_76_bar__minus_02_dot_01 - object\n Fork_bar__minus_00_dot_60_bar__plus_01_dot_13_bar__plus_00_dot_53 - object\n HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 - object\n Kettle_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 - object\n Knife_bar__minus_00_dot_38_bar__plus_01_dot_16_bar__plus_00_dot_53 - object\n Ladle_bar__minus_01_dot_26_bar__plus_00_dot_95_bar__minus_02_dot_18 - object\n Lettuce_bar__plus_02_dot_00_bar__plus_01_dot_50_bar__minus_00_dot_55 - object\n Lettuce_bar__minus_00_dot_15_bar__plus_01_dot_21_bar__plus_00_dot_57 - object\n LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_30_bar__plus_02_dot_00 - object\n Mug_bar__plus_00_dot_50_bar__plus_00_dot_96_bar__minus_01_dot_90 - object\n Mug_bar__plus_01_dot_89_bar__plus_00_dot_81_bar__minus_00_dot_55 - object\n Pan_bar__plus_01_dot_74_bar__plus_00_dot_90_bar__minus_01_dot_97 - object\n PaperTowelRoll_bar__minus_01_dot_41_bar__plus_01_dot_02_bar__minus_00_dot_11 - object\n PepperShaker_bar__minus_00_dot_68_bar__plus_00_dot_69_bar__plus_00_dot_15 - object\n PepperShaker_bar__minus_00_dot_69_bar__plus_00_dot_69_bar__minus_01_dot_89 - object\n PepperShaker_bar__minus_01_dot_05_bar__plus_01_dot_13_bar__plus_00_dot_44 - object\n Plate_bar__plus_01_dot_19_bar__plus_00_dot_91_bar__minus_01_dot_93 - object\n Plate_bar__minus_00_dot_66_bar__plus_00_dot_11_bar__minus_01_dot_88 - object\n Potato_bar__plus_01_dot_89_bar__plus_00_dot_85_bar__minus_00_dot_27 - object\n Pot_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 - object\n Pot_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 - object\n SaltShaker_bar__minus_00_dot_82_bar__plus_01_dot_13_bar__plus_00_dot_49 - object\n SaltShaker_bar__minus_01_dot_16_bar__plus_00_dot_91_bar__minus_01_dot_89 - object\n SaltShaker_bar__minus_01_dot_33_bar__plus_00_dot_91_bar__minus_00_dot_17 - object\n Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01 - object\n SoapBottle_bar__minus_01_dot_07_bar__plus_00_dot_13_bar__minus_01_dot_43 - object\n SoapBottle_bar__minus_01_dot_07_bar__plus_00_dot_14_bar__minus_00_dot_16 - object\n Spatula_bar__minus_00_dot_91_bar__plus_00_dot_93_bar__minus_01_dot_47 - object\n Spoon_bar__minus_00_dot_05_bar__plus_00_dot_70_bar__plus_00_dot_22 - object\n Spoon_bar__minus_01_dot_25_bar__plus_00_dot_90_bar__minus_00_dot_35 - object\n Statue_bar__minus_00_dot_90_bar__plus_00_dot_92_bar__minus_01_dot_93 - object\n StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_68 - object\n StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_83 - object\n StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_97 - object\n StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_01_dot_12 - object\n Tomato_bar__plus_00_dot_07_bar__plus_01_dot_18_bar__plus_00_dot_53 - object\n Tomato_bar__plus_01_dot_95_bar__plus_01_dot_48_bar__minus_00_dot_37 - object\n Vase_bar__plus_01_dot_57_bar__plus_00_dot_12_bar__minus_01_dot_20 - object\n Vase_bar__plus_02_dot_59_bar__plus_00_dot_55_bar__plus_00_dot_04 - object\n Vase_bar__plus_02_dot_90_bar__plus_00_dot_55_bar__plus_00_dot_25 - object\n Cabinet_bar__plus_00_dot_12_bar__plus_02_dot_27_bar__minus_02_dot_00 - receptacle\n Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle\n Cabinet_bar__plus_01_dot_18_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle\n Cabinet_bar__plus_01_dot_38_bar__plus_00_dot_46_bar__minus_01_dot_69 - receptacle\n Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06 - receptacle\n Cabinet_bar__plus_01_dot_74_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_42_bar__plus_00_dot_37_bar__minus_00_dot_01 - receptacle\n Cabinet_bar__minus_00_dot_45_bar__plus_00_dot_47_bar__minus_00_dot_01 - 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_00_dot_05 - 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__plus_00_dot_38 - receptacle\n Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_00_dot_77 - 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_84 - receptacle\n Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_01_dot_42 - receptacle\n CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_02_dot_13 - receptacle\n CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01 - receptacle\n CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57 - receptacle\n CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19 - receptacle\n Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01 - receptacle\n Drawer_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_00_dot_01 - receptacle\n Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69 - receptacle\n Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54 - receptacle\n GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14 - receptacle\n Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35 - receptacle\n Shelf_bar__plus_02_dot_81_bar__plus_00_dot_16_bar__plus_00_dot_14 - receptacle\n Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14 - receptacle\n Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14 - receptacle\n Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_00_dot_67 - receptacle\n StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13 - receptacle\n StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_00_dot_76 - receptacle\n StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_02 - receptacle\n Toaster_bar__plus_00_dot_84_bar__plus_00_dot_90_bar__minus_02_dot_06 - receptacle\n loc_bar__minus_2_bar__minus_2_bar_3_bar__minus_30 - location\n loc_bar__minus_2_bar__minus_1_bar_3_bar__minus_30 - location\n loc_bar_3_bar__minus_2_bar_3_bar_45 - location\n loc_bar_8_bar_3_bar_2_bar_60 - location\n loc_bar_4_bar__minus_5_bar_1_bar__minus_30 - location\n loc_bar_2_bar__minus_4_bar_1_bar_60 - location\n loc_bar__minus_2_bar__minus_4_bar_3_bar_45 - location\n loc_bar_2_bar__minus_5_bar_2_bar_45 - location\n loc_bar_8_bar_3_bar_1_bar_45 - location\n loc_bar__minus_2_bar__minus_3_bar_3_bar_45 - location\n loc_bar__minus_1_bar__minus_3_bar_2_bar_45 - location\n loc_bar__minus_2_bar__minus_4_bar_3_bar__minus_30 - location\n loc_bar_4_bar__minus_5_bar_1_bar_45 - location\n loc_bar_4_bar__minus_3_bar_1_bar_60 - location\n loc_bar_0_bar_5_bar_2_bar_60 - location\n loc_bar_2_bar_6_bar_0_bar_30 - location\n loc_bar__minus_2_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar_0_bar__minus_2_bar_3_bar_60 - location\n loc_bar_11_bar_6_bar_2_bar_45 - location\n loc_bar_10_bar_5_bar_2_bar_45 - location\n loc_bar__minus_2_bar__minus_2_bar_0_bar_45 - location\n loc_bar_4_bar__minus_5_bar_2_bar_45 - location\n loc_bar_1_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar_0_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar__minus_2_bar__minus_5_bar_3_bar_45 - location\n loc_bar_0_bar__minus_5_bar_3_bar_45 - location\n loc_bar_0_bar__minus_5_bar_2_bar_45 - location\n loc_bar__minus_2_bar_5_bar_2_bar_60 - location\n loc_bar_4_bar__minus_3_bar_2_bar_45 - location\n loc_bar_2_bar__minus_5_bar_2_bar__minus_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_5_bar_2_bar__minus_30 - location\n loc_bar__minus_1_bar__minus_4_bar_0_bar_45 - location\n loc_bar_0_bar__minus_2_bar_0_bar_60 - location\n loc_bar__minus_2_bar__minus_4_bar_0_bar_45 - location\n loc_bar_3_bar__minus_5_bar_2_bar_45 - location\n loc_bar__minus_2_bar__minus_4_bar_3_bar_60 - location\n loc_bar__minus_1_bar__minus_5_bar_3_bar__minus_15 - location\n loc_bar_2_bar_3_bar_3_bar_30 - location\n loc_bar__minus_2_bar__minus_5_bar_3_bar__minus_30 - location\n loc_bar_3_bar_5_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_84 CabinetType)\n (receptacleType Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14 ShelfType)\n (receptacleType Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_37_bar__minus_00_dot_01 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_01_dot_42 CabinetType)\n (receptacleType StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__plus_00_dot_38 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_03 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_00_dot_05 CabinetType)\n (receptacleType GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14 GarbageCanType)\n (receptacleType CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01 CounterTopType)\n (receptacleType Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00 CabinetType)\n (receptacleType Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35 MicrowaveType)\n (receptacleType Toaster_bar__plus_00_dot_84_bar__plus_00_dot_90_bar__minus_02_dot_06 ToasterType)\n (receptacleType Cabinet_bar__plus_01_dot_74_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_00_dot_77 CabinetType)\n (receptacleType Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14 ShelfType)\n (receptacleType 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loc_bar__minus_2_bar__minus_4_bar_3_bar_45)\n (objectAtLocation Vase_bar__plus_02_dot_90_bar__plus_00_dot_55_bar__plus_00_dot_25 loc_bar_10_bar_5_bar_2_bar_45)\n (objectAtLocation Potato_bar__plus_01_dot_89_bar__plus_00_dot_85_bar__minus_00_dot_27 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Pot_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 loc_bar__minus_2_bar__minus_5_bar_3_bar_45)\n (objectAtLocation Bread_bar__plus_01_dot_95_bar__plus_01_dot_18_bar__minus_00_dot_74 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Plate_bar__minus_00_dot_66_bar__plus_00_dot_11_bar__minus_01_dot_88 loc_bar__minus_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_30_bar__plus_02_dot_00 loc_bar_2_bar_6_bar_0_bar_30)\n (objectAtLocation Spatula_bar__minus_00_dot_91_bar__plus_00_dot_93_bar__minus_01_dot_47 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation PaperTowelRoll_bar__minus_01_dot_41_bar__plus_01_dot_02_bar__minus_00_dot_11 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Vase_bar__plus_01_dot_57_bar__plus_00_dot_12_bar__minus_01_dot_20 loc_bar_2_bar__minus_4_bar_1_bar_60)\n (objectAtLocation Egg_bar__plus_01_dot_78_bar__plus_01_dot_46_bar__minus_00_dot_27 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__minus_01_dot_07_bar__plus_00_dot_13_bar__minus_01_dot_43 loc_bar_0_bar__minus_4_bar_3_bar_60)\n (objectAtLocation SaltShaker_bar__minus_00_dot_82_bar__plus_01_dot_13_bar__plus_00_dot_49 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Lettuce_bar__plus_02_dot_00_bar__plus_01_dot_50_bar__minus_00_dot_55 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__minus_01_dot_05_bar__plus_01_dot_13_bar__plus_00_dot_44 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation ButterKnife_bar__plus_01_dot_42_bar__plus_00_dot_91_bar__minus_02_dot_01 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_83 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_68 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_97 loc_bar__minus_2_bar__minus_4_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_01_dot_12 loc_bar__minus_2_bar__minus_4_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__minus_00_dot_62_bar__plus_00_dot_69_bar__minus_01_dot_98 loc_bar_0_bar__minus_5_bar_3_bar_45)\n (objectAtLocation Vase_bar__plus_02_dot_59_bar__plus_00_dot_55_bar__plus_00_dot_04 loc_bar_10_bar_5_bar_2_bar_45)\n (objectAtLocation Spoon_bar__minus_01_dot_25_bar__plus_00_dot_90_bar__minus_00_dot_35 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Tomato_bar__plus_01_dot_95_bar__plus_01_dot_48_bar__minus_00_dot_37 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Mug_bar__plus_01_dot_89_bar__plus_00_dot_81_bar__minus_00_dot_55 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Statue_bar__minus_00_dot_90_bar__plus_00_dot_92_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 (heatable ?o)\n (objectType ?o PlateType)\n (receptacleType ?r CounterTopType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take plate 1 from countertop 1", "go to microwave 1", "heat plate 1 with microwave 1", "go to countertop 3", "move plate 1 to countertop 3"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Plate-None-CounterTop-5/trial_T20190908_202750_896176/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Plate-None-CounterTop-5/trial_T20190908_202750_896176/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..ca302cf202f19213cdad929d93fd345379ab18a6 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Plate-None-CounterTop-5/trial_T20190908_202750_896176/initial_state.pddl @@ -0,0 +1,1214 @@ + +(define (problem plan_trial_T20190908_202750_896176) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__plus_01_dot_85_bar__plus_00_dot_11_bar__plus_00_dot_11 - object + Apple_bar__plus_01_dot_96_bar__plus_00_dot_11_bar__plus_00_dot_14 - object + Apple_bar__minus_00_dot_03_bar__plus_00_dot_81_bar__minus_02_dot_06 - object + Bowl_bar__plus_01_dot_88_bar__plus_01_dot_65_bar__minus_01_dot_67 - object + Bread_bar__plus_01_dot_95_bar__plus_01_dot_18_bar__minus_00_dot_74 - object + Bread_bar__minus_01_dot_15_bar__plus_00_dot_98_bar__minus_00_dot_18 - object + ButterKnife_bar__plus_01_dot_42_bar__plus_00_dot_91_bar__minus_02_dot_01 - object + ButterKnife_bar__minus_00_dot_19_bar__plus_00_dot_70_bar__plus_00_dot_18 - object + Chair_bar__minus_00_dot_08_bar__plus_00_dot_01_bar__plus_00_dot_76 - object + Chair_bar__minus_00_dot_46_bar__plus_00_dot_01_bar__plus_00_dot_75 - object + Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 - object + DishSponge_bar__minus_00_dot_62_bar__plus_00_dot_69_bar__minus_01_dot_98 - object + Egg_bar__plus_01_dot_78_bar__plus_01_dot_46_bar__minus_00_dot_27 - object + Faucet_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_02_dot_20 - object + Fork_bar__minus_00_dot_29_bar__plus_00_dot_76_bar__minus_02_dot_01 - object + Fork_bar__minus_00_dot_60_bar__plus_01_dot_13_bar__plus_00_dot_53 - object + HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 - object + Kettle_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 - object + Knife_bar__minus_00_dot_38_bar__plus_01_dot_16_bar__plus_00_dot_53 - object + Ladle_bar__minus_01_dot_26_bar__plus_00_dot_95_bar__minus_02_dot_18 - object + Lettuce_bar__plus_02_dot_00_bar__plus_01_dot_50_bar__minus_00_dot_55 - object + Lettuce_bar__minus_00_dot_15_bar__plus_01_dot_21_bar__plus_00_dot_57 - object + LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_30_bar__plus_02_dot_00 - object + Mug_bar__plus_00_dot_50_bar__plus_00_dot_96_bar__minus_01_dot_90 - object + Mug_bar__plus_01_dot_89_bar__plus_00_dot_81_bar__minus_00_dot_55 - object + Pan_bar__plus_01_dot_74_bar__plus_00_dot_90_bar__minus_01_dot_97 - object + PaperTowelRoll_bar__minus_01_dot_41_bar__plus_01_dot_02_bar__minus_00_dot_11 - object + PepperShaker_bar__minus_00_dot_68_bar__plus_00_dot_69_bar__plus_00_dot_15 - object + PepperShaker_bar__minus_00_dot_69_bar__plus_00_dot_69_bar__minus_01_dot_89 - object + PepperShaker_bar__minus_01_dot_05_bar__plus_01_dot_13_bar__plus_00_dot_44 - object + Plate_bar__plus_01_dot_19_bar__plus_00_dot_91_bar__minus_01_dot_93 - object + Plate_bar__minus_00_dot_66_bar__plus_00_dot_11_bar__minus_01_dot_88 - object + Potato_bar__plus_01_dot_89_bar__plus_00_dot_85_bar__minus_00_dot_27 - object + Pot_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 - object + Pot_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 - object + SaltShaker_bar__minus_00_dot_82_bar__plus_01_dot_13_bar__plus_00_dot_49 - object + SaltShaker_bar__minus_01_dot_16_bar__plus_00_dot_91_bar__minus_01_dot_89 - object + SaltShaker_bar__minus_01_dot_33_bar__plus_00_dot_91_bar__minus_00_dot_17 - object + Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01 - object + SoapBottle_bar__minus_01_dot_07_bar__plus_00_dot_13_bar__minus_01_dot_43 - object + SoapBottle_bar__minus_01_dot_07_bar__plus_00_dot_14_bar__minus_00_dot_16 - object + Spatula_bar__minus_00_dot_91_bar__plus_00_dot_93_bar__minus_01_dot_47 - object + Spoon_bar__minus_00_dot_05_bar__plus_00_dot_70_bar__plus_00_dot_22 - object + Spoon_bar__minus_01_dot_25_bar__plus_00_dot_90_bar__minus_00_dot_35 - object + Statue_bar__minus_00_dot_90_bar__plus_00_dot_92_bar__minus_01_dot_93 - object + StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_68 - object + StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_83 - object + StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_97 - object + StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_01_dot_12 - object + Tomato_bar__plus_00_dot_07_bar__plus_01_dot_18_bar__plus_00_dot_53 - object + Tomato_bar__plus_01_dot_95_bar__plus_01_dot_48_bar__minus_00_dot_37 - object + Vase_bar__plus_01_dot_57_bar__plus_00_dot_12_bar__minus_01_dot_20 - object + Vase_bar__plus_02_dot_59_bar__plus_00_dot_55_bar__plus_00_dot_04 - object + Vase_bar__plus_02_dot_90_bar__plus_00_dot_55_bar__plus_00_dot_25 - object + Cabinet_bar__plus_00_dot_12_bar__plus_02_dot_27_bar__minus_02_dot_00 - receptacle + 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_46_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_74_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_42_bar__plus_00_dot_37_bar__minus_00_dot_01 - receptacle + Cabinet_bar__minus_00_dot_45_bar__plus_00_dot_47_bar__minus_00_dot_01 - 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_00_dot_05 - 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__plus_00_dot_38 - receptacle + Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_00_dot_77 - 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_84 - receptacle + Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_01_dot_42 - receptacle + CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_02_dot_13 - receptacle + CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01 - receptacle + CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57 - receptacle + CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19 - receptacle + Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01 - receptacle + Drawer_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_00_dot_01 - receptacle + Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69 - receptacle + Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54 - receptacle + GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14 - receptacle + Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35 - receptacle + Shelf_bar__plus_02_dot_81_bar__plus_00_dot_16_bar__plus_00_dot_14 - receptacle + Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14 - receptacle + Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14 - receptacle + Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin - receptacle + StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_00_dot_67 - receptacle + StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13 - receptacle + StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_00_dot_76 - receptacle + StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_02 - receptacle + Toaster_bar__plus_00_dot_84_bar__plus_00_dot_90_bar__minus_02_dot_06 - receptacle + loc_bar__minus_2_bar__minus_2_bar_3_bar__minus_30 - location + loc_bar__minus_2_bar__minus_1_bar_3_bar__minus_30 - location + loc_bar_3_bar__minus_2_bar_3_bar_45 - location + loc_bar_8_bar_3_bar_2_bar_60 - location + loc_bar_4_bar__minus_5_bar_1_bar__minus_30 - location + loc_bar_2_bar__minus_4_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_4_bar_3_bar_45 - location + loc_bar_2_bar__minus_5_bar_2_bar_45 - location + loc_bar_8_bar_3_bar_1_bar_45 - location + loc_bar__minus_2_bar__minus_3_bar_3_bar_45 - location + loc_bar__minus_1_bar__minus_3_bar_2_bar_45 - location + loc_bar__minus_2_bar__minus_4_bar_3_bar__minus_30 - location + loc_bar_4_bar__minus_5_bar_1_bar_45 - location + loc_bar_4_bar__minus_3_bar_1_bar_60 - location + loc_bar_0_bar_5_bar_2_bar_60 - location + loc_bar_2_bar_6_bar_0_bar_30 - location + loc_bar__minus_2_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_0_bar__minus_2_bar_3_bar_60 - location + loc_bar_11_bar_6_bar_2_bar_45 - location + loc_bar_10_bar_5_bar_2_bar_45 - location + loc_bar__minus_2_bar__minus_2_bar_0_bar_45 - location + loc_bar_4_bar__minus_5_bar_2_bar_45 - location + loc_bar_1_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_0_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar__minus_2_bar__minus_5_bar_3_bar_45 - location + loc_bar_0_bar__minus_5_bar_3_bar_45 - location + loc_bar_0_bar__minus_5_bar_2_bar_45 - location + loc_bar__minus_2_bar_5_bar_2_bar_60 - location + loc_bar_4_bar__minus_3_bar_2_bar_45 - location + loc_bar_2_bar__minus_5_bar_2_bar__minus_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_5_bar_2_bar__minus_30 - location + loc_bar__minus_1_bar__minus_4_bar_0_bar_45 - location + loc_bar_0_bar__minus_2_bar_0_bar_60 - location + loc_bar__minus_2_bar__minus_4_bar_0_bar_45 - location + loc_bar_3_bar__minus_5_bar_2_bar_45 - location + loc_bar__minus_2_bar__minus_4_bar_3_bar_60 - location + loc_bar__minus_1_bar__minus_5_bar_3_bar__minus_15 - location + loc_bar_2_bar_3_bar_3_bar_30 - location + loc_bar__minus_2_bar__minus_5_bar_3_bar__minus_30 - location + loc_bar_3_bar_5_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_84 CabinetType) + (receptacleType Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14 ShelfType) + (receptacleType 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Bowl_bar__plus_01_dot_88_bar__plus_01_dot_65_bar__minus_01_dot_67 Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40) + (inReceptacle Plate_bar__minus_00_dot_66_bar__plus_00_dot_11_bar__minus_01_dot_88 Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_01_dot_69) + (inReceptacle SoapBottle_bar__minus_01_dot_07_bar__plus_00_dot_13_bar__minus_01_dot_43 Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_01_dot_67) + (inReceptacle SoapBottle_bar__minus_01_dot_07_bar__plus_00_dot_14_bar__minus_00_dot_16 Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_00_dot_05) + (inReceptacle Kettle_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_02) + (inReceptacle Spoon_bar__minus_01_dot_25_bar__plus_00_dot_90_bar__minus_00_dot_35 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle SaltShaker_bar__minus_01_dot_33_bar__plus_00_dot_91_bar__minus_00_dot_17 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle Bread_bar__minus_01_dot_15_bar__plus_00_dot_98_bar__minus_00_dot_18 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle PaperTowelRoll_bar__minus_01_dot_41_bar__plus_01_dot_02_bar__minus_00_dot_11 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle PepperShaker_bar__minus_00_dot_68_bar__plus_00_dot_69_bar__plus_00_dot_15 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_00_dot_01) + (inReceptacle Tomato_bar__plus_00_dot_07_bar__plus_01_dot_18_bar__plus_00_dot_53 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle PepperShaker_bar__minus_01_dot_05_bar__plus_01_dot_13_bar__plus_00_dot_44 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle SaltShaker_bar__minus_00_dot_82_bar__plus_01_dot_13_bar__plus_00_dot_49 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle Lettuce_bar__minus_00_dot_15_bar__plus_01_dot_21_bar__plus_00_dot_57 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle Knife_bar__minus_00_dot_38_bar__plus_01_dot_16_bar__plus_00_dot_53 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle Fork_bar__minus_00_dot_60_bar__plus_01_dot_13_bar__plus_00_dot_53 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle Pot_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13) + (inReceptacle ButterKnife_bar__minus_00_dot_19_bar__plus_00_dot_70_bar__plus_00_dot_18 Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01) + (inReceptacle Spoon_bar__minus_00_dot_05_bar__plus_00_dot_70_bar__plus_00_dot_22 Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01) + (inReceptacle Pan_bar__plus_01_dot_74_bar__plus_00_dot_90_bar__minus_01_dot_97 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Ladle_bar__minus_01_dot_26_bar__plus_00_dot_95_bar__minus_02_dot_18 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Statue_bar__minus_00_dot_90_bar__plus_00_dot_92_bar__minus_01_dot_93 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle SaltShaker_bar__minus_01_dot_16_bar__plus_00_dot_91_bar__minus_01_dot_89 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Mug_bar__plus_00_dot_50_bar__plus_00_dot_96_bar__minus_01_dot_90 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle ButterKnife_bar__plus_01_dot_42_bar__plus_00_dot_91_bar__minus_02_dot_01 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Plate_bar__plus_01_dot_19_bar__plus_00_dot_91_bar__minus_01_dot_93 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Spatula_bar__minus_00_dot_91_bar__plus_00_dot_93_bar__minus_01_dot_47 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Apple_bar__plus_01_dot_85_bar__plus_00_dot_11_bar__plus_00_dot_11 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14) + (inReceptacle Apple_bar__plus_01_dot_96_bar__plus_00_dot_11_bar__plus_00_dot_14 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14) + (inReceptacle Vase_bar__plus_02_dot_90_bar__plus_00_dot_55_bar__plus_00_dot_25 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14) + (inReceptacle Vase_bar__plus_02_dot_59_bar__plus_00_dot_55_bar__plus_00_dot_04 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14) + (inReceptacle Mug_bar__plus_01_dot_89_bar__plus_00_dot_81_bar__minus_00_dot_55 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle Egg_bar__plus_01_dot_78_bar__plus_01_dot_46_bar__minus_00_dot_27 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle Potato_bar__plus_01_dot_89_bar__plus_00_dot_85_bar__minus_00_dot_27 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle Tomato_bar__plus_01_dot_95_bar__plus_01_dot_48_bar__minus_00_dot_37 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle Bread_bar__plus_01_dot_95_bar__plus_01_dot_18_bar__minus_00_dot_74 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle Lettuce_bar__plus_02_dot_00_bar__plus_01_dot_50_bar__minus_00_dot_55 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Apple_bar__minus_00_dot_03_bar__plus_00_dot_81_bar__minus_02_dot_06 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Fork_bar__minus_00_dot_29_bar__plus_00_dot_76_bar__minus_02_dot_01 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Mug_bar__plus_00_dot_50_bar__plus_00_dot_96_bar__minus_01_dot_90 CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_02_dot_13) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_12_bar__plus_02_dot_27_bar__minus_02_dot_00 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loc_bar_0_bar__minus_5_bar_2_bar_45) + (objectAtLocation PepperShaker_bar__minus_00_dot_69_bar__plus_00_dot_69_bar__minus_01_dot_89 loc_bar_0_bar__minus_5_bar_3_bar_45) + (objectAtLocation SaltShaker_bar__minus_01_dot_33_bar__plus_00_dot_91_bar__minus_00_dot_17 loc_bar__minus_2_bar__minus_2_bar_0_bar_45) + (objectAtLocation Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01 loc_bar_0_bar__minus_5_bar_2_bar_45) + (objectAtLocation Chair_bar__minus_00_dot_46_bar__plus_00_dot_01_bar__plus_00_dot_75 loc_bar__minus_2_bar_5_bar_2_bar_60) + (objectAtLocation Chair_bar__minus_00_dot_08_bar__plus_00_dot_01_bar__plus_00_dot_76 loc_bar_0_bar_5_bar_2_bar_60) + (objectAtLocation HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 loc_bar_2_bar_3_bar_3_bar_30) + (objectAtLocation Pan_bar__plus_01_dot_74_bar__plus_00_dot_90_bar__minus_01_dot_97 loc_bar_4_bar__minus_5_bar_2_bar_45) + (objectAtLocation Knife_bar__minus_00_dot_38_bar__plus_01_dot_16_bar__plus_00_dot_53 loc_bar_2_bar_3_bar_3_bar_30) + (objectAtLocation Bowl_bar__plus_01_dot_88_bar__plus_01_dot_65_bar__minus_01_dot_67 loc_bar_4_bar__minus_5_bar_1_bar__minus_30) + (objectAtLocation Fork_bar__minus_00_dot_60_bar__plus_01_dot_13_bar__plus_00_dot_53 loc_bar_2_bar_3_bar_3_bar_30) + (objectAtLocation Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 loc_bar_0_bar__minus_5_bar_2_bar_45) + (objectAtLocation Ladle_bar__minus_01_dot_26_bar__plus_00_dot_95_bar__minus_02_dot_18 loc_bar_4_bar__minus_5_bar_2_bar_45) + (objectAtLocation Apple_bar__plus_01_dot_85_bar__plus_00_dot_11_bar__plus_00_dot_11 loc_bar_8_bar_3_bar_2_bar_60) + (objectAtLocation Kettle_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 loc_bar__minus_2_bar__minus_4_bar_3_bar_45) + (objectAtLocation Vase_bar__plus_02_dot_90_bar__plus_00_dot_55_bar__plus_00_dot_25 loc_bar_10_bar_5_bar_2_bar_45) + (objectAtLocation Potato_bar__plus_01_dot_89_bar__plus_00_dot_85_bar__minus_00_dot_27 loc_bar_4_bar__minus_3_bar_1_bar_60) + (objectAtLocation Pot_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 loc_bar__minus_2_bar__minus_5_bar_3_bar_45) + (objectAtLocation Bread_bar__plus_01_dot_95_bar__plus_01_dot_18_bar__minus_00_dot_74 loc_bar_4_bar__minus_3_bar_1_bar_60) + (objectAtLocation Plate_bar__minus_00_dot_66_bar__plus_00_dot_11_bar__minus_01_dot_88 loc_bar__minus_1_bar__minus_3_bar_2_bar_45) + (objectAtLocation LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_30_bar__plus_02_dot_00 loc_bar_2_bar_6_bar_0_bar_30) + (objectAtLocation Spatula_bar__minus_00_dot_91_bar__plus_00_dot_93_bar__minus_01_dot_47 loc_bar_4_bar__minus_5_bar_2_bar_45) + (objectAtLocation PaperTowelRoll_bar__minus_01_dot_41_bar__plus_01_dot_02_bar__minus_00_dot_11 loc_bar__minus_2_bar__minus_2_bar_0_bar_45) + (objectAtLocation Vase_bar__plus_01_dot_57_bar__plus_00_dot_12_bar__minus_01_dot_20 loc_bar_2_bar__minus_4_bar_1_bar_60) + (objectAtLocation Egg_bar__plus_01_dot_78_bar__plus_01_dot_46_bar__minus_00_dot_27 loc_bar_4_bar__minus_3_bar_1_bar_60) + (objectAtLocation SoapBottle_bar__minus_01_dot_07_bar__plus_00_dot_13_bar__minus_01_dot_43 loc_bar_0_bar__minus_4_bar_3_bar_60) + (objectAtLocation SaltShaker_bar__minus_00_dot_82_bar__plus_01_dot_13_bar__plus_00_dot_49 loc_bar_2_bar_3_bar_3_bar_30) + (objectAtLocation Lettuce_bar__plus_02_dot_00_bar__plus_01_dot_50_bar__minus_00_dot_55 loc_bar_4_bar__minus_3_bar_1_bar_60) + (objectAtLocation PepperShaker_bar__minus_01_dot_05_bar__plus_01_dot_13_bar__plus_00_dot_44 loc_bar_2_bar_3_bar_3_bar_30) + (objectAtLocation ButterKnife_bar__plus_01_dot_42_bar__plus_00_dot_91_bar__minus_02_dot_01 loc_bar_4_bar__minus_5_bar_2_bar_45) + (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_83 loc_bar__minus_2_bar__minus_3_bar_3_bar_60) + (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_68 loc_bar__minus_2_bar__minus_3_bar_3_bar_60) + (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_97 loc_bar__minus_2_bar__minus_4_bar_3_bar_60) + (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_01_dot_12 loc_bar__minus_2_bar__minus_4_bar_3_bar_60) + (objectAtLocation DishSponge_bar__minus_00_dot_62_bar__plus_00_dot_69_bar__minus_01_dot_98 loc_bar_0_bar__minus_5_bar_3_bar_45) + (objectAtLocation Vase_bar__plus_02_dot_59_bar__plus_00_dot_55_bar__plus_00_dot_04 loc_bar_10_bar_5_bar_2_bar_45) + (objectAtLocation Spoon_bar__minus_01_dot_25_bar__plus_00_dot_90_bar__minus_00_dot_35 loc_bar__minus_2_bar__minus_2_bar_0_bar_45) + (objectAtLocation Tomato_bar__plus_01_dot_95_bar__plus_01_dot_48_bar__minus_00_dot_37 loc_bar_4_bar__minus_3_bar_1_bar_60) + (objectAtLocation Mug_bar__plus_01_dot_89_bar__plus_00_dot_81_bar__minus_00_dot_55 loc_bar_4_bar__minus_3_bar_1_bar_60) + (objectAtLocation Statue_bar__minus_00_dot_90_bar__plus_00_dot_92_bar__minus_01_dot_93 loc_bar_4_bar__minus_5_bar_2_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (heatable ?o) + (objectType ?o PlateType) + (receptacleType ?r CounterTopType) + (isHot ?o) + (inReceptacle ?o ?r) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-GarbageCan-12/trial_T20190907_125521_042428/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-GarbageCan-12/trial_T20190907_125521_042428/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..d3cd5137943390e47a272de9b64e665a83952554 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-GarbageCan-12/trial_T20190907_125521_042428/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 potato and put it in garbagecan.\"\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_125521_042428)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__minus_00_dot_94_bar__plus_00_dot_62_bar__plus_00_dot_20 - object\n Apple_bar__minus_01_dot_02_bar__plus_01_dot_37_bar__plus_00_dot_20 - object\n Apple_bar__minus_01_dot_13_bar__plus_00_dot_99_bar__plus_02_dot_39 - object\n Bowl_bar__minus_01_dot_04_bar__plus_01_dot_83_bar__minus_00_dot_17 - object\n Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_27 - object\n ButterKnife_bar__plus_01_dot_38_bar__plus_00_dot_74_bar__plus_02_dot_23 - object\n Chair_bar__minus_00_dot_75_bar__plus_00_dot_01_bar__plus_03_dot_12 - object\n Cup_bar__minus_01_dot_00_bar__plus_01_dot_50_bar__plus_02_dot_28 - object\n DishSponge_bar__minus_01_dot_21_bar__plus_00_dot_94_bar__plus_02_dot_16 - object\n Egg_bar__plus_01_dot_39_bar__plus_00_dot_88_bar__plus_01_dot_28 - object\n Faucet_bar__plus_01_dot_71_bar__plus_00_dot_93_bar__plus_01_dot_36 - object\n Fork_bar__minus_00_dot_79_bar__plus_00_dot_94_bar__plus_00_dot_92 - object\n Knife_bar__plus_01_dot_41_bar__plus_00_dot_77_bar__plus_01_dot_05 - object\n Knife_bar__minus_00_dot_83_bar__plus_00_dot_77_bar__plus_00_dot_78 - object\n Knife_bar__minus_01_dot_04_bar__plus_00_dot_96_bar__plus_00_dot_92 - object\n Lettuce_bar__minus_01_dot_13_bar__plus_01_dot_03_bar__plus_00_dot_84 - object\n LightSwitch_bar__plus_00_dot_45_bar__plus_01_dot_41_bar__minus_01_dot_68 - object\n Mug_bar__plus_01_dot_39_bar__plus_00_dot_84_bar__plus_01_dot_40 - object\n Pan_bar__plus_01_dot_38_bar__plus_01_dot_74_bar__plus_00_dot_39 - object\n PepperShaker_bar__minus_00_dot_86_bar__plus_00_dot_74_bar__plus_02_dot_25 - object\n PepperShaker_bar__minus_01_dot_12_bar__plus_01_dot_50_bar__plus_02_dot_31 - object\n Plate_bar__plus_01_dot_39_bar__plus_00_dot_09_bar__plus_02_dot_46 - object\n Plate_bar__plus_01_dot_67_bar__plus_00_dot_94_bar__plus_00_dot_87 - object\n Potato_bar__plus_01_dot_44_bar__plus_00_dot_97_bar__plus_02_dot_12 - object\n Potato_bar__minus_00_dot_88_bar__plus_01_dot_35_bar__plus_00_dot_20 - object\n Potato_bar__minus_01_dot_21_bar__plus_00_dot_97_bar__plus_01_dot_15 - object\n Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_47 - object\n Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_87 - object\n SaltShaker_bar__minus_01_dot_04_bar__plus_00_dot_93_bar__plus_01_dot_08 - object\n Sink_bar__plus_01_dot_54_bar__plus_00_dot_87_bar__plus_01_dot_64 - object\n SoapBottle_bar__plus_01_dot_46_bar__plus_01_dot_75_bar__plus_00_dot_07 - object\n SoapBottle_bar__plus_01_dot_50_bar__plus_00_dot_94_bar__plus_01_dot_71 - object\n SoapBottle_bar__minus_00_dot_88_bar__plus_00_dot_94_bar__plus_01_dot_08 - object\n Spatula_bar__plus_01_dot_34_bar__plus_00_dot_76_bar__plus_00_dot_78 - object\n Spatula_bar__plus_01_dot_48_bar__plus_00_dot_76_bar__plus_00_dot_92 - object\n Spatula_bar__minus_00_dot_72_bar__plus_00_dot_76_bar__plus_00_dot_98 - object\n Spoon_bar__minus_00_dot_86_bar__plus_00_dot_75_bar__plus_00_dot_92 - object\n Spoon_bar__minus_00_dot_96_bar__plus_00_dot_94_bar__plus_00_dot_69 - object\n StoveKnob_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__plus_01_dot_36 - object\n StoveKnob_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__plus_01_dot_51 - object\n StoveKnob_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__plus_01_dot_76 - object\n StoveKnob_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__plus_01_dot_92 - object\n Tomato_bar__plus_01_dot_29_bar__plus_01_dot_00_bar__plus_01_dot_07 - object\n Window_bar__plus_00_dot_23_bar__plus_01_dot_60_bar__plus_03_dot_51 - object\n Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_00_dot_63 - receptacle\n Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_02_dot_11 - receptacle\n Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_55_bar__plus_00_dot_59 - receptacle\n Cabinet_bar__plus_01_dot_22_bar__plus_01_dot_39_bar__plus_00_dot_59 - receptacle\n Cabinet_bar__plus_01_dot_22_bar__plus_02_dot_01_bar__plus_00_dot_59 - receptacle\n Cabinet_bar__plus_01_dot_50_bar__plus_01_dot_81_bar__plus_02_dot_10 - receptacle\n Cabinet_bar__plus_01_dot_50_bar__plus_01_dot_81_bar__plus_02_dot_69 - receptacle\n 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loc_bar_0_bar__minus_2_bar_3_bar__minus_30 - location\n loc_bar__minus_1_bar_5_bar_3_bar_60 - location\n loc_bar__minus_1_bar_10_bar_3_bar_45 - location\n loc_bar_1_bar_5_bar_1_bar_45 - location\n loc_bar_1_bar_5_bar_3_bar_60 - location\n loc_bar_0_bar_3_bar_3_bar_45 - location\n loc_bar_4_bar_5_bar_1_bar_60 - location\n loc_bar__minus_1_bar_3_bar_3_bar__minus_30 - location\n loc_bar_3_bar_10_bar_1_bar_60 - location\n loc_bar_3_bar_10_bar_1_bar__minus_15 - location\n loc_bar_2_bar_1_bar_1_bar_60 - location\n loc_bar_4_bar_7_bar_1_bar__minus_15 - location\n loc_bar__minus_1_bar_7_bar_3_bar_60 - location\n loc_bar_0_bar_7_bar_3_bar__minus_30 - location\n loc_bar_4_bar_6_bar_1_bar_15 - location\n loc_bar_4_bar_7_bar_1_bar_60 - location\n loc_bar__minus_1_bar_10_bar_0_bar_60 - location\n loc_bar_1_bar_11_bar_0_bar_0 - location\n loc_bar__minus_1_bar_6_bar_3_bar_60 - location\n loc_bar_3_bar_8_bar_1_bar_45 - location\n loc_bar_2_bar_3_bar_1_bar_45 - location\n loc_bar_1_bar_5_bar_1_bar__minus_15 - location\n loc_bar__minus_1_bar_10_bar_3_bar__minus_15 - location\n loc_bar_3_bar_3_bar_1_bar__minus_30 - location\n loc_bar__minus_1_bar_4_bar_3_bar_45 - location\n loc_bar_1_bar_9_bar_1_bar_45 - location\n loc_bar__minus_1_bar_7_bar_3_bar__minus_15 - location\n loc_bar__minus_1_bar_6_bar_3_bar_45 - location\n loc_bar_0_bar_8_bar_3_bar__minus_30 - location\n loc_bar_4_bar__minus_2_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_00_dot_63 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_01_dot_21 CabinetType)\n (receptacleType StoveBurner_bar__minus_01_dot_11_bar__plus_00_dot_92_bar__plus_01_dot_47 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_02_dot_08 CabinetType)\n (receptacleType CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92 CounterTopType)\n (receptacleType 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(receptacleType Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_00_dot_58 CabinetType)\n (receptacleType GarbageCan_bar__plus_01_dot_45_bar__plus_00_dot_00_bar__plus_02_dot_91 GarbageCanType)\n (receptacleType Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_00_dot_92 DrawerType)\n (receptacleType StoveBurner_bar__minus_00_dot_83_bar__plus_00_dot_92_bar__plus_01_dot_87 StoveBurnerType)\n (receptacleType Sink_bar__plus_01_dot_54_bar__plus_00_dot_87_bar__plus_01_dot_64_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__plus_01_dot_50_bar__plus_01_dot_81_bar__plus_02_dot_10 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_50_bar__plus_01_dot_81_bar__plus_02_dot_69 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_01_dot_16 CabinetType)\n (receptacleType CoffeeMachine_bar__plus_01_dot_69_bar__plus_00_dot_93_bar__plus_02_dot_45 CoffeeMachineType)\n (receptacleType 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(receptacleType Cabinet_bar__plus_01_dot_22_bar__plus_02_dot_01_bar__plus_00_dot_59 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_01_dot_16 CabinetType)\n (objectType Knife_bar__minus_00_dot_83_bar__plus_00_dot_77_bar__plus_00_dot_78 KnifeType)\n (objectType Potato_bar__minus_01_dot_21_bar__plus_00_dot_97_bar__plus_01_dot_15 PotatoType)\n (objectType Window_bar__plus_00_dot_23_bar__plus_01_dot_60_bar__plus_03_dot_51 WindowType)\n (objectType Spatula_bar__minus_00_dot_72_bar__plus_00_dot_76_bar__plus_00_dot_98 SpatulaType)\n (objectType Spoon_bar__minus_00_dot_86_bar__plus_00_dot_75_bar__plus_00_dot_92 SpoonType)\n (objectType SoapBottle_bar__minus_00_dot_88_bar__plus_00_dot_94_bar__plus_01_dot_08 SoapBottleType)\n (objectType Spatula_bar__plus_01_dot_48_bar__plus_00_dot_76_bar__plus_00_dot_92 SpatulaType)\n (objectType Potato_bar__minus_00_dot_88_bar__plus_01_dot_35_bar__plus_00_dot_20 PotatoType)\n (objectType 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Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_47 StoveBurner_bar__minus_01_dot_11_bar__plus_00_dot_92_bar__plus_01_dot_47)\n (inReceptacle ButterKnife_bar__plus_01_dot_38_bar__plus_00_dot_74_bar__plus_02_dot_23 Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_02_dot_39)\n (inReceptacle Plate_bar__plus_01_dot_67_bar__plus_00_dot_94_bar__plus_00_dot_87 CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31)\n (inReceptacle Tomato_bar__plus_01_dot_29_bar__plus_01_dot_00_bar__plus_01_dot_07 CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31)\n (inReceptacle Potato_bar__plus_01_dot_44_bar__plus_00_dot_97_bar__plus_02_dot_12 CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31)\n (inReceptacle Pan_bar__plus_01_dot_38_bar__plus_01_dot_74_bar__plus_00_dot_39 Cabinet_bar__plus_01_dot_22_bar__plus_02_dot_01_bar__plus_00_dot_59)\n (inReceptacle SoapBottle_bar__plus_01_dot_46_bar__plus_01_dot_75_bar__plus_00_dot_07 Cabinet_bar__plus_01_dot_22_bar__plus_02_dot_01_bar__plus_00_dot_59)\n (inReceptacle Plate_bar__plus_01_dot_39_bar__plus_00_dot_09_bar__plus_02_dot_46 Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_02_dot_11)\n (inReceptacle Bowl_bar__minus_01_dot_04_bar__plus_01_dot_83_bar__minus_00_dot_17 Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_05_bar__minus_00_dot_33)\n (inReceptacle Spoon_bar__minus_00_dot_86_bar__plus_00_dot_75_bar__plus_00_dot_92 Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_00_dot_92)\n (inReceptacle Knife_bar__minus_00_dot_83_bar__plus_00_dot_77_bar__plus_00_dot_78 Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_00_dot_92)\n (inReceptacle Spatula_bar__minus_00_dot_72_bar__plus_00_dot_76_bar__plus_00_dot_98 Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_00_dot_92)\n (inReceptacle Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_87 StoveBurner_bar__minus_01_dot_11_bar__plus_00_dot_92_bar__plus_01_dot_87)\n (inReceptacle Lettuce_bar__minus_01_dot_13_bar__plus_01_dot_03_bar__plus_00_dot_84 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92)\n (inReceptacle Potato_bar__minus_01_dot_21_bar__plus_00_dot_97_bar__plus_01_dot_15 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92)\n (inReceptacle Fork_bar__minus_00_dot_79_bar__plus_00_dot_94_bar__plus_00_dot_92 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92)\n (inReceptacle Spoon_bar__minus_00_dot_96_bar__plus_00_dot_94_bar__plus_00_dot_69 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92)\n (inReceptacle Knife_bar__minus_01_dot_04_bar__plus_00_dot_96_bar__plus_00_dot_92 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92)\n (inReceptacle SoapBottle_bar__minus_00_dot_88_bar__plus_00_dot_94_bar__plus_01_dot_08 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92)\n (inReceptacle SaltShaker_bar__minus_01_dot_04_bar__plus_00_dot_93_bar__plus_01_dot_08 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92)\n (inReceptacle Knife_bar__plus_01_dot_41_bar__plus_00_dot_77_bar__plus_01_dot_05 Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_00_dot_92)\n (inReceptacle Spatula_bar__plus_01_dot_34_bar__plus_00_dot_76_bar__plus_00_dot_78 Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_00_dot_92)\n (inReceptacle Spatula_bar__plus_01_dot_48_bar__plus_00_dot_76_bar__plus_00_dot_92 Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_00_dot_92)\n (inReceptacle Cup_bar__minus_01_dot_00_bar__plus_01_dot_50_bar__plus_02_dot_28 Cabinet_bar__minus_00_dot_91_bar__plus_01_dot_81_bar__plus_02_dot_11)\n (inReceptacle PepperShaker_bar__minus_01_dot_12_bar__plus_01_dot_50_bar__plus_02_dot_31 Cabinet_bar__minus_00_dot_91_bar__plus_01_dot_81_bar__plus_02_dot_11)\n (inReceptacle Potato_bar__minus_00_dot_88_bar__plus_01_dot_35_bar__plus_00_dot_20 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12)\n (inReceptacle Apple_bar__minus_00_dot_94_bar__plus_00_dot_62_bar__plus_00_dot_20 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12)\n (inReceptacle Apple_bar__minus_01_dot_02_bar__plus_01_dot_37_bar__plus_00_dot_20 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12)\n (inReceptacle Mug_bar__plus_01_dot_39_bar__plus_00_dot_84_bar__plus_01_dot_40 Sink_bar__plus_01_dot_54_bar__plus_00_dot_87_bar__plus_01_dot_64_bar_SinkBasin)\n (inReceptacle Egg_bar__plus_01_dot_39_bar__plus_00_dot_88_bar__plus_01_dot_28 Sink_bar__plus_01_dot_54_bar__plus_00_dot_87_bar__plus_01_dot_64_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_00_dot_63 loc_bar_1_bar_5_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_02_dot_11 loc_bar_1_bar_9_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_55_bar__plus_00_dot_59 loc_bar_2_bar_1_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_22_bar__plus_01_dot_39_bar__plus_00_dot_59 loc_bar_3_bar_1_bar_1_bar_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_22_bar__plus_02_dot_01_bar__plus_00_dot_59 loc_bar_3_bar_1_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_50_bar__plus_01_dot_81_bar__plus_02_dot_10 loc_bar_4_bar_7_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_50_bar__plus_01_dot_81_bar__plus_02_dot_69 loc_bar_3_bar_10_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_01_dot_16 loc_bar_3_bar_3_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_01_dot_21 loc_bar_1_bar_5_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_02_dot_08 loc_bar_1_bar_6_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__plus_00_dot_63 loc_bar_1_bar_5_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__plus_02_dot_11 loc_bar_1_bar_11_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_91_bar__plus_01_dot_81_bar__plus_02_dot_11 loc_bar__minus_1_bar_7_bar_3_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_91_bar__plus_01_dot_81_bar__plus_02_dot_70 loc_bar__minus_1_bar_10_bar_3_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_05_bar__minus_00_dot_33 loc_bar_0_bar__minus_2_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_00_dot_58 loc_bar__minus_1_bar_3_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_01_dot_16 loc_bar__minus_1_bar_3_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_01_dot_21 loc_bar_0_bar_7_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_02_dot_08 loc_bar_0_bar_8_bar_3_bar__minus_30)\n (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_69_bar__plus_00_dot_93_bar__plus_02_dot_45 loc_bar_3_bar_10_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31 loc_bar_3_bar_8_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_02_dot_39 loc_bar__minus_1_bar_10_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_00_dot_92 loc_bar_2_bar_3_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_02_dot_39 loc_bar_2_bar_9_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_00_dot_92 loc_bar_0_bar_3_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_02_dot_38 loc_bar_0_bar_9_bar_3_bar_45)\n (receptacleAtLocation Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12 loc_bar_0_bar_0_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_45_bar__plus_00_dot_00_bar__plus_02_dot_91 loc_bar_3_bar_10_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__plus_01_dot_63_bar__plus_01_dot_48_bar__plus_01_dot_65 loc_bar_4_bar_6_bar_1_bar_15)\n (receptacleAtLocation Sink_bar__plus_01_dot_54_bar__plus_00_dot_87_bar__plus_01_dot_64_bar_SinkBasin loc_bar_4_bar_5_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_83_bar__plus_00_dot_92_bar__plus_01_dot_47 loc_bar__minus_1_bar_6_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_83_bar__plus_00_dot_92_bar__plus_01_dot_87 loc_bar__minus_1_bar_7_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_11_bar__plus_00_dot_92_bar__plus_01_dot_47 loc_bar__minus_1_bar_6_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_11_bar__plus_00_dot_92_bar__plus_01_dot_87 loc_bar__minus_1_bar_7_bar_3_bar_45)\n (receptacleAtLocation Toaster_bar__minus_01_dot_00_bar__plus_00_dot_93_bar__plus_02_dot_56 loc_bar__minus_1_bar_10_bar_3_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_96_bar__plus_00_dot_94_bar__plus_00_dot_69 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation Plate_bar__plus_01_dot_67_bar__plus_00_dot_94_bar__plus_00_dot_87 loc_bar_3_bar_8_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_01_dot_21_bar__plus_00_dot_97_bar__plus_01_dot_15 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation PepperShaker_bar__minus_01_dot_12_bar__plus_01_dot_50_bar__plus_02_dot_31 loc_bar__minus_1_bar_7_bar_3_bar__minus_15)\n (objectAtLocation Apple_bar__minus_01_dot_13_bar__plus_00_dot_99_bar__plus_02_dot_39 loc_bar__minus_1_bar_10_bar_3_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_83_bar__plus_00_dot_77_bar__plus_00_dot_78 loc_bar_0_bar_3_bar_3_bar_45)\n (objectAtLocation Spatula_bar__plus_01_dot_34_bar__plus_00_dot_76_bar__plus_00_dot_78 loc_bar_2_bar_3_bar_1_bar_45)\n (objectAtLocation Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_87 loc_bar__minus_1_bar_7_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__plus_01_dot_46_bar__plus_01_dot_75_bar__plus_00_dot_07 loc_bar_3_bar_1_bar_1_bar__minus_30)\n (objectAtLocation Apple_bar__minus_00_dot_94_bar__plus_00_dot_62_bar__plus_00_dot_20 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__plus_01_dot_50_bar__plus_00_dot_94_bar__plus_01_dot_71 loc_bar_4_bar_5_bar_1_bar_60)\n (objectAtLocation Knife_bar__plus_01_dot_41_bar__plus_00_dot_77_bar__plus_01_dot_05 loc_bar_2_bar_3_bar_1_bar_45)\n (objectAtLocation Spatula_bar__plus_01_dot_48_bar__plus_00_dot_76_bar__plus_00_dot_92 loc_bar_2_bar_3_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_88_bar__plus_01_dot_35_bar__plus_00_dot_20 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_75_bar__plus_00_dot_01_bar__plus_03_dot_12 loc_bar__minus_1_bar_10_bar_0_bar_60)\n (objectAtLocation Sink_bar__plus_01_dot_54_bar__plus_00_dot_87_bar__plus_01_dot_64 loc_bar_4_bar_7_bar_1_bar_60)\n (objectAtLocation Lettuce_bar__minus_01_dot_13_bar__plus_01_dot_03_bar__plus_00_dot_84 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__plus_01_dot_92 loc_bar__minus_1_bar_7_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__plus_01_dot_36 loc_bar__minus_1_bar_5_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__plus_01_dot_51 loc_bar__minus_1_bar_6_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__plus_01_dot_76 loc_bar__minus_1_bar_7_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__minus_00_dot_88_bar__plus_00_dot_94_bar__plus_01_dot_08 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_27 loc_bar__minus_1_bar_10_bar_3_bar_45)\n (objectAtLocation Fork_bar__minus_00_dot_79_bar__plus_00_dot_94_bar__plus_00_dot_92 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation Tomato_bar__plus_01_dot_29_bar__plus_01_dot_00_bar__plus_01_dot_07 loc_bar_3_bar_8_bar_1_bar_45)\n (objectAtLocation Bowl_bar__minus_01_dot_04_bar__plus_01_dot_83_bar__minus_00_dot_17 loc_bar_0_bar__minus_2_bar_3_bar__minus_30)\n (objectAtLocation Window_bar__plus_00_dot_23_bar__plus_01_dot_60_bar__plus_03_dot_51 loc_bar_1_bar_11_bar_0_bar_0)\n (objectAtLocation Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_47 loc_bar__minus_1_bar_6_bar_3_bar_45)\n (objectAtLocation Spatula_bar__minus_00_dot_72_bar__plus_00_dot_76_bar__plus_00_dot_98 loc_bar_0_bar_3_bar_3_bar_45)\n (objectAtLocation Knife_bar__minus_01_dot_04_bar__plus_00_dot_96_bar__plus_00_dot_92 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__minus_01_dot_04_bar__plus_00_dot_93_bar__plus_01_dot_08 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation Apple_bar__minus_01_dot_02_bar__plus_01_dot_37_bar__plus_00_dot_20 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation PepperShaker_bar__minus_00_dot_86_bar__plus_00_dot_74_bar__plus_02_dot_25 loc_bar_0_bar_9_bar_3_bar_45)\n (objectAtLocation ButterKnife_bar__plus_01_dot_38_bar__plus_00_dot_74_bar__plus_02_dot_23 loc_bar_2_bar_9_bar_1_bar_45)\n (objectAtLocation Potato_bar__plus_01_dot_44_bar__plus_00_dot_97_bar__plus_02_dot_12 loc_bar_3_bar_8_bar_1_bar_45)\n (objectAtLocation Plate_bar__plus_01_dot_39_bar__plus_00_dot_09_bar__plus_02_dot_46 loc_bar_1_bar_9_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__minus_01_dot_21_bar__plus_00_dot_94_bar__plus_02_dot_16 loc_bar__minus_1_bar_10_bar_3_bar_45)\n (objectAtLocation Egg_bar__plus_01_dot_39_bar__plus_00_dot_88_bar__plus_01_dot_28 loc_bar_4_bar_5_bar_1_bar_60)\n (objectAtLocation Cup_bar__minus_01_dot_00_bar__plus_01_dot_50_bar__plus_02_dot_28 loc_bar__minus_1_bar_7_bar_3_bar__minus_15)\n (objectAtLocation Pan_bar__plus_01_dot_38_bar__plus_01_dot_74_bar__plus_00_dot_39 loc_bar_3_bar_1_bar_1_bar__minus_30)\n (objectAtLocation Spoon_bar__minus_00_dot_86_bar__plus_00_dot_75_bar__plus_00_dot_92 loc_bar_0_bar_3_bar_3_bar_45)\n (objectAtLocation LightSwitch_bar__plus_00_dot_45_bar__plus_01_dot_41_bar__minus_01_dot_68 loc_bar_2_bar__minus_4_bar_2_bar_15)\n (objectAtLocation Mug_bar__plus_01_dot_39_bar__plus_00_dot_84_bar__plus_01_dot_40 loc_bar_4_bar_5_bar_1_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (heatable ?o)\n (objectType ?o PotatoType)\n (receptacleType ?r GarbageCanType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take potato 1 from countertop 1", "go to microwave 1", "heat potato 1 with microwave 1", "go to garbagecan 1", "move potato 1 to garbagecan 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-GarbageCan-12/trial_T20190907_125521_042428/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-GarbageCan-12/trial_T20190907_125521_042428/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..5cc73f9244d25fb3fc3f6a5a33ead3675732f593 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-GarbageCan-12/trial_T20190907_125521_042428/initial_state.pddl @@ -0,0 +1,1022 @@ + +(define (problem plan_trial_T20190907_125521_042428) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__minus_00_dot_94_bar__plus_00_dot_62_bar__plus_00_dot_20 - object + Apple_bar__minus_01_dot_02_bar__plus_01_dot_37_bar__plus_00_dot_20 - object + Apple_bar__minus_01_dot_13_bar__plus_00_dot_99_bar__plus_02_dot_39 - object + Bowl_bar__minus_01_dot_04_bar__plus_01_dot_83_bar__minus_00_dot_17 - object + Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_27 - object + ButterKnife_bar__plus_01_dot_38_bar__plus_00_dot_74_bar__plus_02_dot_23 - object + Chair_bar__minus_00_dot_75_bar__plus_00_dot_01_bar__plus_03_dot_12 - object + Cup_bar__minus_01_dot_00_bar__plus_01_dot_50_bar__plus_02_dot_28 - object + DishSponge_bar__minus_01_dot_21_bar__plus_00_dot_94_bar__plus_02_dot_16 - object + Egg_bar__plus_01_dot_39_bar__plus_00_dot_88_bar__plus_01_dot_28 - object + Faucet_bar__plus_01_dot_71_bar__plus_00_dot_93_bar__plus_01_dot_36 - object + Fork_bar__minus_00_dot_79_bar__plus_00_dot_94_bar__plus_00_dot_92 - object + Knife_bar__plus_01_dot_41_bar__plus_00_dot_77_bar__plus_01_dot_05 - object + Knife_bar__minus_00_dot_83_bar__plus_00_dot_77_bar__plus_00_dot_78 - object + Knife_bar__minus_01_dot_04_bar__plus_00_dot_96_bar__plus_00_dot_92 - object + Lettuce_bar__minus_01_dot_13_bar__plus_01_dot_03_bar__plus_00_dot_84 - object + LightSwitch_bar__plus_00_dot_45_bar__plus_01_dot_41_bar__minus_01_dot_68 - object + Mug_bar__plus_01_dot_39_bar__plus_00_dot_84_bar__plus_01_dot_40 - object + Pan_bar__plus_01_dot_38_bar__plus_01_dot_74_bar__plus_00_dot_39 - object + PepperShaker_bar__minus_00_dot_86_bar__plus_00_dot_74_bar__plus_02_dot_25 - object + PepperShaker_bar__minus_01_dot_12_bar__plus_01_dot_50_bar__plus_02_dot_31 - object + Plate_bar__plus_01_dot_39_bar__plus_00_dot_09_bar__plus_02_dot_46 - object + Plate_bar__plus_01_dot_67_bar__plus_00_dot_94_bar__plus_00_dot_87 - object + Potato_bar__plus_01_dot_44_bar__plus_00_dot_97_bar__plus_02_dot_12 - object + Potato_bar__minus_00_dot_88_bar__plus_01_dot_35_bar__plus_00_dot_20 - object + Potato_bar__minus_01_dot_21_bar__plus_00_dot_97_bar__plus_01_dot_15 - object + Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_47 - object + Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_87 - object + SaltShaker_bar__minus_01_dot_04_bar__plus_00_dot_93_bar__plus_01_dot_08 - object + Sink_bar__plus_01_dot_54_bar__plus_00_dot_87_bar__plus_01_dot_64 - object + SoapBottle_bar__plus_01_dot_46_bar__plus_01_dot_75_bar__plus_00_dot_07 - object + SoapBottle_bar__plus_01_dot_50_bar__plus_00_dot_94_bar__plus_01_dot_71 - object + SoapBottle_bar__minus_00_dot_88_bar__plus_00_dot_94_bar__plus_01_dot_08 - object + Spatula_bar__plus_01_dot_34_bar__plus_00_dot_76_bar__plus_00_dot_78 - object + Spatula_bar__plus_01_dot_48_bar__plus_00_dot_76_bar__plus_00_dot_92 - object + Spatula_bar__minus_00_dot_72_bar__plus_00_dot_76_bar__plus_00_dot_98 - object + Spoon_bar__minus_00_dot_86_bar__plus_00_dot_75_bar__plus_00_dot_92 - object + Spoon_bar__minus_00_dot_96_bar__plus_00_dot_94_bar__plus_00_dot_69 - object + StoveKnob_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__plus_01_dot_36 - object + StoveKnob_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__plus_01_dot_51 - object + StoveKnob_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__plus_01_dot_76 - object + StoveKnob_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__plus_01_dot_92 - object + Tomato_bar__plus_01_dot_29_bar__plus_01_dot_00_bar__plus_01_dot_07 - object + Window_bar__plus_00_dot_23_bar__plus_01_dot_60_bar__plus_03_dot_51 - object + Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_00_dot_63 - receptacle + Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_02_dot_11 - receptacle + Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_55_bar__plus_00_dot_59 - receptacle + Cabinet_bar__plus_01_dot_22_bar__plus_01_dot_39_bar__plus_00_dot_59 - receptacle + Cabinet_bar__plus_01_dot_22_bar__plus_02_dot_01_bar__plus_00_dot_59 - receptacle + Cabinet_bar__plus_01_dot_50_bar__plus_01_dot_81_bar__plus_02_dot_10 - receptacle + Cabinet_bar__plus_01_dot_50_bar__plus_01_dot_81_bar__plus_02_dot_69 - receptacle + Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_01_dot_16 - receptacle + Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_01_dot_21 - receptacle + Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_02_dot_08 - receptacle + Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__plus_00_dot_63 - receptacle + Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__plus_02_dot_11 - receptacle + Cabinet_bar__minus_00_dot_91_bar__plus_01_dot_81_bar__plus_02_dot_11 - receptacle + Cabinet_bar__minus_00_dot_91_bar__plus_01_dot_81_bar__plus_02_dot_70 - receptacle + Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_05_bar__minus_00_dot_33 - receptacle + Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_00_dot_58 - receptacle + Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_01_dot_16 - receptacle + Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_01_dot_21 - receptacle + Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_02_dot_08 - receptacle + CoffeeMachine_bar__plus_01_dot_69_bar__plus_00_dot_93_bar__plus_02_dot_45 - receptacle + CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31 - receptacle + CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92 - receptacle + CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_02_dot_39 - receptacle + Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_00_dot_92 - receptacle + Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_02_dot_39 - receptacle + Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_00_dot_92 - receptacle + Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_02_dot_38 - receptacle + Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12 - receptacle + GarbageCan_bar__plus_01_dot_45_bar__plus_00_dot_00_bar__plus_02_dot_91 - receptacle + Microwave_bar__plus_01_dot_63_bar__plus_01_dot_48_bar__plus_01_dot_65 - receptacle + Sink_bar__plus_01_dot_54_bar__plus_00_dot_87_bar__plus_01_dot_64_bar_SinkBasin - receptacle + StoveBurner_bar__minus_00_dot_83_bar__plus_00_dot_92_bar__plus_01_dot_47 - receptacle + StoveBurner_bar__minus_00_dot_83_bar__plus_00_dot_92_bar__plus_01_dot_87 - receptacle + StoveBurner_bar__minus_01_dot_11_bar__plus_00_dot_92_bar__plus_01_dot_47 - receptacle + StoveBurner_bar__minus_01_dot_11_bar__plus_00_dot_92_bar__plus_01_dot_87 - receptacle + Toaster_bar__minus_01_dot_00_bar__plus_00_dot_93_bar__plus_02_dot_56 - receptacle + loc_bar_2_bar_9_bar_1_bar_45 - location + loc_bar_0_bar_0_bar_3_bar_60 - location + loc_bar_3_bar_10_bar_1_bar_45 - location + loc_bar_2_bar__minus_4_bar_2_bar_15 - location + loc_bar_1_bar_6_bar_1_bar__minus_15 - location + loc_bar_0_bar_9_bar_3_bar_45 - location + loc_bar_3_bar_1_bar_1_bar_30 - location + loc_bar__minus_1_bar_7_bar_3_bar_45 - location + loc_bar_3_bar_1_bar_1_bar__minus_30 - location + loc_bar_1_bar_11_bar_3_bar_60 - location + loc_bar_0_bar__minus_2_bar_3_bar__minus_30 - location + loc_bar__minus_1_bar_5_bar_3_bar_60 - location + loc_bar__minus_1_bar_10_bar_3_bar_45 - location + loc_bar_1_bar_5_bar_1_bar_45 - location + loc_bar_1_bar_5_bar_3_bar_60 - location + loc_bar_0_bar_3_bar_3_bar_45 - location + loc_bar_4_bar_5_bar_1_bar_60 - location + loc_bar__minus_1_bar_3_bar_3_bar__minus_30 - location + loc_bar_3_bar_10_bar_1_bar_60 - location + loc_bar_3_bar_10_bar_1_bar__minus_15 - location + loc_bar_2_bar_1_bar_1_bar_60 - location + loc_bar_4_bar_7_bar_1_bar__minus_15 - location + loc_bar__minus_1_bar_7_bar_3_bar_60 - location + loc_bar_0_bar_7_bar_3_bar__minus_30 - location + loc_bar_4_bar_6_bar_1_bar_15 - location + loc_bar_4_bar_7_bar_1_bar_60 - location + loc_bar__minus_1_bar_10_bar_0_bar_60 - location + loc_bar_1_bar_11_bar_0_bar_0 - location + loc_bar__minus_1_bar_6_bar_3_bar_60 - location + loc_bar_3_bar_8_bar_1_bar_45 - location + loc_bar_2_bar_3_bar_1_bar_45 - location + loc_bar_1_bar_5_bar_1_bar__minus_15 - location + loc_bar__minus_1_bar_10_bar_3_bar__minus_15 - location + loc_bar_3_bar_3_bar_1_bar__minus_30 - location + loc_bar__minus_1_bar_4_bar_3_bar_45 - location + loc_bar_1_bar_9_bar_1_bar_45 - location + loc_bar__minus_1_bar_7_bar_3_bar__minus_15 - location + loc_bar__minus_1_bar_6_bar_3_bar_45 - location + loc_bar_0_bar_8_bar_3_bar__minus_30 - location + loc_bar_4_bar__minus_2_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_00_dot_63 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_01_dot_21 CabinetType) + (receptacleType StoveBurner_bar__minus_01_dot_11_bar__plus_00_dot_92_bar__plus_01_dot_47 StoveBurnerType) + (receptacleType Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_02_dot_08 CabinetType) + (receptacleType CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92 CounterTopType) + (receptacleType Microwave_bar__plus_01_dot_63_bar__plus_01_dot_48_bar__plus_01_dot_65 MicrowaveType) + (receptacleType CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_02_dot_39 CounterTopType) + (receptacleType Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__plus_00_dot_63 CabinetType) + (receptacleType StoveBurner_bar__minus_00_dot_83_bar__plus_00_dot_92_bar__plus_01_dot_47 StoveBurnerType) + (receptacleType Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_01_dot_21 CabinetType) + (receptacleType Toaster_bar__minus_01_dot_00_bar__plus_00_dot_93_bar__plus_02_dot_56 ToasterType) + (receptacleType Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_02_dot_08 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_91_bar__plus_01_dot_81_bar__plus_02_dot_70 CabinetType) + (receptacleType Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12 FridgeType) + (receptacleType Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_55_bar__plus_00_dot_59 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_00_dot_58 CabinetType) + (receptacleType GarbageCan_bar__plus_01_dot_45_bar__plus_00_dot_00_bar__plus_02_dot_91 GarbageCanType) + (receptacleType Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_00_dot_92 DrawerType) + (receptacleType StoveBurner_bar__minus_00_dot_83_bar__plus_00_dot_92_bar__plus_01_dot_87 StoveBurnerType) + (receptacleType Sink_bar__plus_01_dot_54_bar__plus_00_dot_87_bar__plus_01_dot_64_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__plus_01_dot_50_bar__plus_01_dot_81_bar__plus_02_dot_10 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_50_bar__plus_01_dot_81_bar__plus_02_dot_69 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_01_dot_16 CabinetType) + (receptacleType CoffeeMachine_bar__plus_01_dot_69_bar__plus_00_dot_93_bar__plus_02_dot_45 CoffeeMachineType) + (receptacleType Cabinet_bar__minus_00_dot_91_bar__plus_01_dot_81_bar__plus_02_dot_11 CabinetType) + (receptacleType CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31 CounterTopType) + (receptacleType Cabinet_bar__plus_01_dot_22_bar__plus_01_dot_39_bar__plus_00_dot_59 CabinetType) + (receptacleType StoveBurner_bar__minus_01_dot_11_bar__plus_00_dot_92_bar__plus_01_dot_87 StoveBurnerType) + (receptacleType Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_02_dot_11 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_05_bar__minus_00_dot_33 CabinetType) + (receptacleType Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_02_dot_39 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_02_dot_38 DrawerType) 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Spatula_bar__plus_01_dot_48_bar__plus_00_dot_76_bar__plus_00_dot_92) + (cleanable Potato_bar__minus_00_dot_88_bar__plus_01_dot_35_bar__plus_00_dot_20) + (cleanable Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_87) + (cleanable Lettuce_bar__minus_01_dot_13_bar__plus_01_dot_03_bar__plus_00_dot_84) + (cleanable Knife_bar__minus_01_dot_04_bar__plus_00_dot_96_bar__plus_00_dot_92) + (cleanable Pan_bar__plus_01_dot_38_bar__plus_01_dot_74_bar__plus_00_dot_39) + (cleanable Potato_bar__plus_01_dot_44_bar__plus_00_dot_97_bar__plus_02_dot_12) + (cleanable Plate_bar__plus_01_dot_39_bar__plus_00_dot_09_bar__plus_02_dot_46) + (cleanable Tomato_bar__plus_01_dot_29_bar__plus_01_dot_00_bar__plus_01_dot_07) + (cleanable Mug_bar__plus_01_dot_39_bar__plus_00_dot_84_bar__plus_01_dot_40) + (cleanable Spoon_bar__minus_00_dot_96_bar__plus_00_dot_94_bar__plus_00_dot_69) + (cleanable Cup_bar__minus_01_dot_00_bar__plus_01_dot_50_bar__plus_02_dot_28) + (cleanable Knife_bar__plus_01_dot_41_bar__plus_00_dot_77_bar__plus_01_dot_05) + (cleanable Bowl_bar__minus_01_dot_04_bar__plus_01_dot_83_bar__minus_00_dot_17) + (cleanable Plate_bar__plus_01_dot_67_bar__plus_00_dot_94_bar__plus_00_dot_87) + (cleanable Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_47) + (cleanable DishSponge_bar__minus_01_dot_21_bar__plus_00_dot_94_bar__plus_02_dot_16) + (cleanable ButterKnife_bar__plus_01_dot_38_bar__plus_00_dot_74_bar__plus_02_dot_23) + (cleanable Fork_bar__minus_00_dot_79_bar__plus_00_dot_94_bar__plus_00_dot_92) + (cleanable Apple_bar__minus_00_dot_94_bar__plus_00_dot_62_bar__plus_00_dot_20) + (cleanable Egg_bar__plus_01_dot_39_bar__plus_00_dot_88_bar__plus_01_dot_28) + (cleanable Apple_bar__minus_01_dot_02_bar__plus_01_dot_37_bar__plus_00_dot_20) + (cleanable Apple_bar__minus_01_dot_13_bar__plus_00_dot_99_bar__plus_02_dot_39) + (cleanable Spatula_bar__plus_01_dot_34_bar__plus_00_dot_76_bar__plus_00_dot_78) + + (heatable Potato_bar__minus_01_dot_21_bar__plus_00_dot_97_bar__plus_01_dot_15) + (heatable Potato_bar__minus_00_dot_88_bar__plus_01_dot_35_bar__plus_00_dot_20) + (heatable Potato_bar__plus_01_dot_44_bar__plus_00_dot_97_bar__plus_02_dot_12) + (heatable Plate_bar__plus_01_dot_39_bar__plus_00_dot_09_bar__plus_02_dot_46) + (heatable Tomato_bar__plus_01_dot_29_bar__plus_01_dot_00_bar__plus_01_dot_07) + (heatable Mug_bar__plus_01_dot_39_bar__plus_00_dot_84_bar__plus_01_dot_40) + (heatable Cup_bar__minus_01_dot_00_bar__plus_01_dot_50_bar__plus_02_dot_28) + (heatable Plate_bar__plus_01_dot_67_bar__plus_00_dot_94_bar__plus_00_dot_87) + (heatable Apple_bar__minus_00_dot_94_bar__plus_00_dot_62_bar__plus_00_dot_20) + (heatable Egg_bar__plus_01_dot_39_bar__plus_00_dot_88_bar__plus_01_dot_28) + (heatable Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_27) + (heatable Apple_bar__minus_01_dot_02_bar__plus_01_dot_37_bar__plus_00_dot_20) + (heatable Apple_bar__minus_01_dot_13_bar__plus_00_dot_99_bar__plus_02_dot_39) + (coolable Potato_bar__minus_01_dot_21_bar__plus_00_dot_97_bar__plus_01_dot_15) + (coolable Potato_bar__minus_00_dot_88_bar__plus_01_dot_35_bar__plus_00_dot_20) + (coolable Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_87) + (coolable Lettuce_bar__minus_01_dot_13_bar__plus_01_dot_03_bar__plus_00_dot_84) + (coolable Pan_bar__plus_01_dot_38_bar__plus_01_dot_74_bar__plus_00_dot_39) + (coolable Potato_bar__plus_01_dot_44_bar__plus_00_dot_97_bar__plus_02_dot_12) + (coolable Plate_bar__plus_01_dot_39_bar__plus_00_dot_09_bar__plus_02_dot_46) + (coolable Tomato_bar__plus_01_dot_29_bar__plus_01_dot_00_bar__plus_01_dot_07) + (coolable Mug_bar__plus_01_dot_39_bar__plus_00_dot_84_bar__plus_01_dot_40) + (coolable Cup_bar__minus_01_dot_00_bar__plus_01_dot_50_bar__plus_02_dot_28) + (coolable Bowl_bar__minus_01_dot_04_bar__plus_01_dot_83_bar__minus_00_dot_17) + (coolable Plate_bar__plus_01_dot_67_bar__plus_00_dot_94_bar__plus_00_dot_87) + (coolable Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_47) + (coolable Apple_bar__minus_00_dot_94_bar__plus_00_dot_62_bar__plus_00_dot_20) + (coolable Egg_bar__plus_01_dot_39_bar__plus_00_dot_88_bar__plus_01_dot_28) + (coolable Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_27) + (coolable Apple_bar__minus_01_dot_02_bar__plus_01_dot_37_bar__plus_00_dot_20) + (coolable Apple_bar__minus_01_dot_13_bar__plus_00_dot_99_bar__plus_02_dot_39) + + (isCool Potato_bar__minus_00_dot_88_bar__plus_01_dot_35_bar__plus_00_dot_20) + + + + (sliceable Potato_bar__minus_01_dot_21_bar__plus_00_dot_97_bar__plus_01_dot_15) + (sliceable Potato_bar__minus_00_dot_88_bar__plus_01_dot_35_bar__plus_00_dot_20) + (sliceable Lettuce_bar__minus_01_dot_13_bar__plus_01_dot_03_bar__plus_00_dot_84) + (sliceable Potato_bar__plus_01_dot_44_bar__plus_00_dot_97_bar__plus_02_dot_12) + (sliceable Tomato_bar__plus_01_dot_29_bar__plus_01_dot_00_bar__plus_01_dot_07) + (sliceable Apple_bar__minus_00_dot_94_bar__plus_00_dot_62_bar__plus_00_dot_20) + (sliceable Egg_bar__plus_01_dot_39_bar__plus_00_dot_88_bar__plus_01_dot_28) + (sliceable Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_27) + (sliceable Apple_bar__minus_01_dot_02_bar__plus_01_dot_37_bar__plus_00_dot_20) + (sliceable Apple_bar__minus_01_dot_13_bar__plus_00_dot_99_bar__plus_02_dot_39) + + (inReceptacle DishSponge_bar__minus_01_dot_21_bar__plus_00_dot_94_bar__plus_02_dot_16 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_02_dot_39) + (inReceptacle Apple_bar__minus_01_dot_13_bar__plus_00_dot_99_bar__plus_02_dot_39 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_02_dot_39) + (inReceptacle Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_27 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_02_dot_39) + (inReceptacle PepperShaker_bar__minus_00_dot_86_bar__plus_00_dot_74_bar__plus_02_dot_25 Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_02_dot_38) + (inReceptacle Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_47 StoveBurner_bar__minus_01_dot_11_bar__plus_00_dot_92_bar__plus_01_dot_47) + (inReceptacle ButterKnife_bar__plus_01_dot_38_bar__plus_00_dot_74_bar__plus_02_dot_23 Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_02_dot_39) + (inReceptacle Plate_bar__plus_01_dot_67_bar__plus_00_dot_94_bar__plus_00_dot_87 CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31) + (inReceptacle Tomato_bar__plus_01_dot_29_bar__plus_01_dot_00_bar__plus_01_dot_07 CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31) + (inReceptacle Potato_bar__plus_01_dot_44_bar__plus_00_dot_97_bar__plus_02_dot_12 CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31) + (inReceptacle Pan_bar__plus_01_dot_38_bar__plus_01_dot_74_bar__plus_00_dot_39 Cabinet_bar__plus_01_dot_22_bar__plus_02_dot_01_bar__plus_00_dot_59) + (inReceptacle SoapBottle_bar__plus_01_dot_46_bar__plus_01_dot_75_bar__plus_00_dot_07 Cabinet_bar__plus_01_dot_22_bar__plus_02_dot_01_bar__plus_00_dot_59) + (inReceptacle Plate_bar__plus_01_dot_39_bar__plus_00_dot_09_bar__plus_02_dot_46 Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_02_dot_11) + (inReceptacle Bowl_bar__minus_01_dot_04_bar__plus_01_dot_83_bar__minus_00_dot_17 Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_05_bar__minus_00_dot_33) + (inReceptacle Spoon_bar__minus_00_dot_86_bar__plus_00_dot_75_bar__plus_00_dot_92 Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_00_dot_92) + (inReceptacle Knife_bar__minus_00_dot_83_bar__plus_00_dot_77_bar__plus_00_dot_78 Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_00_dot_92) + (inReceptacle Spatula_bar__minus_00_dot_72_bar__plus_00_dot_76_bar__plus_00_dot_98 Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_00_dot_92) + (inReceptacle Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_87 StoveBurner_bar__minus_01_dot_11_bar__plus_00_dot_92_bar__plus_01_dot_87) + (inReceptacle Lettuce_bar__minus_01_dot_13_bar__plus_01_dot_03_bar__plus_00_dot_84 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92) + (inReceptacle Potato_bar__minus_01_dot_21_bar__plus_00_dot_97_bar__plus_01_dot_15 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92) + (inReceptacle Fork_bar__minus_00_dot_79_bar__plus_00_dot_94_bar__plus_00_dot_92 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92) + (inReceptacle Spoon_bar__minus_00_dot_96_bar__plus_00_dot_94_bar__plus_00_dot_69 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92) + (inReceptacle Knife_bar__minus_01_dot_04_bar__plus_00_dot_96_bar__plus_00_dot_92 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92) + (inReceptacle SoapBottle_bar__minus_00_dot_88_bar__plus_00_dot_94_bar__plus_01_dot_08 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92) + (inReceptacle SaltShaker_bar__minus_01_dot_04_bar__plus_00_dot_93_bar__plus_01_dot_08 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92) + (inReceptacle Knife_bar__plus_01_dot_41_bar__plus_00_dot_77_bar__plus_01_dot_05 Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_00_dot_92) + (inReceptacle Spatula_bar__plus_01_dot_34_bar__plus_00_dot_76_bar__plus_00_dot_78 Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_00_dot_92) + (inReceptacle Spatula_bar__plus_01_dot_48_bar__plus_00_dot_76_bar__plus_00_dot_92 Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_00_dot_92) + (inReceptacle Cup_bar__minus_01_dot_00_bar__plus_01_dot_50_bar__plus_02_dot_28 Cabinet_bar__minus_00_dot_91_bar__plus_01_dot_81_bar__plus_02_dot_11) + (inReceptacle PepperShaker_bar__minus_01_dot_12_bar__plus_01_dot_50_bar__plus_02_dot_31 Cabinet_bar__minus_00_dot_91_bar__plus_01_dot_81_bar__plus_02_dot_11) + (inReceptacle Potato_bar__minus_00_dot_88_bar__plus_01_dot_35_bar__plus_00_dot_20 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12) + (inReceptacle Apple_bar__minus_00_dot_94_bar__plus_00_dot_62_bar__plus_00_dot_20 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12) + (inReceptacle Apple_bar__minus_01_dot_02_bar__plus_01_dot_37_bar__plus_00_dot_20 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12) + (inReceptacle Mug_bar__plus_01_dot_39_bar__plus_00_dot_84_bar__plus_01_dot_40 Sink_bar__plus_01_dot_54_bar__plus_00_dot_87_bar__plus_01_dot_64_bar_SinkBasin) + (inReceptacle Egg_bar__plus_01_dot_39_bar__plus_00_dot_88_bar__plus_01_dot_28 Sink_bar__plus_01_dot_54_bar__plus_00_dot_87_bar__plus_01_dot_64_bar_SinkBasin) + + + (receptacleAtLocation Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_00_dot_63 loc_bar_1_bar_5_bar_1_bar_45) + (receptacleAtLocation Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_02_dot_11 loc_bar_1_bar_9_bar_1_bar_45) + (receptacleAtLocation Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_55_bar__plus_00_dot_59 loc_bar_2_bar_1_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_22_bar__plus_01_dot_39_bar__plus_00_dot_59 loc_bar_3_bar_1_bar_1_bar_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_22_bar__plus_02_dot_01_bar__plus_00_dot_59 loc_bar_3_bar_1_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_50_bar__plus_01_dot_81_bar__plus_02_dot_10 loc_bar_4_bar_7_bar_1_bar__minus_15) + (receptacleAtLocation Cabinet_bar__plus_01_dot_50_bar__plus_01_dot_81_bar__plus_02_dot_69 loc_bar_3_bar_10_bar_1_bar__minus_15) + (receptacleAtLocation Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_01_dot_16 loc_bar_3_bar_3_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_01_dot_21 loc_bar_1_bar_5_bar_1_bar__minus_15) + (receptacleAtLocation Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_02_dot_08 loc_bar_1_bar_6_bar_1_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__plus_00_dot_63 loc_bar_1_bar_5_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__plus_02_dot_11 loc_bar_1_bar_11_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_91_bar__plus_01_dot_81_bar__plus_02_dot_11 loc_bar__minus_1_bar_7_bar_3_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_00_dot_91_bar__plus_01_dot_81_bar__plus_02_dot_70 loc_bar__minus_1_bar_10_bar_3_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_05_bar__minus_00_dot_33 loc_bar_0_bar__minus_2_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_00_dot_58 loc_bar__minus_1_bar_3_bar_3_bar__minus_30) + (receptacleAtLocation 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loc_bar_2_bar_3_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_02_dot_39 loc_bar_2_bar_9_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_00_dot_92 loc_bar_0_bar_3_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_02_dot_38 loc_bar_0_bar_9_bar_3_bar_45) + (receptacleAtLocation Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12 loc_bar_0_bar_0_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_01_dot_45_bar__plus_00_dot_00_bar__plus_02_dot_91 loc_bar_3_bar_10_bar_1_bar_60) + (receptacleAtLocation Microwave_bar__plus_01_dot_63_bar__plus_01_dot_48_bar__plus_01_dot_65 loc_bar_4_bar_6_bar_1_bar_15) + (receptacleAtLocation Sink_bar__plus_01_dot_54_bar__plus_00_dot_87_bar__plus_01_dot_64_bar_SinkBasin loc_bar_4_bar_5_bar_1_bar_60) + (receptacleAtLocation StoveBurner_bar__minus_00_dot_83_bar__plus_00_dot_92_bar__plus_01_dot_47 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12 + }, + "task_id": "trial_T20190907_125521_042428", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1MKCTVKE7J0ZP_31QTRG6Q2WUP4FSHDYWMQKSHX6PYPT", + "high_descs": [ + "Turn around, then turn right at the counter with the potato.", + "Pick up the potato on the counter, to the right of the coffee maker.", + "Turn right, then turn left to face the sink.", + "Cook the potato in the microwave above the sink.", + "Turn left, then turn right to face the trash can.", + "Put the potato in the trash can." + ], + "task_desc": "Put a cooked potato in the trash can.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2UF2FRGVW4T89_3LQ8PUHQFO9B1YFOQ32EVNW2MYHHI6", + "high_descs": [ + "Turn 180 degrees to the left, then walk forward past the sink, then turn to the right towards the counter.", + "Pick up the potato from the counter to the left of the sink", + "Turn right walk forward to the sink, then turn left to the sink, ", + "Look up to the microwave over the sink, then open the microwave, then open the microwave, place the potato in the microwave, close the microwave, cook the potato, take the potato out of the microwave", + "Turn left, then walk forward to the wall, then turn right to the silver trash can", + "Put the potato in the silver trash can" + ], + "task_desc": "Put cooked potato in the trash can", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1HKHM4NVAO98H_3PEIJLRY6WAQOJZ8KOOFZ0T4OXUWXC", + "high_descs": [ + "turn around and walk forwards until you reach the left side of the kitchen sink on your right, then turn to face it", + "grab a potato off of the counter in front of you", + "move to the right a bit and face the kitchen sink again", + "place the potato inside of the microwave above the kitchen sink, microwave it, then take it back out", + "turn left and walk to the end of the room, then turn right to face the garbage bin in the corner of the room", + "place the potato inside of the garbage bin" + ], + "task_desc": "place a microwaved potato inside of the garbage bin", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-GarbageCan-12/trial_T20190907_125547_175997/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-GarbageCan-12/trial_T20190907_125547_175997/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..fe3d8a4b7d77a3187a131499600a05159002d72a --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-GarbageCan-12/trial_T20190907_125547_175997/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 potato and put it in garbagecan.\"\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_125547_175997)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__minus_00_dot_92_bar__plus_01_dot_55_bar__plus_00_dot_04 - object\n Apple_bar__minus_00_dot_96_bar__plus_00_dot_86_bar__minus_00_dot_03 - object\n Bowl_bar__plus_01_dot_39_bar__plus_00_dot_08_bar__plus_02_dot_46 - object\n 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loc_bar_1_bar_5_bar_1_bar__minus_15 - location\n loc_bar__minus_1_bar_10_bar_3_bar__minus_15 - location\n loc_bar_3_bar_3_bar_1_bar__minus_30 - location\n loc_bar__minus_1_bar_4_bar_3_bar_45 - location\n loc_bar_1_bar_9_bar_1_bar_45 - location\n loc_bar__minus_1_bar_7_bar_3_bar__minus_15 - location\n loc_bar__minus_1_bar_6_bar_3_bar_45 - location\n loc_bar_0_bar_8_bar_3_bar__minus_30 - location\n loc_bar_3_bar_4_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_00_dot_63 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_01_dot_21 CabinetType)\n (receptacleType StoveBurner_bar__minus_01_dot_11_bar__plus_00_dot_92_bar__plus_01_dot_47 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_02_dot_08 CabinetType)\n (receptacleType CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92 CounterTopType)\n (receptacleType 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Tomato_bar__minus_00_dot_88_bar__plus_01_dot_56_bar__plus_00_dot_35)\n (sliceable Lettuce_bar__plus_01_dot_46_bar__plus_01_dot_01_bar__plus_01_dot_68)\n (sliceable Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_27)\n \n (inReceptacle Fork_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__plus_02_dot_23 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_02_dot_39)\n (inReceptacle Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_27 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_02_dot_39)\n (inReceptacle Potato_bar__minus_01_dot_13_bar__plus_00_dot_97_bar__plus_02_dot_16 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_02_dot_39)\n (inReceptacle PepperShaker_bar__minus_00_dot_83_bar__plus_00_dot_74_bar__plus_02_dot_18 Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_02_dot_38)\n (inReceptacle Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_47 StoveBurner_bar__minus_01_dot_11_bar__plus_00_dot_92_bar__plus_01_dot_47)\n (inReceptacle DishSponge_bar__plus_01_dot_38_bar__plus_00_dot_75_bar__plus_02_dot_39 Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_02_dot_39)\n (inReceptacle SaltShaker_bar__plus_01_dot_36_bar__plus_00_dot_93_bar__plus_02_dot_02 CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31)\n (inReceptacle DishSponge_bar__plus_01_dot_75_bar__plus_00_dot_94_bar__plus_00_dot_94 CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31)\n (inReceptacle SaltShaker_bar__plus_01_dot_36_bar__plus_00_dot_93_bar__plus_00_dot_94 CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31)\n (inReceptacle Spoon_bar__plus_01_dot_67_bar__plus_00_dot_94_bar__plus_02_dot_12 CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31)\n (inReceptacle Pan_bar__plus_01_dot_38_bar__plus_01_dot_74_bar__plus_00_dot_39 Cabinet_bar__plus_01_dot_22_bar__plus_02_dot_01_bar__plus_00_dot_59)\n (inReceptacle Bowl_bar__plus_01_dot_39_bar__plus_00_dot_08_bar__plus_02_dot_46 Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_02_dot_11)\n (inReceptacle Cup_bar__minus_01_dot_00_bar__plus_01_dot_50_bar__plus_01_dot_08 Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_01_dot_16)\n (inReceptacle SoapBottle_bar__minus_01_dot_08_bar__plus_01_dot_50_bar__plus_00_dot_76 Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_01_dot_16)\n (inReceptacle Bowl_bar__minus_00_dot_79_bar__plus_00_dot_08_bar__plus_00_dot_92 Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__plus_00_dot_63)\n (inReceptacle Bowl_bar__minus_01_dot_04_bar__plus_01_dot_83_bar__minus_00_dot_17 Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_05_bar__minus_00_dot_33)\n (inReceptacle Spatula_bar__minus_00_dot_72_bar__plus_00_dot_76_bar__plus_01_dot_05 Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_00_dot_92)\n (inReceptacle Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_87 StoveBurner_bar__minus_01_dot_11_bar__plus_00_dot_92_bar__plus_01_dot_87)\n (inReceptacle ButterKnife_bar__minus_00_dot_96_bar__plus_00_dot_94_bar__plus_00_dot_92 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92)\n (inReceptacle Spoon_bar__minus_00_dot_88_bar__plus_00_dot_94_bar__plus_00_dot_77 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92)\n (inReceptacle SaltShaker_bar__minus_00_dot_88_bar__plus_00_dot_93_bar__plus_01_dot_15 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92)\n (inReceptacle SoapBottle_bar__minus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_69 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92)\n (inReceptacle Tomato_bar__minus_01_dot_21_bar__plus_01_dot_00_bar__plus_01_dot_00 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92)\n (inReceptacle Fork_bar__minus_00_dot_79_bar__plus_00_dot_94_bar__plus_01_dot_15 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92)\n (inReceptacle SoapBottle_bar__minus_01_dot_04_bar__plus_00_dot_94_bar__plus_01_dot_08 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92)\n (inReceptacle Mug_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__plus_00_dot_84 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92)\n (inReceptacle Plate_bar__plus_01_dot_39_bar__plus_00_dot_09_bar__plus_00_dot_78 Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_00_dot_63)\n (inReceptacle Knife_bar__plus_01_dot_48_bar__plus_00_dot_77_bar__plus_01_dot_05 Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_00_dot_92)\n (inReceptacle Apple_bar__minus_00_dot_92_bar__plus_01_dot_55_bar__plus_00_dot_04 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12)\n (inReceptacle Egg_bar__minus_00_dot_83_bar__plus_01_dot_53_bar__minus_00_dot_11 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12)\n (inReceptacle Apple_bar__minus_00_dot_96_bar__plus_00_dot_86_bar__minus_00_dot_03 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12)\n (inReceptacle Tomato_bar__minus_00_dot_88_bar__plus_01_dot_56_bar__plus_00_dot_35 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12)\n (inReceptacle Tomato_bar__minus_01_dot_02_bar__plus_01_dot_38_bar__plus_00_dot_27 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12)\n (inReceptacle Mug_bar__plus_01_dot_39_bar__plus_00_dot_84_bar__plus_01_dot_34 Sink_bar__plus_01_dot_54_bar__plus_00_dot_87_bar__plus_01_dot_64_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_00_dot_63 loc_bar_1_bar_5_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_02_dot_11 loc_bar_1_bar_9_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_55_bar__plus_00_dot_59 loc_bar_2_bar_1_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_22_bar__plus_01_dot_39_bar__plus_00_dot_59 loc_bar_3_bar_1_bar_1_bar_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_22_bar__plus_02_dot_01_bar__plus_00_dot_59 loc_bar_3_bar_1_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_50_bar__plus_01_dot_81_bar__plus_02_dot_10 loc_bar_4_bar_7_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_50_bar__plus_01_dot_81_bar__plus_02_dot_69 loc_bar_3_bar_10_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_01_dot_16 loc_bar_3_bar_3_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_01_dot_21 loc_bar_1_bar_5_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_02_dot_08 loc_bar_1_bar_6_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__plus_00_dot_63 loc_bar_1_bar_5_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__plus_02_dot_11 loc_bar_1_bar_11_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_91_bar__plus_01_dot_81_bar__plus_02_dot_11 loc_bar__minus_1_bar_7_bar_3_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_91_bar__plus_01_dot_81_bar__plus_02_dot_70 loc_bar__minus_1_bar_10_bar_3_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_05_bar__minus_00_dot_33 loc_bar_0_bar__minus_2_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_00_dot_58 loc_bar__minus_1_bar_3_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_01_dot_16 loc_bar__minus_1_bar_3_bar_3_bar__minus_30)\n (receptacleAtLocation 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(receptacleAtLocation Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_00_dot_92 loc_bar_0_bar_3_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_02_dot_38 loc_bar_0_bar_9_bar_3_bar_45)\n (receptacleAtLocation Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12 loc_bar_0_bar_0_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_45_bar__plus_00_dot_00_bar__plus_02_dot_91 loc_bar_3_bar_10_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__plus_01_dot_63_bar__plus_01_dot_48_bar__plus_01_dot_65 loc_bar_4_bar_6_bar_1_bar_15)\n (receptacleAtLocation Sink_bar__plus_01_dot_54_bar__plus_00_dot_87_bar__plus_01_dot_64_bar_SinkBasin loc_bar_4_bar_5_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_83_bar__plus_00_dot_92_bar__plus_01_dot_47 loc_bar__minus_1_bar_6_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_83_bar__plus_00_dot_92_bar__plus_01_dot_87 loc_bar__minus_1_bar_7_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_11_bar__plus_00_dot_92_bar__plus_01_dot_47 loc_bar__minus_1_bar_6_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_11_bar__plus_00_dot_92_bar__plus_01_dot_87 loc_bar__minus_1_bar_7_bar_3_bar_45)\n (receptacleAtLocation Toaster_bar__minus_01_dot_00_bar__plus_00_dot_93_bar__plus_02_dot_56 loc_bar__minus_1_bar_10_bar_3_bar_45)\n (objectAtLocation Mug_bar__plus_01_dot_39_bar__plus_00_dot_84_bar__plus_01_dot_34 loc_bar_4_bar_5_bar_1_bar_60)\n (objectAtLocation Spoon_bar__plus_01_dot_67_bar__plus_00_dot_94_bar__plus_02_dot_12 loc_bar_3_bar_8_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__plus_01_dot_75_bar__plus_00_dot_94_bar__plus_00_dot_94 loc_bar_3_bar_8_bar_1_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_92_bar__plus_01_dot_55_bar__plus_00_dot_04 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation SaltShaker_bar__plus_01_dot_36_bar__plus_00_dot_93_bar__plus_00_dot_94 loc_bar_3_bar_8_bar_1_bar_45)\n (objectAtLocation Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_47 loc_bar__minus_1_bar_6_bar_3_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_79_bar__plus_00_dot_08_bar__plus_00_dot_92 loc_bar_1_bar_5_bar_3_bar_60)\n (objectAtLocation Tomato_bar__minus_00_dot_88_bar__plus_01_dot_56_bar__plus_00_dot_35 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation Fork_bar__minus_00_dot_79_bar__plus_00_dot_94_bar__plus_01_dot_15 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_08_bar__plus_01_dot_50_bar__plus_00_dot_76 loc_bar__minus_1_bar_3_bar_3_bar__minus_30)\n (objectAtLocation SaltShaker_bar__minus_00_dot_88_bar__plus_00_dot_93_bar__plus_01_dot_15 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation Bowl_bar__plus_01_dot_39_bar__plus_00_dot_08_bar__plus_02_dot_46 loc_bar_1_bar_9_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_04_bar__plus_00_dot_94_bar__plus_01_dot_08 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation Tomato_bar__minus_01_dot_02_bar__plus_01_dot_38_bar__plus_00_dot_27 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_75_bar__plus_00_dot_01_bar__plus_03_dot_12 loc_bar__minus_1_bar_10_bar_0_bar_60)\n (objectAtLocation Sink_bar__plus_01_dot_54_bar__plus_00_dot_87_bar__plus_01_dot_64 loc_bar_4_bar_7_bar_1_bar_60)\n (objectAtLocation Lettuce_bar__plus_01_dot_46_bar__plus_01_dot_01_bar__plus_01_dot_68 loc_bar_4_bar_5_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__plus_01_dot_92 loc_bar__minus_1_bar_7_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__plus_01_dot_36 loc_bar__minus_1_bar_5_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__plus_01_dot_51 loc_bar__minus_1_bar_6_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__plus_01_dot_76 loc_bar__minus_1_bar_7_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__minus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_69 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_27 loc_bar__minus_1_bar_10_bar_3_bar_45)\n (objectAtLocation Fork_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__plus_02_dot_23 loc_bar__minus_1_bar_10_bar_3_bar_45)\n (objectAtLocation Tomato_bar__minus_01_dot_21_bar__plus_01_dot_00_bar__plus_01_dot_00 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation Bowl_bar__minus_01_dot_04_bar__plus_01_dot_83_bar__minus_00_dot_17 loc_bar_0_bar__minus_2_bar_3_bar__minus_30)\n (objectAtLocation Window_bar__plus_00_dot_23_bar__plus_01_dot_60_bar__plus_03_dot_51 loc_bar_1_bar_11_bar_0_bar_0)\n (objectAtLocation Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_87 loc_bar__minus_1_bar_7_bar_3_bar_45)\n (objectAtLocation Spatula_bar__minus_00_dot_72_bar__plus_00_dot_76_bar__plus_01_dot_05 loc_bar_0_bar_3_bar_3_bar_45)\n (objectAtLocation Knife_bar__plus_01_dot_48_bar__plus_00_dot_77_bar__plus_01_dot_05 loc_bar_2_bar_3_bar_1_bar_45)\n (objectAtLocation SaltShaker_bar__plus_01_dot_36_bar__plus_00_dot_93_bar__plus_02_dot_02 loc_bar_3_bar_8_bar_1_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_96_bar__plus_00_dot_86_bar__minus_00_dot_03 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation PepperShaker_bar__minus_00_dot_83_bar__plus_00_dot_74_bar__plus_02_dot_18 loc_bar_0_bar_9_bar_3_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_96_bar__plus_00_dot_94_bar__plus_00_dot_92 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation Potato_bar__minus_01_dot_13_bar__plus_00_dot_97_bar__plus_02_dot_16 loc_bar__minus_1_bar_10_bar_3_bar_45)\n (objectAtLocation Plate_bar__plus_01_dot_39_bar__plus_00_dot_09_bar__plus_00_dot_78 loc_bar_1_bar_5_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__plus_01_dot_38_bar__plus_00_dot_75_bar__plus_02_dot_39 loc_bar_2_bar_9_bar_1_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_83_bar__plus_01_dot_53_bar__minus_00_dot_11 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation Cup_bar__minus_01_dot_00_bar__plus_01_dot_50_bar__plus_01_dot_08 loc_bar__minus_1_bar_3_bar_3_bar__minus_30)\n (objectAtLocation Pan_bar__plus_01_dot_38_bar__plus_01_dot_74_bar__plus_00_dot_39 loc_bar_3_bar_1_bar_1_bar__minus_30)\n (objectAtLocation Spoon_bar__minus_00_dot_88_bar__plus_00_dot_94_bar__plus_00_dot_77 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation LightSwitch_bar__plus_00_dot_45_bar__plus_01_dot_41_bar__minus_01_dot_68 loc_bar_2_bar__minus_4_bar_2_bar_15)\n (objectAtLocation Mug_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__plus_00_dot_84 loc_bar__minus_1_bar_4_bar_3_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 PotatoType)\n (receptacleType ?r GarbageCanType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 2", "take potato 1 from countertop 2", "go to microwave 1", "heat potato 1 with microwave 1", "go to garbagecan 1", "move potato 1 to garbagecan 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-GarbageCan-12/trial_T20190907_125547_175997/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-GarbageCan-12/trial_T20190907_125547_175997/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..2c7f2b39d4c4b31a65eaf3900671f8f8cb45c979 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-GarbageCan-12/trial_T20190907_125547_175997/initial_state.pddl @@ -0,0 +1,1022 @@ + +(define (problem plan_trial_T20190907_125547_175997) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__minus_00_dot_92_bar__plus_01_dot_55_bar__plus_00_dot_04 - object + Apple_bar__minus_00_dot_96_bar__plus_00_dot_86_bar__minus_00_dot_03 - object + Bowl_bar__plus_01_dot_39_bar__plus_00_dot_08_bar__plus_02_dot_46 - object + Bowl_bar__minus_00_dot_79_bar__plus_00_dot_08_bar__plus_00_dot_92 - object + Bowl_bar__minus_01_dot_04_bar__plus_01_dot_83_bar__minus_00_dot_17 - object + Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_27 - object + ButterKnife_bar__minus_00_dot_96_bar__plus_00_dot_94_bar__plus_00_dot_92 - object + Chair_bar__minus_00_dot_75_bar__plus_00_dot_01_bar__plus_03_dot_12 - object + Cup_bar__minus_01_dot_00_bar__plus_01_dot_50_bar__plus_01_dot_08 - object + DishSponge_bar__plus_01_dot_38_bar__plus_00_dot_75_bar__plus_02_dot_39 - object + DishSponge_bar__plus_01_dot_75_bar__plus_00_dot_94_bar__plus_00_dot_94 - object + Egg_bar__minus_00_dot_83_bar__plus_01_dot_53_bar__minus_00_dot_11 - object + Faucet_bar__plus_01_dot_71_bar__plus_00_dot_93_bar__plus_01_dot_36 - object + Fork_bar__minus_00_dot_79_bar__plus_00_dot_94_bar__plus_01_dot_15 - object + Fork_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__plus_02_dot_23 - object + Knife_bar__plus_01_dot_48_bar__plus_00_dot_77_bar__plus_01_dot_05 - object + Lettuce_bar__plus_01_dot_46_bar__plus_01_dot_01_bar__plus_01_dot_68 - object + LightSwitch_bar__plus_00_dot_45_bar__plus_01_dot_41_bar__minus_01_dot_68 - object + Mug_bar__plus_01_dot_39_bar__plus_00_dot_84_bar__plus_01_dot_34 - object + Mug_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__plus_00_dot_84 - object + Pan_bar__plus_01_dot_38_bar__plus_01_dot_74_bar__plus_00_dot_39 - object + PepperShaker_bar__minus_00_dot_83_bar__plus_00_dot_74_bar__plus_02_dot_18 - object + Plate_bar__plus_01_dot_39_bar__plus_00_dot_09_bar__plus_00_dot_78 - object + Potato_bar__minus_01_dot_13_bar__plus_00_dot_97_bar__plus_02_dot_16 - object + Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_47 - object + Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_87 - object + SaltShaker_bar__plus_01_dot_36_bar__plus_00_dot_93_bar__plus_00_dot_94 - object + SaltShaker_bar__plus_01_dot_36_bar__plus_00_dot_93_bar__plus_02_dot_02 - object + SaltShaker_bar__minus_00_dot_88_bar__plus_00_dot_93_bar__plus_01_dot_15 - object + Sink_bar__plus_01_dot_54_bar__plus_00_dot_87_bar__plus_01_dot_64 - object + SoapBottle_bar__minus_01_dot_04_bar__plus_00_dot_94_bar__plus_01_dot_08 - object + SoapBottle_bar__minus_01_dot_08_bar__plus_01_dot_50_bar__plus_00_dot_76 - object + SoapBottle_bar__minus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_69 - object + Spatula_bar__minus_00_dot_72_bar__plus_00_dot_76_bar__plus_01_dot_05 - object + Spoon_bar__plus_01_dot_67_bar__plus_00_dot_94_bar__plus_02_dot_12 - object + Spoon_bar__minus_00_dot_88_bar__plus_00_dot_94_bar__plus_00_dot_77 - object + StoveKnob_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__plus_01_dot_36 - object + StoveKnob_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__plus_01_dot_51 - object + StoveKnob_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__plus_01_dot_76 - object + StoveKnob_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__plus_01_dot_92 - object + Tomato_bar__minus_00_dot_88_bar__plus_01_dot_56_bar__plus_00_dot_35 - object + Tomato_bar__minus_01_dot_02_bar__plus_01_dot_38_bar__plus_00_dot_27 - object + Tomato_bar__minus_01_dot_21_bar__plus_01_dot_00_bar__plus_01_dot_00 - object + Window_bar__plus_00_dot_23_bar__plus_01_dot_60_bar__plus_03_dot_51 - object + Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_00_dot_63 - receptacle + Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_02_dot_11 - receptacle + Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_55_bar__plus_00_dot_59 - receptacle + Cabinet_bar__plus_01_dot_22_bar__plus_01_dot_39_bar__plus_00_dot_59 - receptacle + Cabinet_bar__plus_01_dot_22_bar__plus_02_dot_01_bar__plus_00_dot_59 - receptacle + Cabinet_bar__plus_01_dot_50_bar__plus_01_dot_81_bar__plus_02_dot_10 - receptacle + Cabinet_bar__plus_01_dot_50_bar__plus_01_dot_81_bar__plus_02_dot_69 - receptacle + Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_01_dot_16 - receptacle + Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_01_dot_21 - receptacle + Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_02_dot_08 - receptacle + Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__plus_00_dot_63 - receptacle + Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__plus_02_dot_11 - receptacle + Cabinet_bar__minus_00_dot_91_bar__plus_01_dot_81_bar__plus_02_dot_11 - receptacle + Cabinet_bar__minus_00_dot_91_bar__plus_01_dot_81_bar__plus_02_dot_70 - receptacle + Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_05_bar__minus_00_dot_33 - receptacle + Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_00_dot_58 - receptacle + Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_01_dot_16 - receptacle + Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_01_dot_21 - receptacle + Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_02_dot_08 - receptacle + CoffeeMachine_bar__plus_01_dot_69_bar__plus_00_dot_93_bar__plus_02_dot_45 - receptacle + CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31 - receptacle + CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92 - receptacle + CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_02_dot_39 - receptacle + Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_00_dot_92 - receptacle + Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_02_dot_39 - receptacle + Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_00_dot_92 - receptacle + Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_02_dot_38 - receptacle + Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12 - receptacle + GarbageCan_bar__plus_01_dot_45_bar__plus_00_dot_00_bar__plus_02_dot_91 - receptacle + Microwave_bar__plus_01_dot_63_bar__plus_01_dot_48_bar__plus_01_dot_65 - receptacle + Sink_bar__plus_01_dot_54_bar__plus_00_dot_87_bar__plus_01_dot_64_bar_SinkBasin - receptacle + StoveBurner_bar__minus_00_dot_83_bar__plus_00_dot_92_bar__plus_01_dot_47 - receptacle + StoveBurner_bar__minus_00_dot_83_bar__plus_00_dot_92_bar__plus_01_dot_87 - receptacle + StoveBurner_bar__minus_01_dot_11_bar__plus_00_dot_92_bar__plus_01_dot_47 - receptacle + StoveBurner_bar__minus_01_dot_11_bar__plus_00_dot_92_bar__plus_01_dot_87 - receptacle + Toaster_bar__minus_01_dot_00_bar__plus_00_dot_93_bar__plus_02_dot_56 - receptacle + loc_bar_2_bar_9_bar_1_bar_45 - location + loc_bar_0_bar_0_bar_3_bar_60 - location + loc_bar_3_bar_10_bar_1_bar_45 - location + loc_bar_2_bar__minus_4_bar_2_bar_15 - location + loc_bar_1_bar_6_bar_1_bar__minus_15 - location + loc_bar_0_bar_9_bar_3_bar_45 - location + loc_bar_3_bar_1_bar_1_bar_30 - location + loc_bar__minus_1_bar_7_bar_3_bar_45 - location + loc_bar_3_bar_1_bar_1_bar__minus_30 - location + loc_bar_1_bar_11_bar_3_bar_60 - location + loc_bar_0_bar__minus_2_bar_3_bar__minus_30 - location + loc_bar__minus_1_bar_5_bar_3_bar_60 - location + loc_bar__minus_1_bar_10_bar_3_bar_45 - location + loc_bar_1_bar_5_bar_1_bar_45 - location + loc_bar_1_bar_5_bar_3_bar_60 - location + loc_bar_0_bar_3_bar_3_bar_45 - location + loc_bar_4_bar_5_bar_1_bar_60 - location + loc_bar__minus_1_bar_3_bar_3_bar__minus_30 - location + loc_bar_3_bar_10_bar_1_bar_60 - location + loc_bar_3_bar_10_bar_1_bar__minus_15 - location + loc_bar_2_bar_1_bar_1_bar_60 - location + loc_bar_4_bar_7_bar_1_bar__minus_15 - location + loc_bar__minus_1_bar_7_bar_3_bar_60 - location + loc_bar_0_bar_7_bar_3_bar__minus_30 - location + loc_bar_4_bar_6_bar_1_bar_15 - location + loc_bar_4_bar_7_bar_1_bar_60 - location + loc_bar__minus_1_bar_10_bar_0_bar_60 - location + loc_bar_1_bar_11_bar_0_bar_0 - location + loc_bar__minus_1_bar_6_bar_3_bar_60 - location + loc_bar_3_bar_8_bar_1_bar_45 - location + loc_bar_2_bar_3_bar_1_bar_45 - location + loc_bar_1_bar_5_bar_1_bar__minus_15 - location + loc_bar__minus_1_bar_10_bar_3_bar__minus_15 - location + loc_bar_3_bar_3_bar_1_bar__minus_30 - location + loc_bar__minus_1_bar_4_bar_3_bar_45 - location + loc_bar_1_bar_9_bar_1_bar_45 - location + loc_bar__minus_1_bar_7_bar_3_bar__minus_15 - location + loc_bar__minus_1_bar_6_bar_3_bar_45 - location + loc_bar_0_bar_8_bar_3_bar__minus_30 - location + loc_bar_3_bar_4_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_00_dot_63 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_01_dot_21 CabinetType) + (receptacleType StoveBurner_bar__minus_01_dot_11_bar__plus_00_dot_92_bar__plus_01_dot_47 StoveBurnerType) + (receptacleType Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_02_dot_08 CabinetType) + (receptacleType CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92 CounterTopType) + (receptacleType Microwave_bar__plus_01_dot_63_bar__plus_01_dot_48_bar__plus_01_dot_65 MicrowaveType) + (receptacleType CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_02_dot_39 CounterTopType) + (receptacleType Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__plus_00_dot_63 CabinetType) + (receptacleType StoveBurner_bar__minus_00_dot_83_bar__plus_00_dot_92_bar__plus_01_dot_47 StoveBurnerType) + (receptacleType Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_01_dot_21 CabinetType) + (receptacleType Toaster_bar__minus_01_dot_00_bar__plus_00_dot_93_bar__plus_02_dot_56 ToasterType) + (receptacleType Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_02_dot_08 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_91_bar__plus_01_dot_81_bar__plus_02_dot_70 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Pan_bar__plus_01_dot_38_bar__plus_01_dot_74_bar__plus_00_dot_39) + (pickupable SoapBottle_bar__minus_01_dot_08_bar__plus_01_dot_50_bar__plus_00_dot_76) + (pickupable DishSponge_bar__plus_01_dot_38_bar__plus_00_dot_75_bar__plus_02_dot_39) + (pickupable Apple_bar__minus_00_dot_92_bar__plus_01_dot_55_bar__plus_00_dot_04) + (pickupable Spoon_bar__minus_00_dot_88_bar__plus_00_dot_94_bar__plus_00_dot_77) + (pickupable Spatula_bar__minus_00_dot_72_bar__plus_00_dot_76_bar__plus_01_dot_05) + (pickupable DishSponge_bar__plus_01_dot_75_bar__plus_00_dot_94_bar__plus_00_dot_94) + (pickupable Potato_bar__minus_01_dot_13_bar__plus_00_dot_97_bar__plus_02_dot_16) + (pickupable SoapBottle_bar__minus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_69) + (pickupable Bowl_bar__minus_01_dot_04_bar__plus_01_dot_83_bar__minus_00_dot_17) + (pickupable Tomato_bar__minus_01_dot_21_bar__plus_01_dot_00_bar__plus_01_dot_00) + (pickupable Fork_bar__minus_00_dot_79_bar__plus_00_dot_94_bar__plus_01_dot_15) + (pickupable Tomato_bar__minus_01_dot_02_bar__plus_01_dot_38_bar__plus_00_dot_27) + (pickupable Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_47) + (pickupable Mug_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__plus_00_dot_84) + (pickupable Knife_bar__plus_01_dot_48_bar__plus_00_dot_77_bar__plus_01_dot_05) + (pickupable PepperShaker_bar__minus_00_dot_83_bar__plus_00_dot_74_bar__plus_02_dot_18) + (pickupable Fork_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__plus_02_dot_23) + (pickupable Tomato_bar__minus_00_dot_88_bar__plus_01_dot_56_bar__plus_00_dot_35) + (pickupable Spoon_bar__plus_01_dot_67_bar__plus_00_dot_94_bar__plus_02_dot_12) + (pickupable SaltShaker_bar__plus_01_dot_36_bar__plus_00_dot_93_bar__plus_02_dot_02) + (pickupable Lettuce_bar__plus_01_dot_46_bar__plus_01_dot_01_bar__plus_01_dot_68) + (pickupable Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_27) + (pickupable SoapBottle_bar__minus_01_dot_04_bar__plus_00_dot_94_bar__plus_01_dot_08) + (isReceptacleObject Mug_bar__plus_01_dot_39_bar__plus_00_dot_84_bar__plus_01_dot_34) + (isReceptacleObject Bowl_bar__minus_00_dot_79_bar__plus_00_dot_08_bar__plus_00_dot_92) + (isReceptacleObject Bowl_bar__plus_01_dot_39_bar__plus_00_dot_08_bar__plus_02_dot_46) + (isReceptacleObject Cup_bar__minus_01_dot_00_bar__plus_01_dot_50_bar__plus_01_dot_08) + (isReceptacleObject Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_87) + (isReceptacleObject Plate_bar__plus_01_dot_39_bar__plus_00_dot_09_bar__plus_00_dot_78) + (isReceptacleObject Pan_bar__plus_01_dot_38_bar__plus_01_dot_74_bar__plus_00_dot_39) + (isReceptacleObject Bowl_bar__minus_01_dot_04_bar__plus_01_dot_83_bar__minus_00_dot_17) + (isReceptacleObject Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_47) + (isReceptacleObject Mug_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__plus_00_dot_84) + (openable Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_00_dot_63) + (openable Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_01_dot_21) + (openable Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_02_dot_08) + (openable Microwave_bar__plus_01_dot_63_bar__plus_01_dot_48_bar__plus_01_dot_65) + (openable Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__plus_00_dot_63) + (openable Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_01_dot_21) + (openable Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_02_dot_08) + (openable Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12) + (openable Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_55_bar__plus_00_dot_59) + (openable Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_00_dot_58) + (openable Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_00_dot_92) + (openable Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_01_dot_16) + (openable Cabinet_bar__plus_01_dot_22_bar__plus_01_dot_39_bar__plus_00_dot_59) + (openable Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_02_dot_11) + (openable Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_05_bar__minus_00_dot_33) + (openable Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_02_dot_39) + (openable Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_02_dot_38) + (openable Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__plus_02_dot_11) + (openable Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_00_dot_92) + (openable Cabinet_bar__plus_01_dot_22_bar__plus_02_dot_01_bar__plus_00_dot_59) + (openable Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_01_dot_16) + + (atLocation agent1 loc_bar_3_bar_4_bar_3_bar_30) + + (cleanable ButterKnife_bar__minus_00_dot_96_bar__plus_00_dot_94_bar__plus_00_dot_92) + (cleanable Mug_bar__plus_01_dot_39_bar__plus_00_dot_84_bar__plus_01_dot_34) + (cleanable Apple_bar__minus_00_dot_96_bar__plus_00_dot_86_bar__minus_00_dot_03) + (cleanable Bowl_bar__minus_00_dot_79_bar__plus_00_dot_08_bar__plus_00_dot_92) + (cleanable Bowl_bar__plus_01_dot_39_bar__plus_00_dot_08_bar__plus_02_dot_46) + (cleanable Cup_bar__minus_01_dot_00_bar__plus_01_dot_50_bar__plus_01_dot_08) + (cleanable Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_87) + (cleanable Plate_bar__plus_01_dot_39_bar__plus_00_dot_09_bar__plus_00_dot_78) + (cleanable Egg_bar__minus_00_dot_83_bar__plus_01_dot_53_bar__minus_00_dot_11) + (cleanable Pan_bar__plus_01_dot_38_bar__plus_01_dot_74_bar__plus_00_dot_39) + (cleanable DishSponge_bar__plus_01_dot_38_bar__plus_00_dot_75_bar__plus_02_dot_39) + (cleanable Apple_bar__minus_00_dot_92_bar__plus_01_dot_55_bar__plus_00_dot_04) + (cleanable Spoon_bar__minus_00_dot_88_bar__plus_00_dot_94_bar__plus_00_dot_77) + (cleanable Spatula_bar__minus_00_dot_72_bar__plus_00_dot_76_bar__plus_01_dot_05) + (cleanable DishSponge_bar__plus_01_dot_75_bar__plus_00_dot_94_bar__plus_00_dot_94) + (cleanable Potato_bar__minus_01_dot_13_bar__plus_00_dot_97_bar__plus_02_dot_16) + (cleanable Bowl_bar__minus_01_dot_04_bar__plus_01_dot_83_bar__minus_00_dot_17) + (cleanable Tomato_bar__minus_01_dot_21_bar__plus_01_dot_00_bar__plus_01_dot_00) + (cleanable Fork_bar__minus_00_dot_79_bar__plus_00_dot_94_bar__plus_01_dot_15) + (cleanable Tomato_bar__minus_01_dot_02_bar__plus_01_dot_38_bar__plus_00_dot_27) + (cleanable Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_47) + (cleanable Mug_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__plus_00_dot_84) + (cleanable Knife_bar__plus_01_dot_48_bar__plus_00_dot_77_bar__plus_01_dot_05) + (cleanable Fork_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__plus_02_dot_23) + (cleanable Tomato_bar__minus_00_dot_88_bar__plus_01_dot_56_bar__plus_00_dot_35) + (cleanable Spoon_bar__plus_01_dot_67_bar__plus_00_dot_94_bar__plus_02_dot_12) + (cleanable Lettuce_bar__plus_01_dot_46_bar__plus_01_dot_01_bar__plus_01_dot_68) + + (heatable Mug_bar__plus_01_dot_39_bar__plus_00_dot_84_bar__plus_01_dot_34) + (heatable Apple_bar__minus_00_dot_96_bar__plus_00_dot_86_bar__minus_00_dot_03) + (heatable Cup_bar__minus_01_dot_00_bar__plus_01_dot_50_bar__plus_01_dot_08) + (heatable Plate_bar__plus_01_dot_39_bar__plus_00_dot_09_bar__plus_00_dot_78) + (heatable Egg_bar__minus_00_dot_83_bar__plus_01_dot_53_bar__minus_00_dot_11) + (heatable Apple_bar__minus_00_dot_92_bar__plus_01_dot_55_bar__plus_00_dot_04) + (heatable Potato_bar__minus_01_dot_13_bar__plus_00_dot_97_bar__plus_02_dot_16) + (heatable Tomato_bar__minus_01_dot_21_bar__plus_01_dot_00_bar__plus_01_dot_00) + (heatable Tomato_bar__minus_01_dot_02_bar__plus_01_dot_38_bar__plus_00_dot_27) + (heatable Mug_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__plus_00_dot_84) + (heatable Tomato_bar__minus_00_dot_88_bar__plus_01_dot_56_bar__plus_00_dot_35) + (heatable Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_27) + (coolable Mug_bar__plus_01_dot_39_bar__plus_00_dot_84_bar__plus_01_dot_34) + (coolable Apple_bar__minus_00_dot_96_bar__plus_00_dot_86_bar__minus_00_dot_03) + (coolable Bowl_bar__minus_00_dot_79_bar__plus_00_dot_08_bar__plus_00_dot_92) + (coolable Bowl_bar__plus_01_dot_39_bar__plus_00_dot_08_bar__plus_02_dot_46) + (coolable Cup_bar__minus_01_dot_00_bar__plus_01_dot_50_bar__plus_01_dot_08) + (coolable Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_87) + (coolable Plate_bar__plus_01_dot_39_bar__plus_00_dot_09_bar__plus_00_dot_78) + (coolable Egg_bar__minus_00_dot_83_bar__plus_01_dot_53_bar__minus_00_dot_11) + (coolable Pan_bar__plus_01_dot_38_bar__plus_01_dot_74_bar__plus_00_dot_39) + (coolable Apple_bar__minus_00_dot_92_bar__plus_01_dot_55_bar__plus_00_dot_04) + (coolable Potato_bar__minus_01_dot_13_bar__plus_00_dot_97_bar__plus_02_dot_16) + (coolable Bowl_bar__minus_01_dot_04_bar__plus_01_dot_83_bar__minus_00_dot_17) + (coolable Tomato_bar__minus_01_dot_21_bar__plus_01_dot_00_bar__plus_01_dot_00) + (coolable Tomato_bar__minus_01_dot_02_bar__plus_01_dot_38_bar__plus_00_dot_27) + (coolable Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_47) + (coolable Mug_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__plus_00_dot_84) + (coolable Tomato_bar__minus_00_dot_88_bar__plus_01_dot_56_bar__plus_00_dot_35) + (coolable Lettuce_bar__plus_01_dot_46_bar__plus_01_dot_01_bar__plus_01_dot_68) + (coolable Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_27) + + + + + + (sliceable Apple_bar__minus_00_dot_96_bar__plus_00_dot_86_bar__minus_00_dot_03) + (sliceable Egg_bar__minus_00_dot_83_bar__plus_01_dot_53_bar__minus_00_dot_11) + (sliceable Apple_bar__minus_00_dot_92_bar__plus_01_dot_55_bar__plus_00_dot_04) + (sliceable Potato_bar__minus_01_dot_13_bar__plus_00_dot_97_bar__plus_02_dot_16) + (sliceable Tomato_bar__minus_01_dot_21_bar__plus_01_dot_00_bar__plus_01_dot_00) + (sliceable Tomato_bar__minus_01_dot_02_bar__plus_01_dot_38_bar__plus_00_dot_27) + (sliceable Tomato_bar__minus_00_dot_88_bar__plus_01_dot_56_bar__plus_00_dot_35) + (sliceable Lettuce_bar__plus_01_dot_46_bar__plus_01_dot_01_bar__plus_01_dot_68) + (sliceable Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_27) + + (inReceptacle Fork_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__plus_02_dot_23 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_02_dot_39) + (inReceptacle Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_27 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_02_dot_39) + (inReceptacle Potato_bar__minus_01_dot_13_bar__plus_00_dot_97_bar__plus_02_dot_16 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_02_dot_39) + (inReceptacle PepperShaker_bar__minus_00_dot_83_bar__plus_00_dot_74_bar__plus_02_dot_18 Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_02_dot_38) + (inReceptacle Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_47 StoveBurner_bar__minus_01_dot_11_bar__plus_00_dot_92_bar__plus_01_dot_47) + (inReceptacle DishSponge_bar__plus_01_dot_38_bar__plus_00_dot_75_bar__plus_02_dot_39 Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_02_dot_39) + (inReceptacle SaltShaker_bar__plus_01_dot_36_bar__plus_00_dot_93_bar__plus_02_dot_02 CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31) + (inReceptacle DishSponge_bar__plus_01_dot_75_bar__plus_00_dot_94_bar__plus_00_dot_94 CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31) + (inReceptacle SaltShaker_bar__plus_01_dot_36_bar__plus_00_dot_93_bar__plus_00_dot_94 CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31) + (inReceptacle Spoon_bar__plus_01_dot_67_bar__plus_00_dot_94_bar__plus_02_dot_12 CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31) + (inReceptacle Pan_bar__plus_01_dot_38_bar__plus_01_dot_74_bar__plus_00_dot_39 Cabinet_bar__plus_01_dot_22_bar__plus_02_dot_01_bar__plus_00_dot_59) + (inReceptacle Bowl_bar__plus_01_dot_39_bar__plus_00_dot_08_bar__plus_02_dot_46 Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_02_dot_11) + (inReceptacle Cup_bar__minus_01_dot_00_bar__plus_01_dot_50_bar__plus_01_dot_08 Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_01_dot_16) + (inReceptacle SoapBottle_bar__minus_01_dot_08_bar__plus_01_dot_50_bar__plus_00_dot_76 Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_01_dot_16) + (inReceptacle Bowl_bar__minus_00_dot_79_bar__plus_00_dot_08_bar__plus_00_dot_92 Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__plus_00_dot_63) + (inReceptacle Bowl_bar__minus_01_dot_04_bar__plus_01_dot_83_bar__minus_00_dot_17 Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_05_bar__minus_00_dot_33) + (inReceptacle Spatula_bar__minus_00_dot_72_bar__plus_00_dot_76_bar__plus_01_dot_05 Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_00_dot_92) + (inReceptacle Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_87 StoveBurner_bar__minus_01_dot_11_bar__plus_00_dot_92_bar__plus_01_dot_87) + (inReceptacle ButterKnife_bar__minus_00_dot_96_bar__plus_00_dot_94_bar__plus_00_dot_92 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92) + (inReceptacle Spoon_bar__minus_00_dot_88_bar__plus_00_dot_94_bar__plus_00_dot_77 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92) + (inReceptacle SaltShaker_bar__minus_00_dot_88_bar__plus_00_dot_93_bar__plus_01_dot_15 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92) + (inReceptacle SoapBottle_bar__minus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_69 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92) + (inReceptacle Tomato_bar__minus_01_dot_21_bar__plus_01_dot_00_bar__plus_01_dot_00 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92) + (inReceptacle Fork_bar__minus_00_dot_79_bar__plus_00_dot_94_bar__plus_01_dot_15 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92) + (inReceptacle SoapBottle_bar__minus_01_dot_04_bar__plus_00_dot_94_bar__plus_01_dot_08 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92) + (inReceptacle Mug_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__plus_00_dot_84 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92) + (inReceptacle Plate_bar__plus_01_dot_39_bar__plus_00_dot_09_bar__plus_00_dot_78 Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_00_dot_63) + (inReceptacle Knife_bar__plus_01_dot_48_bar__plus_00_dot_77_bar__plus_01_dot_05 Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_00_dot_92) + (inReceptacle Apple_bar__minus_00_dot_92_bar__plus_01_dot_55_bar__plus_00_dot_04 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12) + (inReceptacle Egg_bar__minus_00_dot_83_bar__plus_01_dot_53_bar__minus_00_dot_11 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12) + (inReceptacle Apple_bar__minus_00_dot_96_bar__plus_00_dot_86_bar__minus_00_dot_03 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12) + (inReceptacle Tomato_bar__minus_00_dot_88_bar__plus_01_dot_56_bar__plus_00_dot_35 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12) + (inReceptacle Tomato_bar__minus_01_dot_02_bar__plus_01_dot_38_bar__plus_00_dot_27 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12) + (inReceptacle Mug_bar__plus_01_dot_39_bar__plus_00_dot_84_bar__plus_01_dot_34 Sink_bar__plus_01_dot_54_bar__plus_00_dot_87_bar__plus_01_dot_64_bar_SinkBasin) + + + (receptacleAtLocation Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_00_dot_63 loc_bar_1_bar_5_bar_1_bar_45) + (receptacleAtLocation Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_02_dot_11 loc_bar_1_bar_9_bar_1_bar_45) + (receptacleAtLocation Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_55_bar__plus_00_dot_59 loc_bar_2_bar_1_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_22_bar__plus_01_dot_39_bar__plus_00_dot_59 loc_bar_3_bar_1_bar_1_bar_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_22_bar__plus_02_dot_01_bar__plus_00_dot_59 loc_bar_3_bar_1_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_50_bar__plus_01_dot_81_bar__plus_02_dot_10 loc_bar_4_bar_7_bar_1_bar__minus_15) + (receptacleAtLocation Cabinet_bar__plus_01_dot_50_bar__plus_01_dot_81_bar__plus_02_dot_69 loc_bar_3_bar_10_bar_1_bar__minus_15) + (receptacleAtLocation Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_01_dot_16 loc_bar_3_bar_3_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_01_dot_21 loc_bar_1_bar_5_bar_1_bar__minus_15) + (receptacleAtLocation 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loc_bar__minus_1_bar_3_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_01_dot_21 loc_bar_0_bar_7_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_02_dot_08 loc_bar_0_bar_8_bar_3_bar__minus_30) + (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_69_bar__plus_00_dot_93_bar__plus_02_dot_45 loc_bar_3_bar_10_bar_1_bar_45) + (receptacleAtLocation CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31 loc_bar_3_bar_8_bar_1_bar_45) + (receptacleAtLocation CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92 loc_bar__minus_1_bar_4_bar_3_bar_45) + (receptacleAtLocation CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_02_dot_39 loc_bar__minus_1_bar_10_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_00_dot_92 loc_bar_2_bar_3_bar_1_bar_45) + (receptacleAtLocation 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(receptacleAtLocation StoveBurner_bar__minus_00_dot_83_bar__plus_00_dot_92_bar__plus_01_dot_87 loc_bar__minus_1_bar_7_bar_3_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_01_dot_11_bar__plus_00_dot_92_bar__plus_01_dot_47 loc_bar__minus_1_bar_6_bar_3_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_01_dot_11_bar__plus_00_dot_92_bar__plus_01_dot_87 loc_bar__minus_1_bar_7_bar_3_bar_45) + (receptacleAtLocation Toaster_bar__minus_01_dot_00_bar__plus_00_dot_93_bar__plus_02_dot_56 loc_bar__minus_1_bar_10_bar_3_bar_45) + (objectAtLocation Mug_bar__plus_01_dot_39_bar__plus_00_dot_84_bar__plus_01_dot_34 loc_bar_4_bar_5_bar_1_bar_60) + (objectAtLocation Spoon_bar__plus_01_dot_67_bar__plus_00_dot_94_bar__plus_02_dot_12 loc_bar_3_bar_8_bar_1_bar_45) + (objectAtLocation DishSponge_bar__plus_01_dot_75_bar__plus_00_dot_94_bar__plus_00_dot_94 loc_bar_3_bar_8_bar_1_bar_45) + (objectAtLocation Apple_bar__minus_00_dot_92_bar__plus_01_dot_55_bar__plus_00_dot_04 loc_bar_0_bar_0_bar_3_bar_60) + 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StoveKnob_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__plus_01_dot_76 loc_bar__minus_1_bar_7_bar_3_bar_60) + (objectAtLocation SoapBottle_bar__minus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_69 loc_bar__minus_1_bar_4_bar_3_bar_45) + (objectAtLocation Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_27 loc_bar__minus_1_bar_10_bar_3_bar_45) + (objectAtLocation Fork_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__plus_02_dot_23 loc_bar__minus_1_bar_10_bar_3_bar_45) + (objectAtLocation Tomato_bar__minus_01_dot_21_bar__plus_01_dot_00_bar__plus_01_dot_00 loc_bar__minus_1_bar_4_bar_3_bar_45) + (objectAtLocation Bowl_bar__minus_01_dot_04_bar__plus_01_dot_83_bar__minus_00_dot_17 loc_bar_0_bar__minus_2_bar_3_bar__minus_30) + (objectAtLocation Window_bar__plus_00_dot_23_bar__plus_01_dot_60_bar__plus_03_dot_51 loc_bar_1_bar_11_bar_0_bar_0) + (objectAtLocation Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_87 loc_bar__minus_1_bar_7_bar_3_bar_45) + (objectAtLocation Spatula_bar__minus_00_dot_72_bar__plus_00_dot_76_bar__plus_01_dot_05 loc_bar_0_bar_3_bar_3_bar_45) + (objectAtLocation Knife_bar__plus_01_dot_48_bar__plus_00_dot_77_bar__plus_01_dot_05 loc_bar_2_bar_3_bar_1_bar_45) + (objectAtLocation SaltShaker_bar__plus_01_dot_36_bar__plus_00_dot_93_bar__plus_02_dot_02 loc_bar_3_bar_8_bar_1_bar_45) + (objectAtLocation Apple_bar__minus_00_dot_96_bar__plus_00_dot_86_bar__minus_00_dot_03 loc_bar_0_bar_0_bar_3_bar_60) + (objectAtLocation PepperShaker_bar__minus_00_dot_83_bar__plus_00_dot_74_bar__plus_02_dot_18 loc_bar_0_bar_9_bar_3_bar_45) + (objectAtLocation ButterKnife_bar__minus_00_dot_96_bar__plus_00_dot_94_bar__plus_00_dot_92 loc_bar__minus_1_bar_4_bar_3_bar_45) + (objectAtLocation Potato_bar__minus_01_dot_13_bar__plus_00_dot_97_bar__plus_02_dot_16 loc_bar__minus_1_bar_10_bar_3_bar_45) + (objectAtLocation Plate_bar__plus_01_dot_39_bar__plus_00_dot_09_bar__plus_00_dot_78 loc_bar_1_bar_5_bar_1_bar_45) + (objectAtLocation 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GarbageCanType) + (isHot ?o) + (inReceptacle ?o ?r) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-GarbageCan-12/trial_T20190907_125547_175997/traj_data.json b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-GarbageCan-12/trial_T20190907_125547_175997/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..bf30414357a36d1100864b76878450ee078c7009 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-GarbageCan-12/trial_T20190907_125547_175997/traj_data.json @@ -0,0 +1,7252 @@ +{ + "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, 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the stove.", + "Pick up a potato from the counter.", + "Move to the microwave above the sink behind you.", + "Put the potato inside and heat it for a few seconds before removing it and close the door.", + "Move the the bin to the left of the sink at the end of the counter.", + "Place the potato inside the bin." + ], + "task_desc": "Put a heated potato in the bin.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2M7VEYAS1405L_3RU7GD8VPRAS8TG8ES4X8Y4GHQRSPI", + "high_descs": [ + "Cross the room to the counter to the right of the stove", + "Take the potato from the back left corner of the counter", + "turn around, and cross the room to the sink, then look up at the microwave", + "Cook the potato in the microwave for 3 seconds, and then remove it when the cooking is done. ", + "Turn left and go to the wall, then turn right to face the trash can", + "Put the potato in the trash can" + ], + "task_desc": "Throw out a hot potato", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-GarbageCan-12/trial_T20190910_225228_723273/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-GarbageCan-12/trial_T20190910_225228_723273/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..79491502fbec6368d2ba2521aa92b1a51aa869a2 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-GarbageCan-12/trial_T20190910_225228_723273/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 potato in garbagecan.\"\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_T20190910_225228_723273)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__plus_01_dot_39_bar__plus_00_dot_12_bar__plus_02_dot_85 - object\n Apple_bar__plus_01_dot_59_bar__plus_01_dot_65_bar__plus_01_dot_81 - object\n Apple_bar__minus_00_dot_92_bar__plus_01_dot_37_bar__plus_00_dot_35 - object\n Bowl_bar__plus_01_dot_50_bar__plus_00_dot_94_bar__plus_01_dot_67 - object\n Bowl_bar__minus_00_dot_97_bar__plus_01_dot_50_bar__plus_00_dot_20 - object\n Bowl_bar__minus_01_dot_08_bar__plus_01_dot_95_bar__plus_01_dot_92 - object\n Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_27 - object\n ButterKnife_bar__plus_01_dot_38_bar__plus_00_dot_74_bar__plus_02_dot_23 - object\n ButterKnife_bar__plus_01_dot_59_bar__plus_00_dot_94_bar__plus_00_dot_94 - object\n ButterKnife_bar__minus_00_dot_88_bar__plus_00_dot_94_bar__plus_01_dot_08 - object\n Chair_bar__minus_00_dot_75_bar__plus_00_dot_01_bar__plus_03_dot_12 - object\n Cup_bar__plus_01_dot_31_bar__plus_00_dot_08_bar__plus_02_dot_46 - object\n Cup_bar__plus_01_dot_39_bar__plus_00_dot_84_bar__plus_01_dot_40 - object\n Cup_bar__plus_01_dot_70_bar__plus_01_dot_95_bar__plus_01_dot_88 - object\n DishSponge_bar__plus_01_dot_29_bar__plus_00_dot_94_bar__plus_02_dot_60 - object\n Egg_bar__minus_00_dot_83_bar__plus_01_dot_53_bar__plus_00_dot_04 - object\n Faucet_bar__plus_01_dot_71_bar__plus_00_dot_93_bar__plus_01_dot_36 - object\n Fork_bar__minus_00_dot_69_bar__plus_00_dot_75_bar__plus_02_dot_52 - object\n Fork_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__plus_02_dot_31 - object\n Knife_bar__plus_01_dot_45_bar__plus_00_dot_77_bar__plus_00_dot_78 - object\n Knife_bar__plus_01_dot_48_bar__plus_00_dot_77_bar__plus_00_dot_92 - object\n Lettuce_bar__plus_01_dot_36_bar__plus_01_dot_03_bar__plus_01_dot_01 - object\n Lettuce_bar__minus_00_dot_94_bar__plus_00_dot_66_bar__plus_00_dot_04 - object\n LightSwitch_bar__plus_00_dot_45_bar__plus_01_dot_41_bar__minus_01_dot_68 - object\n Mug_bar__minus_01_dot_08_bar__plus_01_dot_82_bar__plus_00_dot_41 - object\n Mug_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__plus_00_dot_69 - object\n Pan_bar__minus_00_dot_80_bar__plus_00_dot_08_bar__plus_02_dot_46 - object\n Pan_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_87 - object\n PepperShaker_bar__plus_01_dot_38_bar__plus_00_dot_74_bar__plus_01_dot_05 - object\n PepperShaker_bar__plus_01_dot_71_bar__plus_01_dot_50_bar__plus_02_dot_56 - object\n PepperShaker_bar__minus_00_dot_71_bar__plus_00_dot_93_bar__plus_02_dot_61 - object\n Plate_bar__plus_01_dot_38_bar__plus_01_dot_06_bar__plus_00_dot_01 - object\n Potato_bar__plus_01_dot_75_bar__plus_00_dot_97_bar__plus_01_dot_89 - object\n Potato_bar__minus_01_dot_04_bar__plus_00_dot_97_bar__plus_00_dot_84 - object\n Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_47 - object\n SaltShaker_bar__plus_01_dot_73_bar__plus_00_dot_93_bar__plus_01_dot_67 - object\n SaltShaker_bar__minus_01_dot_14_bar__plus_01_dot_95_bar__plus_01_dot_27 - object\n SaltShaker_bar__minus_01_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_77 - object\n Sink_bar__plus_01_dot_54_bar__plus_00_dot_87_bar__plus_01_dot_64 - object\n SoapBottle_bar__plus_01_dot_31_bar__plus_00_dot_10_bar__plus_00_dot_07 - object\n SoapBottle_bar__minus_01_dot_04_bar__plus_00_dot_94_bar__plus_01_dot_15 - object\n Spatula_bar__plus_01_dot_28_bar__plus_00_dot_76_bar__plus_00_dot_98 - object\n Spatula_bar__minus_00_dot_71_bar__plus_00_dot_95_bar__plus_01_dot_00 - object\n Spatula_bar__minus_00_dot_83_bar__plus_00_dot_76_bar__plus_02_dot_52 - object\n Spoon_bar__plus_01_dot_41_bar__plus_00_dot_95_bar__plus_01_dot_71 - object\n StoveKnob_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__plus_01_dot_36 - object\n StoveKnob_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__plus_01_dot_51 - object\n StoveKnob_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__plus_01_dot_76 - object\n StoveKnob_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__plus_01_dot_92 - object\n Tomato_bar__minus_00_dot_97_bar__plus_01_dot_56_bar__minus_00_dot_11 - object\n Tomato_bar__minus_01_dot_13_bar__plus_01_dot_00_bar__plus_01_dot_00 - object\n Tomato_bar__minus_01_dot_21_bar__plus_01_dot_00_bar__plus_02_dot_16 - object\n Window_bar__plus_00_dot_23_bar__plus_01_dot_60_bar__plus_03_dot_51 - object\n Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_00_dot_63 - receptacle\n Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_02_dot_11 - receptacle\n Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_55_bar__plus_00_dot_59 - receptacle\n Cabinet_bar__plus_01_dot_22_bar__plus_01_dot_39_bar__plus_00_dot_59 - receptacle\n Cabinet_bar__plus_01_dot_22_bar__plus_02_dot_01_bar__plus_00_dot_59 - receptacle\n Cabinet_bar__plus_01_dot_50_bar__plus_01_dot_81_bar__plus_02_dot_10 - receptacle\n Cabinet_bar__plus_01_dot_50_bar__plus_01_dot_81_bar__plus_02_dot_69 - receptacle\n Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_01_dot_16 - receptacle\n Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_01_dot_21 - receptacle\n Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_02_dot_08 - receptacle\n Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__plus_00_dot_63 - receptacle\n Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__plus_02_dot_11 - receptacle\n Cabinet_bar__minus_00_dot_91_bar__plus_01_dot_81_bar__plus_02_dot_11 - receptacle\n Cabinet_bar__minus_00_dot_91_bar__plus_01_dot_81_bar__plus_02_dot_70 - receptacle\n Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_05_bar__minus_00_dot_33 - receptacle\n Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_00_dot_58 - receptacle\n Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_01_dot_16 - receptacle\n Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_01_dot_21 - receptacle\n Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_02_dot_08 - receptacle\n CoffeeMachine_bar__plus_01_dot_69_bar__plus_00_dot_93_bar__plus_02_dot_45 - receptacle\n CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31 - receptacle\n CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92 - receptacle\n CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_02_dot_39 - receptacle\n Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_00_dot_92 - receptacle\n Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_02_dot_39 - receptacle\n Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_00_dot_92 - receptacle\n Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_02_dot_38 - receptacle\n Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12 - receptacle\n GarbageCan_bar__plus_01_dot_45_bar__plus_00_dot_00_bar__plus_02_dot_91 - receptacle\n Microwave_bar__plus_01_dot_63_bar__plus_01_dot_48_bar__plus_01_dot_65 - receptacle\n Sink_bar__plus_01_dot_54_bar__plus_00_dot_87_bar__plus_01_dot_64_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_00_dot_83_bar__plus_00_dot_92_bar__plus_01_dot_47 - receptacle\n StoveBurner_bar__minus_00_dot_83_bar__plus_00_dot_92_bar__plus_01_dot_87 - receptacle\n StoveBurner_bar__minus_01_dot_11_bar__plus_00_dot_92_bar__plus_01_dot_47 - receptacle\n StoveBurner_bar__minus_01_dot_11_bar__plus_00_dot_92_bar__plus_01_dot_87 - receptacle\n Toaster_bar__minus_01_dot_00_bar__plus_00_dot_93_bar__plus_02_dot_56 - receptacle\n loc_bar_2_bar_9_bar_1_bar_45 - location\n loc_bar_0_bar_0_bar_3_bar_60 - location\n loc_bar_3_bar_10_bar_1_bar_45 - location\n loc_bar_2_bar__minus_4_bar_2_bar_15 - location\n loc_bar_1_bar_6_bar_1_bar__minus_15 - location\n loc_bar_0_bar_9_bar_3_bar_45 - location\n loc_bar_3_bar_1_bar_1_bar_30 - location\n loc_bar__minus_1_bar_7_bar_3_bar_45 - location\n loc_bar_3_bar_1_bar_1_bar__minus_30 - location\n loc_bar_1_bar_11_bar_3_bar_60 - location\n loc_bar_0_bar__minus_2_bar_3_bar__minus_30 - location\n loc_bar__minus_1_bar_5_bar_3_bar_60 - location\n loc_bar__minus_1_bar_10_bar_3_bar_45 - location\n loc_bar_1_bar_5_bar_1_bar_45 - location\n loc_bar_1_bar_5_bar_3_bar_60 - location\n loc_bar_0_bar_3_bar_3_bar_45 - location\n loc_bar_4_bar_5_bar_1_bar_60 - location\n loc_bar__minus_1_bar_3_bar_3_bar__minus_30 - location\n loc_bar_3_bar_10_bar_1_bar_60 - location\n loc_bar_3_bar_10_bar_1_bar__minus_15 - location\n loc_bar_2_bar_1_bar_1_bar_60 - location\n loc_bar_4_bar_7_bar_1_bar__minus_15 - location\n loc_bar__minus_1_bar_7_bar_3_bar_60 - location\n loc_bar_0_bar_7_bar_3_bar__minus_30 - location\n loc_bar_4_bar_6_bar_1_bar_15 - location\n loc_bar_4_bar_7_bar_1_bar_60 - location\n loc_bar__minus_1_bar_10_bar_0_bar_60 - location\n loc_bar_1_bar_11_bar_0_bar_0 - location\n loc_bar__minus_1_bar_6_bar_3_bar_60 - location\n loc_bar_3_bar_8_bar_1_bar_45 - location\n loc_bar_2_bar_3_bar_1_bar_45 - location\n loc_bar_1_bar_5_bar_1_bar__minus_15 - location\n loc_bar__minus_1_bar_10_bar_3_bar__minus_15 - location\n loc_bar_3_bar_3_bar_1_bar__minus_30 - location\n loc_bar__minus_1_bar_4_bar_3_bar_45 - location\n loc_bar_1_bar_9_bar_1_bar_45 - location\n loc_bar__minus_1_bar_7_bar_3_bar__minus_15 - location\n loc_bar__minus_1_bar_6_bar_3_bar_45 - location\n loc_bar_0_bar_8_bar_3_bar__minus_30 - location\n loc_bar_4_bar_5_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_00_dot_63 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_01_dot_21 CabinetType)\n (receptacleType StoveBurner_bar__minus_01_dot_11_bar__plus_00_dot_92_bar__plus_01_dot_47 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_02_dot_08 CabinetType)\n (receptacleType CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92 CounterTopType)\n (receptacleType Microwave_bar__plus_01_dot_63_bar__plus_01_dot_48_bar__plus_01_dot_65 MicrowaveType)\n (receptacleType CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_02_dot_39 CounterTopType)\n (receptacleType Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__plus_00_dot_63 CabinetType)\n (receptacleType StoveBurner_bar__minus_00_dot_83_bar__plus_00_dot_92_bar__plus_01_dot_47 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_01_dot_21 CabinetType)\n (receptacleType Toaster_bar__minus_01_dot_00_bar__plus_00_dot_93_bar__plus_02_dot_56 ToasterType)\n (receptacleType Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_02_dot_08 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_91_bar__plus_01_dot_81_bar__plus_02_dot_70 CabinetType)\n (receptacleType Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12 FridgeType)\n (receptacleType Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_55_bar__plus_00_dot_59 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_00_dot_58 CabinetType)\n (receptacleType GarbageCan_bar__plus_01_dot_45_bar__plus_00_dot_00_bar__plus_02_dot_91 GarbageCanType)\n (receptacleType Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_00_dot_92 DrawerType)\n (receptacleType StoveBurner_bar__minus_00_dot_83_bar__plus_00_dot_92_bar__plus_01_dot_87 StoveBurnerType)\n (receptacleType Sink_bar__plus_01_dot_54_bar__plus_00_dot_87_bar__plus_01_dot_64_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__plus_01_dot_50_bar__plus_01_dot_81_bar__plus_02_dot_10 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_50_bar__plus_01_dot_81_bar__plus_02_dot_69 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_01_dot_16 CabinetType)\n (receptacleType CoffeeMachine_bar__plus_01_dot_69_bar__plus_00_dot_93_bar__plus_02_dot_45 CoffeeMachineType)\n (receptacleType Cabinet_bar__minus_00_dot_91_bar__plus_01_dot_81_bar__plus_02_dot_11 CabinetType)\n (receptacleType CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31 CounterTopType)\n (receptacleType Cabinet_bar__plus_01_dot_22_bar__plus_01_dot_39_bar__plus_00_dot_59 CabinetType)\n (receptacleType StoveBurner_bar__minus_01_dot_11_bar__plus_00_dot_92_bar__plus_01_dot_87 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_02_dot_11 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_05_bar__minus_00_dot_33 CabinetType)\n (receptacleType Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_02_dot_39 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_02_dot_38 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__plus_02_dot_11 CabinetType)\n (receptacleType Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_00_dot_92 DrawerType)\n (receptacleType Cabinet_bar__plus_01_dot_22_bar__plus_02_dot_01_bar__plus_00_dot_59 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_01_dot_16 CabinetType)\n (objectType Window_bar__plus_00_dot_23_bar__plus_01_dot_60_bar__plus_03_dot_51 WindowType)\n (objectType 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CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92)\n (inReceptacle Tomato_bar__minus_01_dot_13_bar__plus_01_dot_00_bar__plus_01_dot_00 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92)\n (inReceptacle Knife_bar__plus_01_dot_48_bar__plus_00_dot_77_bar__plus_00_dot_92 Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_00_dot_92)\n (inReceptacle PepperShaker_bar__plus_01_dot_38_bar__plus_00_dot_74_bar__plus_01_dot_05 Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_00_dot_92)\n (inReceptacle Knife_bar__plus_01_dot_45_bar__plus_00_dot_77_bar__plus_00_dot_78 Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_00_dot_92)\n (inReceptacle Spatula_bar__plus_01_dot_28_bar__plus_00_dot_76_bar__plus_00_dot_98 Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_00_dot_92)\n (inReceptacle Lettuce_bar__minus_00_dot_94_bar__plus_00_dot_66_bar__plus_00_dot_04 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12)\n (inReceptacle Apple_bar__minus_00_dot_92_bar__plus_01_dot_37_bar__plus_00_dot_35 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12)\n (inReceptacle Egg_bar__minus_00_dot_83_bar__plus_01_dot_53_bar__plus_00_dot_04 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12)\n (inReceptacle Bowl_bar__minus_00_dot_97_bar__plus_01_dot_50_bar__plus_00_dot_20 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12)\n (inReceptacle Tomato_bar__minus_00_dot_97_bar__plus_01_dot_56_bar__minus_00_dot_11 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12)\n (inReceptacle Apple_bar__plus_01_dot_39_bar__plus_00_dot_12_bar__plus_02_dot_85 GarbageCan_bar__plus_01_dot_45_bar__plus_00_dot_00_bar__plus_02_dot_91)\n (inReceptacle Apple_bar__plus_01_dot_59_bar__plus_01_dot_65_bar__plus_01_dot_81 Microwave_bar__plus_01_dot_63_bar__plus_01_dot_48_bar__plus_01_dot_65)\n (inReceptacle Cup_bar__plus_01_dot_39_bar__plus_00_dot_84_bar__plus_01_dot_40 Sink_bar__plus_01_dot_54_bar__plus_00_dot_87_bar__plus_01_dot_64_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_00_dot_63 loc_bar_1_bar_5_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_02_dot_11 loc_bar_1_bar_9_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_55_bar__plus_00_dot_59 loc_bar_2_bar_1_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_22_bar__plus_01_dot_39_bar__plus_00_dot_59 loc_bar_3_bar_1_bar_1_bar_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_22_bar__plus_02_dot_01_bar__plus_00_dot_59 loc_bar_3_bar_1_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_50_bar__plus_01_dot_81_bar__plus_02_dot_10 loc_bar_4_bar_7_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_50_bar__plus_01_dot_81_bar__plus_02_dot_69 loc_bar_3_bar_10_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_01_dot_16 loc_bar_3_bar_3_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_01_dot_21 loc_bar_1_bar_5_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_02_dot_08 loc_bar_1_bar_6_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__plus_00_dot_63 loc_bar_1_bar_5_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__plus_02_dot_11 loc_bar_1_bar_11_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_91_bar__plus_01_dot_81_bar__plus_02_dot_11 loc_bar__minus_1_bar_7_bar_3_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_91_bar__plus_01_dot_81_bar__plus_02_dot_70 loc_bar__minus_1_bar_10_bar_3_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_05_bar__minus_00_dot_33 loc_bar_0_bar__minus_2_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_00_dot_58 loc_bar__minus_1_bar_3_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_01_dot_16 loc_bar__minus_1_bar_3_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_01_dot_21 loc_bar_0_bar_7_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_02_dot_08 loc_bar_0_bar_8_bar_3_bar__minus_30)\n (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_69_bar__plus_00_dot_93_bar__plus_02_dot_45 loc_bar_3_bar_10_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31 loc_bar_3_bar_8_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_02_dot_39 loc_bar__minus_1_bar_10_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_00_dot_92 loc_bar_2_bar_3_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_02_dot_39 loc_bar_2_bar_9_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_00_dot_92 loc_bar_0_bar_3_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_02_dot_38 loc_bar_0_bar_9_bar_3_bar_45)\n (receptacleAtLocation Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12 loc_bar_0_bar_0_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_45_bar__plus_00_dot_00_bar__plus_02_dot_91 loc_bar_3_bar_10_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__plus_01_dot_63_bar__plus_01_dot_48_bar__plus_01_dot_65 loc_bar_4_bar_6_bar_1_bar_15)\n (receptacleAtLocation Sink_bar__plus_01_dot_54_bar__plus_00_dot_87_bar__plus_01_dot_64_bar_SinkBasin loc_bar_4_bar_5_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_83_bar__plus_00_dot_92_bar__plus_01_dot_47 loc_bar__minus_1_bar_6_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_83_bar__plus_00_dot_92_bar__plus_01_dot_87 loc_bar__minus_1_bar_7_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_11_bar__plus_00_dot_92_bar__plus_01_dot_47 loc_bar__minus_1_bar_6_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_01_dot_11_bar__plus_00_dot_92_bar__plus_01_dot_87 loc_bar__minus_1_bar_7_bar_3_bar_45)\n (receptacleAtLocation Toaster_bar__minus_01_dot_00_bar__plus_00_dot_93_bar__plus_02_dot_56 loc_bar__minus_1_bar_10_bar_3_bar_45)\n (objectAtLocation Mug_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__plus_00_dot_69 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation Pan_bar__minus_00_dot_80_bar__plus_00_dot_08_bar__plus_02_dot_46 loc_bar_1_bar_11_bar_3_bar_60)\n (objectAtLocation Cup_bar__plus_01_dot_31_bar__plus_00_dot_08_bar__plus_02_dot_46 loc_bar_1_bar_9_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_01_dot_04_bar__plus_00_dot_97_bar__plus_00_dot_84 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation ButterKnife_bar__plus_01_dot_38_bar__plus_00_dot_74_bar__plus_02_dot_23 loc_bar_2_bar_9_bar_1_bar_45)\n (objectAtLocation PepperShaker_bar__minus_00_dot_71_bar__plus_00_dot_93_bar__plus_02_dot_61 loc_bar__minus_1_bar_10_bar_3_bar_45)\n (objectAtLocation Apple_bar__plus_01_dot_59_bar__plus_01_dot_65_bar__plus_01_dot_81 loc_bar_4_bar_6_bar_1_bar_15)\n (objectAtLocation SaltShaker_bar__plus_01_dot_73_bar__plus_00_dot_93_bar__plus_01_dot_67 loc_bar_3_bar_8_bar_1_bar_45)\n (objectAtLocation Knife_bar__plus_01_dot_45_bar__plus_00_dot_77_bar__plus_00_dot_78 loc_bar_2_bar_3_bar_1_bar_45)\n (objectAtLocation Spatula_bar__minus_00_dot_71_bar__plus_00_dot_95_bar__plus_01_dot_00 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation Bowl_bar__minus_01_dot_08_bar__plus_01_dot_95_bar__plus_01_dot_92 loc_bar_0_bar_8_bar_3_bar__minus_30)\n (objectAtLocation Tomato_bar__minus_01_dot_21_bar__plus_01_dot_00_bar__plus_02_dot_16 loc_bar__minus_1_bar_10_bar_3_bar_45)\n (objectAtLocation Fork_bar__minus_00_dot_69_bar__plus_00_dot_75_bar__plus_02_dot_52 loc_bar_0_bar_9_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__plus_01_dot_31_bar__plus_00_dot_10_bar__plus_00_dot_07 loc_bar_2_bar_1_bar_1_bar_60)\n (objectAtLocation Lettuce_bar__plus_01_dot_36_bar__plus_01_dot_03_bar__plus_01_dot_01 loc_bar_3_bar_8_bar_1_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_92_bar__plus_01_dot_37_bar__plus_00_dot_35 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation PepperShaker_bar__plus_01_dot_38_bar__plus_00_dot_74_bar__plus_01_dot_05 loc_bar_2_bar_3_bar_1_bar_45)\n (objectAtLocation SaltShaker_bar__minus_01_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_77 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_97_bar__plus_01_dot_50_bar__plus_00_dot_20 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation Tomato_bar__minus_01_dot_13_bar__plus_01_dot_00_bar__plus_01_dot_00 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation Cup_bar__plus_01_dot_70_bar__plus_01_dot_95_bar__plus_01_dot_88 loc_bar_1_bar_6_bar_1_bar__minus_15)\n (objectAtLocation Spatula_bar__minus_00_dot_83_bar__plus_00_dot_76_bar__plus_02_dot_52 loc_bar_0_bar_9_bar_3_bar_45)\n (objectAtLocation ButterKnife_bar__plus_01_dot_59_bar__plus_00_dot_94_bar__plus_00_dot_94 loc_bar_3_bar_8_bar_1_bar_45)\n (objectAtLocation Chair_bar__minus_00_dot_75_bar__plus_00_dot_01_bar__plus_03_dot_12 loc_bar__minus_1_bar_10_bar_0_bar_60)\n (objectAtLocation Sink_bar__plus_01_dot_54_bar__plus_00_dot_87_bar__plus_01_dot_64 loc_bar_4_bar_7_bar_1_bar_60)\n (objectAtLocation Lettuce_bar__minus_00_dot_94_bar__plus_00_dot_66_bar__plus_00_dot_04 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__plus_01_dot_92 loc_bar__minus_1_bar_7_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__plus_01_dot_36 loc_bar__minus_1_bar_5_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__plus_01_dot_51 loc_bar__minus_1_bar_6_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__plus_01_dot_76 loc_bar__minus_1_bar_7_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__minus_01_dot_04_bar__plus_00_dot_94_bar__plus_01_dot_15 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_27 loc_bar__minus_1_bar_10_bar_3_bar_45)\n (objectAtLocation Fork_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__plus_02_dot_31 loc_bar__minus_1_bar_10_bar_3_bar_45)\n (objectAtLocation Tomato_bar__minus_00_dot_97_bar__plus_01_dot_56_bar__minus_00_dot_11 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation Bowl_bar__plus_01_dot_50_bar__plus_00_dot_94_bar__plus_01_dot_67 loc_bar_4_bar_5_bar_1_bar_60)\n (objectAtLocation Window_bar__plus_00_dot_23_bar__plus_01_dot_60_bar__plus_03_dot_51 loc_bar_1_bar_11_bar_0_bar_0)\n (objectAtLocation Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_47 loc_bar__minus_1_bar_6_bar_3_bar_45)\n (objectAtLocation Spatula_bar__plus_01_dot_28_bar__plus_00_dot_76_bar__plus_00_dot_98 loc_bar_2_bar_3_bar_1_bar_45)\n (objectAtLocation Knife_bar__plus_01_dot_48_bar__plus_00_dot_77_bar__plus_00_dot_92 loc_bar_2_bar_3_bar_1_bar_45)\n (objectAtLocation SaltShaker_bar__minus_01_dot_14_bar__plus_01_dot_95_bar__plus_01_dot_27 loc_bar_0_bar_7_bar_3_bar__minus_30)\n (objectAtLocation Apple_bar__plus_01_dot_39_bar__plus_00_dot_12_bar__plus_02_dot_85 loc_bar_3_bar_10_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__plus_01_dot_71_bar__plus_01_dot_50_bar__plus_02_dot_56 loc_bar_3_bar_10_bar_1_bar__minus_15)\n (objectAtLocation ButterKnife_bar__minus_00_dot_88_bar__plus_00_dot_94_bar__plus_01_dot_08 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation Potato_bar__plus_01_dot_75_bar__plus_00_dot_97_bar__plus_01_dot_89 loc_bar_3_bar_8_bar_1_bar_45)\n (objectAtLocation Plate_bar__plus_01_dot_38_bar__plus_01_dot_06_bar__plus_00_dot_01 loc_bar_3_bar_1_bar_1_bar_30)\n (objectAtLocation DishSponge_bar__plus_01_dot_29_bar__plus_00_dot_94_bar__plus_02_dot_60 loc_bar_3_bar_8_bar_1_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_83_bar__plus_01_dot_53_bar__plus_00_dot_04 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation Cup_bar__plus_01_dot_39_bar__plus_00_dot_84_bar__plus_01_dot_40 loc_bar_4_bar_5_bar_1_bar_60)\n (objectAtLocation Pan_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_87 loc_bar__minus_1_bar_7_bar_3_bar_45)\n (objectAtLocation Spoon_bar__plus_01_dot_41_bar__plus_00_dot_95_bar__plus_01_dot_71 loc_bar_4_bar_5_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__plus_00_dot_45_bar__plus_01_dot_41_bar__minus_01_dot_68 loc_bar_2_bar__minus_4_bar_2_bar_15)\n (objectAtLocation Mug_bar__minus_01_dot_08_bar__plus_01_dot_82_bar__plus_00_dot_41 loc_bar__minus_1_bar_3_bar_3_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (heatable ?o)\n (objectType ?o PotatoType)\n (receptacleType ?r GarbageCanType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take potato 1 from countertop 1", "go to microwave 1", "heat potato 1 with microwave 1", "go to garbagecan 1", "move potato 1 to garbagecan 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-GarbageCan-12/trial_T20190910_225228_723273/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-GarbageCan-12/trial_T20190910_225228_723273/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..16ba844259ed58de8c5daf6b9d6eb5a6e1fe4b79 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-GarbageCan-12/trial_T20190910_225228_723273/initial_state.pddl @@ -0,0 +1,1088 @@ + +(define (problem plan_trial_T20190910_225228_723273) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__plus_01_dot_39_bar__plus_00_dot_12_bar__plus_02_dot_85 - object + Apple_bar__plus_01_dot_59_bar__plus_01_dot_65_bar__plus_01_dot_81 - object + Apple_bar__minus_00_dot_92_bar__plus_01_dot_37_bar__plus_00_dot_35 - object + Bowl_bar__plus_01_dot_50_bar__plus_00_dot_94_bar__plus_01_dot_67 - object + Bowl_bar__minus_00_dot_97_bar__plus_01_dot_50_bar__plus_00_dot_20 - object + Bowl_bar__minus_01_dot_08_bar__plus_01_dot_95_bar__plus_01_dot_92 - object + Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_27 - object + 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loc_bar_0_bar_0_bar_3_bar_60 - location + loc_bar_3_bar_10_bar_1_bar_45 - location + loc_bar_2_bar__minus_4_bar_2_bar_15 - location + loc_bar_1_bar_6_bar_1_bar__minus_15 - location + loc_bar_0_bar_9_bar_3_bar_45 - location + loc_bar_3_bar_1_bar_1_bar_30 - location + loc_bar__minus_1_bar_7_bar_3_bar_45 - location + loc_bar_3_bar_1_bar_1_bar__minus_30 - location + loc_bar_1_bar_11_bar_3_bar_60 - location + loc_bar_0_bar__minus_2_bar_3_bar__minus_30 - location + loc_bar__minus_1_bar_5_bar_3_bar_60 - location + loc_bar__minus_1_bar_10_bar_3_bar_45 - location + loc_bar_1_bar_5_bar_1_bar_45 - location + loc_bar_1_bar_5_bar_3_bar_60 - location + loc_bar_0_bar_3_bar_3_bar_45 - location + loc_bar_4_bar_5_bar_1_bar_60 - location + loc_bar__minus_1_bar_3_bar_3_bar__minus_30 - location + loc_bar_3_bar_10_bar_1_bar_60 - location + loc_bar_3_bar_10_bar_1_bar__minus_15 - location + loc_bar_2_bar_1_bar_1_bar_60 - location + loc_bar_4_bar_7_bar_1_bar__minus_15 - location + loc_bar__minus_1_bar_7_bar_3_bar_60 - location + loc_bar_0_bar_7_bar_3_bar__minus_30 - location + loc_bar_4_bar_6_bar_1_bar_15 - location + loc_bar_4_bar_7_bar_1_bar_60 - location + loc_bar__minus_1_bar_10_bar_0_bar_60 - location + loc_bar_1_bar_11_bar_0_bar_0 - location + loc_bar__minus_1_bar_6_bar_3_bar_60 - location + loc_bar_3_bar_8_bar_1_bar_45 - location + loc_bar_2_bar_3_bar_1_bar_45 - location + loc_bar_1_bar_5_bar_1_bar__minus_15 - location + loc_bar__minus_1_bar_10_bar_3_bar__minus_15 - location + loc_bar_3_bar_3_bar_1_bar__minus_30 - location + loc_bar__minus_1_bar_4_bar_3_bar_45 - location + loc_bar_1_bar_9_bar_1_bar_45 - location + loc_bar__minus_1_bar_7_bar_3_bar__minus_15 - location + loc_bar__minus_1_bar_6_bar_3_bar_45 - location + loc_bar_0_bar_8_bar_3_bar__minus_30 - location + loc_bar_4_bar_5_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_00_dot_63 CabinetType) + (receptacleType 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Potato_bar__plus_01_dot_75_bar__plus_00_dot_97_bar__plus_01_dot_89) + (heatable Cup_bar__plus_01_dot_70_bar__plus_01_dot_95_bar__plus_01_dot_88) + (heatable Mug_bar__minus_01_dot_08_bar__plus_01_dot_82_bar__plus_00_dot_41) + (heatable Potato_bar__minus_01_dot_04_bar__plus_00_dot_97_bar__plus_00_dot_84) + (heatable Tomato_bar__minus_00_dot_97_bar__plus_01_dot_56_bar__minus_00_dot_11) + (heatable Cup_bar__plus_01_dot_39_bar__plus_00_dot_84_bar__plus_01_dot_40) + (heatable Tomato_bar__minus_01_dot_21_bar__plus_01_dot_00_bar__plus_02_dot_16) + (heatable Cup_bar__plus_01_dot_31_bar__plus_00_dot_08_bar__plus_02_dot_46) + (heatable Tomato_bar__minus_01_dot_13_bar__plus_01_dot_00_bar__plus_01_dot_00) + (heatable Apple_bar__minus_00_dot_92_bar__plus_01_dot_37_bar__plus_00_dot_35) + (heatable Apple_bar__plus_01_dot_39_bar__plus_00_dot_12_bar__plus_02_dot_85) + (heatable Plate_bar__plus_01_dot_38_bar__plus_01_dot_06_bar__plus_00_dot_01) + (heatable Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_27) + (coolable Apple_bar__plus_01_dot_59_bar__plus_01_dot_65_bar__plus_01_dot_81) + (coolable Egg_bar__minus_00_dot_83_bar__plus_01_dot_53_bar__plus_00_dot_04) + (coolable Mug_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__plus_00_dot_69) + (coolable Potato_bar__plus_01_dot_75_bar__plus_00_dot_97_bar__plus_01_dot_89) + (coolable Bowl_bar__minus_01_dot_08_bar__plus_01_dot_95_bar__plus_01_dot_92) + (coolable Cup_bar__plus_01_dot_70_bar__plus_01_dot_95_bar__plus_01_dot_88) + (coolable Lettuce_bar__minus_00_dot_94_bar__plus_00_dot_66_bar__plus_00_dot_04) + (coolable Mug_bar__minus_01_dot_08_bar__plus_01_dot_82_bar__plus_00_dot_41) + (coolable Potato_bar__minus_01_dot_04_bar__plus_00_dot_97_bar__plus_00_dot_84) + (coolable Tomato_bar__minus_00_dot_97_bar__plus_01_dot_56_bar__minus_00_dot_11) + (coolable Cup_bar__plus_01_dot_39_bar__plus_00_dot_84_bar__plus_01_dot_40) + (coolable 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Pan_bar__minus_00_dot_80_bar__plus_00_dot_08_bar__plus_02_dot_46) + + + + + + (sliceable Apple_bar__plus_01_dot_59_bar__plus_01_dot_65_bar__plus_01_dot_81) + (sliceable Egg_bar__minus_00_dot_83_bar__plus_01_dot_53_bar__plus_00_dot_04) + (sliceable Potato_bar__plus_01_dot_75_bar__plus_00_dot_97_bar__plus_01_dot_89) + (sliceable Lettuce_bar__minus_00_dot_94_bar__plus_00_dot_66_bar__plus_00_dot_04) + (sliceable Potato_bar__minus_01_dot_04_bar__plus_00_dot_97_bar__plus_00_dot_84) + (sliceable Tomato_bar__minus_00_dot_97_bar__plus_01_dot_56_bar__minus_00_dot_11) + (sliceable Lettuce_bar__plus_01_dot_36_bar__plus_01_dot_03_bar__plus_01_dot_01) + (sliceable Tomato_bar__minus_01_dot_21_bar__plus_01_dot_00_bar__plus_02_dot_16) + (sliceable Tomato_bar__minus_01_dot_13_bar__plus_01_dot_00_bar__plus_01_dot_00) + (sliceable Apple_bar__minus_00_dot_92_bar__plus_01_dot_37_bar__plus_00_dot_35) + (sliceable Apple_bar__plus_01_dot_39_bar__plus_00_dot_12_bar__plus_02_dot_85) + (sliceable Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_27) + + (inReceptacle PepperShaker_bar__minus_00_dot_71_bar__plus_00_dot_93_bar__plus_02_dot_61 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_02_dot_39) + (inReceptacle Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_27 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_02_dot_39) + (inReceptacle Tomato_bar__minus_01_dot_21_bar__plus_01_dot_00_bar__plus_02_dot_16 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_02_dot_39) + (inReceptacle Fork_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__plus_02_dot_31 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_02_dot_39) + (inReceptacle Fork_bar__minus_00_dot_69_bar__plus_00_dot_75_bar__plus_02_dot_52 Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_02_dot_38) + (inReceptacle Spatula_bar__minus_00_dot_83_bar__plus_00_dot_76_bar__plus_02_dot_52 Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_02_dot_38) + (inReceptacle Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_47 StoveBurner_bar__minus_01_dot_11_bar__plus_00_dot_92_bar__plus_01_dot_47) + (inReceptacle ButterKnife_bar__plus_01_dot_38_bar__plus_00_dot_74_bar__plus_02_dot_23 Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_02_dot_39) + (inReceptacle ButterKnife_bar__plus_01_dot_59_bar__plus_00_dot_94_bar__plus_00_dot_94 CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31) + (inReceptacle SaltShaker_bar__plus_01_dot_73_bar__plus_00_dot_93_bar__plus_01_dot_67 CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31) + (inReceptacle DishSponge_bar__plus_01_dot_29_bar__plus_00_dot_94_bar__plus_02_dot_60 CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31) + (inReceptacle Potato_bar__plus_01_dot_75_bar__plus_00_dot_97_bar__plus_01_dot_89 CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31) + (inReceptacle Lettuce_bar__plus_01_dot_36_bar__plus_01_dot_03_bar__plus_01_dot_01 CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31) + (inReceptacle Plate_bar__plus_01_dot_38_bar__plus_01_dot_06_bar__plus_00_dot_01 Cabinet_bar__plus_01_dot_22_bar__plus_01_dot_39_bar__plus_00_dot_59) + (inReceptacle Cup_bar__plus_01_dot_31_bar__plus_00_dot_08_bar__plus_02_dot_46 Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_02_dot_11) + (inReceptacle SoapBottle_bar__plus_01_dot_31_bar__plus_00_dot_10_bar__plus_00_dot_07 Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_55_bar__plus_00_dot_59) + (inReceptacle Mug_bar__minus_01_dot_08_bar__plus_01_dot_82_bar__plus_00_dot_41 Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_00_dot_58) + (inReceptacle Bowl_bar__minus_01_dot_08_bar__plus_01_dot_95_bar__plus_01_dot_92 Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_02_dot_08) + 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Potato_bar__minus_01_dot_04_bar__plus_00_dot_97_bar__plus_00_dot_84 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92) + (inReceptacle Mug_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__plus_00_dot_69 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92) + (inReceptacle ButterKnife_bar__minus_00_dot_88_bar__plus_00_dot_94_bar__plus_01_dot_08 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92) + (inReceptacle SaltShaker_bar__minus_01_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_77 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92) + (inReceptacle SoapBottle_bar__minus_01_dot_04_bar__plus_00_dot_94_bar__plus_01_dot_15 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92) + (inReceptacle Tomato_bar__minus_01_dot_13_bar__plus_01_dot_00_bar__plus_01_dot_00 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92) + (inReceptacle Knife_bar__plus_01_dot_48_bar__plus_00_dot_77_bar__plus_00_dot_92 Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_00_dot_92) + (inReceptacle PepperShaker_bar__plus_01_dot_38_bar__plus_00_dot_74_bar__plus_01_dot_05 Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_00_dot_92) + (inReceptacle Knife_bar__plus_01_dot_45_bar__plus_00_dot_77_bar__plus_00_dot_78 Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_00_dot_92) + (inReceptacle Spatula_bar__plus_01_dot_28_bar__plus_00_dot_76_bar__plus_00_dot_98 Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_00_dot_92) + (inReceptacle Lettuce_bar__minus_00_dot_94_bar__plus_00_dot_66_bar__plus_00_dot_04 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12) + (inReceptacle Apple_bar__minus_00_dot_92_bar__plus_01_dot_37_bar__plus_00_dot_35 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12) + (inReceptacle Egg_bar__minus_00_dot_83_bar__plus_01_dot_53_bar__plus_00_dot_04 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12) + (inReceptacle Bowl_bar__minus_00_dot_97_bar__plus_01_dot_50_bar__plus_00_dot_20 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12) + (inReceptacle Tomato_bar__minus_00_dot_97_bar__plus_01_dot_56_bar__minus_00_dot_11 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12) + (inReceptacle Apple_bar__plus_01_dot_39_bar__plus_00_dot_12_bar__plus_02_dot_85 GarbageCan_bar__plus_01_dot_45_bar__plus_00_dot_00_bar__plus_02_dot_91) + (inReceptacle Apple_bar__plus_01_dot_59_bar__plus_01_dot_65_bar__plus_01_dot_81 Microwave_bar__plus_01_dot_63_bar__plus_01_dot_48_bar__plus_01_dot_65) + (inReceptacle Cup_bar__plus_01_dot_39_bar__plus_00_dot_84_bar__plus_01_dot_40 Sink_bar__plus_01_dot_54_bar__plus_00_dot_87_bar__plus_01_dot_64_bar_SinkBasin) + + + (receptacleAtLocation Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_00_dot_63 loc_bar_1_bar_5_bar_1_bar_45) + (receptacleAtLocation 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"position": { + "x": -0.689004064, + "y": 0.747385561, + "z": 2.51703739 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_2b7ef926", + "position": { + "x": -1.211005, + "y": 0.999118, + "z": 2.159162 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_01d32d7f", + "position": { + "x": -1.0753144, + "y": 1.94630635, + "z": 1.92461956 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pot_b82a625f", + "position": { + "x": -1.109, + "y": 0.9307289, + "z": 1.4704 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spatula_733b0828", + "position": { + "x": -0.7106551, + "y": 0.9528999, + "z": 0.9986881 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_8aa9254c", + "position": { + "x": 1.44873142, + "y": 0.7688297, + "z": 0.780662537 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, 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}, + "rotation": { + "x": -0.000114635426, + "y": -4.55809677e-05, + "z": -1.37511124e-05 + } + }, + { + "objectName": "DishSponge_a0f18af8", + "position": { + "x": 1.28540039, + "y": 0.937464237, + "z": 2.59703 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Egg_83ce1479", + "position": { + "x": -0.830147445, + "y": 1.53448272, + "z": 0.0423490331 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Cup_0e044937", + "position": { + "x": 1.3142451, + "y": 0.0808171, + "z": 2.46233249 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pan_9f7abbea", + "position": { + "x": -0.804073453, + "y": 0.08180481, + "z": 2.456895 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_5fe99c37", + "position": { + "x": 1.40962565, + "y": 0.9458269, + "z": 1.71495056 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_c6f8cd8f", + "position": { + "x": -1.12628, + "y": 0.9329, + "z": 0.6879356 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2035749333, + "scene_num": 12 + }, + "task_id": "trial_T20190910_225228_723273", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3T9K2RY06UO14_34QN5IT0T2871SXFJ9J2C637XSZ80Q", + "high_descs": [ + "Turn and go to the sink. ", + "Pick up the potato by the sink. ", + "Turn and go to the microwave above the sink. ", + "Cook the potato in the microwave and take the potato out of the microwave.", + "Turn left and go to the trash can by the counter. ", + "Throw the potato in the trash can. " + ], + "task_desc": "Throw the microwaved potato in the trash can. ", + "votes": [ + 1, + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1DMXEJGJY02E1_3KV0LJBBH52AMBJI7NC01K5PQNHRMP", + "high_descs": [ + "Turn left and stand to the left of the coffee maker.", + "Pick up the potato from the counter.", + "Move to the right and stand in front of the microwave.", + "Heat the potato in the microwave and take it out.", + "Turn left and go to the trash can.", + "Throw away the potato." + ], + "task_desc": "Throw away a heated potato.", + "votes": [ + 1, + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1ZE52NWZPN85P_38YMOXR4MXGD54FCJ1FPZNGKS8TW6B", + "high_descs": [ + "Turn around and face right", + "Pick up a potato off of the kitchen counter", + "Move to your left so you are facing the sink", + "Put the potato in the microwave and pick it back up after cooking it for a few seconds", + "Walk to your left and then turn to your right, facing the trash", + "Throw the potato in the trash can" + ], + "task_desc": "Throw away a heated up potato", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AD0NVUGLDYDYN_37TRT2X24T8X5WW88TDILD844BQJBF", + "high_descs": [ + "turn left, walk to the sink", + "grab the potato by the sink", + "walk to the right a little", + "open the microwave, put the potato in, heat the potato, take the potato out", + "turn left, walk to the trash bin in the corner", + "put the potato in the trash bin" + ], + "task_desc": "heat the potato in the microwave, put the potato in the trash bin", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AM2KK02JXXW48_3GNA64GUZHLC23JC296EFSKY84OQ5S", + "high_descs": [ + "Turn around and head to the coffee machine.", + "Pick up the potato to the right of the coffee machine.", + "Bring the potato to the microwave on the right. ", + "Heat the potato in the microwave.", + "Bring the heated potato to the trash can on the left.", + "Put the potato in the trash can." + ], + "task_desc": "Put a heated potato in the trash can. ", + "votes": [ + 1, + 1, + 0, + 1, + 0, + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-AlarmClock-None-Dresser-318/trial_T20190908_032459_936721/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-AlarmClock-None-Dresser-318/trial_T20190908_032459_936721/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..e9c084b4d765c012704fbf6ca3f70d0687cf409b --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-AlarmClock-None-Dresser-318/trial_T20190908_032459_936721/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 alarmclock in 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_T20190908_032459_936721)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n AlarmClock_bar__plus_02_dot_10_bar__plus_00_dot_73_bar__plus_00_dot_24 - object\n AlarmClock_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_99 - object\n AlarmClock_bar__minus_00_dot_78_bar__plus_00_dot_68_bar__plus_01_dot_80 - object\n AlarmClock_bar__minus_00_dot_78_bar__plus_00_dot_68_bar__plus_02_dot_18 - object\n Blinds_bar__plus_01_dot_55_bar__plus_02_dot_44_bar__minus_01_dot_89 - object\n Book_bar__minus_00_dot_60_bar__plus_01_dot_50_bar__minus_00_dot_94 - object\n Book_bar__minus_00_dot_67_bar__plus_00_dot_07_bar__plus_02_dot_31 - object\n Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29 - object\n CD_bar__plus_01_dot_93_bar__plus_00_dot_44_bar__plus_01_dot_88 - object\n CD_bar__minus_00_dot_60_bar__plus_00_dot_07_bar__plus_02_dot_02 - object\n CD_bar__minus_00_dot_67_bar__plus_00_dot_98_bar__minus_01_dot_60 - object\n CellPhone_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_25 - object\n Chair_bar__plus_01_dot_48_bar__plus_00_dot_43_bar__plus_00_dot_22 - object\n Chair_bar__minus_00_dot_25_bar__plus_00_dot_43_bar__plus_01_dot_46 - object\n CreditCard_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_02_dot_73 - object\n CreditCard_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_32 - object\n DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 - object\n KeyChain_bar__plus_01_dot_66_bar__plus_00_dot_32_bar__minus_00_dot_64 - object\n KeyChain_bar__plus_01_dot_84_bar__plus_00_dot_43_bar__plus_01_dot_51 - object\n KeyChain_bar__minus_00_dot_67_bar__plus_00_dot_67_bar__plus_02_dot_82 - object\n Laptop_bar__minus_00_dot_63_bar__plus_01_dot_84_bar__plus_01_dot_91 - object\n Laptop_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_03_dot_08 - object\n LightSwitch_bar__plus_02_dot_20_bar__plus_01_dot_26_bar__plus_01_dot_99 - object\n Mirror_bar__plus_02_dot_23_bar__plus_01_dot_26_bar__plus_02_dot_66 - object\n Mug_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_62 - object\n Mug_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_01_dot_25 - object\n Painting_bar__plus_02_dot_20_bar__plus_01_dot_77_bar__minus_00_dot_10 - object\n Pencil_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_03_dot_08 - object\n Pencil_bar__minus_00_dot_68_bar__plus_00_dot_52_bar__plus_02_dot_09 - object\n Pen_bar__plus_01_dot_52_bar__plus_00_dot_73_bar__plus_00_dot_73 - object\n Pen_bar__minus_00_dot_59_bar__plus_00_dot_07_bar__plus_03_dot_04 - object\n Pen_bar__minus_00_dot_64_bar__plus_00_dot_51_bar__plus_02_dot_79 - object\n Pillow_bar__minus_00_dot_63_bar__plus_01_dot_87_bar__plus_03_dot_05 - object\n Pillow_bar__minus_00_dot_83_bar__plus_01_dot_55_bar__minus_01_dot_53 - object\n TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23 - object\n Window_bar__plus_01_dot_58_bar__plus_01_dot_56_bar__minus_01_dot_95 - object\n ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61 - receptacle\n Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92 - receptacle\n Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17 - receptacle\n Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53 - receptacle\n Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12 - receptacle\n Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80 - receptacle\n Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36 - receptacle\n Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78 - receptacle\n Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36 - receptacle\n Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78 - receptacle\n Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36 - receptacle\n Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78 - receptacle\n Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24 - receptacle\n Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96 - receptacle\n Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96 - receptacle\n Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96 - receptacle\n Drawer_bar__minus_00_dot_70_bar__plus_00_dot_22_bar__minus_01_dot_32 - receptacle\n Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32 - receptacle\n Drawer_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_01_dot_32 - receptacle\n Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97 - receptacle\n Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31 - receptacle\n GarbageCan_bar__plus_02_dot_03_bar__plus_00_dot_00_bar__minus_01_dot_19 - receptacle\n loc_bar_1_bar_7_bar_0_bar_45 - location\n loc_bar_2_bar__minus_4_bar_1_bar_60 - location\n loc_bar_1_bar__minus_5_bar_3_bar_60 - location\n loc_bar_1_bar__minus_1_bar_3_bar_60 - location\n loc_bar__minus_4_bar_2_bar_3_bar_60 - location\n loc_bar_2_bar__minus_1_bar_1_bar_45 - location\n loc_bar_6_bar__minus_5_bar_2_bar_15 - location\n loc_bar_3_bar__minus_3_bar_1_bar_45 - location\n loc_bar_1_bar_5_bar_0_bar_45 - location\n loc_bar_7_bar_10_bar_2_bar_45 - location\n loc_bar_4_bar_0_bar_1_bar_0 - location\n loc_bar_6_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar_2_bar_11_bar_3_bar_45 - location\n loc_bar_1_bar__minus_5_bar_3_bar_45 - location\n loc_bar_1_bar_6_bar_3_bar_60 - location\n loc_bar_4_bar_1_bar_1_bar_60 - location\n loc_bar_1_bar_7_bar_3_bar_60 - location\n loc_bar_7_bar_11_bar_1_bar_45 - location\n loc_bar_2_bar__minus_3_bar_1_bar_45 - location\n loc_bar_1_bar_8_bar_3_bar_60 - location\n loc_bar_2_bar__minus_1_bar_1_bar_60 - location\n loc_bar_4_bar_9_bar_3_bar_0 - location\n loc_bar_4_bar_6_bar_1_bar_60 - location\n loc_bar_3_bar__minus_2_bar_1_bar_45 - location\n loc_bar_2_bar_7_bar_3_bar_60 - location\n loc_bar_1_bar_12_bar_3_bar_60 - location\n loc_bar_1_bar__minus_3_bar_3_bar_60 - location\n loc_bar_1_bar_8_bar_0_bar_60 - location\n loc_bar_6_bar__minus_5_bar_1_bar_60 - location\n loc_bar_2_bar__minus_5_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_01_dot_32 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96 DrawerType)\n (receptacleType Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31 DresserType)\n (receptacleType GarbageCan_bar__plus_02_dot_03_bar__plus_00_dot_00_bar__minus_01_dot_19 GarbageCanType)\n (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_70_bar__plus_00_dot_22_bar__minus_01_dot_32 DrawerType)\n (receptacleType Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17 BedType)\n (receptacleType Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97 DresserType)\n (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32 DrawerType)\n (receptacleType Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12 DeskType)\n (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53 CabinetType)\n (receptacleType Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92 BedType)\n (receptacleType Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80 DeskType)\n (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96 DrawerType)\n (receptacleType ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61 ArmChairType)\n (objectType CreditCard_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_02_dot_73 CreditCardType)\n (objectType Mug_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_01_dot_25 MugType)\n (objectType CellPhone_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_25 CellPhoneType)\n (objectType Pencil_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_03_dot_08 PencilType)\n (objectType Chair_bar__minus_00_dot_25_bar__plus_00_dot_43_bar__plus_01_dot_46 ChairType)\n (objectType Book_bar__minus_00_dot_60_bar__plus_01_dot_50_bar__minus_00_dot_94 BookType)\n (objectType Pencil_bar__minus_00_dot_68_bar__plus_00_dot_52_bar__plus_02_dot_09 PencilType)\n (objectType KeyChain_bar__plus_01_dot_84_bar__plus_00_dot_43_bar__plus_01_dot_51 KeyChainType)\n (objectType CD_bar__minus_00_dot_67_bar__plus_00_dot_98_bar__minus_01_dot_60 CDType)\n (objectType DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 DeskLampType)\n (objectType CD_bar__plus_01_dot_93_bar__plus_00_dot_44_bar__plus_01_dot_88 CDType)\n (objectType Pen_bar__plus_01_dot_52_bar__plus_00_dot_73_bar__plus_00_dot_73 PenType)\n (objectType CreditCard_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_32 CreditCardType)\n (objectType KeyChain_bar__minus_00_dot_67_bar__plus_00_dot_67_bar__plus_02_dot_82 KeyChainType)\n (objectType Chair_bar__plus_01_dot_48_bar__plus_00_dot_43_bar__plus_00_dot_22 ChairType)\n (objectType Window_bar__plus_01_dot_58_bar__plus_01_dot_56_bar__minus_01_dot_95 WindowType)\n (objectType Painting_bar__plus_02_dot_20_bar__plus_01_dot_77_bar__minus_00_dot_10 PaintingType)\n (objectType Mug_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_62 MugType)\n (objectType CD_bar__minus_00_dot_60_bar__plus_00_dot_07_bar__plus_02_dot_02 CDType)\n (objectType AlarmClock_bar__plus_02_dot_10_bar__plus_00_dot_73_bar__plus_00_dot_24 AlarmClockType)\n (objectType Laptop_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_03_dot_08 LaptopType)\n (objectType Pillow_bar__minus_00_dot_63_bar__plus_01_dot_87_bar__plus_03_dot_05 PillowType)\n (objectType Laptop_bar__minus_00_dot_63_bar__plus_01_dot_84_bar__plus_01_dot_91 LaptopType)\n (objectType LightSwitch_bar__plus_02_dot_20_bar__plus_01_dot_26_bar__plus_01_dot_99 LightSwitchType)\n (objectType AlarmClock_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_99 AlarmClockType)\n (objectType KeyChain_bar__plus_01_dot_66_bar__plus_00_dot_32_bar__minus_00_dot_64 KeyChainType)\n (objectType Mirror_bar__plus_02_dot_23_bar__plus_01_dot_26_bar__plus_02_dot_66 MirrorType)\n (objectType Pen_bar__minus_00_dot_59_bar__plus_00_dot_07_bar__plus_03_dot_04 PenType)\n (objectType Blinds_bar__plus_01_dot_55_bar__plus_02_dot_44_bar__minus_01_dot_89 BlindsType)\n (objectType Pillow_bar__minus_00_dot_83_bar__plus_01_dot_55_bar__minus_01_dot_53 PillowType)\n (objectType AlarmClock_bar__minus_00_dot_78_bar__plus_00_dot_68_bar__plus_01_dot_80 AlarmClockType)\n (objectType TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23 TennisRacketType)\n (objectType Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29 BoxType)\n (objectType Pen_bar__minus_00_dot_64_bar__plus_00_dot_51_bar__plus_02_dot_79 PenType)\n (objectType AlarmClock_bar__minus_00_dot_78_bar__plus_00_dot_68_bar__plus_02_dot_18 AlarmClockType)\n (objectType Book_bar__minus_00_dot_67_bar__plus_00_dot_07_bar__plus_02_dot_31 BookType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DresserType PenType)\n (canContain DresserType BookType)\n (canContain DresserType CDType)\n (canContain DresserType MugType)\n (canContain DresserType BoxType)\n (canContain DresserType CellPhoneType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType TennisRacketType)\n (canContain DresserType LaptopType)\n (canContain DresserType PencilType)\n (canContain DresserType AlarmClockType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain BedType TennisRacketType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain DresserType PenType)\n (canContain DresserType BookType)\n (canContain DresserType CDType)\n (canContain DresserType MugType)\n (canContain DresserType BoxType)\n (canContain DresserType CellPhoneType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType TennisRacketType)\n (canContain DresserType LaptopType)\n (canContain DresserType PencilType)\n (canContain DresserType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DeskType PenType)\n (canContain DeskType BookType)\n (canContain DeskType CDType)\n (canContain DeskType MugType)\n (canContain DeskType BoxType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType TennisRacketType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType MugType)\n (canContain CabinetType BoxType)\n (canContain BedType TennisRacketType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain DeskType PenType)\n (canContain DeskType BookType)\n (canContain DeskType CDType)\n (canContain DeskType MugType)\n (canContain DeskType BoxType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType TennisRacketType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType BookType)\n (canContain ArmChairType CellPhoneType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType CreditCardType)\n (pickupable CreditCard_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_02_dot_73)\n (pickupable Mug_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_01_dot_25)\n (pickupable CellPhone_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_25)\n (pickupable Pencil_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_03_dot_08)\n (pickupable Book_bar__minus_00_dot_60_bar__plus_01_dot_50_bar__minus_00_dot_94)\n (pickupable Pencil_bar__minus_00_dot_68_bar__plus_00_dot_52_bar__plus_02_dot_09)\n (pickupable KeyChain_bar__plus_01_dot_84_bar__plus_00_dot_43_bar__plus_01_dot_51)\n (pickupable CD_bar__minus_00_dot_67_bar__plus_00_dot_98_bar__minus_01_dot_60)\n (pickupable CD_bar__plus_01_dot_93_bar__plus_00_dot_44_bar__plus_01_dot_88)\n (pickupable Pen_bar__plus_01_dot_52_bar__plus_00_dot_73_bar__plus_00_dot_73)\n (pickupable CreditCard_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_32)\n (pickupable KeyChain_bar__minus_00_dot_67_bar__plus_00_dot_67_bar__plus_02_dot_82)\n (pickupable Mug_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_62)\n (pickupable CD_bar__minus_00_dot_60_bar__plus_00_dot_07_bar__plus_02_dot_02)\n (pickupable AlarmClock_bar__plus_02_dot_10_bar__plus_00_dot_73_bar__plus_00_dot_24)\n (pickupable Laptop_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_03_dot_08)\n (pickupable Pillow_bar__minus_00_dot_63_bar__plus_01_dot_87_bar__plus_03_dot_05)\n (pickupable Laptop_bar__minus_00_dot_63_bar__plus_01_dot_84_bar__plus_01_dot_91)\n (pickupable AlarmClock_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_99)\n (pickupable KeyChain_bar__plus_01_dot_66_bar__plus_00_dot_32_bar__minus_00_dot_64)\n (pickupable Pen_bar__minus_00_dot_59_bar__plus_00_dot_07_bar__plus_03_dot_04)\n (pickupable Pillow_bar__minus_00_dot_83_bar__plus_01_dot_55_bar__minus_01_dot_53)\n (pickupable AlarmClock_bar__minus_00_dot_78_bar__plus_00_dot_68_bar__plus_01_dot_80)\n (pickupable TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23)\n (pickupable Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29)\n (pickupable Pen_bar__minus_00_dot_64_bar__plus_00_dot_51_bar__plus_02_dot_79)\n (pickupable AlarmClock_bar__minus_00_dot_78_bar__plus_00_dot_68_bar__plus_02_dot_18)\n (pickupable Book_bar__minus_00_dot_67_bar__plus_00_dot_07_bar__plus_02_dot_31)\n (isReceptacleObject Mug_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_01_dot_25)\n (isReceptacleObject Mug_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_62)\n (isReceptacleObject Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29)\n (openable Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96)\n (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36)\n (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78)\n (openable Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24)\n (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78)\n (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36)\n (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78)\n (openable Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96)\n (openable Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53)\n (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36)\n (openable Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96)\n \n (atLocation agent1 loc_bar_2_bar__minus_5_bar_0_bar_30)\n \n (cleanable Mug_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_01_dot_25)\n (cleanable Mug_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_62)\n \n (heatable Mug_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_01_dot_25)\n (heatable Mug_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_62)\n (coolable Mug_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_01_dot_25)\n (coolable Mug_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_62)\n \n \n (toggleable DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71)\n \n \n \n \n (inReceptacle Pencil_bar__minus_00_dot_68_bar__plus_00_dot_52_bar__plus_02_dot_09 Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24)\n (inReceptacle Pillow_bar__minus_00_dot_63_bar__plus_01_dot_87_bar__plus_03_dot_05 Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17)\n (inReceptacle Laptop_bar__minus_00_dot_63_bar__plus_01_dot_84_bar__plus_01_dot_91 Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17)\n (inReceptacle KeyChain_bar__plus_01_dot_84_bar__plus_00_dot_43_bar__plus_01_dot_51 ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61)\n (inReceptacle CD_bar__plus_01_dot_93_bar__plus_00_dot_44_bar__plus_01_dot_88 ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61)\n (inReceptacle Book_bar__minus_00_dot_67_bar__plus_00_dot_07_bar__plus_02_dot_31 Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53)\n (inReceptacle AlarmClock_bar__minus_00_dot_78_bar__plus_00_dot_68_bar__plus_01_dot_80 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80)\n (inReceptacle Mug_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_01_dot_25 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80)\n (inReceptacle CellPhone_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_25 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80)\n (inReceptacle AlarmClock_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_99 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80)\n (inReceptacle AlarmClock_bar__minus_00_dot_78_bar__plus_00_dot_68_bar__plus_02_dot_18 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80)\n (inReceptacle Mug_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_62 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80)\n (inReceptacle Pillow_bar__minus_00_dot_83_bar__plus_01_dot_55_bar__minus_01_dot_53 Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92)\n (inReceptacle Book_bar__minus_00_dot_60_bar__plus_01_dot_50_bar__minus_00_dot_94 Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92)\n (inReceptacle KeyChain_bar__plus_01_dot_66_bar__plus_00_dot_32_bar__minus_00_dot_64 Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78)\n (inReceptacle CreditCard_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_02_dot_73 Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97)\n (inReceptacle Pencil_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_03_dot_08 Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97)\n (inReceptacle Laptop_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_03_dot_08 Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97)\n (inReceptacle KeyChain_bar__minus_00_dot_67_bar__plus_00_dot_67_bar__plus_02_dot_82 Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97)\n (inReceptacle CD_bar__minus_00_dot_67_bar__plus_00_dot_98_bar__minus_01_dot_60 Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31)\n (inReceptacle CreditCard_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_32 Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31)\n (inReceptacle Pen_bar__minus_00_dot_59_bar__plus_00_dot_07_bar__plus_03_dot_04 Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96)\n (inReceptacle Pen_bar__minus_00_dot_64_bar__plus_00_dot_51_bar__plus_02_dot_79 Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96)\n (inReceptacle DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12)\n (inReceptacle AlarmClock_bar__plus_02_dot_10_bar__plus_00_dot_73_bar__plus_00_dot_24 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12)\n (inReceptacle Pen_bar__plus_01_dot_52_bar__plus_00_dot_73_bar__plus_00_dot_73 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12)\n \n \n (receptacleAtLocation ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61 loc_bar_4_bar_6_bar_1_bar_60)\n (receptacleAtLocation Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92 loc_bar_1_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17 loc_bar_4_bar_9_bar_3_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53 loc_bar_2_bar_7_bar_3_bar_60)\n (receptacleAtLocation Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12 loc_bar_4_bar_1_bar_1_bar_60)\n (receptacleAtLocation Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80 loc_bar_1_bar_7_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36 loc_bar_2_bar__minus_4_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78 loc_bar_2_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36 loc_bar_2_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78 loc_bar_2_bar__minus_1_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36 loc_bar_3_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78 loc_bar_3_bar__minus_2_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24 loc_bar_1_bar_5_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96 loc_bar_1_bar_7_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96 loc_bar_1_bar_8_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96 loc_bar_2_bar_11_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_22_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_45)\n (receptacleAtLocation Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97 loc_bar_1_bar_12_bar_3_bar_60)\n (receptacleAtLocation Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31 loc_bar_1_bar__minus_5_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_02_dot_03_bar__plus_00_dot_00_bar__minus_01_dot_19 loc_bar_6_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Mug_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_01_dot_25 loc_bar_1_bar_7_bar_3_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_03_dot_08 loc_bar_1_bar_12_bar_3_bar_60)\n (objectAtLocation Pencil_bar__minus_00_dot_68_bar__plus_00_dot_52_bar__plus_02_dot_09 loc_bar_1_bar_5_bar_0_bar_45)\n (objectAtLocation CD_bar__plus_01_dot_93_bar__plus_00_dot_44_bar__plus_01_dot_88 loc_bar_4_bar_6_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_60)\n (objectAtLocation KeyChain_bar__plus_01_dot_66_bar__plus_00_dot_32_bar__minus_00_dot_64 loc_bar_2_bar__minus_1_bar_1_bar_45)\n (objectAtLocation AlarmClock_bar__plus_02_dot_10_bar__plus_00_dot_73_bar__plus_00_dot_24 loc_bar_4_bar_1_bar_1_bar_60)\n (objectAtLocation Pen_bar__minus_00_dot_59_bar__plus_00_dot_07_bar__plus_03_dot_04 loc_bar_1_bar_7_bar_0_bar_45)\n (objectAtLocation Book_bar__minus_00_dot_67_bar__plus_00_dot_07_bar__plus_02_dot_31 loc_bar_2_bar_7_bar_3_bar_60)\n (objectAtLocation AlarmClock_bar__minus_00_dot_78_bar__plus_00_dot_68_bar__plus_01_dot_80 loc_bar_1_bar_7_bar_3_bar_60)\n (objectAtLocation AlarmClock_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_99 loc_bar_1_bar_7_bar_3_bar_60)\n (objectAtLocation KeyChain_bar__plus_01_dot_84_bar__plus_00_dot_43_bar__plus_01_dot_51 loc_bar_4_bar_6_bar_1_bar_60)\n (objectAtLocation Pen_bar__plus_01_dot_52_bar__plus_00_dot_73_bar__plus_00_dot_73 loc_bar_4_bar_1_bar_1_bar_60)\n (objectAtLocation CD_bar__minus_00_dot_60_bar__plus_00_dot_07_bar__plus_02_dot_02 loc_bar_1_bar_8_bar_3_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_25_bar__plus_00_dot_43_bar__plus_01_dot_46 loc_bar_1_bar_6_bar_3_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_60_bar__plus_01_dot_50_bar__minus_00_dot_94 loc_bar_1_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Chair_bar__plus_01_dot_48_bar__plus_00_dot_43_bar__plus_00_dot_22 loc_bar_4_bar_1_bar_1_bar_60)\n (objectAtLocation Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29 loc_bar_1_bar__minus_1_bar_3_bar_60)\n (objectAtLocation DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 loc_bar_4_bar_1_bar_1_bar_60)\n (objectAtLocation TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23 loc_bar__minus_4_bar_2_bar_3_bar_60)\n (objectAtLocation Pen_bar__minus_00_dot_64_bar__plus_00_dot_51_bar__plus_02_dot_79 loc_bar_2_bar_11_bar_3_bar_45)\n (objectAtLocation AlarmClock_bar__minus_00_dot_78_bar__plus_00_dot_68_bar__plus_02_dot_18 loc_bar_1_bar_7_bar_3_bar_60)\n (objectAtLocation Pillow_bar__minus_00_dot_63_bar__plus_01_dot_87_bar__plus_03_dot_05 loc_bar_4_bar_9_bar_3_bar_0)\n (objectAtLocation Pillow_bar__minus_00_dot_83_bar__plus_01_dot_55_bar__minus_01_dot_53 loc_bar_1_bar__minus_3_bar_3_bar_60)\n (objectAtLocation CellPhone_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_25 loc_bar_1_bar_7_bar_3_bar_60)\n (objectAtLocation Painting_bar__plus_02_dot_20_bar__plus_01_dot_77_bar__minus_00_dot_10 loc_bar_4_bar_0_bar_1_bar_0)\n (objectAtLocation KeyChain_bar__minus_00_dot_67_bar__plus_00_dot_67_bar__plus_02_dot_82 loc_bar_1_bar_12_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_02_dot_73 loc_bar_1_bar_12_bar_3_bar_60)\n (objectAtLocation Mirror_bar__plus_02_dot_23_bar__plus_01_dot_26_bar__plus_02_dot_66 loc_bar_7_bar_11_bar_1_bar_45)\n (objectAtLocation CD_bar__minus_00_dot_67_bar__plus_00_dot_98_bar__minus_01_dot_60 loc_bar_1_bar__minus_5_bar_3_bar_60)\n (objectAtLocation LightSwitch_bar__plus_02_dot_20_bar__plus_01_dot_26_bar__plus_01_dot_99 loc_bar_7_bar_10_bar_2_bar_45)\n (objectAtLocation Window_bar__plus_01_dot_58_bar__plus_01_dot_56_bar__minus_01_dot_95 loc_bar_6_bar__minus_5_bar_2_bar_15)\n (objectAtLocation Pencil_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_03_dot_08 loc_bar_1_bar_12_bar_3_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_63_bar__plus_01_dot_84_bar__plus_01_dot_91 loc_bar_4_bar_9_bar_3_bar_0)\n (objectAtLocation Mug_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_62 loc_bar_1_bar_7_bar_3_bar_60)\n (objectAtLocation Blinds_bar__plus_01_dot_55_bar__plus_02_dot_44_bar__minus_01_dot_89 loc_bar_6_bar__minus_5_bar_2_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 AlarmClockType)\n (receptacleType ?r DresserType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 AlarmClockType)\n (receptacleType ?r DresserType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to desk 2", "take alarmclock 4 from desk 2", "go to dresser 2", "move alarmclock 4 to dresser 2", "go to desk 2", "take alarmclock 3 from desk 2", "go to dresser 2", "move alarmclock 3 to dresser 2"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-AlarmClock-None-Dresser-318/trial_T20190908_032459_936721/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-AlarmClock-None-Dresser-318/trial_T20190908_032459_936721/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..f83ebe492f183752c0c13fb6a5d0d461e133b9cd --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-AlarmClock-None-Dresser-318/trial_T20190908_032459_936721/initial_state.pddl @@ -0,0 +1,681 @@ + +(define (problem plan_trial_T20190908_032459_936721) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + AlarmClock_bar__plus_02_dot_10_bar__plus_00_dot_73_bar__plus_00_dot_24 - object + AlarmClock_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_99 - object + AlarmClock_bar__minus_00_dot_78_bar__plus_00_dot_68_bar__plus_01_dot_80 - object + AlarmClock_bar__minus_00_dot_78_bar__plus_00_dot_68_bar__plus_02_dot_18 - object + Blinds_bar__plus_01_dot_55_bar__plus_02_dot_44_bar__minus_01_dot_89 - object + Book_bar__minus_00_dot_60_bar__plus_01_dot_50_bar__minus_00_dot_94 - object + Book_bar__minus_00_dot_67_bar__plus_00_dot_07_bar__plus_02_dot_31 - object + Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29 - object + CD_bar__plus_01_dot_93_bar__plus_00_dot_44_bar__plus_01_dot_88 - object + CD_bar__minus_00_dot_60_bar__plus_00_dot_07_bar__plus_02_dot_02 - object + CD_bar__minus_00_dot_67_bar__plus_00_dot_98_bar__minus_01_dot_60 - object + CellPhone_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_25 - object + Chair_bar__plus_01_dot_48_bar__plus_00_dot_43_bar__plus_00_dot_22 - object + Chair_bar__minus_00_dot_25_bar__plus_00_dot_43_bar__plus_01_dot_46 - object + CreditCard_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_02_dot_73 - object + CreditCard_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_32 - object + DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 - object + KeyChain_bar__plus_01_dot_66_bar__plus_00_dot_32_bar__minus_00_dot_64 - object + KeyChain_bar__plus_01_dot_84_bar__plus_00_dot_43_bar__plus_01_dot_51 - object + KeyChain_bar__minus_00_dot_67_bar__plus_00_dot_67_bar__plus_02_dot_82 - object + Laptop_bar__minus_00_dot_63_bar__plus_01_dot_84_bar__plus_01_dot_91 - object + Laptop_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_03_dot_08 - object + LightSwitch_bar__plus_02_dot_20_bar__plus_01_dot_26_bar__plus_01_dot_99 - object + Mirror_bar__plus_02_dot_23_bar__plus_01_dot_26_bar__plus_02_dot_66 - object + Mug_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_62 - object + Mug_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_01_dot_25 - object + Painting_bar__plus_02_dot_20_bar__plus_01_dot_77_bar__minus_00_dot_10 - object + Pencil_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_03_dot_08 - object + Pencil_bar__minus_00_dot_68_bar__plus_00_dot_52_bar__plus_02_dot_09 - object + Pen_bar__plus_01_dot_52_bar__plus_00_dot_73_bar__plus_00_dot_73 - object + Pen_bar__minus_00_dot_59_bar__plus_00_dot_07_bar__plus_03_dot_04 - object + Pen_bar__minus_00_dot_64_bar__plus_00_dot_51_bar__plus_02_dot_79 - object + Pillow_bar__minus_00_dot_63_bar__plus_01_dot_87_bar__plus_03_dot_05 - object + Pillow_bar__minus_00_dot_83_bar__plus_01_dot_55_bar__minus_01_dot_53 - object + TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23 - object + Window_bar__plus_01_dot_58_bar__plus_01_dot_56_bar__minus_01_dot_95 - object + ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61 - receptacle + Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92 - receptacle + Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17 - receptacle + Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53 - receptacle + Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12 - receptacle + Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80 - receptacle + Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36 - receptacle + Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78 - receptacle + Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36 - receptacle + Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78 - receptacle + Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36 - receptacle + Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78 - receptacle + Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24 - receptacle + Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96 - receptacle + Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96 - receptacle + Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96 - receptacle + Drawer_bar__minus_00_dot_70_bar__plus_00_dot_22_bar__minus_01_dot_32 - receptacle + Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32 - receptacle + Drawer_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_01_dot_32 - receptacle + Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97 - receptacle + Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31 - receptacle + GarbageCan_bar__plus_02_dot_03_bar__plus_00_dot_00_bar__minus_01_dot_19 - receptacle + loc_bar_1_bar_7_bar_0_bar_45 - location + loc_bar_2_bar__minus_4_bar_1_bar_60 - location + loc_bar_1_bar__minus_5_bar_3_bar_60 - location + loc_bar_1_bar__minus_1_bar_3_bar_60 - location + loc_bar__minus_4_bar_2_bar_3_bar_60 - location + loc_bar_2_bar__minus_1_bar_1_bar_45 - location + loc_bar_6_bar__minus_5_bar_2_bar_15 - location + loc_bar_3_bar__minus_3_bar_1_bar_45 - location + loc_bar_1_bar_5_bar_0_bar_45 - location + loc_bar_7_bar_10_bar_2_bar_45 - location + loc_bar_4_bar_0_bar_1_bar_0 - location + loc_bar_6_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_2_bar_11_bar_3_bar_45 - location + loc_bar_1_bar__minus_5_bar_3_bar_45 - location + loc_bar_1_bar_6_bar_3_bar_60 - location + loc_bar_4_bar_1_bar_1_bar_60 - location + loc_bar_1_bar_7_bar_3_bar_60 - location + loc_bar_7_bar_11_bar_1_bar_45 - location + loc_bar_2_bar__minus_3_bar_1_bar_45 - location + loc_bar_1_bar_8_bar_3_bar_60 - location + loc_bar_2_bar__minus_1_bar_1_bar_60 - location + loc_bar_4_bar_9_bar_3_bar_0 - location + loc_bar_4_bar_6_bar_1_bar_60 - location + loc_bar_3_bar__minus_2_bar_1_bar_45 - location + loc_bar_2_bar_7_bar_3_bar_60 - location + loc_bar_1_bar_12_bar_3_bar_60 - location + loc_bar_1_bar__minus_3_bar_3_bar_60 - location + loc_bar_1_bar_8_bar_0_bar_60 - location + loc_bar_6_bar__minus_5_bar_1_bar_60 - location + loc_bar_2_bar__minus_5_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_01_dot_32 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96 DrawerType) + (receptacleType Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31 DresserType) + (receptacleType GarbageCan_bar__plus_02_dot_03_bar__plus_00_dot_00_bar__minus_01_dot_19 GarbageCanType) + (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_70_bar__plus_00_dot_22_bar__minus_01_dot_32 DrawerType) + (receptacleType Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17 BedType) + (receptacleType Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97 DresserType) + (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32 DrawerType) + (receptacleType Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12 DeskType) + (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96 DrawerType) + (receptacleType Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53 CabinetType) + (receptacleType Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92 BedType) + (receptacleType Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80 DeskType) + (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96 DrawerType) + (receptacleType ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61 ArmChairType) + (objectType CreditCard_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_02_dot_73 CreditCardType) + (objectType Mug_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_01_dot_25 MugType) + (objectType CellPhone_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_25 CellPhoneType) + (objectType Pencil_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_03_dot_08 PencilType) + (objectType Chair_bar__minus_00_dot_25_bar__plus_00_dot_43_bar__plus_01_dot_46 ChairType) + (objectType Book_bar__minus_00_dot_60_bar__plus_01_dot_50_bar__minus_00_dot_94 BookType) + (objectType Pencil_bar__minus_00_dot_68_bar__plus_00_dot_52_bar__plus_02_dot_09 PencilType) + (objectType KeyChain_bar__plus_01_dot_84_bar__plus_00_dot_43_bar__plus_01_dot_51 KeyChainType) + (objectType CD_bar__minus_00_dot_67_bar__plus_00_dot_98_bar__minus_01_dot_60 CDType) + (objectType DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 DeskLampType) + (objectType CD_bar__plus_01_dot_93_bar__plus_00_dot_44_bar__plus_01_dot_88 CDType) + (objectType Pen_bar__plus_01_dot_52_bar__plus_00_dot_73_bar__plus_00_dot_73 PenType) + (objectType CreditCard_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_32 CreditCardType) + (objectType KeyChain_bar__minus_00_dot_67_bar__plus_00_dot_67_bar__plus_02_dot_82 KeyChainType) + (objectType Chair_bar__plus_01_dot_48_bar__plus_00_dot_43_bar__plus_00_dot_22 ChairType) + (objectType Window_bar__plus_01_dot_58_bar__plus_01_dot_56_bar__minus_01_dot_95 WindowType) + (objectType Painting_bar__plus_02_dot_20_bar__plus_01_dot_77_bar__minus_00_dot_10 PaintingType) + (objectType Mug_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_62 MugType) + (objectType CD_bar__minus_00_dot_60_bar__plus_00_dot_07_bar__plus_02_dot_02 CDType) + (objectType AlarmClock_bar__plus_02_dot_10_bar__plus_00_dot_73_bar__plus_00_dot_24 AlarmClockType) + (objectType Laptop_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_03_dot_08 LaptopType) + (objectType Pillow_bar__minus_00_dot_63_bar__plus_01_dot_87_bar__plus_03_dot_05 PillowType) + (objectType Laptop_bar__minus_00_dot_63_bar__plus_01_dot_84_bar__plus_01_dot_91 LaptopType) + (objectType LightSwitch_bar__plus_02_dot_20_bar__plus_01_dot_26_bar__plus_01_dot_99 LightSwitchType) + (objectType AlarmClock_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_99 AlarmClockType) + (objectType KeyChain_bar__plus_01_dot_66_bar__plus_00_dot_32_bar__minus_00_dot_64 KeyChainType) + (objectType Mirror_bar__plus_02_dot_23_bar__plus_01_dot_26_bar__plus_02_dot_66 MirrorType) + (objectType Pen_bar__minus_00_dot_59_bar__plus_00_dot_07_bar__plus_03_dot_04 PenType) + (objectType Blinds_bar__plus_01_dot_55_bar__plus_02_dot_44_bar__minus_01_dot_89 BlindsType) + (objectType Pillow_bar__minus_00_dot_83_bar__plus_01_dot_55_bar__minus_01_dot_53 PillowType) + (objectType AlarmClock_bar__minus_00_dot_78_bar__plus_00_dot_68_bar__plus_01_dot_80 AlarmClockType) + (objectType TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23 TennisRacketType) + (objectType Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29 BoxType) + (objectType Pen_bar__minus_00_dot_64_bar__plus_00_dot_51_bar__plus_02_dot_79 PenType) + (objectType AlarmClock_bar__minus_00_dot_78_bar__plus_00_dot_68_bar__plus_02_dot_18 AlarmClockType) + (objectType Book_bar__minus_00_dot_67_bar__plus_00_dot_07_bar__plus_02_dot_31 BookType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DresserType PenType) + (canContain DresserType BookType) + (canContain DresserType CDType) + (canContain DresserType MugType) + (canContain DresserType BoxType) + (canContain DresserType CellPhoneType) + (canContain DresserType KeyChainType) + (canContain DresserType CreditCardType) + (canContain DresserType TennisRacketType) + (canContain DresserType LaptopType) + (canContain DresserType PencilType) + (canContain DresserType AlarmClockType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType CDType) + (canContain GarbageCanType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain BedType TennisRacketType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (canContain DresserType PenType) + (canContain DresserType BookType) + (canContain DresserType CDType) + (canContain DresserType MugType) + (canContain DresserType BoxType) + (canContain DresserType CellPhoneType) + (canContain DresserType KeyChainType) + (canContain DresserType CreditCardType) + (canContain DresserType TennisRacketType) + (canContain DresserType LaptopType) + (canContain DresserType PencilType) + (canContain DresserType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DeskType PenType) + (canContain DeskType 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(canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain CabinetType BookType) + (canContain CabinetType CDType) + (canContain CabinetType MugType) + (canContain CabinetType BoxType) + (canContain BedType TennisRacketType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (canContain DeskType PenType) + (canContain DeskType BookType) + (canContain DeskType CDType) + (canContain DeskType MugType) + (canContain DeskType BoxType) + (canContain DeskType CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (canContain DeskType TennisRacketType) + (canContain DeskType LaptopType) + (canContain DeskType PencilType) + (canContain DeskType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType BookType) + (canContain ArmChairType CellPhoneType) + (canContain ArmChairType PillowType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (pickupable CreditCard_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_02_dot_73) + (pickupable Mug_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_01_dot_25) + (pickupable CellPhone_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_25) + (pickupable Pencil_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_03_dot_08) + (pickupable Book_bar__minus_00_dot_60_bar__plus_01_dot_50_bar__minus_00_dot_94) + (pickupable Pencil_bar__minus_00_dot_68_bar__plus_00_dot_52_bar__plus_02_dot_09) + (pickupable KeyChain_bar__plus_01_dot_84_bar__plus_00_dot_43_bar__plus_01_dot_51) + (pickupable CD_bar__minus_00_dot_67_bar__plus_00_dot_98_bar__minus_01_dot_60) + (pickupable CD_bar__plus_01_dot_93_bar__plus_00_dot_44_bar__plus_01_dot_88) + (pickupable Pen_bar__plus_01_dot_52_bar__plus_00_dot_73_bar__plus_00_dot_73) + (pickupable CreditCard_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_32) + (pickupable KeyChain_bar__minus_00_dot_67_bar__plus_00_dot_67_bar__plus_02_dot_82) + (pickupable Mug_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_62) + (pickupable CD_bar__minus_00_dot_60_bar__plus_00_dot_07_bar__plus_02_dot_02) + (pickupable AlarmClock_bar__plus_02_dot_10_bar__plus_00_dot_73_bar__plus_00_dot_24) + (pickupable Laptop_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_03_dot_08) + (pickupable Pillow_bar__minus_00_dot_63_bar__plus_01_dot_87_bar__plus_03_dot_05) + (pickupable Laptop_bar__minus_00_dot_63_bar__plus_01_dot_84_bar__plus_01_dot_91) + (pickupable AlarmClock_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_99) + (pickupable KeyChain_bar__plus_01_dot_66_bar__plus_00_dot_32_bar__minus_00_dot_64) + (pickupable Pen_bar__minus_00_dot_59_bar__plus_00_dot_07_bar__plus_03_dot_04) + (pickupable Pillow_bar__minus_00_dot_83_bar__plus_01_dot_55_bar__minus_01_dot_53) + (pickupable AlarmClock_bar__minus_00_dot_78_bar__plus_00_dot_68_bar__plus_01_dot_80) + (pickupable TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23) + (pickupable Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29) + (pickupable Pen_bar__minus_00_dot_64_bar__plus_00_dot_51_bar__plus_02_dot_79) + (pickupable AlarmClock_bar__minus_00_dot_78_bar__plus_00_dot_68_bar__plus_02_dot_18) + (pickupable Book_bar__minus_00_dot_67_bar__plus_00_dot_07_bar__plus_02_dot_31) + (isReceptacleObject Mug_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_01_dot_25) + (isReceptacleObject Mug_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_62) + (isReceptacleObject Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29) + (openable Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96) + (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36) + (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78) + (openable Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24) + (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78) + (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36) + (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78) + (openable Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96) + (openable Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53) + (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36) + (openable Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96) + + (atLocation agent1 loc_bar_2_bar__minus_5_bar_0_bar_30) + + (cleanable Mug_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_01_dot_25) + (cleanable Mug_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_62) + + (heatable Mug_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_01_dot_25) + (heatable Mug_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_62) + (coolable Mug_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_01_dot_25) + (coolable Mug_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_62) + + + (toggleable DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71) + + + + + (inReceptacle Pencil_bar__minus_00_dot_68_bar__plus_00_dot_52_bar__plus_02_dot_09 Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24) + (inReceptacle Pillow_bar__minus_00_dot_63_bar__plus_01_dot_87_bar__plus_03_dot_05 Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17) + (inReceptacle Laptop_bar__minus_00_dot_63_bar__plus_01_dot_84_bar__plus_01_dot_91 Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17) + (inReceptacle KeyChain_bar__plus_01_dot_84_bar__plus_00_dot_43_bar__plus_01_dot_51 ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61) + (inReceptacle CD_bar__plus_01_dot_93_bar__plus_00_dot_44_bar__plus_01_dot_88 ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61) + (inReceptacle Book_bar__minus_00_dot_67_bar__plus_00_dot_07_bar__plus_02_dot_31 Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53) + (inReceptacle AlarmClock_bar__minus_00_dot_78_bar__plus_00_dot_68_bar__plus_01_dot_80 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80) + (inReceptacle Mug_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_01_dot_25 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80) + (inReceptacle CellPhone_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_25 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80) + (inReceptacle AlarmClock_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_99 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80) + (inReceptacle AlarmClock_bar__minus_00_dot_78_bar__plus_00_dot_68_bar__plus_02_dot_18 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80) + (inReceptacle Mug_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_62 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80) + (inReceptacle Pillow_bar__minus_00_dot_83_bar__plus_01_dot_55_bar__minus_01_dot_53 Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92) + (inReceptacle Book_bar__minus_00_dot_60_bar__plus_01_dot_50_bar__minus_00_dot_94 Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92) + (inReceptacle KeyChain_bar__plus_01_dot_66_bar__plus_00_dot_32_bar__minus_00_dot_64 Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78) + (inReceptacle CreditCard_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_02_dot_73 Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97) + (inReceptacle Pencil_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_03_dot_08 Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97) + (inReceptacle Laptop_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_03_dot_08 Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97) + (inReceptacle KeyChain_bar__minus_00_dot_67_bar__plus_00_dot_67_bar__plus_02_dot_82 Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97) + (inReceptacle CD_bar__minus_00_dot_67_bar__plus_00_dot_98_bar__minus_01_dot_60 Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31) + (inReceptacle CreditCard_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_32 Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31) + (inReceptacle Pen_bar__minus_00_dot_59_bar__plus_00_dot_07_bar__plus_03_dot_04 Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96) + (inReceptacle Pen_bar__minus_00_dot_64_bar__plus_00_dot_51_bar__plus_02_dot_79 Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96) + (inReceptacle DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12) + (inReceptacle AlarmClock_bar__plus_02_dot_10_bar__plus_00_dot_73_bar__plus_00_dot_24 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12) + (inReceptacle Pen_bar__plus_01_dot_52_bar__plus_00_dot_73_bar__plus_00_dot_73 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12) + + + (receptacleAtLocation ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61 loc_bar_4_bar_6_bar_1_bar_60) + (receptacleAtLocation Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92 loc_bar_1_bar__minus_3_bar_3_bar_60) + (receptacleAtLocation Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17 loc_bar_4_bar_9_bar_3_bar_0) + (receptacleAtLocation Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53 loc_bar_2_bar_7_bar_3_bar_60) + (receptacleAtLocation Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12 loc_bar_4_bar_1_bar_1_bar_60) + (receptacleAtLocation Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80 loc_bar_1_bar_7_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36 loc_bar_2_bar__minus_4_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78 loc_bar_2_bar__minus_1_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36 loc_bar_2_bar__minus_3_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78 loc_bar_2_bar__minus_1_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36 loc_bar_3_bar__minus_3_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78 loc_bar_3_bar__minus_2_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24 loc_bar_1_bar_5_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96 loc_bar_1_bar_7_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96 loc_bar_1_bar_8_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96 loc_bar_2_bar_11_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_22_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_45) + (receptacleAtLocation Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97 loc_bar_1_bar_12_bar_3_bar_60) + (receptacleAtLocation Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31 loc_bar_1_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_02_dot_03_bar__plus_00_dot_00_bar__minus_01_dot_19 loc_bar_6_bar__minus_5_bar_1_bar_60) + (objectAtLocation Mug_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_01_dot_25 loc_bar_1_bar_7_bar_3_bar_60) + (objectAtLocation Laptop_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_03_dot_08 loc_bar_1_bar_12_bar_3_bar_60) + (objectAtLocation Pencil_bar__minus_00_dot_68_bar__plus_00_dot_52_bar__plus_02_dot_09 loc_bar_1_bar_5_bar_0_bar_45) + (objectAtLocation CD_bar__plus_01_dot_93_bar__plus_00_dot_44_bar__plus_01_dot_88 loc_bar_4_bar_6_bar_1_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_60) + (objectAtLocation KeyChain_bar__plus_01_dot_66_bar__plus_00_dot_32_bar__minus_00_dot_64 loc_bar_2_bar__minus_1_bar_1_bar_45) + (objectAtLocation AlarmClock_bar__plus_02_dot_10_bar__plus_00_dot_73_bar__plus_00_dot_24 loc_bar_4_bar_1_bar_1_bar_60) + (objectAtLocation Pen_bar__minus_00_dot_59_bar__plus_00_dot_07_bar__plus_03_dot_04 loc_bar_1_bar_7_bar_0_bar_45) + (objectAtLocation Book_bar__minus_00_dot_67_bar__plus_00_dot_07_bar__plus_02_dot_31 loc_bar_2_bar_7_bar_3_bar_60) + (objectAtLocation AlarmClock_bar__minus_00_dot_78_bar__plus_00_dot_68_bar__plus_01_dot_80 loc_bar_1_bar_7_bar_3_bar_60) + (objectAtLocation AlarmClock_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_99 loc_bar_1_bar_7_bar_3_bar_60) + (objectAtLocation KeyChain_bar__plus_01_dot_84_bar__plus_00_dot_43_bar__plus_01_dot_51 loc_bar_4_bar_6_bar_1_bar_60) + (objectAtLocation Pen_bar__plus_01_dot_52_bar__plus_00_dot_73_bar__plus_00_dot_73 loc_bar_4_bar_1_bar_1_bar_60) + (objectAtLocation CD_bar__minus_00_dot_60_bar__plus_00_dot_07_bar__plus_02_dot_02 loc_bar_1_bar_8_bar_3_bar_60) + (objectAtLocation Chair_bar__minus_00_dot_25_bar__plus_00_dot_43_bar__plus_01_dot_46 loc_bar_1_bar_6_bar_3_bar_60) + (objectAtLocation Book_bar__minus_00_dot_60_bar__plus_01_dot_50_bar__minus_00_dot_94 loc_bar_1_bar__minus_3_bar_3_bar_60) + (objectAtLocation Chair_bar__plus_01_dot_48_bar__plus_00_dot_43_bar__plus_00_dot_22 loc_bar_4_bar_1_bar_1_bar_60) + (objectAtLocation Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29 loc_bar_1_bar__minus_1_bar_3_bar_60) + (objectAtLocation DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 loc_bar_4_bar_1_bar_1_bar_60) + (objectAtLocation TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23 loc_bar__minus_4_bar_2_bar_3_bar_60) + (objectAtLocation Pen_bar__minus_00_dot_64_bar__plus_00_dot_51_bar__plus_02_dot_79 loc_bar_2_bar_11_bar_3_bar_45) + (objectAtLocation AlarmClock_bar__minus_00_dot_78_bar__plus_00_dot_68_bar__plus_02_dot_18 loc_bar_1_bar_7_bar_3_bar_60) + (objectAtLocation Pillow_bar__minus_00_dot_63_bar__plus_01_dot_87_bar__plus_03_dot_05 loc_bar_4_bar_9_bar_3_bar_0) + (objectAtLocation Pillow_bar__minus_00_dot_83_bar__plus_01_dot_55_bar__minus_01_dot_53 loc_bar_1_bar__minus_3_bar_3_bar_60) + (objectAtLocation CellPhone_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_25 loc_bar_1_bar_7_bar_3_bar_60) + (objectAtLocation Painting_bar__plus_02_dot_20_bar__plus_01_dot_77_bar__minus_00_dot_10 loc_bar_4_bar_0_bar_1_bar_0) + (objectAtLocation KeyChain_bar__minus_00_dot_67_bar__plus_00_dot_67_bar__plus_02_dot_82 loc_bar_1_bar_12_bar_3_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_02_dot_73 loc_bar_1_bar_12_bar_3_bar_60) + (objectAtLocation Mirror_bar__plus_02_dot_23_bar__plus_01_dot_26_bar__plus_02_dot_66 loc_bar_7_bar_11_bar_1_bar_45) + (objectAtLocation CD_bar__minus_00_dot_67_bar__plus_00_dot_98_bar__minus_01_dot_60 loc_bar_1_bar__minus_5_bar_3_bar_60) + (objectAtLocation LightSwitch_bar__plus_02_dot_20_bar__plus_01_dot_26_bar__plus_01_dot_99 loc_bar_7_bar_10_bar_2_bar_45) + (objectAtLocation Window_bar__plus_01_dot_58_bar__plus_01_dot_56_bar__minus_01_dot_95 loc_bar_6_bar__minus_5_bar_2_bar_15) + (objectAtLocation Pencil_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_03_dot_08 loc_bar_1_bar_12_bar_3_bar_60) + (objectAtLocation Laptop_bar__minus_00_dot_63_bar__plus_01_dot_84_bar__plus_01_dot_91 loc_bar_4_bar_9_bar_3_bar_0) + (objectAtLocation Mug_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_62 loc_bar_1_bar_7_bar_3_bar_60) + (objectAtLocation Blinds_bar__plus_01_dot_55_bar__plus_02_dot_44_bar__minus_01_dot_89 loc_bar_6_bar__minus_5_bar_2_bar__minus_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 AlarmClockType) + (receptacleType ?r DresserType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 AlarmClockType) + (receptacleType ?r DresserType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-AlarmClock-None-Dresser-318/trial_T20190908_032459_936721/traj_data.json b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-AlarmClock-None-Dresser-318/trial_T20190908_032459_936721/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..d0bd532479eedaf3a8a76291917828c66a0376c4 --- 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"position": { + "x": -0.679945648, + "y": 0.51975, + "z": 2.09440637 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Laptop_425b94ea", + "position": { + "x": -0.8556831, + "y": 0.6671691, + "z": 3.07568932 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Mug_31b7f025", + "position": { + "x": -0.603166342, + "y": 0.6757, + "z": 1.2452215 + }, + "rotation": { + "x": 0.0, + "y": 89.9998245, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 446410229, + "scene_num": 318 + }, + "task_id": "trial_T20190908_032459_936721", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1O3TWBUDONVLO_3KKG4CDWKLFOELYQ72CIO5OVYQN94I", + "high_descs": [ + "Walk forward across the room and then turn left to face the table.", + "Pick up the clock the is on the left in the back.", + "Take a step to the right and face the clock in front of the lap top.", + "Place the clock in front of the lap top on the table.", + "Take a step to the left and face the clocks on the table.", + "Pick up the clock on the right on the table.", + "Take a step to the right and face the clock in front of the lap top.", + "Place the clock to the right of the original clock." + ], + "task_desc": "To move two clocks from one side of the table to the other.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AKW57KYG90X61_3KYQYYSHYYO4L4LP22WTOZDQ6ZQDOV", + "high_descs": [ + "move forward towards the shelf", + "pick up the clock from the shelf", + "move right on the shelf", + "drop the clock on the shelf", + "move left towards the shelf", + "pick up the clock", + "move right on the shelf", + "drop the clock on the shelf" + ], + "task_desc": "drop two clocks on the shelf", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1HXEXQTZCJ1DW_3R6P78PK7NSNAG0O09J0OUMAI20TGQ", + "high_descs": [ + "walk towards the wall and turn left to face the desk", + "pick up an alarm clock from the desk", + "turn right and walk over to the edge of the desk. turn to face the desk", + "place the alarm clock in front of the computer", + "turn left and walk back to retrieve another alarm clock from the desk", + "pick up another clock from the desk", + "turn around to walk to the edge of the desk with the computer", + "place the alarm clock in front of the computer" + ], + "task_desc": "place two alarm clocks in front of the computer", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-AlarmClock-None-Dresser-318/trial_T20190919_024636_931517/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-AlarmClock-None-Dresser-318/trial_T20190919_024636_931517/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..a4e2d9c11bbeca3a2d9d9f33f9426a8fcf874a6d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-AlarmClock-None-Dresser-318/trial_T20190919_024636_931517/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: find two alarmclock and put them in 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_T20190919_024636_931517)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n AlarmClock_bar__plus_01_dot_81_bar__plus_00_dot_73_bar__plus_00_dot_48 - object\n AlarmClock_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_25 - object\n AlarmClock_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_99 - object\n AlarmClock_bar__minus_00_dot_69_bar__plus_00_dot_68_bar__plus_01_dot_80 - object\n Blinds_bar__plus_01_dot_55_bar__plus_02_dot_44_bar__minus_01_dot_89 - object\n Book_bar__minus_00_dot_60_bar__plus_00_dot_07_bar__plus_02_dot_16 - object\n Book_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_32 - object\n Book_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 - object\n Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29 - object\n CD_bar__plus_01_dot_42_bar__plus_00_dot_43_bar__plus_01_dot_61 - object\n CellPhone_bar__plus_01_dot_72_bar__plus_00_dot_11_bar__minus_00_dot_78 - object\n Chair_bar__plus_01_dot_48_bar__plus_00_dot_43_bar__plus_00_dot_22 - object\n Chair_bar__minus_00_dot_25_bar__plus_00_dot_43_bar__plus_01_dot_46 - object\n CreditCard_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_02_dot_36 - object\n DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 - object\n KeyChain_bar__plus_01_dot_66_bar__plus_00_dot_11_bar__minus_00_dot_50 - object\n KeyChain_bar__minus_00_dot_56_bar__plus_00_dot_42_bar__minus_01_dot_57 - object\n Laptop_bar__plus_01_dot_80_bar__plus_00_dot_72_bar__minus_00_dot_63 - object\n Laptop_bar__minus_00_dot_60_bar__plus_01_dot_50_bar__minus_00_dot_72 - object\n Laptop_bar__minus_01_dot_14_bar__plus_01_dot_50_bar__minus_00_dot_50 - object\n LightSwitch_bar__plus_02_dot_20_bar__plus_01_dot_26_bar__plus_01_dot_99 - object\n Mirror_bar__plus_02_dot_23_bar__plus_01_dot_26_bar__plus_02_dot_66 - object\n Mug_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_03_dot_08 - object\n Mug_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_02_dot_18 - object\n Painting_bar__plus_02_dot_20_bar__plus_01_dot_77_bar__minus_00_dot_10 - object\n Pencil_bar__plus_01_dot_66_bar__plus_00_dot_32_bar__minus_00_dot_32 - object\n Pen_bar__plus_01_dot_81_bar__plus_00_dot_73_bar__plus_00_dot_73 - object\n Pen_bar__plus_01_dot_91_bar__plus_00_dot_73_bar__plus_00_dot_24 - object\n Pillow_bar__minus_00_dot_63_bar__plus_01_dot_87_bar__plus_03_dot_05 - object\n Pillow_bar__minus_00_dot_83_bar__plus_01_dot_55_bar__minus_01_dot_53 - object\n TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23 - object\n Window_bar__plus_01_dot_58_bar__plus_01_dot_56_bar__minus_01_dot_95 - object\n ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61 - receptacle\n Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92 - receptacle\n Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17 - receptacle\n Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53 - receptacle\n Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12 - receptacle\n Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80 - receptacle\n Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36 - receptacle\n Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78 - receptacle\n Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36 - receptacle\n Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78 - receptacle\n Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36 - receptacle\n Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78 - receptacle\n Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24 - receptacle\n Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96 - receptacle\n Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96 - receptacle\n Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96 - receptacle\n Drawer_bar__minus_00_dot_70_bar__plus_00_dot_22_bar__minus_01_dot_32 - receptacle\n Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32 - receptacle\n Drawer_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_01_dot_32 - receptacle\n Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97 - receptacle\n Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31 - receptacle\n GarbageCan_bar__plus_02_dot_03_bar__plus_00_dot_00_bar__minus_01_dot_19 - receptacle\n loc_bar_1_bar_7_bar_0_bar_45 - location\n loc_bar_2_bar__minus_4_bar_1_bar_60 - location\n loc_bar_1_bar__minus_5_bar_3_bar_60 - location\n loc_bar_1_bar__minus_1_bar_3_bar_60 - location\n loc_bar__minus_4_bar_2_bar_3_bar_60 - location\n loc_bar_2_bar__minus_1_bar_1_bar_45 - location\n loc_bar_6_bar__minus_5_bar_2_bar_15 - location\n loc_bar_3_bar__minus_3_bar_1_bar_45 - location\n loc_bar_1_bar_5_bar_0_bar_45 - location\n loc_bar_7_bar_10_bar_2_bar_45 - location\n loc_bar_4_bar_0_bar_1_bar_0 - location\n loc_bar_6_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar_2_bar_11_bar_3_bar_45 - location\n loc_bar_1_bar__minus_5_bar_3_bar_45 - location\n loc_bar_1_bar_6_bar_3_bar_60 - location\n loc_bar_4_bar_1_bar_1_bar_60 - location\n loc_bar_1_bar_7_bar_3_bar_60 - location\n loc_bar_7_bar_11_bar_1_bar_45 - location\n loc_bar_2_bar__minus_3_bar_1_bar_45 - location\n loc_bar_2_bar__minus_1_bar_1_bar_60 - location\n loc_bar_4_bar_9_bar_3_bar_0 - location\n loc_bar_4_bar_6_bar_1_bar_60 - location\n loc_bar_3_bar__minus_2_bar_1_bar_45 - location\n loc_bar_2_bar_7_bar_3_bar_60 - location\n loc_bar_1_bar_12_bar_3_bar_60 - location\n loc_bar_1_bar__minus_3_bar_3_bar_60 - location\n loc_bar_1_bar_8_bar_0_bar_60 - location\n loc_bar_6_bar__minus_5_bar_1_bar_60 - location\n loc_bar_4_bar_12_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_01_dot_32 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96 DrawerType)\n (receptacleType Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31 DresserType)\n (receptacleType GarbageCan_bar__plus_02_dot_03_bar__plus_00_dot_00_bar__minus_01_dot_19 GarbageCanType)\n (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_70_bar__plus_00_dot_22_bar__minus_01_dot_32 DrawerType)\n (receptacleType Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17 BedType)\n (receptacleType Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97 DresserType)\n (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32 DrawerType)\n (receptacleType Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12 DeskType)\n (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53 CabinetType)\n (receptacleType Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92 BedType)\n (receptacleType Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80 DeskType)\n (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96 DrawerType)\n (receptacleType ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61 ArmChairType)\n (objectType Laptop_bar__minus_00_dot_60_bar__plus_01_dot_50_bar__minus_00_dot_72 LaptopType)\n (objectType KeyChain_bar__minus_00_dot_56_bar__plus_00_dot_42_bar__minus_01_dot_57 KeyChainType)\n (objectType Book_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_32 BookType)\n (objectType AlarmClock_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_25 AlarmClockType)\n (objectType Mug_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_02_dot_18 MugType)\n (objectType Chair_bar__minus_00_dot_25_bar__plus_00_dot_43_bar__plus_01_dot_46 ChairType)\n (objectType CreditCard_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_02_dot_36 CreditCardType)\n (objectType AlarmClock_bar__minus_00_dot_69_bar__plus_00_dot_68_bar__plus_01_dot_80 AlarmClockType)\n (objectType DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 DeskLampType)\n (objectType KeyChain_bar__plus_01_dot_66_bar__plus_00_dot_11_bar__minus_00_dot_50 KeyChainType)\n (objectType AlarmClock_bar__plus_01_dot_81_bar__plus_00_dot_73_bar__plus_00_dot_48 AlarmClockType)\n (objectType Chair_bar__plus_01_dot_48_bar__plus_00_dot_43_bar__plus_00_dot_22 ChairType)\n (objectType Window_bar__plus_01_dot_58_bar__plus_01_dot_56_bar__minus_01_dot_95 WindowType)\n (objectType Painting_bar__plus_02_dot_20_bar__plus_01_dot_77_bar__minus_00_dot_10 PaintingType)\n (objectType Pen_bar__plus_01_dot_91_bar__plus_00_dot_73_bar__plus_00_dot_24 PenType)\n (objectType Laptop_bar__plus_01_dot_80_bar__plus_00_dot_72_bar__minus_00_dot_63 LaptopType)\n (objectType Book_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 BookType)\n (objectType CD_bar__plus_01_dot_42_bar__plus_00_dot_43_bar__plus_01_dot_61 CDType)\n (objectType Pillow_bar__minus_00_dot_63_bar__plus_01_dot_87_bar__plus_03_dot_05 PillowType)\n (objectType Mug_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_03_dot_08 MugType)\n (objectType LightSwitch_bar__plus_02_dot_20_bar__plus_01_dot_26_bar__plus_01_dot_99 LightSwitchType)\n (objectType AlarmClock_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_99 AlarmClockType)\n (objectType Mirror_bar__plus_02_dot_23_bar__plus_01_dot_26_bar__plus_02_dot_66 MirrorType)\n (objectType Book_bar__minus_00_dot_60_bar__plus_00_dot_07_bar__plus_02_dot_16 BookType)\n (objectType Blinds_bar__plus_01_dot_55_bar__plus_02_dot_44_bar__minus_01_dot_89 BlindsType)\n (objectType Pillow_bar__minus_00_dot_83_bar__plus_01_dot_55_bar__minus_01_dot_53 PillowType)\n (objectType TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23 TennisRacketType)\n (objectType Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29 BoxType)\n (objectType Pen_bar__plus_01_dot_81_bar__plus_00_dot_73_bar__plus_00_dot_73 PenType)\n (objectType CellPhone_bar__plus_01_dot_72_bar__plus_00_dot_11_bar__minus_00_dot_78 CellPhoneType)\n (objectType Laptop_bar__minus_01_dot_14_bar__plus_01_dot_50_bar__minus_00_dot_50 LaptopType)\n (objectType Pencil_bar__plus_01_dot_66_bar__plus_00_dot_32_bar__minus_00_dot_32 PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DresserType PenType)\n (canContain DresserType BookType)\n (canContain DresserType CDType)\n (canContain DresserType MugType)\n (canContain DresserType BoxType)\n (canContain DresserType CellPhoneType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType TennisRacketType)\n (canContain DresserType LaptopType)\n (canContain DresserType PencilType)\n (canContain DresserType AlarmClockType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain BedType TennisRacketType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain DresserType PenType)\n (canContain DresserType BookType)\n (canContain DresserType CDType)\n (canContain DresserType MugType)\n (canContain DresserType BoxType)\n (canContain DresserType CellPhoneType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType TennisRacketType)\n (canContain DresserType LaptopType)\n (canContain DresserType PencilType)\n (canContain DresserType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DeskType PenType)\n (canContain DeskType BookType)\n (canContain DeskType CDType)\n (canContain DeskType MugType)\n (canContain DeskType BoxType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType TennisRacketType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType MugType)\n (canContain CabinetType BoxType)\n (canContain BedType TennisRacketType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain DeskType PenType)\n (canContain DeskType BookType)\n (canContain DeskType CDType)\n (canContain DeskType MugType)\n (canContain DeskType BoxType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType TennisRacketType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType BookType)\n (canContain ArmChairType CellPhoneType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType CreditCardType)\n (pickupable 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(pickupable CD_bar__plus_01_dot_42_bar__plus_00_dot_43_bar__plus_01_dot_61)\n (pickupable Pillow_bar__minus_00_dot_63_bar__plus_01_dot_87_bar__plus_03_dot_05)\n (pickupable Mug_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_03_dot_08)\n (pickupable AlarmClock_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_99)\n (pickupable Book_bar__minus_00_dot_60_bar__plus_00_dot_07_bar__plus_02_dot_16)\n (pickupable Pillow_bar__minus_00_dot_83_bar__plus_01_dot_55_bar__minus_01_dot_53)\n (pickupable TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23)\n (pickupable Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29)\n (pickupable Pen_bar__plus_01_dot_81_bar__plus_00_dot_73_bar__plus_00_dot_73)\n (pickupable CellPhone_bar__plus_01_dot_72_bar__plus_00_dot_11_bar__minus_00_dot_78)\n (pickupable Laptop_bar__minus_01_dot_14_bar__plus_01_dot_50_bar__minus_00_dot_50)\n (pickupable Pencil_bar__plus_01_dot_66_bar__plus_00_dot_32_bar__minus_00_dot_32)\n (isReceptacleObject Mug_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_02_dot_18)\n (isReceptacleObject Mug_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_03_dot_08)\n (isReceptacleObject Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29)\n (openable Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96)\n (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36)\n (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78)\n (openable Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24)\n (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78)\n (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36)\n (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78)\n (openable Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96)\n (openable Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53)\n (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36)\n (openable Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96)\n \n (atLocation agent1 loc_bar_4_bar_12_bar_0_bar_30)\n \n (cleanable Mug_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_02_dot_18)\n (cleanable Mug_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_03_dot_08)\n \n (heatable Mug_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_02_dot_18)\n (heatable Mug_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_03_dot_08)\n (coolable Mug_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_02_dot_18)\n (coolable Mug_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_03_dot_08)\n \n \n (toggleable DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71)\n \n \n \n \n (inReceptacle KeyChain_bar__plus_01_dot_66_bar__plus_00_dot_11_bar__minus_00_dot_50 Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36)\n (inReceptacle Pencil_bar__plus_01_dot_66_bar__plus_00_dot_32_bar__minus_00_dot_32 Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36)\n (inReceptacle Pillow_bar__minus_00_dot_63_bar__plus_01_dot_87_bar__plus_03_dot_05 Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17)\n (inReceptacle CD_bar__plus_01_dot_42_bar__plus_00_dot_43_bar__plus_01_dot_61 ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61)\n (inReceptacle Book_bar__minus_00_dot_60_bar__plus_00_dot_07_bar__plus_02_dot_16 Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53)\n (inReceptacle AlarmClock_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_25 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80)\n (inReceptacle Mug_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_02_dot_18 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80)\n (inReceptacle AlarmClock_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_99 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80)\n (inReceptacle CreditCard_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_02_dot_36 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80)\n (inReceptacle AlarmClock_bar__minus_00_dot_69_bar__plus_00_dot_68_bar__plus_01_dot_80 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80)\n (inReceptacle Laptop_bar__minus_00_dot_60_bar__plus_01_dot_50_bar__minus_00_dot_72 Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92)\n (inReceptacle Laptop_bar__minus_01_dot_14_bar__plus_01_dot_50_bar__minus_00_dot_50 Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92)\n (inReceptacle Pillow_bar__minus_00_dot_83_bar__plus_01_dot_55_bar__minus_01_dot_53 Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92)\n (inReceptacle KeyChain_bar__minus_00_dot_56_bar__plus_00_dot_42_bar__minus_01_dot_57 Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32)\n (inReceptacle Book_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97)\n (inReceptacle Mug_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_03_dot_08 Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97)\n (inReceptacle Book_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_32 Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31)\n (inReceptacle DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12)\n (inReceptacle Pen_bar__plus_01_dot_81_bar__plus_00_dot_73_bar__plus_00_dot_73 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12)\n (inReceptacle AlarmClock_bar__plus_01_dot_81_bar__plus_00_dot_73_bar__plus_00_dot_48 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12)\n (inReceptacle Laptop_bar__plus_01_dot_80_bar__plus_00_dot_72_bar__minus_00_dot_63 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12)\n (inReceptacle Pen_bar__plus_01_dot_91_bar__plus_00_dot_73_bar__plus_00_dot_24 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12)\n (inReceptacle CellPhone_bar__plus_01_dot_72_bar__plus_00_dot_11_bar__minus_00_dot_78 Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78)\n \n \n (receptacleAtLocation ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61 loc_bar_4_bar_6_bar_1_bar_60)\n (receptacleAtLocation Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92 loc_bar_1_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17 loc_bar_4_bar_9_bar_3_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53 loc_bar_2_bar_7_bar_3_bar_60)\n (receptacleAtLocation Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12 loc_bar_4_bar_1_bar_1_bar_60)\n (receptacleAtLocation Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80 loc_bar_1_bar_7_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36 loc_bar_2_bar__minus_4_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78 loc_bar_2_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36 loc_bar_2_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78 loc_bar_2_bar__minus_1_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36 loc_bar_3_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78 loc_bar_3_bar__minus_2_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24 loc_bar_1_bar_5_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96 loc_bar_1_bar_7_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96 loc_bar_1_bar_8_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96 loc_bar_2_bar_11_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_22_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_45)\n (receptacleAtLocation Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97 loc_bar_1_bar_12_bar_3_bar_60)\n (receptacleAtLocation Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31 loc_bar_1_bar__minus_5_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_02_dot_03_bar__plus_00_dot_00_bar__minus_01_dot_19 loc_bar_6_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Mug_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_03_dot_08 loc_bar_1_bar_12_bar_3_bar_60)\n (objectAtLocation Laptop_bar__plus_01_dot_80_bar__plus_00_dot_72_bar__minus_00_dot_63 loc_bar_4_bar_1_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__minus_00_dot_56_bar__plus_00_dot_42_bar__minus_01_dot_57 loc_bar_1_bar__minus_5_bar_3_bar_45)\n (objectAtLocation AlarmClock_bar__plus_01_dot_81_bar__plus_00_dot_73_bar__plus_00_dot_48 loc_bar_4_bar_1_bar_1_bar_60)\n (objectAtLocation Pen_bar__plus_01_dot_81_bar__plus_00_dot_73_bar__plus_00_dot_73 loc_bar_4_bar_1_bar_1_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_60_bar__plus_00_dot_07_bar__plus_02_dot_16 loc_bar_2_bar_7_bar_3_bar_60)\n (objectAtLocation AlarmClock_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_25 loc_bar_1_bar_7_bar_3_bar_60)\n (objectAtLocation AlarmClock_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_99 loc_bar_1_bar_7_bar_3_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_60_bar__plus_01_dot_50_bar__minus_00_dot_72 loc_bar_1_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 loc_bar_1_bar_12_bar_3_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_25_bar__plus_00_dot_43_bar__plus_01_dot_46 loc_bar_1_bar_6_bar_3_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Chair_bar__plus_01_dot_48_bar__plus_00_dot_43_bar__plus_00_dot_22 loc_bar_4_bar_1_bar_1_bar_60)\n (objectAtLocation Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29 loc_bar_1_bar__minus_1_bar_3_bar_60)\n (objectAtLocation DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 loc_bar_4_bar_1_bar_1_bar_60)\n (objectAtLocation TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23 loc_bar__minus_4_bar_2_bar_3_bar_60)\n (objectAtLocation Pen_bar__plus_01_dot_91_bar__plus_00_dot_73_bar__plus_00_dot_24 loc_bar_4_bar_1_bar_1_bar_60)\n (objectAtLocation AlarmClock_bar__minus_00_dot_69_bar__plus_00_dot_68_bar__plus_01_dot_80 loc_bar_1_bar_7_bar_3_bar_60)\n (objectAtLocation Pillow_bar__minus_00_dot_63_bar__plus_01_dot_87_bar__plus_03_dot_05 loc_bar_4_bar_9_bar_3_bar_0)\n (objectAtLocation Pillow_bar__minus_00_dot_83_bar__plus_01_dot_55_bar__minus_01_dot_53 loc_bar_1_bar__minus_3_bar_3_bar_60)\n (objectAtLocation CellPhone_bar__plus_01_dot_72_bar__plus_00_dot_11_bar__minus_00_dot_78 loc_bar_2_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Painting_bar__plus_02_dot_20_bar__plus_01_dot_77_bar__minus_00_dot_10 loc_bar_4_bar_0_bar_1_bar_0)\n (objectAtLocation KeyChain_bar__plus_01_dot_66_bar__plus_00_dot_11_bar__minus_00_dot_50 loc_bar_2_bar__minus_4_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_02_dot_36 loc_bar_1_bar_7_bar_3_bar_60)\n (objectAtLocation Mirror_bar__plus_02_dot_23_bar__plus_01_dot_26_bar__plus_02_dot_66 loc_bar_7_bar_11_bar_1_bar_45)\n (objectAtLocation CD_bar__plus_01_dot_42_bar__plus_00_dot_43_bar__plus_01_dot_61 loc_bar_4_bar_6_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__plus_02_dot_20_bar__plus_01_dot_26_bar__plus_01_dot_99 loc_bar_7_bar_10_bar_2_bar_45)\n (objectAtLocation Window_bar__plus_01_dot_58_bar__plus_01_dot_56_bar__minus_01_dot_95 loc_bar_6_bar__minus_5_bar_2_bar_15)\n (objectAtLocation Pencil_bar__plus_01_dot_66_bar__plus_00_dot_32_bar__minus_00_dot_32 loc_bar_2_bar__minus_3_bar_1_bar_45)\n (objectAtLocation Laptop_bar__minus_01_dot_14_bar__plus_01_dot_50_bar__minus_00_dot_50 loc_bar_1_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Mug_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_02_dot_18 loc_bar_1_bar_7_bar_3_bar_60)\n (objectAtLocation Blinds_bar__plus_01_dot_55_bar__plus_02_dot_44_bar__minus_01_dot_89 loc_bar_6_bar__minus_5_bar_2_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 AlarmClockType)\n (receptacleType ?r DresserType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 AlarmClockType)\n (receptacleType ?r DresserType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to desk 2", "take alarmclock 4 from desk 2", "go to dresser 2", "move alarmclock 4 to dresser 2", "go to desk 2", "take alarmclock 3 from desk 2", "go to dresser 2", "move alarmclock 3 to dresser 2"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-AlarmClock-None-Dresser-318/trial_T20190919_024636_931517/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-AlarmClock-None-Dresser-318/trial_T20190919_024636_931517/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..07f2049c3e8cb111e7e8903f34b5d2aeeffc7399 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-AlarmClock-None-Dresser-318/trial_T20190919_024636_931517/initial_state.pddl @@ -0,0 +1,661 @@ + +(define (problem plan_trial_T20190919_024636_931517) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + AlarmClock_bar__plus_01_dot_81_bar__plus_00_dot_73_bar__plus_00_dot_48 - object + AlarmClock_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_25 - object + AlarmClock_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_99 - object + AlarmClock_bar__minus_00_dot_69_bar__plus_00_dot_68_bar__plus_01_dot_80 - object + Blinds_bar__plus_01_dot_55_bar__plus_02_dot_44_bar__minus_01_dot_89 - object + 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Laptop_bar__plus_01_dot_80_bar__plus_00_dot_72_bar__minus_00_dot_63 - object + Laptop_bar__minus_00_dot_60_bar__plus_01_dot_50_bar__minus_00_dot_72 - object + Laptop_bar__minus_01_dot_14_bar__plus_01_dot_50_bar__minus_00_dot_50 - object + LightSwitch_bar__plus_02_dot_20_bar__plus_01_dot_26_bar__plus_01_dot_99 - object + Mirror_bar__plus_02_dot_23_bar__plus_01_dot_26_bar__plus_02_dot_66 - object + Mug_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_03_dot_08 - object + Mug_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_02_dot_18 - object + Painting_bar__plus_02_dot_20_bar__plus_01_dot_77_bar__minus_00_dot_10 - object + Pencil_bar__plus_01_dot_66_bar__plus_00_dot_32_bar__minus_00_dot_32 - object + Pen_bar__plus_01_dot_81_bar__plus_00_dot_73_bar__plus_00_dot_73 - object + Pen_bar__plus_01_dot_91_bar__plus_00_dot_73_bar__plus_00_dot_24 - object + Pillow_bar__minus_00_dot_63_bar__plus_01_dot_87_bar__plus_03_dot_05 - object + 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receptacle + GarbageCan_bar__plus_02_dot_03_bar__plus_00_dot_00_bar__minus_01_dot_19 - receptacle + loc_bar_1_bar_7_bar_0_bar_45 - location + loc_bar_2_bar__minus_4_bar_1_bar_60 - location + loc_bar_1_bar__minus_5_bar_3_bar_60 - location + loc_bar_1_bar__minus_1_bar_3_bar_60 - location + loc_bar__minus_4_bar_2_bar_3_bar_60 - location + loc_bar_2_bar__minus_1_bar_1_bar_45 - location + loc_bar_6_bar__minus_5_bar_2_bar_15 - location + loc_bar_3_bar__minus_3_bar_1_bar_45 - location + loc_bar_1_bar_5_bar_0_bar_45 - location + loc_bar_7_bar_10_bar_2_bar_45 - location + loc_bar_4_bar_0_bar_1_bar_0 - location + loc_bar_6_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_2_bar_11_bar_3_bar_45 - location + loc_bar_1_bar__minus_5_bar_3_bar_45 - location + loc_bar_1_bar_6_bar_3_bar_60 - location + loc_bar_4_bar_1_bar_1_bar_60 - location + loc_bar_1_bar_7_bar_3_bar_60 - location + loc_bar_7_bar_11_bar_1_bar_45 - location + loc_bar_2_bar__minus_3_bar_1_bar_45 - location + loc_bar_2_bar__minus_1_bar_1_bar_60 - location + loc_bar_4_bar_9_bar_3_bar_0 - location + loc_bar_4_bar_6_bar_1_bar_60 - location + loc_bar_3_bar__minus_2_bar_1_bar_45 - location + loc_bar_2_bar_7_bar_3_bar_60 - location + loc_bar_1_bar_12_bar_3_bar_60 - location + loc_bar_1_bar__minus_3_bar_3_bar_60 - location + loc_bar_1_bar_8_bar_0_bar_60 - location + loc_bar_6_bar__minus_5_bar_1_bar_60 - location + loc_bar_4_bar_12_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_01_dot_32 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96 DrawerType) + (receptacleType Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31 DresserType) + (receptacleType GarbageCan_bar__plus_02_dot_03_bar__plus_00_dot_00_bar__minus_01_dot_19 GarbageCanType) + (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_70_bar__plus_00_dot_22_bar__minus_01_dot_32 DrawerType) + (receptacleType Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17 BedType) + (receptacleType Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97 DresserType) + (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32 DrawerType) + (receptacleType Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12 DeskType) + (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78 DrawerType) + (receptacleType 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Painting_bar__plus_02_dot_20_bar__plus_01_dot_77_bar__minus_00_dot_10 PaintingType) + (objectType Pen_bar__plus_01_dot_91_bar__plus_00_dot_73_bar__plus_00_dot_24 PenType) + (objectType Laptop_bar__plus_01_dot_80_bar__plus_00_dot_72_bar__minus_00_dot_63 LaptopType) + (objectType Book_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 BookType) + (objectType CD_bar__plus_01_dot_42_bar__plus_00_dot_43_bar__plus_01_dot_61 CDType) + (objectType Pillow_bar__minus_00_dot_63_bar__plus_01_dot_87_bar__plus_03_dot_05 PillowType) + (objectType Mug_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_03_dot_08 MugType) + (objectType LightSwitch_bar__plus_02_dot_20_bar__plus_01_dot_26_bar__plus_01_dot_99 LightSwitchType) + (objectType AlarmClock_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_99 AlarmClockType) + (objectType Mirror_bar__plus_02_dot_23_bar__plus_01_dot_26_bar__plus_02_dot_66 MirrorType) + (objectType Book_bar__minus_00_dot_60_bar__plus_00_dot_07_bar__plus_02_dot_16 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(pickupable Book_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_32) + (pickupable AlarmClock_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_25) + (pickupable Mug_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_02_dot_18) + (pickupable CreditCard_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_02_dot_36) + (pickupable AlarmClock_bar__minus_00_dot_69_bar__plus_00_dot_68_bar__plus_01_dot_80) + (pickupable KeyChain_bar__plus_01_dot_66_bar__plus_00_dot_11_bar__minus_00_dot_50) + (pickupable AlarmClock_bar__plus_01_dot_81_bar__plus_00_dot_73_bar__plus_00_dot_48) + (pickupable Pen_bar__plus_01_dot_91_bar__plus_00_dot_73_bar__plus_00_dot_24) + (pickupable Laptop_bar__plus_01_dot_80_bar__plus_00_dot_72_bar__minus_00_dot_63) + (pickupable Book_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16) + (pickupable CD_bar__plus_01_dot_42_bar__plus_00_dot_43_bar__plus_01_dot_61) + (pickupable Pillow_bar__minus_00_dot_63_bar__plus_01_dot_87_bar__plus_03_dot_05) + (pickupable Mug_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_03_dot_08) + (pickupable AlarmClock_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_99) + (pickupable Book_bar__minus_00_dot_60_bar__plus_00_dot_07_bar__plus_02_dot_16) + (pickupable Pillow_bar__minus_00_dot_83_bar__plus_01_dot_55_bar__minus_01_dot_53) + (pickupable TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23) + (pickupable Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29) + (pickupable Pen_bar__plus_01_dot_81_bar__plus_00_dot_73_bar__plus_00_dot_73) + (pickupable CellPhone_bar__plus_01_dot_72_bar__plus_00_dot_11_bar__minus_00_dot_78) + (pickupable Laptop_bar__minus_01_dot_14_bar__plus_01_dot_50_bar__minus_00_dot_50) + (pickupable Pencil_bar__plus_01_dot_66_bar__plus_00_dot_32_bar__minus_00_dot_32) + (isReceptacleObject Mug_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_02_dot_18) + (isReceptacleObject Mug_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_03_dot_08) + (isReceptacleObject Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29) + (openable Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96) + (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36) + (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78) + (openable Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24) + (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78) + (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36) + (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78) + (openable Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96) + (openable Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53) + (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36) + (openable Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96) + + (atLocation agent1 loc_bar_4_bar_12_bar_0_bar_30) + + (cleanable Mug_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_02_dot_18) + (cleanable Mug_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_03_dot_08) + + (heatable Mug_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_02_dot_18) + (heatable Mug_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_03_dot_08) + (coolable Mug_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_02_dot_18) + (coolable Mug_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_03_dot_08) + + + (toggleable DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71) + + + + + (inReceptacle KeyChain_bar__plus_01_dot_66_bar__plus_00_dot_11_bar__minus_00_dot_50 Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36) + (inReceptacle Pencil_bar__plus_01_dot_66_bar__plus_00_dot_32_bar__minus_00_dot_32 Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36) + (inReceptacle Pillow_bar__minus_00_dot_63_bar__plus_01_dot_87_bar__plus_03_dot_05 Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17) + (inReceptacle CD_bar__plus_01_dot_42_bar__plus_00_dot_43_bar__plus_01_dot_61 ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61) + (inReceptacle Book_bar__minus_00_dot_60_bar__plus_00_dot_07_bar__plus_02_dot_16 Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53) + (inReceptacle AlarmClock_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_25 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80) + (inReceptacle Mug_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_02_dot_18 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80) + (inReceptacle AlarmClock_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_99 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80) + (inReceptacle CreditCard_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_02_dot_36 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80) + (inReceptacle AlarmClock_bar__minus_00_dot_69_bar__plus_00_dot_68_bar__plus_01_dot_80 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80) + (inReceptacle Laptop_bar__minus_00_dot_60_bar__plus_01_dot_50_bar__minus_00_dot_72 Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92) + (inReceptacle Laptop_bar__minus_01_dot_14_bar__plus_01_dot_50_bar__minus_00_dot_50 Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92) + (inReceptacle Pillow_bar__minus_00_dot_83_bar__plus_01_dot_55_bar__minus_01_dot_53 Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92) + (inReceptacle KeyChain_bar__minus_00_dot_56_bar__plus_00_dot_42_bar__minus_01_dot_57 Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32) + (inReceptacle Book_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97) + (inReceptacle Mug_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_03_dot_08 Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97) + (inReceptacle Book_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_32 Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31) + (inReceptacle DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12) + (inReceptacle Pen_bar__plus_01_dot_81_bar__plus_00_dot_73_bar__plus_00_dot_73 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12) + (inReceptacle AlarmClock_bar__plus_01_dot_81_bar__plus_00_dot_73_bar__plus_00_dot_48 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12) + (inReceptacle Laptop_bar__plus_01_dot_80_bar__plus_00_dot_72_bar__minus_00_dot_63 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12) + (inReceptacle Pen_bar__plus_01_dot_91_bar__plus_00_dot_73_bar__plus_00_dot_24 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12) + (inReceptacle CellPhone_bar__plus_01_dot_72_bar__plus_00_dot_11_bar__minus_00_dot_78 Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78) + + + (receptacleAtLocation ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61 loc_bar_4_bar_6_bar_1_bar_60) + (receptacleAtLocation Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92 loc_bar_1_bar__minus_3_bar_3_bar_60) + (receptacleAtLocation Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17 loc_bar_4_bar_9_bar_3_bar_0) + (receptacleAtLocation Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53 loc_bar_2_bar_7_bar_3_bar_60) + (receptacleAtLocation Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12 loc_bar_4_bar_1_bar_1_bar_60) + (receptacleAtLocation Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80 loc_bar_1_bar_7_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36 loc_bar_2_bar__minus_4_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78 loc_bar_2_bar__minus_1_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36 loc_bar_2_bar__minus_3_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78 loc_bar_2_bar__minus_1_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36 loc_bar_3_bar__minus_3_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78 loc_bar_3_bar__minus_2_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24 loc_bar_1_bar_5_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96 loc_bar_1_bar_7_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96 loc_bar_1_bar_8_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96 loc_bar_2_bar_11_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_22_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_45) + (receptacleAtLocation Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97 loc_bar_1_bar_12_bar_3_bar_60) + (receptacleAtLocation Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31 loc_bar_1_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_02_dot_03_bar__plus_00_dot_00_bar__minus_01_dot_19 loc_bar_6_bar__minus_5_bar_1_bar_60) + (objectAtLocation Mug_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_03_dot_08 loc_bar_1_bar_12_bar_3_bar_60) + (objectAtLocation Laptop_bar__plus_01_dot_80_bar__plus_00_dot_72_bar__minus_00_dot_63 loc_bar_4_bar_1_bar_1_bar_60) + (objectAtLocation KeyChain_bar__minus_00_dot_56_bar__plus_00_dot_42_bar__minus_01_dot_57 loc_bar_1_bar__minus_5_bar_3_bar_45) + (objectAtLocation AlarmClock_bar__plus_01_dot_81_bar__plus_00_dot_73_bar__plus_00_dot_48 loc_bar_4_bar_1_bar_1_bar_60) + (objectAtLocation Pen_bar__plus_01_dot_81_bar__plus_00_dot_73_bar__plus_00_dot_73 loc_bar_4_bar_1_bar_1_bar_60) + (objectAtLocation Book_bar__minus_00_dot_60_bar__plus_00_dot_07_bar__plus_02_dot_16 loc_bar_2_bar_7_bar_3_bar_60) + (objectAtLocation AlarmClock_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_25 loc_bar_1_bar_7_bar_3_bar_60) + (objectAtLocation AlarmClock_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_99 loc_bar_1_bar_7_bar_3_bar_60) + (objectAtLocation Laptop_bar__minus_00_dot_60_bar__plus_01_dot_50_bar__minus_00_dot_72 loc_bar_1_bar__minus_3_bar_3_bar_60) + (objectAtLocation Book_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 loc_bar_1_bar_12_bar_3_bar_60) + (objectAtLocation Chair_bar__minus_00_dot_25_bar__plus_00_dot_43_bar__plus_01_dot_46 loc_bar_1_bar_6_bar_3_bar_60) + (objectAtLocation Book_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_60) + (objectAtLocation Chair_bar__plus_01_dot_48_bar__plus_00_dot_43_bar__plus_00_dot_22 loc_bar_4_bar_1_bar_1_bar_60) + (objectAtLocation Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29 loc_bar_1_bar__minus_1_bar_3_bar_60) + (objectAtLocation DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 loc_bar_4_bar_1_bar_1_bar_60) + (objectAtLocation TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23 loc_bar__minus_4_bar_2_bar_3_bar_60) + (objectAtLocation Pen_bar__plus_01_dot_91_bar__plus_00_dot_73_bar__plus_00_dot_24 loc_bar_4_bar_1_bar_1_bar_60) + (objectAtLocation AlarmClock_bar__minus_00_dot_69_bar__plus_00_dot_68_bar__plus_01_dot_80 loc_bar_1_bar_7_bar_3_bar_60) + (objectAtLocation Pillow_bar__minus_00_dot_63_bar__plus_01_dot_87_bar__plus_03_dot_05 loc_bar_4_bar_9_bar_3_bar_0) + (objectAtLocation Pillow_bar__minus_00_dot_83_bar__plus_01_dot_55_bar__minus_01_dot_53 loc_bar_1_bar__minus_3_bar_3_bar_60) + (objectAtLocation CellPhone_bar__plus_01_dot_72_bar__plus_00_dot_11_bar__minus_00_dot_78 loc_bar_2_bar__minus_1_bar_1_bar_60) + (objectAtLocation Painting_bar__plus_02_dot_20_bar__plus_01_dot_77_bar__minus_00_dot_10 loc_bar_4_bar_0_bar_1_bar_0) + (objectAtLocation KeyChain_bar__plus_01_dot_66_bar__plus_00_dot_11_bar__minus_00_dot_50 loc_bar_2_bar__minus_4_bar_1_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_02_dot_36 loc_bar_1_bar_7_bar_3_bar_60) + (objectAtLocation Mirror_bar__plus_02_dot_23_bar__plus_01_dot_26_bar__plus_02_dot_66 loc_bar_7_bar_11_bar_1_bar_45) + (objectAtLocation CD_bar__plus_01_dot_42_bar__plus_00_dot_43_bar__plus_01_dot_61 loc_bar_4_bar_6_bar_1_bar_60) + (objectAtLocation LightSwitch_bar__plus_02_dot_20_bar__plus_01_dot_26_bar__plus_01_dot_99 loc_bar_7_bar_10_bar_2_bar_45) + (objectAtLocation Window_bar__plus_01_dot_58_bar__plus_01_dot_56_bar__minus_01_dot_95 loc_bar_6_bar__minus_5_bar_2_bar_15) + (objectAtLocation Pencil_bar__plus_01_dot_66_bar__plus_00_dot_32_bar__minus_00_dot_32 loc_bar_2_bar__minus_3_bar_1_bar_45) + (objectAtLocation Laptop_bar__minus_01_dot_14_bar__plus_01_dot_50_bar__minus_00_dot_50 loc_bar_1_bar__minus_3_bar_3_bar_60) + (objectAtLocation Mug_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_02_dot_18 loc_bar_1_bar_7_bar_3_bar_60) + (objectAtLocation Blinds_bar__plus_01_dot_55_bar__plus_02_dot_44_bar__minus_01_dot_89 loc_bar_6_bar__minus_5_bar_2_bar__minus_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 AlarmClockType) + (receptacleType ?r DresserType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 AlarmClockType) + (receptacleType ?r DresserType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-AlarmClock-None-Dresser-318/trial_T20190919_024636_931517/traj_data.json b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-AlarmClock-None-Dresser-318/trial_T20190919_024636_931517/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..32ab24785235cff085c4be09e9a0e79919af6486 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-AlarmClock-None-Dresser-318/trial_T20190919_024636_931517/traj_data.json @@ -0,0 +1,5784 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + 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"init_action": { + "action": "TeleportFull", + "horizon": 30, + "rotateOnTeleport": true, + "rotation": 0, + "x": 1.0, + "y": 0.9017602, + "z": 3.0 + }, + "object_poses": [ + { + "objectName": "Mug_31b7f025", + "position": { + "x": -0.603169, + "y": 0.6757, + "z": 2.17795253 + }, + "rotation": { + "x": 0.0, + "y": 89.9998245, + "z": 0.0 + } + }, + { + "objectName": "Pen_0af89765", + "position": { + "x": 1.90541613, + "y": 0.7326363, + "z": 0.2360227 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_268d954a", + "position": { + "x": 1.66208363, + "y": 0.106268533, + "z": -0.501125 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Book_e6f8caea", + "position": { + "x": -0.626557052, + "y": 0.9821927, + "z": -1.32223451 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Book_e6f8caea", + "position": { + "x": -0.7618091, + "y": 0.6724966, + "z": 3.16248274 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Laptop_425b94ea", + "position": { + "x": -1.13750923, + "y": 1.49893832, + "z": -0.4963799 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Laptop_425b94ea", + "position": { + "x": -0.5964906, + "y": 1.49893832, + "z": -0.719627142 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "AlarmClock_7ade8b6b", + "position": { + "x": -0.692788, + "y": 0.678465664, + "z": 1.80485976 + }, + "rotation": { + "x": 0.0, + "y": 89.9998245, + "z": 0.0 + } + }, + { + "objectName": "AlarmClock_7ade8b6b", + "position": { + "x": -0.5135485, + "y": 0.678465664, + "z": 1.99140644 + }, + "rotation": { + "x": 0.0, + "y": 89.9998245, + "z": 0.0 + } + }, + { + "objectName": "AlarmClock_7ade8b6b", + "position": { + "x": -0.423926234, + "y": 0.678465664, + "z": 1.24522209 + }, + "rotation": { + "x": 0.0, + "y": 89.9998245, + "z": 0.0 + } + }, + { + "objectName": "Book_e6f8caea", + "position": { + "x": -0.600201964, + "y": 0.06933537, + "z": 2.16383171 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Box_18733c85", + "position": { + "x": -0.493, + "y": 0.2, + "z": -0.286 + }, + "rotation": { + "x": 0.0, + "y": 84.024086, + "z": 0.0 + } + }, + { + "objectName": "TennisRacket_26349961", + "position": { + "x": -1.345, + "y": 0.288, + "z": 0.233 + }, + "rotation": { + "x": 30.0002918, + "y": 269.9998, + "z": 179.9999 + } + }, + { + "objectName": "Pen_0af89765", + "position": { + "x": 1.8078233, + "y": 0.7326363, + "z": 0.728532434 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "AlarmClock_7ade8b6b", + "position": { + "x": 1.8078233, + "y": 0.7277491, + "z": 0.482277572 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Pillow_0dfd6e27", + "position": { + "x": -0.63, + "y": 1.871, + "z": 3.047 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pillow_d7daf237", + "position": { + "x": -0.8297901, + "y": 1.549, + "z": -1.5335114 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CellPhone_4ae13037", + "position": { + "x": 1.71539545, + "y": 0.107959606, + "z": -0.778 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_268d954a", + "position": { + "x": -0.5597806, + "y": 0.417221546, + "z": -1.56944549 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_7ad6fb52", + "position": { + "x": -0.9616498, + "y": 0.677696, + "z": 2.36449742 + }, + "rotation": { + "x": 0.0, + "y": 89.9998245, + "z": 0.0 + } + }, + { + "objectName": "CD_e7609414", + "position": { + "x": 1.41762149, + "y": 0.4326067, + "z": 1.605091 + }, + "rotation": { + "x": 0.0, + "y": 179.999954, + "z": 0.0 + } + }, + { + "objectName": "Pencil_1ecf44c2", + "position": { + "x": 1.66208375, + "y": 0.317813724, + "z": -0.31640023 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Laptop_425b94ea", + "position": { + "x": 1.79976654, + "y": 0.719983459, + "z": -0.6269823 + }, + "rotation": { + "x": 0.0, + "y": 336.963165, + "z": 0.0 + } + }, + { + "objectName": "Mug_31b7f025", + "position": { + "x": -0.480186343, + "y": 0.666999638, + "z": 3.07569051 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 1139808252, + "scene_num": 318 + }, + "task_id": "trial_T20190919_024636_931517", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A2BLQ1GVEHJR8T_3AMYWKA6YE350V6ASFOFIT3YPFK6OH", + "high_descs": [ + "Turn left and go to the desk that has three clocks on it, to the right of the desk chair.", + "Pick up the clock that is closest to the white mug immediately to the right of the clocks.", + "Carry the clock to the far right end of the desk.", + "Place the clock at the front edge of the desk, just to the left of the white mug that is near the book.", + "Move back to the remaining clocks on your left.", + "Pick up the clock that is between the lamp and the white mug.", + "Carry this clock to the far right end of the desk.", + "Place this clock at the front edge of the desk, to the left of the other clock." + ], + "task_desc": "Reposition two clocks on a desk.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3PPLDHC3CG0YN_3FQ5JJ512O5UHPRNT4I3DN8B00EKN0", + "high_descs": [ + "Turn around and walk to the desk on the right. ", + "Pick up the alarm clock to the left of the white mug. ", + "Move to the right side of the desk. ", + "Place the alarm clock to the left of the white mug. ", + "Move to the left side of the desk. ", + "Pick up the alarm clock to the left of the white mug. ", + "Move to the right side of the desk. ", + "Put the alarm clock down on the desk to the left of the first alarm clock. " + ], + "task_desc": "Move two alarm clocks to the right side of the desk. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3SFPSMFRSRTB3_3VHHR074H6YGYAHIYXDFWQZ0PL27L3", + "high_descs": [ + "Turn around, proceed ahead. Turn right and go to desk.", + "Pick up alarm clock on your right, closest to the white mug.", + "Turn right, proceed to wall. Turn left to face last set of drawers.", + "Place alarm clock on edge of surface, to the left of the white mug.", + "Turn left, proceed forward. Turn right, proceed to desk.", + "Pick up alarm clock near the black lamp.", + "Turn right, proceed to wall, turn left to face last set of drawers.", + "Place alarm clock on edge of surface, directly to the left of the other alarm clock." + ], + "task_desc": "Move two alarm clocks.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-AlarmClock-None-Dresser-318/trial_T20190919_024708_968984/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-AlarmClock-None-Dresser-318/trial_T20190919_024708_968984/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..cbeeeaf17d8cf706ad185ef08c05953fef74de66 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-AlarmClock-None-Dresser-318/trial_T20190919_024708_968984/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: find two alarmclock and put them in 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_T20190919_024708_968984)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n AlarmClock_bar__plus_01_dot_71_bar__plus_00_dot_73_bar__minus_00_dot_26 - object\n AlarmClock_bar__plus_02_dot_10_bar__plus_00_dot_73_bar__minus_00_dot_26 - object\n AlarmClock_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_80 - object\n AlarmClock_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_01_dot_80 - object\n Blinds_bar__plus_01_dot_55_bar__plus_02_dot_44_bar__minus_01_dot_89 - object\n Book_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_43 - object\n Book_bar__minus_00_dot_70_bar__plus_00_dot_42_bar__minus_01_dot_40 - object\n Book_bar__minus_00_dot_87_bar__plus_01_dot_50_bar__minus_00_dot_94 - object\n Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29 - object\n CD_bar__minus_00_dot_64_bar__plus_00_dot_50_bar__plus_02_dot_71 - object\n CellPhone_bar__minus_00_dot_69_bar__plus_00_dot_51_bar__plus_02_dot_96 - object\n CellPhone_bar__minus_00_dot_70_bar__plus_01_dot_84_bar__plus_01_dot_63 - object\n Chair_bar__plus_01_dot_48_bar__plus_00_dot_43_bar__plus_00_dot_22 - object\n Chair_bar__minus_00_dot_25_bar__plus_00_dot_43_bar__plus_01_dot_46 - object\n CreditCard_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_02_dot_18 - object\n CreditCard_bar__minus_00_dot_64_bar__plus_00_dot_07_bar__plus_03_dot_13 - object\n CreditCard_bar__minus_00_dot_95_bar__plus_00_dot_67_bar__plus_02_dot_73 - object\n DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 - object\n KeyChain_bar__plus_02_dot_10_bar__plus_00_dot_73_bar__plus_00_dot_48 - object\n KeyChain_bar__minus_00_dot_59_bar__plus_00_dot_07_bar__plus_02_dot_88 - object\n Laptop_bar__plus_01_dot_61_bar__plus_00_dot_72_bar__plus_00_dot_48 - object\n Laptop_bar__minus_00_dot_87_bar__plus_01_dot_50_bar__minus_01_dot_39 - object\n LightSwitch_bar__plus_02_dot_20_bar__plus_01_dot_26_bar__plus_01_dot_99 - object\n Mirror_bar__plus_02_dot_23_bar__plus_01_dot_26_bar__plus_02_dot_66 - object\n Mug_bar__minus_00_dot_53_bar__plus_00_dot_06_bar__plus_02_dot_31 - object\n Mug_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_02_dot_82 - object\n Painting_bar__plus_02_dot_20_bar__plus_01_dot_77_bar__minus_00_dot_10 - object\n Pencil_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_03_dot_16 - object\n Pen_bar__plus_01_dot_52_bar__plus_00_dot_73_bar__minus_00_dot_26 - object\n Pen_bar__minus_00_dot_95_bar__plus_00_dot_67_bar__plus_03_dot_08 - object\n Pillow_bar__minus_00_dot_63_bar__plus_01_dot_87_bar__plus_03_dot_05 - object\n Pillow_bar__minus_01_dot_00_bar__plus_01_dot_59_bar__minus_00_dot_50 - object\n TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23 - object\n Window_bar__plus_01_dot_58_bar__plus_01_dot_56_bar__minus_01_dot_95 - object\n ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61 - receptacle\n Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92 - receptacle\n Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17 - receptacle\n Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53 - receptacle\n Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12 - receptacle\n Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80 - receptacle\n Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36 - receptacle\n Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78 - receptacle\n Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36 - receptacle\n Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78 - receptacle\n Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36 - receptacle\n Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78 - receptacle\n Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24 - receptacle\n Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96 - receptacle\n Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96 - receptacle\n Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96 - receptacle\n Drawer_bar__minus_00_dot_70_bar__plus_00_dot_22_bar__minus_01_dot_32 - receptacle\n Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32 - receptacle\n Drawer_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_01_dot_32 - receptacle\n Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97 - receptacle\n Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31 - receptacle\n GarbageCan_bar__plus_02_dot_03_bar__plus_00_dot_00_bar__minus_01_dot_19 - receptacle\n loc_bar_1_bar_7_bar_0_bar_45 - location\n loc_bar_2_bar__minus_4_bar_1_bar_60 - location\n loc_bar_1_bar__minus_5_bar_3_bar_60 - location\n loc_bar_1_bar__minus_1_bar_3_bar_60 - location\n loc_bar__minus_4_bar_2_bar_3_bar_60 - location\n loc_bar_2_bar__minus_1_bar_1_bar_45 - location\n loc_bar_6_bar__minus_5_bar_2_bar_15 - location\n loc_bar_3_bar__minus_3_bar_1_bar_45 - location\n loc_bar_1_bar_5_bar_0_bar_45 - location\n loc_bar_7_bar_10_bar_2_bar_45 - location\n loc_bar_4_bar_0_bar_1_bar_0 - location\n loc_bar_6_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar_2_bar_11_bar_3_bar_45 - location\n loc_bar_1_bar__minus_5_bar_3_bar_45 - location\n loc_bar_1_bar_6_bar_3_bar_60 - location\n loc_bar_4_bar_1_bar_1_bar_60 - location\n loc_bar_1_bar_7_bar_3_bar_60 - location\n loc_bar_7_bar_11_bar_1_bar_45 - location\n loc_bar_2_bar__minus_3_bar_1_bar_45 - location\n loc_bar_2_bar__minus_1_bar_1_bar_60 - location\n loc_bar_4_bar_9_bar_3_bar_0 - location\n loc_bar_4_bar_6_bar_1_bar_60 - location\n loc_bar_3_bar__minus_2_bar_1_bar_45 - location\n loc_bar_2_bar_7_bar_3_bar_60 - location\n loc_bar_1_bar_12_bar_3_bar_60 - location\n loc_bar_1_bar__minus_3_bar_3_bar_60 - location\n loc_bar_1_bar_8_bar_0_bar_60 - location\n loc_bar_6_bar__minus_5_bar_1_bar_60 - location\n loc_bar__minus_1_bar_2_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_01_dot_32 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96 DrawerType)\n (receptacleType Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31 DresserType)\n (receptacleType GarbageCan_bar__plus_02_dot_03_bar__plus_00_dot_00_bar__minus_01_dot_19 GarbageCanType)\n (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_70_bar__plus_00_dot_22_bar__minus_01_dot_32 DrawerType)\n (receptacleType Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17 BedType)\n (receptacleType Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97 DresserType)\n (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32 DrawerType)\n (receptacleType Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12 DeskType)\n (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53 CabinetType)\n (receptacleType Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92 BedType)\n (receptacleType Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80 DeskType)\n (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96 DrawerType)\n (receptacleType ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61 ArmChairType)\n (objectType AlarmClock_bar__plus_02_dot_10_bar__plus_00_dot_73_bar__minus_00_dot_26 AlarmClockType)\n (objectType Mug_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_02_dot_82 MugType)\n (objectType KeyChain_bar__minus_00_dot_59_bar__plus_00_dot_07_bar__plus_02_dot_88 KeyChainType)\n (objectType Book_bar__minus_00_dot_87_bar__plus_01_dot_50_bar__minus_00_dot_94 BookType)\n (objectType AlarmClock_bar__plus_01_dot_71_bar__plus_00_dot_73_bar__minus_00_dot_26 AlarmClockType)\n (objectType Laptop_bar__minus_00_dot_87_bar__plus_01_dot_50_bar__minus_01_dot_39 LaptopType)\n (objectType Chair_bar__minus_00_dot_25_bar__plus_00_dot_43_bar__plus_01_dot_46 ChairType)\n (objectType Pillow_bar__minus_01_dot_00_bar__plus_01_dot_59_bar__minus_00_dot_50 PillowType)\n (objectType CD_bar__minus_00_dot_64_bar__plus_00_dot_50_bar__plus_02_dot_71 CDType)\n (objectType DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 DeskLampType)\n (objectType CreditCard_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_02_dot_18 CreditCardType)\n (objectType Book_bar__minus_00_dot_70_bar__plus_00_dot_42_bar__minus_01_dot_40 BookType)\n (objectType CreditCard_bar__minus_00_dot_64_bar__plus_00_dot_07_bar__plus_03_dot_13 CreditCardType)\n (objectType CreditCard_bar__minus_00_dot_95_bar__plus_00_dot_67_bar__plus_02_dot_73 CreditCardType)\n (objectType AlarmClock_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_80 AlarmClockType)\n (objectType Chair_bar__plus_01_dot_48_bar__plus_00_dot_43_bar__plus_00_dot_22 ChairType)\n (objectType Window_bar__plus_01_dot_58_bar__plus_01_dot_56_bar__minus_01_dot_95 WindowType)\n (objectType Painting_bar__plus_02_dot_20_bar__plus_01_dot_77_bar__minus_00_dot_10 PaintingType)\n (objectType Pen_bar__plus_01_dot_52_bar__plus_00_dot_73_bar__minus_00_dot_26 PenType)\n (objectType CellPhone_bar__minus_00_dot_69_bar__plus_00_dot_51_bar__plus_02_dot_96 CellPhoneType)\n (objectType AlarmClock_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_01_dot_80 AlarmClockType)\n (objectType Pen_bar__minus_00_dot_95_bar__plus_00_dot_67_bar__plus_03_dot_08 PenType)\n (objectType KeyChain_bar__plus_02_dot_10_bar__plus_00_dot_73_bar__plus_00_dot_48 KeyChainType)\n (objectType Pillow_bar__minus_00_dot_63_bar__plus_01_dot_87_bar__plus_03_dot_05 PillowType)\n (objectType Pencil_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_03_dot_16 PencilType)\n (objectType LightSwitch_bar__plus_02_dot_20_bar__plus_01_dot_26_bar__plus_01_dot_99 LightSwitchType)\n (objectType CellPhone_bar__minus_00_dot_70_bar__plus_01_dot_84_bar__plus_01_dot_63 CellPhoneType)\n (objectType Mirror_bar__plus_02_dot_23_bar__plus_01_dot_26_bar__plus_02_dot_66 MirrorType)\n (objectType Blinds_bar__plus_01_dot_55_bar__plus_02_dot_44_bar__minus_01_dot_89 BlindsType)\n (objectType TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23 TennisRacketType)\n (objectType Mug_bar__minus_00_dot_53_bar__plus_00_dot_06_bar__plus_02_dot_31 MugType)\n (objectType Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29 BoxType)\n (objectType Book_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_43 BookType)\n (objectType Laptop_bar__plus_01_dot_61_bar__plus_00_dot_72_bar__plus_00_dot_48 LaptopType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DresserType PenType)\n (canContain DresserType BookType)\n (canContain DresserType CDType)\n (canContain DresserType MugType)\n (canContain DresserType BoxType)\n (canContain DresserType CellPhoneType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType TennisRacketType)\n (canContain DresserType LaptopType)\n (canContain DresserType PencilType)\n (canContain DresserType AlarmClockType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain BedType TennisRacketType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain DresserType PenType)\n (canContain DresserType BookType)\n (canContain DresserType CDType)\n (canContain DresserType MugType)\n (canContain DresserType BoxType)\n (canContain DresserType CellPhoneType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType TennisRacketType)\n (canContain DresserType LaptopType)\n (canContain DresserType PencilType)\n (canContain DresserType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DeskType PenType)\n (canContain DeskType BookType)\n (canContain DeskType CDType)\n (canContain DeskType MugType)\n (canContain DeskType BoxType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType TennisRacketType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType MugType)\n (canContain CabinetType 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(pickupable CD_bar__minus_00_dot_64_bar__plus_00_dot_50_bar__plus_02_dot_71)\n (pickupable CreditCard_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_02_dot_18)\n (pickupable Book_bar__minus_00_dot_70_bar__plus_00_dot_42_bar__minus_01_dot_40)\n (pickupable CreditCard_bar__minus_00_dot_64_bar__plus_00_dot_07_bar__plus_03_dot_13)\n (pickupable CreditCard_bar__minus_00_dot_95_bar__plus_00_dot_67_bar__plus_02_dot_73)\n (pickupable AlarmClock_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_80)\n (pickupable Pen_bar__plus_01_dot_52_bar__plus_00_dot_73_bar__minus_00_dot_26)\n (pickupable CellPhone_bar__minus_00_dot_69_bar__plus_00_dot_51_bar__plus_02_dot_96)\n (pickupable AlarmClock_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_01_dot_80)\n (pickupable Pen_bar__minus_00_dot_95_bar__plus_00_dot_67_bar__plus_03_dot_08)\n (pickupable KeyChain_bar__plus_02_dot_10_bar__plus_00_dot_73_bar__plus_00_dot_48)\n (pickupable Pillow_bar__minus_00_dot_63_bar__plus_01_dot_87_bar__plus_03_dot_05)\n (pickupable Pencil_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_03_dot_16)\n (pickupable CellPhone_bar__minus_00_dot_70_bar__plus_01_dot_84_bar__plus_01_dot_63)\n (pickupable TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23)\n (pickupable Mug_bar__minus_00_dot_53_bar__plus_00_dot_06_bar__plus_02_dot_31)\n (pickupable Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29)\n (pickupable Book_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_43)\n (pickupable Laptop_bar__plus_01_dot_61_bar__plus_00_dot_72_bar__plus_00_dot_48)\n (isReceptacleObject Mug_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_02_dot_82)\n (isReceptacleObject Mug_bar__minus_00_dot_53_bar__plus_00_dot_06_bar__plus_02_dot_31)\n (isReceptacleObject Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29)\n (openable Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96)\n (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36)\n (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78)\n (openable Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24)\n (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78)\n (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36)\n (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78)\n (openable Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96)\n (openable Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53)\n (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36)\n (openable Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96)\n \n (atLocation agent1 loc_bar__minus_1_bar_2_bar_3_bar_30)\n \n (cleanable Mug_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_02_dot_82)\n (cleanable Mug_bar__minus_00_dot_53_bar__plus_00_dot_06_bar__plus_02_dot_31)\n \n (heatable Mug_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_02_dot_82)\n (heatable Mug_bar__minus_00_dot_53_bar__plus_00_dot_06_bar__plus_02_dot_31)\n (coolable Mug_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_02_dot_82)\n (coolable Mug_bar__minus_00_dot_53_bar__plus_00_dot_06_bar__plus_02_dot_31)\n \n \n (toggleable DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71)\n \n \n \n \n (inReceptacle CellPhone_bar__minus_00_dot_70_bar__plus_01_dot_84_bar__plus_01_dot_63 Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17)\n (inReceptacle Pillow_bar__minus_00_dot_63_bar__plus_01_dot_87_bar__plus_03_dot_05 Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17)\n (inReceptacle Mug_bar__minus_00_dot_53_bar__plus_00_dot_06_bar__plus_02_dot_31 Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53)\n (inReceptacle AlarmClock_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_80 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80)\n (inReceptacle AlarmClock_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_01_dot_80 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80)\n (inReceptacle CreditCard_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_02_dot_18 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80)\n (inReceptacle Book_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_43 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80)\n (inReceptacle Laptop_bar__minus_00_dot_87_bar__plus_01_dot_50_bar__minus_01_dot_39 Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92)\n (inReceptacle Pillow_bar__minus_01_dot_00_bar__plus_01_dot_59_bar__minus_00_dot_50 Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92)\n (inReceptacle Book_bar__minus_00_dot_87_bar__plus_01_dot_50_bar__minus_00_dot_94 Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92)\n (inReceptacle Book_bar__minus_00_dot_70_bar__plus_00_dot_42_bar__minus_01_dot_40 Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32)\n (inReceptacle CreditCard_bar__minus_00_dot_95_bar__plus_00_dot_67_bar__plus_02_dot_73 Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97)\n (inReceptacle Pencil_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_03_dot_16 Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97)\n (inReceptacle Mug_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_02_dot_82 Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97)\n (inReceptacle Pen_bar__minus_00_dot_95_bar__plus_00_dot_67_bar__plus_03_dot_08 Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97)\n (inReceptacle CreditCard_bar__minus_00_dot_64_bar__plus_00_dot_07_bar__plus_03_dot_13 Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96)\n (inReceptacle KeyChain_bar__minus_00_dot_59_bar__plus_00_dot_07_bar__plus_02_dot_88 Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96)\n (inReceptacle CD_bar__minus_00_dot_64_bar__plus_00_dot_50_bar__plus_02_dot_71 Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96)\n (inReceptacle CellPhone_bar__minus_00_dot_69_bar__plus_00_dot_51_bar__plus_02_dot_96 Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96)\n (inReceptacle AlarmClock_bar__plus_02_dot_10_bar__plus_00_dot_73_bar__minus_00_dot_26 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12)\n (inReceptacle DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12)\n (inReceptacle KeyChain_bar__plus_02_dot_10_bar__plus_00_dot_73_bar__plus_00_dot_48 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12)\n (inReceptacle AlarmClock_bar__plus_01_dot_71_bar__plus_00_dot_73_bar__minus_00_dot_26 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12)\n (inReceptacle Pen_bar__plus_01_dot_52_bar__plus_00_dot_73_bar__minus_00_dot_26 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12)\n (inReceptacle Laptop_bar__plus_01_dot_61_bar__plus_00_dot_72_bar__plus_00_dot_48 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12)\n \n \n (receptacleAtLocation ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61 loc_bar_4_bar_6_bar_1_bar_60)\n (receptacleAtLocation Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92 loc_bar_1_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17 loc_bar_4_bar_9_bar_3_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53 loc_bar_2_bar_7_bar_3_bar_60)\n (receptacleAtLocation Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12 loc_bar_4_bar_1_bar_1_bar_60)\n (receptacleAtLocation Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80 loc_bar_1_bar_7_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36 loc_bar_2_bar__minus_4_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78 loc_bar_2_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36 loc_bar_2_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78 loc_bar_2_bar__minus_1_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36 loc_bar_3_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78 loc_bar_3_bar__minus_2_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24 loc_bar_1_bar_5_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96 loc_bar_1_bar_7_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96 loc_bar_1_bar_8_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96 loc_bar_2_bar_11_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_22_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_45)\n (receptacleAtLocation Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97 loc_bar_1_bar_12_bar_3_bar_60)\n (receptacleAtLocation Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31 loc_bar_1_bar__minus_5_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_02_dot_03_bar__plus_00_dot_00_bar__minus_01_dot_19 loc_bar_6_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Mug_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_02_dot_82 loc_bar_1_bar_12_bar_3_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_87_bar__plus_01_dot_50_bar__minus_01_dot_39 loc_bar_1_bar__minus_3_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__minus_00_dot_64_bar__plus_00_dot_07_bar__plus_03_dot_13 loc_bar_1_bar_7_bar_0_bar_45)\n (objectAtLocation KeyChain_bar__minus_00_dot_59_bar__plus_00_dot_07_bar__plus_02_dot_88 loc_bar_1_bar_7_bar_0_bar_45)\n (objectAtLocation CellPhone_bar__minus_00_dot_69_bar__plus_00_dot_51_bar__plus_02_dot_96 loc_bar_2_bar_11_bar_3_bar_45)\n (objectAtLocation AlarmClock_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_80 loc_bar_1_bar_7_bar_3_bar_60)\n (objectAtLocation Pen_bar__minus_00_dot_95_bar__plus_00_dot_67_bar__plus_03_dot_08 loc_bar_1_bar_12_bar_3_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_70_bar__plus_00_dot_42_bar__minus_01_dot_40 loc_bar_1_bar__minus_5_bar_3_bar_45)\n (objectAtLocation AlarmClock_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_01_dot_80 loc_bar_1_bar_7_bar_3_bar_60)\n (objectAtLocation AlarmClock_bar__plus_02_dot_10_bar__plus_00_dot_73_bar__minus_00_dot_26 loc_bar_4_bar_1_bar_1_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_87_bar__plus_01_dot_50_bar__minus_00_dot_94 loc_bar_1_bar__minus_3_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__minus_00_dot_95_bar__plus_00_dot_67_bar__plus_02_dot_73 loc_bar_1_bar_12_bar_3_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_25_bar__plus_00_dot_43_bar__plus_01_dot_46 loc_bar_1_bar_6_bar_3_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_43 loc_bar_1_bar_7_bar_3_bar_60)\n (objectAtLocation Chair_bar__plus_01_dot_48_bar__plus_00_dot_43_bar__plus_00_dot_22 loc_bar_4_bar_1_bar_1_bar_60)\n (objectAtLocation Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29 loc_bar_1_bar__minus_1_bar_3_bar_60)\n (objectAtLocation DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 loc_bar_4_bar_1_bar_1_bar_60)\n (objectAtLocation TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23 loc_bar__minus_4_bar_2_bar_3_bar_60)\n (objectAtLocation Pen_bar__plus_01_dot_52_bar__plus_00_dot_73_bar__minus_00_dot_26 loc_bar_4_bar_1_bar_1_bar_60)\n (objectAtLocation AlarmClock_bar__plus_01_dot_71_bar__plus_00_dot_73_bar__minus_00_dot_26 loc_bar_4_bar_1_bar_1_bar_60)\n (objectAtLocation Pillow_bar__minus_00_dot_63_bar__plus_01_dot_87_bar__plus_03_dot_05 loc_bar_4_bar_9_bar_3_bar_0)\n (objectAtLocation Pillow_bar__minus_01_dot_00_bar__plus_01_dot_59_bar__minus_00_dot_50 loc_bar_1_bar__minus_3_bar_3_bar_60)\n (objectAtLocation CellPhone_bar__minus_00_dot_70_bar__plus_01_dot_84_bar__plus_01_dot_63 loc_bar_4_bar_9_bar_3_bar_0)\n (objectAtLocation Painting_bar__plus_02_dot_20_bar__plus_01_dot_77_bar__minus_00_dot_10 loc_bar_4_bar_0_bar_1_bar_0)\n (objectAtLocation KeyChain_bar__plus_02_dot_10_bar__plus_00_dot_73_bar__plus_00_dot_48 loc_bar_4_bar_1_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_02_dot_18 loc_bar_1_bar_7_bar_3_bar_60)\n (objectAtLocation Mirror_bar__plus_02_dot_23_bar__plus_01_dot_26_bar__plus_02_dot_66 loc_bar_7_bar_11_bar_1_bar_45)\n (objectAtLocation CD_bar__minus_00_dot_64_bar__plus_00_dot_50_bar__plus_02_dot_71 loc_bar_2_bar_11_bar_3_bar_45)\n (objectAtLocation LightSwitch_bar__plus_02_dot_20_bar__plus_01_dot_26_bar__plus_01_dot_99 loc_bar_7_bar_10_bar_2_bar_45)\n (objectAtLocation Window_bar__plus_01_dot_58_bar__plus_01_dot_56_bar__minus_01_dot_95 loc_bar_6_bar__minus_5_bar_2_bar_15)\n (objectAtLocation Pencil_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_03_dot_16 loc_bar_1_bar_12_bar_3_bar_60)\n (objectAtLocation Laptop_bar__plus_01_dot_61_bar__plus_00_dot_72_bar__plus_00_dot_48 loc_bar_4_bar_1_bar_1_bar_60)\n (objectAtLocation Mug_bar__minus_00_dot_53_bar__plus_00_dot_06_bar__plus_02_dot_31 loc_bar_2_bar_7_bar_3_bar_60)\n (objectAtLocation Blinds_bar__plus_01_dot_55_bar__plus_02_dot_44_bar__minus_01_dot_89 loc_bar_6_bar__minus_5_bar_2_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 AlarmClockType)\n (receptacleType ?r DresserType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 AlarmClockType)\n (receptacleType ?r DresserType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to desk 2", "take alarmclock 4 from desk 2", "go to dresser 2", "move alarmclock 4 to dresser 2", "go to desk 2", "take alarmclock 3 from desk 2", "go to dresser 2", "move alarmclock 3 to dresser 2"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-AlarmClock-None-Dresser-318/trial_T20190919_024708_968984/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-AlarmClock-None-Dresser-318/trial_T20190919_024708_968984/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..9ec9342c8ac582bda868bb5169e622896e60344a --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-AlarmClock-None-Dresser-318/trial_T20190919_024708_968984/initial_state.pddl @@ -0,0 +1,671 @@ + +(define (problem plan_trial_T20190919_024708_968984) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + AlarmClock_bar__plus_01_dot_71_bar__plus_00_dot_73_bar__minus_00_dot_26 - object + AlarmClock_bar__plus_02_dot_10_bar__plus_00_dot_73_bar__minus_00_dot_26 - object + AlarmClock_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_80 - object + AlarmClock_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_01_dot_80 - object + Blinds_bar__plus_01_dot_55_bar__plus_02_dot_44_bar__minus_01_dot_89 - object + Book_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_43 - object + Book_bar__minus_00_dot_70_bar__plus_00_dot_42_bar__minus_01_dot_40 - object + Book_bar__minus_00_dot_87_bar__plus_01_dot_50_bar__minus_00_dot_94 - object + Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29 - object + CD_bar__minus_00_dot_64_bar__plus_00_dot_50_bar__plus_02_dot_71 - object + CellPhone_bar__minus_00_dot_69_bar__plus_00_dot_51_bar__plus_02_dot_96 - object + CellPhone_bar__minus_00_dot_70_bar__plus_01_dot_84_bar__plus_01_dot_63 - object + Chair_bar__plus_01_dot_48_bar__plus_00_dot_43_bar__plus_00_dot_22 - object + Chair_bar__minus_00_dot_25_bar__plus_00_dot_43_bar__plus_01_dot_46 - object + CreditCard_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_02_dot_18 - object + CreditCard_bar__minus_00_dot_64_bar__plus_00_dot_07_bar__plus_03_dot_13 - object + CreditCard_bar__minus_00_dot_95_bar__plus_00_dot_67_bar__plus_02_dot_73 - object + DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 - object + KeyChain_bar__plus_02_dot_10_bar__plus_00_dot_73_bar__plus_00_dot_48 - object + KeyChain_bar__minus_00_dot_59_bar__plus_00_dot_07_bar__plus_02_dot_88 - object + Laptop_bar__plus_01_dot_61_bar__plus_00_dot_72_bar__plus_00_dot_48 - object + Laptop_bar__minus_00_dot_87_bar__plus_01_dot_50_bar__minus_01_dot_39 - object + LightSwitch_bar__plus_02_dot_20_bar__plus_01_dot_26_bar__plus_01_dot_99 - object + Mirror_bar__plus_02_dot_23_bar__plus_01_dot_26_bar__plus_02_dot_66 - object + Mug_bar__minus_00_dot_53_bar__plus_00_dot_06_bar__plus_02_dot_31 - object + Mug_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_02_dot_82 - object + Painting_bar__plus_02_dot_20_bar__plus_01_dot_77_bar__minus_00_dot_10 - object + Pencil_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_03_dot_16 - object + Pen_bar__plus_01_dot_52_bar__plus_00_dot_73_bar__minus_00_dot_26 - object + Pen_bar__minus_00_dot_95_bar__plus_00_dot_67_bar__plus_03_dot_08 - object + Pillow_bar__minus_00_dot_63_bar__plus_01_dot_87_bar__plus_03_dot_05 - object + Pillow_bar__minus_01_dot_00_bar__plus_01_dot_59_bar__minus_00_dot_50 - object + TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23 - object + Window_bar__plus_01_dot_58_bar__plus_01_dot_56_bar__minus_01_dot_95 - object + ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61 - receptacle + Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92 - receptacle + Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17 - receptacle + Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53 - receptacle + Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12 - receptacle + Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80 - receptacle + Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36 - receptacle + Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78 - receptacle + Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36 - receptacle + Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78 - receptacle + Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36 - receptacle + Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78 - receptacle + Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24 - receptacle + Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96 - receptacle + Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96 - receptacle + Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96 - receptacle + Drawer_bar__minus_00_dot_70_bar__plus_00_dot_22_bar__minus_01_dot_32 - receptacle + Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32 - receptacle + Drawer_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_01_dot_32 - receptacle + Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97 - receptacle + Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31 - receptacle + GarbageCan_bar__plus_02_dot_03_bar__plus_00_dot_00_bar__minus_01_dot_19 - receptacle + loc_bar_1_bar_7_bar_0_bar_45 - location + loc_bar_2_bar__minus_4_bar_1_bar_60 - location + loc_bar_1_bar__minus_5_bar_3_bar_60 - location + loc_bar_1_bar__minus_1_bar_3_bar_60 - location + loc_bar__minus_4_bar_2_bar_3_bar_60 - location + loc_bar_2_bar__minus_1_bar_1_bar_45 - location + loc_bar_6_bar__minus_5_bar_2_bar_15 - location + loc_bar_3_bar__minus_3_bar_1_bar_45 - location + loc_bar_1_bar_5_bar_0_bar_45 - location + loc_bar_7_bar_10_bar_2_bar_45 - location + loc_bar_4_bar_0_bar_1_bar_0 - location + loc_bar_6_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_2_bar_11_bar_3_bar_45 - location + loc_bar_1_bar__minus_5_bar_3_bar_45 - location + loc_bar_1_bar_6_bar_3_bar_60 - location + loc_bar_4_bar_1_bar_1_bar_60 - location + loc_bar_1_bar_7_bar_3_bar_60 - location + loc_bar_7_bar_11_bar_1_bar_45 - location + loc_bar_2_bar__minus_3_bar_1_bar_45 - location + loc_bar_2_bar__minus_1_bar_1_bar_60 - location + loc_bar_4_bar_9_bar_3_bar_0 - location + loc_bar_4_bar_6_bar_1_bar_60 - location + loc_bar_3_bar__minus_2_bar_1_bar_45 - location + loc_bar_2_bar_7_bar_3_bar_60 - location + loc_bar_1_bar_12_bar_3_bar_60 - location + loc_bar_1_bar__minus_3_bar_3_bar_60 - location + loc_bar_1_bar_8_bar_0_bar_60 - location + loc_bar_6_bar__minus_5_bar_1_bar_60 - location + loc_bar__minus_1_bar_2_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_01_dot_32 DrawerType) + (receptacleType 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(canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType BookType) + (canContain ArmChairType CellPhoneType) + (canContain ArmChairType PillowType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (pickupable AlarmClock_bar__plus_02_dot_10_bar__plus_00_dot_73_bar__minus_00_dot_26) + (pickupable Mug_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_02_dot_82) + (pickupable KeyChain_bar__minus_00_dot_59_bar__plus_00_dot_07_bar__plus_02_dot_88) + (pickupable Book_bar__minus_00_dot_87_bar__plus_01_dot_50_bar__minus_00_dot_94) + (pickupable AlarmClock_bar__plus_01_dot_71_bar__plus_00_dot_73_bar__minus_00_dot_26) + (pickupable Laptop_bar__minus_00_dot_87_bar__plus_01_dot_50_bar__minus_01_dot_39) + (pickupable Pillow_bar__minus_01_dot_00_bar__plus_01_dot_59_bar__minus_00_dot_50) + (pickupable CD_bar__minus_00_dot_64_bar__plus_00_dot_50_bar__plus_02_dot_71) + (pickupable CreditCard_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_02_dot_18) + (pickupable Book_bar__minus_00_dot_70_bar__plus_00_dot_42_bar__minus_01_dot_40) + (pickupable CreditCard_bar__minus_00_dot_64_bar__plus_00_dot_07_bar__plus_03_dot_13) + (pickupable CreditCard_bar__minus_00_dot_95_bar__plus_00_dot_67_bar__plus_02_dot_73) + (pickupable AlarmClock_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_80) + (pickupable Pen_bar__plus_01_dot_52_bar__plus_00_dot_73_bar__minus_00_dot_26) + (pickupable CellPhone_bar__minus_00_dot_69_bar__plus_00_dot_51_bar__plus_02_dot_96) + (pickupable AlarmClock_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_01_dot_80) + (pickupable Pen_bar__minus_00_dot_95_bar__plus_00_dot_67_bar__plus_03_dot_08) + (pickupable KeyChain_bar__plus_02_dot_10_bar__plus_00_dot_73_bar__plus_00_dot_48) + (pickupable Pillow_bar__minus_00_dot_63_bar__plus_01_dot_87_bar__plus_03_dot_05) + (pickupable Pencil_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_03_dot_16) + (pickupable CellPhone_bar__minus_00_dot_70_bar__plus_01_dot_84_bar__plus_01_dot_63) + (pickupable TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23) + (pickupable Mug_bar__minus_00_dot_53_bar__plus_00_dot_06_bar__plus_02_dot_31) + (pickupable Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29) + (pickupable Book_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_43) + (pickupable Laptop_bar__plus_01_dot_61_bar__plus_00_dot_72_bar__plus_00_dot_48) + (isReceptacleObject Mug_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_02_dot_82) + (isReceptacleObject Mug_bar__minus_00_dot_53_bar__plus_00_dot_06_bar__plus_02_dot_31) + (isReceptacleObject Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29) + (openable Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96) + (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36) + (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78) + (openable Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24) + (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78) + (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36) + (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78) + (openable Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96) + (openable Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53) + (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36) + (openable Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96) + + (atLocation agent1 loc_bar__minus_1_bar_2_bar_3_bar_30) + + (cleanable Mug_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_02_dot_82) + (cleanable Mug_bar__minus_00_dot_53_bar__plus_00_dot_06_bar__plus_02_dot_31) + + (heatable Mug_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_02_dot_82) + (heatable Mug_bar__minus_00_dot_53_bar__plus_00_dot_06_bar__plus_02_dot_31) + (coolable Mug_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_02_dot_82) + (coolable Mug_bar__minus_00_dot_53_bar__plus_00_dot_06_bar__plus_02_dot_31) + + + (toggleable DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71) + + + + + (inReceptacle CellPhone_bar__minus_00_dot_70_bar__plus_01_dot_84_bar__plus_01_dot_63 Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17) + (inReceptacle Pillow_bar__minus_00_dot_63_bar__plus_01_dot_87_bar__plus_03_dot_05 Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17) + (inReceptacle Mug_bar__minus_00_dot_53_bar__plus_00_dot_06_bar__plus_02_dot_31 Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53) + (inReceptacle AlarmClock_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_80 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80) + (inReceptacle AlarmClock_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_01_dot_80 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80) + (inReceptacle CreditCard_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_02_dot_18 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80) + (inReceptacle Book_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_43 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80) + (inReceptacle Laptop_bar__minus_00_dot_87_bar__plus_01_dot_50_bar__minus_01_dot_39 Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92) + (inReceptacle Pillow_bar__minus_01_dot_00_bar__plus_01_dot_59_bar__minus_00_dot_50 Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92) + (inReceptacle Book_bar__minus_00_dot_87_bar__plus_01_dot_50_bar__minus_00_dot_94 Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92) + (inReceptacle Book_bar__minus_00_dot_70_bar__plus_00_dot_42_bar__minus_01_dot_40 Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32) + (inReceptacle CreditCard_bar__minus_00_dot_95_bar__plus_00_dot_67_bar__plus_02_dot_73 Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97) + (inReceptacle Pencil_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_03_dot_16 Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97) + (inReceptacle Mug_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_02_dot_82 Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97) + (inReceptacle Pen_bar__minus_00_dot_95_bar__plus_00_dot_67_bar__plus_03_dot_08 Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97) + (inReceptacle CreditCard_bar__minus_00_dot_64_bar__plus_00_dot_07_bar__plus_03_dot_13 Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96) + (inReceptacle KeyChain_bar__minus_00_dot_59_bar__plus_00_dot_07_bar__plus_02_dot_88 Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96) + (inReceptacle CD_bar__minus_00_dot_64_bar__plus_00_dot_50_bar__plus_02_dot_71 Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96) + (inReceptacle CellPhone_bar__minus_00_dot_69_bar__plus_00_dot_51_bar__plus_02_dot_96 Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96) + (inReceptacle AlarmClock_bar__plus_02_dot_10_bar__plus_00_dot_73_bar__minus_00_dot_26 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12) + (inReceptacle DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12) + (inReceptacle KeyChain_bar__plus_02_dot_10_bar__plus_00_dot_73_bar__plus_00_dot_48 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12) + (inReceptacle AlarmClock_bar__plus_01_dot_71_bar__plus_00_dot_73_bar__minus_00_dot_26 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12) + (inReceptacle Pen_bar__plus_01_dot_52_bar__plus_00_dot_73_bar__minus_00_dot_26 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12) + (inReceptacle Laptop_bar__plus_01_dot_61_bar__plus_00_dot_72_bar__plus_00_dot_48 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12) + + + (receptacleAtLocation ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61 loc_bar_4_bar_6_bar_1_bar_60) + (receptacleAtLocation Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92 loc_bar_1_bar__minus_3_bar_3_bar_60) + (receptacleAtLocation Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17 loc_bar_4_bar_9_bar_3_bar_0) + (receptacleAtLocation Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53 loc_bar_2_bar_7_bar_3_bar_60) + (receptacleAtLocation Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12 loc_bar_4_bar_1_bar_1_bar_60) + (receptacleAtLocation Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80 loc_bar_1_bar_7_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36 loc_bar_2_bar__minus_4_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78 loc_bar_2_bar__minus_1_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36 loc_bar_2_bar__minus_3_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78 loc_bar_2_bar__minus_1_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36 loc_bar_3_bar__minus_3_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78 loc_bar_3_bar__minus_2_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24 loc_bar_1_bar_5_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96 loc_bar_1_bar_7_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96 loc_bar_1_bar_8_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96 loc_bar_2_bar_11_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_22_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_45) + (receptacleAtLocation Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97 loc_bar_1_bar_12_bar_3_bar_60) + (receptacleAtLocation Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31 loc_bar_1_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_02_dot_03_bar__plus_00_dot_00_bar__minus_01_dot_19 loc_bar_6_bar__minus_5_bar_1_bar_60) + (objectAtLocation Mug_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_02_dot_82 loc_bar_1_bar_12_bar_3_bar_60) + (objectAtLocation Laptop_bar__minus_00_dot_87_bar__plus_01_dot_50_bar__minus_01_dot_39 loc_bar_1_bar__minus_3_bar_3_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_64_bar__plus_00_dot_07_bar__plus_03_dot_13 loc_bar_1_bar_7_bar_0_bar_45) + (objectAtLocation KeyChain_bar__minus_00_dot_59_bar__plus_00_dot_07_bar__plus_02_dot_88 loc_bar_1_bar_7_bar_0_bar_45) + (objectAtLocation CellPhone_bar__minus_00_dot_69_bar__plus_00_dot_51_bar__plus_02_dot_96 loc_bar_2_bar_11_bar_3_bar_45) + (objectAtLocation AlarmClock_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_01_dot_80 loc_bar_1_bar_7_bar_3_bar_60) + (objectAtLocation Pen_bar__minus_00_dot_95_bar__plus_00_dot_67_bar__plus_03_dot_08 loc_bar_1_bar_12_bar_3_bar_60) + (objectAtLocation Book_bar__minus_00_dot_70_bar__plus_00_dot_42_bar__minus_01_dot_40 loc_bar_1_bar__minus_5_bar_3_bar_45) + (objectAtLocation AlarmClock_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_01_dot_80 loc_bar_1_bar_7_bar_3_bar_60) + (objectAtLocation AlarmClock_bar__plus_02_dot_10_bar__plus_00_dot_73_bar__minus_00_dot_26 loc_bar_4_bar_1_bar_1_bar_60) + (objectAtLocation Book_bar__minus_00_dot_87_bar__plus_01_dot_50_bar__minus_00_dot_94 loc_bar_1_bar__minus_3_bar_3_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_95_bar__plus_00_dot_67_bar__plus_02_dot_73 loc_bar_1_bar_12_bar_3_bar_60) + (objectAtLocation Chair_bar__minus_00_dot_25_bar__plus_00_dot_43_bar__plus_01_dot_46 loc_bar_1_bar_6_bar_3_bar_60) + (objectAtLocation Book_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_43 loc_bar_1_bar_7_bar_3_bar_60) + (objectAtLocation Chair_bar__plus_01_dot_48_bar__plus_00_dot_43_bar__plus_00_dot_22 loc_bar_4_bar_1_bar_1_bar_60) + (objectAtLocation Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29 loc_bar_1_bar__minus_1_bar_3_bar_60) + (objectAtLocation DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 loc_bar_4_bar_1_bar_1_bar_60) + (objectAtLocation TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23 loc_bar__minus_4_bar_2_bar_3_bar_60) + (objectAtLocation Pen_bar__plus_01_dot_52_bar__plus_00_dot_73_bar__minus_00_dot_26 loc_bar_4_bar_1_bar_1_bar_60) + (objectAtLocation AlarmClock_bar__plus_01_dot_71_bar__plus_00_dot_73_bar__minus_00_dot_26 loc_bar_4_bar_1_bar_1_bar_60) + (objectAtLocation Pillow_bar__minus_00_dot_63_bar__plus_01_dot_87_bar__plus_03_dot_05 loc_bar_4_bar_9_bar_3_bar_0) + (objectAtLocation Pillow_bar__minus_01_dot_00_bar__plus_01_dot_59_bar__minus_00_dot_50 loc_bar_1_bar__minus_3_bar_3_bar_60) + (objectAtLocation CellPhone_bar__minus_00_dot_70_bar__plus_01_dot_84_bar__plus_01_dot_63 loc_bar_4_bar_9_bar_3_bar_0) + (objectAtLocation Painting_bar__plus_02_dot_20_bar__plus_01_dot_77_bar__minus_00_dot_10 loc_bar_4_bar_0_bar_1_bar_0) + (objectAtLocation KeyChain_bar__plus_02_dot_10_bar__plus_00_dot_73_bar__plus_00_dot_48 loc_bar_4_bar_1_bar_1_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_60_bar__plus_00_dot_68_bar__plus_02_dot_18 loc_bar_1_bar_7_bar_3_bar_60) + (objectAtLocation Mirror_bar__plus_02_dot_23_bar__plus_01_dot_26_bar__plus_02_dot_66 loc_bar_7_bar_11_bar_1_bar_45) + (objectAtLocation CD_bar__minus_00_dot_64_bar__plus_00_dot_50_bar__plus_02_dot_71 loc_bar_2_bar_11_bar_3_bar_45) + (objectAtLocation LightSwitch_bar__plus_02_dot_20_bar__plus_01_dot_26_bar__plus_01_dot_99 loc_bar_7_bar_10_bar_2_bar_45) + (objectAtLocation Window_bar__plus_01_dot_58_bar__plus_01_dot_56_bar__minus_01_dot_95 loc_bar_6_bar__minus_5_bar_2_bar_15) + (objectAtLocation Pencil_bar__minus_00_dot_48_bar__plus_00_dot_67_bar__plus_03_dot_16 loc_bar_1_bar_12_bar_3_bar_60) + (objectAtLocation Laptop_bar__plus_01_dot_61_bar__plus_00_dot_72_bar__plus_00_dot_48 loc_bar_4_bar_1_bar_1_bar_60) + (objectAtLocation Mug_bar__minus_00_dot_53_bar__plus_00_dot_06_bar__plus_02_dot_31 loc_bar_2_bar_7_bar_3_bar_60) + (objectAtLocation Blinds_bar__plus_01_dot_55_bar__plus_02_dot_44_bar__minus_01_dot_89 loc_bar_6_bar__minus_5_bar_2_bar__minus_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 AlarmClockType) + (receptacleType ?r DresserType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 AlarmClockType) + (receptacleType ?r DresserType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git 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"rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "AlarmClock_7ade8b6b", + "position": { + "x": -0.4239279, + "y": 0.678465664, + "z": 1.80486059 + }, + "rotation": { + "x": 0.0, + "y": 89.9998245, + "z": 0.0 + } + }, + { + "objectName": "Pillow_0dfd6e27", + "position": { + "x": -0.63, + "y": 1.871, + "z": 3.047 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pillow_d7daf237", + "position": { + "x": -1.00225461, + "y": 1.58593035, + "z": -0.4963799 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CellPhone_4ae13037", + "position": { + "x": -0.685997, + "y": 0.506356835, + "z": 2.960729 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_268d954a", + "position": { + "x": -0.589910448, + "y": 0.06533692, + "z": 2.87767076 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_7ad6fb52", + "position": { + "x": -0.637953758, + "y": 0.06518582, + "z": 3.12684536 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CD_e7609414", + "position": { + "x": -0.637953758, + "y": 0.5038933, + "z": 2.71155429 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pencil_1ecf44c2", + "position": { + "x": -0.480186582, + "y": 0.67284447, + "z": 3.16248369 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Laptop_425b94ea", + "position": { + "x": -0.867, + "y": 1.49893832, + "z": -1.38936877 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_31b7f025", + "position": { + "x": -0.761808157, + "y": 0.6671691, + "z": 2.81531 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3769755679, + "scene_num": 318 + }, + "task_id": "trial_T20190919_024708_968984", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1GVTH5YS3WOK0_3N2BF7Y2VTBXXH5FBI06NG3J3USHMN", + "high_descs": [ + "Turn around and walk towards the desk.", + "Pick up the alarm clock that is closest to the wall from the desk.", + "Turn right, walk to the vent, and then right to the wood dresser.", + "Place the alarm clock on the dresser.", + "Turn right, take a few steps forward, and then turn right towards the desk.", + "Pick up the other alarm clock on the desk.", + "Turn right, walk to the vent, and then right to the wood dresser.", + "Place the alarm clock to the left of the other one on the dresser." + ], + "task_desc": "Transfer the two alarm clocks from the desk to the dresser.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A16184N1RO5OJV_3PJUZCGDJ9XPXMLSJ52V5H400B798B", + "high_descs": [ + "Turn around and walk to the brown desk. ", + "Pick up the alarm clock on top of the desk and that is the nearest to the wall. ", + "Turn right and make a right turn near the AC. Go to the brown shelf. ", + "Put the alarm clock on the shelf. ", + "Walk back to the brown desk again. ", + "Pick up another alarm clock from on top of the table. ", + "Go back to the brown shelf. ", + "Put the other alarm clock next to the other clock on the shelf. " + ], + "task_desc": "Put 2 alarm clock side by side on the brown shelf near the AC", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3SFPSMFRSRTB3_36W0OB37HZVXWO4YQ7Q0VIZSIXMHZE", + "high_descs": [ + "Turn around, proceed to desk.", + "Pick up alarm clock closest to wall, farthest from pen.", + "Turn around, proceed to dresser.", + "Place alarm clock on top of dresser.", + "Turn around, proceed to desk.", + "Pick up alarm clock from top of desk.", + "Turn around, proceed to dresser.", + "Place alarm clock on top of dresser, directly to the left of the other alarm clock." + ], + "task_desc": "Move two alarm clocks to a dresser.", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-CD-None-Safe-302/trial_T20190909_053639_042330/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-CD-None-Safe-302/trial_T20190909_053639_042330/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..98faaa3b9fb40d2a454002fe8ab9e9bb60ecadc9 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-CD-None-Safe-302/trial_T20190909_053639_042330/initial_state.pddl @@ -0,0 +1,570 @@ + +(define (problem plan_trial_T20190909_053639_042330) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + AlarmClock_bar__minus_01_dot_26_bar__plus_00_dot_79_bar__minus_01_dot_76 - object + Blinds_bar__minus_00_dot_45_bar__plus_02_dot_16_bar__minus_02_dot_24 - object + Book_bar__plus_01_dot_53_bar__plus_00_dot_58_bar__minus_00_dot_41 - object + Book_bar__plus_01_dot_68_bar__plus_00_dot_58_bar__minus_01_dot_37 - object + Book_bar__minus_00_dot_66_bar__plus_00_dot_78_bar__minus_01_dot_69 - object + Bowl_bar__minus_01_dot_19_bar__plus_00_dot_79_bar__minus_00_dot_81 - object + Bowl_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_01_dot_34 - object + CD_bar__minus_01_dot_26_bar__plus_00_dot_79_bar__minus_01_dot_50 - object + CD_bar__minus_01_dot_28_bar__plus_01_dot_46_bar__minus_00_dot_34 - object + CellPhone_bar__plus_01_dot_68_bar__plus_00_dot_58_bar__minus_00_dot_65 - object + Chair_bar__minus_00_dot_73_bar__plus_00_dot_58_bar__minus_01_dot_40 - object + CreditCard_bar__plus_00_dot_15_bar__plus_00_dot_68_bar__plus_01_dot_44 - object + CreditCard_bar__plus_00_dot_31_bar__plus_00_dot_08_bar__plus_01_dot_19 - object + CreditCard_bar__plus_00_dot_42_bar__plus_00_dot_48_bar__minus_01_dot_55 - object + DeskLamp_bar__plus_00_dot_48_bar__plus_00_dot_67_bar__plus_01_dot_35 - object + HousePlant_bar__minus_00_dot_08_bar__plus_00_dot_83_bar__minus_02_dot_05 - object + KeyChain_bar__plus_00_dot_15_bar__plus_00_dot_68_bar__plus_01_dot_35 - object + KeyChain_bar__plus_00_dot_48_bar__plus_00_dot_08_bar__plus_01_dot_26 - object + Laptop_bar__plus_00_dot_95_bar__plus_00_dot_57_bar__minus_00_dot_89 - object + Laptop_bar__plus_01_dot_10_bar__plus_00_dot_57_bar__minus_00_dot_41 - object + LightSwitch_bar__plus_00_dot_01_bar__plus_01_dot_32_bar__plus_01_dot_50 - object + Mirror_bar__minus_01_dot_38_bar__plus_01_dot_57_bar__plus_00_dot_51 - object + Painting_bar__plus_01_dot_11_bar__plus_01_dot_63_bar__minus_01_dot_87 - object + Pencil_bar__minus_00_dot_81_bar__plus_00_dot_80_bar__minus_01_dot_31 - object + Pencil_bar__minus_01_dot_28_bar__plus_01_dot_46_bar__minus_00_dot_78 - object + Pen_bar__plus_00_dot_37_bar__plus_00_dot_68_bar__minus_01_dot_54 - object + Pen_bar__plus_00_dot_37_bar__plus_00_dot_68_bar__minus_01_dot_68 - object + Pen_bar__minus_00_dot_38_bar__plus_00_dot_80_bar__minus_01_dot_63 - object + Pillow_bar__plus_01_dot_22_bar__plus_00_dot_64_bar__minus_01_dot_66 - object + TeddyBear_bar__plus_01_dot_63_bar__plus_00_dot_56_bar__minus_01_dot_06 - object + TennisRacket_bar__minus_01_dot_23_bar__plus_00_dot_30_bar__minus_00_dot_07 - object + Window_bar__minus_00_dot_47_bar__plus_01_dot_40_bar__minus_02_dot_25 - object + Bed_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_00_dot_90 - receptacle + Desk_bar__minus_01_dot_01_bar__minus_00_dot_01_bar__minus_01_dot_12 - receptacle + Drawer_bar__plus_00_dot_31_bar__plus_00_dot_17_bar__plus_01_dot_23 - receptacle + Drawer_bar__plus_00_dot_31_bar__plus_00_dot_46_bar__plus_01_dot_23 - receptacle + Drawer_bar__plus_00_dot_42_bar__plus_00_dot_53_bar__minus_01_dot_55 - receptacle + GarbageCan_bar__plus_00_dot_84_bar__plus_00_dot_00_bar__plus_01_dot_34 - receptacle + Safe_bar__plus_01_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_44 - receptacle + Shelf_bar__minus_00_dot_47_bar__plus_00_dot_83_bar__minus_02_dot_04 - receptacle + Shelf_bar__minus_01_dot_29_bar__plus_01_dot_45_bar__minus_00_dot_60 - receptacle + Shelf_bar__minus_01_dot_29_bar__plus_01_dot_45_bar__minus_01_dot_34 - receptacle + Shelf_bar__minus_01_dot_29_bar__plus_01_dot_81_bar__minus_00_dot_60 - receptacle + Shelf_bar__minus_01_dot_29_bar__plus_01_dot_81_bar__minus_01_dot_34 - receptacle + SideTable_bar__plus_00_dot_31_bar__plus_00_dot_46_bar__plus_01_dot_23 - receptacle + SideTable_bar__plus_00_dot_41_bar__plus_00_dot_00_bar__minus_01_dot_68 - receptacle + loc_bar_0_bar__minus_5_bar_2_bar_15 - location + loc_bar_0_bar__minus_5_bar_3_bar_60 - location + loc_bar_2_bar_3_bar_1_bar_60 - location + loc_bar_0_bar__minus_5_bar_3_bar_30 - location + loc_bar__minus_2_bar_0_bar_3_bar_60 - location + loc_bar__minus_1_bar_1_bar_0_bar_60 - location + loc_bar__minus_1_bar__minus_4_bar_3_bar__minus_15 - location + loc_bar_0_bar_3_bar_0_bar_30 - location + loc_bar_0_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_1_bar__minus_5_bar_2_bar_60 - location + loc_bar__minus_3_bar_2_bar_3_bar_15 - location + loc_bar__minus_1_bar__minus_3_bar_3_bar_60 - location + loc_bar__minus_2_bar__minus_2_bar_3_bar_15 - location + loc_bar__minus_1_bar__minus_2_bar_2_bar_60 - location + loc_bar__minus_2_bar_2_bar_1_bar_60 - location + loc_bar_0_bar__minus_3_bar_1_bar_60 - location + loc_bar_0_bar__minus_5_bar_3_bar_15 - location + loc_bar_1_bar__minus_5_bar_1_bar_0 - location + loc_bar__minus_2_bar__minus_2_bar_3_bar__minus_15 - location + loc_bar_0_bar__minus_4_bar_2_bar_45 - location + loc_bar__minus_3_bar_4_bar_1_bar_45 - location + loc_bar_3_bar_3_bar_0_bar_60 - location + loc_bar_2_bar_3_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Shelf_bar__minus_01_dot_29_bar__plus_01_dot_45_bar__minus_01_dot_34 ShelfType) + (receptacleType GarbageCan_bar__plus_00_dot_84_bar__plus_00_dot_00_bar__plus_01_dot_34 GarbageCanType) + (receptacleType Bed_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_00_dot_90 BedType) + (receptacleType SideTable_bar__plus_00_dot_41_bar__plus_00_dot_00_bar__minus_01_dot_68 SideTableType) + (receptacleType Shelf_bar__minus_01_dot_29_bar__plus_01_dot_81_bar__minus_00_dot_60 ShelfType) + (receptacleType Shelf_bar__minus_01_dot_29_bar__plus_01_dot_45_bar__minus_00_dot_60 ShelfType) + (receptacleType Desk_bar__minus_01_dot_01_bar__minus_00_dot_01_bar__minus_01_dot_12 DeskType) + (receptacleType Drawer_bar__plus_00_dot_31_bar__plus_00_dot_17_bar__plus_01_dot_23 DrawerType) + (receptacleType Safe_bar__plus_01_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_44 SafeType) + (receptacleType Shelf_bar__minus_01_dot_29_bar__plus_01_dot_81_bar__minus_01_dot_34 ShelfType) + (receptacleType Drawer_bar__plus_00_dot_42_bar__plus_00_dot_53_bar__minus_01_dot_55 DrawerType) + (receptacleType Shelf_bar__minus_00_dot_47_bar__plus_00_dot_83_bar__minus_02_dot_04 ShelfType) + (receptacleType Drawer_bar__plus_00_dot_31_bar__plus_00_dot_46_bar__plus_01_dot_23 DrawerType) + (receptacleType SideTable_bar__plus_00_dot_31_bar__plus_00_dot_46_bar__plus_01_dot_23 SideTableType) + (objectType Pencil_bar__minus_01_dot_28_bar__plus_01_dot_46_bar__minus_00_dot_78 PencilType) + (objectType CreditCard_bar__plus_00_dot_15_bar__plus_00_dot_68_bar__plus_01_dot_44 CreditCardType) + (objectType Pillow_bar__plus_01_dot_22_bar__plus_00_dot_64_bar__minus_01_dot_66 PillowType) + (objectType CreditCard_bar__plus_00_dot_31_bar__plus_00_dot_08_bar__plus_01_dot_19 CreditCardType) + (objectType Bowl_bar__minus_01_dot_19_bar__plus_00_dot_79_bar__minus_00_dot_81 BowlType) + (objectType Book_bar__plus_01_dot_53_bar__plus_00_dot_58_bar__minus_00_dot_41 BookType) + (objectType Painting_bar__plus_01_dot_11_bar__plus_01_dot_63_bar__minus_01_dot_87 PaintingType) + (objectType Chair_bar__minus_00_dot_73_bar__plus_00_dot_58_bar__minus_01_dot_40 ChairType) + (objectType Book_bar__plus_01_dot_68_bar__plus_00_dot_58_bar__minus_01_dot_37 BookType) + (objectType Pen_bar__minus_00_dot_38_bar__plus_00_dot_80_bar__minus_01_dot_63 PenType) + (objectType TeddyBear_bar__plus_01_dot_63_bar__plus_00_dot_56_bar__minus_01_dot_06 TeddyBearType) + (objectType Book_bar__minus_00_dot_66_bar__plus_00_dot_78_bar__minus_01_dot_69 BookType) + (objectType KeyChain_bar__plus_00_dot_15_bar__plus_00_dot_68_bar__plus_01_dot_35 KeyChainType) + (objectType AlarmClock_bar__minus_01_dot_26_bar__plus_00_dot_79_bar__minus_01_dot_76 AlarmClockType) + (objectType CellPhone_bar__plus_01_dot_68_bar__plus_00_dot_58_bar__minus_00_dot_65 CellPhoneType) + (objectType LightSwitch_bar__plus_00_dot_01_bar__plus_01_dot_32_bar__plus_01_dot_50 LightSwitchType) + (objectType KeyChain_bar__plus_00_dot_48_bar__plus_00_dot_08_bar__plus_01_dot_26 KeyChainType) + (objectType Laptop_bar__plus_01_dot_10_bar__plus_00_dot_57_bar__minus_00_dot_41 LaptopType) + (objectType TennisRacket_bar__minus_01_dot_23_bar__plus_00_dot_30_bar__minus_00_dot_07 TennisRacketType) + (objectType CreditCard_bar__plus_00_dot_42_bar__plus_00_dot_48_bar__minus_01_dot_55 CreditCardType) + (objectType DeskLamp_bar__plus_00_dot_48_bar__plus_00_dot_67_bar__plus_01_dot_35 DeskLampType) + (objectType Bowl_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_01_dot_34 BowlType) + (objectType HousePlant_bar__minus_00_dot_08_bar__plus_00_dot_83_bar__minus_02_dot_05 HousePlantType) + (objectType Laptop_bar__plus_00_dot_95_bar__plus_00_dot_57_bar__minus_00_dot_89 LaptopType) + (objectType Pen_bar__plus_00_dot_37_bar__plus_00_dot_68_bar__minus_01_dot_54 PenType) + (objectType Pencil_bar__minus_00_dot_81_bar__plus_00_dot_80_bar__minus_01_dot_31 PencilType) + (objectType Pen_bar__plus_00_dot_37_bar__plus_00_dot_68_bar__minus_01_dot_68 PenType) + (objectType CD_bar__minus_01_dot_28_bar__plus_01_dot_46_bar__minus_00_dot_34 CDType) + (objectType Window_bar__minus_00_dot_47_bar__plus_01_dot_40_bar__minus_02_dot_25 WindowType) + (objectType Blinds_bar__minus_00_dot_45_bar__plus_02_dot_16_bar__minus_02_dot_24 BlindsType) + (objectType Mirror_bar__minus_01_dot_38_bar__plus_01_dot_57_bar__plus_00_dot_51 MirrorType) + (objectType CD_bar__minus_01_dot_26_bar__plus_00_dot_79_bar__minus_01_dot_50 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(canContain SideTableType PencilType) + (canContain SideTableType AlarmClockType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType BowlType) + (canContain ShelfType CDType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType AlarmClockType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType BowlType) + (canContain ShelfType CDType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType AlarmClockType) + (canContain DeskType PenType) + (canContain DeskType BookType) + (canContain DeskType BowlType) + (canContain DeskType CDType) + (canContain DeskType CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (canContain DeskType 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(canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType BowlType) + (canContain ShelfType CDType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType BowlType) + (canContain SideTableType CDType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType TennisRacketType) + (canContain SideTableType LaptopType) + (canContain SideTableType PencilType) + (canContain SideTableType AlarmClockType) + (pickupable Pencil_bar__minus_01_dot_28_bar__plus_01_dot_46_bar__minus_00_dot_78) + (pickupable CreditCard_bar__plus_00_dot_15_bar__plus_00_dot_68_bar__plus_01_dot_44) + (pickupable Pillow_bar__plus_01_dot_22_bar__plus_00_dot_64_bar__minus_01_dot_66) + (pickupable CreditCard_bar__plus_00_dot_31_bar__plus_00_dot_08_bar__plus_01_dot_19) + (pickupable Bowl_bar__minus_01_dot_19_bar__plus_00_dot_79_bar__minus_00_dot_81) + (pickupable Book_bar__plus_01_dot_53_bar__plus_00_dot_58_bar__minus_00_dot_41) + (pickupable Book_bar__plus_01_dot_68_bar__plus_00_dot_58_bar__minus_01_dot_37) + (pickupable Pen_bar__minus_00_dot_38_bar__plus_00_dot_80_bar__minus_01_dot_63) + (pickupable TeddyBear_bar__plus_01_dot_63_bar__plus_00_dot_56_bar__minus_01_dot_06) + (pickupable Book_bar__minus_00_dot_66_bar__plus_00_dot_78_bar__minus_01_dot_69) + (pickupable KeyChain_bar__plus_00_dot_15_bar__plus_00_dot_68_bar__plus_01_dot_35) + (pickupable AlarmClock_bar__minus_01_dot_26_bar__plus_00_dot_79_bar__minus_01_dot_76) + (pickupable CellPhone_bar__plus_01_dot_68_bar__plus_00_dot_58_bar__minus_00_dot_65) + (pickupable KeyChain_bar__plus_00_dot_48_bar__plus_00_dot_08_bar__plus_01_dot_26) + (pickupable Laptop_bar__plus_01_dot_10_bar__plus_00_dot_57_bar__minus_00_dot_41) + (pickupable TennisRacket_bar__minus_01_dot_23_bar__plus_00_dot_30_bar__minus_00_dot_07) + (pickupable CreditCard_bar__plus_00_dot_42_bar__plus_00_dot_48_bar__minus_01_dot_55) + (pickupable Bowl_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_01_dot_34) + (pickupable Laptop_bar__plus_00_dot_95_bar__plus_00_dot_57_bar__minus_00_dot_89) + (pickupable Pen_bar__plus_00_dot_37_bar__plus_00_dot_68_bar__minus_01_dot_54) + (pickupable Pencil_bar__minus_00_dot_81_bar__plus_00_dot_80_bar__minus_01_dot_31) + (pickupable 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loc_bar_0_bar__minus_3_bar_1_bar_60) + (objectAtLocation Pen_bar__plus_00_dot_37_bar__plus_00_dot_68_bar__minus_01_dot_68 loc_bar__minus_1_bar__minus_2_bar_2_bar_60) + (objectAtLocation TennisRacket_bar__minus_01_dot_23_bar__plus_00_dot_30_bar__minus_00_dot_07 loc_bar__minus_2_bar_0_bar_3_bar_60) + (objectAtLocation TeddyBear_bar__plus_01_dot_63_bar__plus_00_dot_56_bar__minus_01_dot_06 loc_bar_0_bar__minus_3_bar_1_bar_60) + (objectAtLocation Pillow_bar__plus_01_dot_22_bar__plus_00_dot_64_bar__minus_01_dot_66 loc_bar_0_bar__minus_3_bar_1_bar_60) + (objectAtLocation CellPhone_bar__plus_01_dot_68_bar__plus_00_dot_58_bar__minus_00_dot_65 loc_bar_0_bar__minus_3_bar_1_bar_60) + (objectAtLocation Painting_bar__plus_01_dot_11_bar__plus_01_dot_63_bar__minus_01_dot_87 loc_bar_1_bar__minus_5_bar_1_bar_0) + (objectAtLocation KeyChain_bar__plus_00_dot_15_bar__plus_00_dot_68_bar__plus_01_dot_35 loc_bar__minus_3_bar_4_bar_1_bar_45) + (objectAtLocation 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loc_bar_0_bar__minus_5_bar_2_bar__minus_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 CDType) + (receptacleType ?r SafeType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 CDType) + (receptacleType ?r SafeType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-CD-None-Safe-302/trial_T20190909_053639_042330/traj_data.json b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-CD-None-Safe-302/trial_T20190909_053639_042330/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..1359a0cdab9362c44eb4b3ef6dbffef5dc3eda67 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-CD-None-Safe-302/trial_T20190909_053639_042330/traj_data.json @@ -0,0 +1,7530 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 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"objectName": "CellPhone_d9c0f745", + "position": { + "x": 1.6768477, + "y": 0.578833, + "z": -0.649521053 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_227ff109", + "position": { + "x": 0.476038, + "y": 0.08279878, + "z": 1.26283431 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "AlarmClock_0d0b6904", + "position": { + "x": -1.259441, + "y": 0.794255555, + "z": -1.76076686 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_f9bfaad4", + "position": { + "x": 0.4162279, + "y": 0.480630368, + "z": -1.5466361 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CD_53aad5ee", + "position": { + "x": -1.259441, + "y": 0.79265815, + "z": -1.50438058 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_069b5b86", + "position": { + "x": -1.28303087, + "y": 1.82403862, + "z": -1.344 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 955298880, + "scene_num": 302 + }, + "task_id": "trial_T20190909_053639_042330", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A20FCMWP43CVIU_37FMASSAYFI9VAY0MJHZAYD6LXXIBX", + "high_descs": [ + "walk to face shelf above desk", + "pick up cd from shelf", + "walk to face safe at end of bed", + "put cd in safe on floor", + "walk to face left side of desk", + "pick up cd from desk", + "walk to face safe at end of bed", + "put cd in safe on floor" + ], + "task_desc": "put two cds in a safe", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1ELPYAFO7MANS_3GD6L00D3VOUEV6Z51M2WF7EGT21MN", + "high_descs": [ + "Turn right and walk to the desk, near the right side.", + "Pick up the CD in the cubby above the desk, on the right.", + "Turn around and walk to the safe on the left side of the bed.", + "Place the CD in the safe.", + "Turn around and veer left to the left side of the desk.", + "Pick up the CD near the middle of the desk.", + "Turn right and walk around the bed again to the safe.", + "Place the CD in the safe." + ], + "task_desc": "Place two CDs in a safe.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1HKHM4NVAO98H_3NQL1CS15UZAUOBBVIU2XY11E82YVG", + "high_descs": [ + "turn right and walk over to the right side of the desk, then look up to face the cabinet on the wall above", + "grab the CD off of the cabinet there on the wall", + "turn around and walk over to the left side corner of the room", + "place the CD inside of the safety box on the floor there", + "turn around and walk to the left side corner of the room", + "grab the CD off of the top of the desk in the corner of the room", + "turn right and walk over to the right side corner of the room where the safety box is", + "place the CD inside of the safety box on the floor" + ], + "task_desc": "place two CD's inside of the safety box on the floor", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Candle-None-Toilet-419/trial_T20190909_033518_510659/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Candle-None-Toilet-419/trial_T20190909_033518_510659/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..72f1cd6ca85dc9a7b3a58015f30599447387f621 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Candle-None-Toilet-419/trial_T20190909_033518_510659/initial_state.pddl @@ -0,0 +1,446 @@ + +(define (problem plan_trial_T20190909_033518_510659) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Bathtub_bar__minus_00_dot_98_bar__minus_00_dot_72_bar__minus_02_dot_93 - object + Candle_bar__minus_00_dot_04_bar__plus_00_dot_48_bar__minus_02_dot_60 - object + Candle_bar__minus_00_dot_93_bar__plus_00_dot_48_bar__minus_02_dot_50 - object + Candle_bar__minus_01_dot_20_bar__plus_00_dot_48_bar__minus_02_dot_55 - object + Cloth_bar__minus_00_dot_69_bar__plus_00_dot_06_bar__minus_02_dot_86 - object + Cloth_bar__minus_00_dot_94_bar__plus_00_dot_06_bar__minus_03_dot_05 - object + Faucet_bar__minus_00_dot_01_bar__plus_01_dot_72_bar__minus_02_dot_98 - object + Faucet_bar__minus_00_dot_02_bar__plus_00_dot_47_bar__minus_02_dot_97 - object + Faucet_bar__minus_02_dot_35_bar__plus_00_dot_96_bar__minus_02_dot_03 - object + HandTowel_bar__minus_02_dot_37_bar__plus_01_dot_52_bar__minus_01_dot_51 - object + LightSwitch_bar__minus_01_dot_25_bar__plus_01_dot_42_bar__plus_00_dot_00 - object + Mirror_bar__minus_02_dot_45_bar__plus_01_dot_64_bar__minus_02_dot_03 - object + Plunger_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_02_dot_38 - object + ScrubBrush_bar__minus_00_dot_16_bar__plus_00_dot_00_bar__minus_02_dot_16 - object + ShowerCurtain_bar__minus_02_dot_33_bar__plus_01_dot_96_bar__minus_02_dot_46 - object + Sink_bar__minus_02_dot_10_bar_00_dot_00_bar__minus_02_dot_03 - object + SoapBar_bar__minus_00_dot_20_bar__plus_00_dot_06_bar__minus_01_dot_38 - object + SoapBar_bar__minus_01_dot_94_bar__plus_00_dot_06_bar__minus_02_dot_93 - object + SoapBar_bar__minus_02_dot_34_bar__plus_00_dot_48_bar__minus_02_dot_58 - object + SoapBottle_bar__minus_00_dot_22_bar__plus_01_dot_05_bar__minus_01_dot_75 - object + SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_48_bar__minus_02_dot_52 - object + SoapBottle_bar__minus_02_dot_11_bar__plus_00_dot_68_bar__minus_01_dot_55 - object + SprayBottle_bar__minus_00_dot_24_bar__plus_01_dot_05_bar__minus_02_dot_01 - object + TissueBox_bar__minus_02_dot_19_bar__plus_00_dot_67_bar__minus_01_dot_12 - object + ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_99_bar__minus_01_dot_34 - object + ToiletPaper_bar__minus_00_dot_09_bar__plus_01_dot_04_bar__minus_01_dot_75 - object + Towel_bar__minus_00_dot_05_bar__plus_01_dot_85_bar__minus_01_dot_89 - object + Bathtub_bar__minus_00_dot_98_bar__minus_00_dot_72_bar__minus_02_dot_93_bar_BathtubBasin - receptacle + Drawer_bar__minus_02_dot_12_bar__plus_00_dot_17_bar__minus_01_dot_31 - receptacle + Drawer_bar__minus_02_dot_12_bar__plus_00_dot_46_bar__minus_01_dot_31 - receptacle + GarbageCan_bar__minus_00_dot_22_bar__plus_00_dot_00_bar__minus_01_dot_42 - receptacle + HandTowelHolder_bar__minus_02_dot_41_bar__plus_01_dot_63_bar__minus_01_dot_51 - receptacle + SideTable_bar__minus_02_dot_12_bar__plus_00_dot_46_bar__minus_01_dot_31 - receptacle + Sink_bar__minus_02_dot_10_bar_00_dot_00_bar__minus_02_dot_03_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_99_bar__minus_01_dot_40 - receptacle + Toilet_bar__minus_00_dot_47_bar__plus_00_dot_00_bar__minus_01_dot_88 - receptacle + TowelHolder_bar__plus_00_dot_06_bar__plus_01_dot_83_bar__minus_01_dot_89 - receptacle + loc_bar__minus_6_bar__minus_6_bar_3_bar_0 - location + loc_bar__minus_7_bar__minus_2_bar_2_bar_60 - location + loc_bar__minus_5_bar__minus_9_bar_1_bar_60 - location + loc_bar__minus_5_bar__minus_8_bar_2_bar_60 - location + loc_bar__minus_6_bar__minus_8_bar_3_bar_0 - location + loc_bar__minus_6_bar__minus_7_bar_3_bar_60 - location + loc_bar__minus_5_bar__minus_9_bar_2_bar_60 - location + loc_bar__minus_5_bar__minus_2_bar_0_bar_30 - location + loc_bar__minus_3_bar__minus_5_bar_1_bar_45 - location + loc_bar__minus_7_bar__minus_5_bar_3_bar_60 - location + loc_bar__minus_5_bar__minus_8_bar_1_bar_60 - location + loc_bar__minus_5_bar__minus_8_bar_1_bar__minus_15 - location + loc_bar__minus_3_bar__minus_5_bar_1_bar_60 - location + loc_bar__minus_6_bar__minus_8_bar_3_bar_60 - location + loc_bar__minus_6_bar__minus_6_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_99_bar__minus_01_dot_40 ToiletPaperHangerType) + (receptacleType Toilet_bar__minus_00_dot_47_bar__plus_00_dot_00_bar__minus_01_dot_88 ToiletType) + (receptacleType Bathtub_bar__minus_00_dot_98_bar__minus_00_dot_72_bar__minus_02_dot_93_bar_BathtubBasin BathtubBasinType) + (receptacleType Drawer_bar__minus_02_dot_12_bar__plus_00_dot_46_bar__minus_01_dot_31 DrawerType) + (receptacleType Drawer_bar__minus_02_dot_12_bar__plus_00_dot_17_bar__minus_01_dot_31 DrawerType) + (receptacleType SideTable_bar__minus_02_dot_12_bar__plus_00_dot_46_bar__minus_01_dot_31 SideTableType) + (receptacleType TowelHolder_bar__plus_00_dot_06_bar__plus_01_dot_83_bar__minus_01_dot_89 TowelHolderType) + (receptacleType HandTowelHolder_bar__minus_02_dot_41_bar__plus_01_dot_63_bar__minus_01_dot_51 HandTowelHolderType) + (receptacleType GarbageCan_bar__minus_00_dot_22_bar__plus_00_dot_00_bar__minus_01_dot_42 GarbageCanType) + (receptacleType Sink_bar__minus_02_dot_10_bar_00_dot_00_bar__minus_02_dot_03_bar_SinkBasin SinkBasinType) + (objectType Plunger_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_02_dot_38 PlungerType) + (objectType Candle_bar__minus_00_dot_04_bar__plus_00_dot_48_bar__minus_02_dot_60 CandleType) + (objectType SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_48_bar__minus_02_dot_52 SoapBottleType) + (objectType LightSwitch_bar__minus_01_dot_25_bar__plus_01_dot_42_bar__plus_00_dot_00 LightSwitchType) + (objectType HandTowel_bar__minus_02_dot_37_bar__plus_01_dot_52_bar__minus_01_dot_51 HandTowelType) + (objectType Cloth_bar__minus_00_dot_69_bar__plus_00_dot_06_bar__minus_02_dot_86 ClothType) + (objectType SoapBar_bar__minus_02_dot_34_bar__plus_00_dot_48_bar__minus_02_dot_58 SoapBarType) + (objectType SprayBottle_bar__minus_00_dot_24_bar__plus_01_dot_05_bar__minus_02_dot_01 SprayBottleType) + (objectType SoapBottle_bar__minus_00_dot_22_bar__plus_01_dot_05_bar__minus_01_dot_75 SoapBottleType) + (objectType ScrubBrush_bar__minus_00_dot_16_bar__plus_00_dot_00_bar__minus_02_dot_16 ScrubBrushType) + (objectType Candle_bar__minus_00_dot_93_bar__plus_00_dot_48_bar__minus_02_dot_50 CandleType) + (objectType Bathtub_bar__minus_00_dot_98_bar__minus_00_dot_72_bar__minus_02_dot_93 BathtubType) + (objectType Mirror_bar__minus_02_dot_45_bar__plus_01_dot_64_bar__minus_02_dot_03 MirrorType) + (objectType SoapBar_bar__minus_00_dot_20_bar__plus_00_dot_06_bar__minus_01_dot_38 SoapBarType) + (objectType Towel_bar__minus_00_dot_05_bar__plus_01_dot_85_bar__minus_01_dot_89 TowelType) + (objectType Candle_bar__minus_01_dot_20_bar__plus_00_dot_48_bar__minus_02_dot_55 CandleType) + (objectType Sink_bar__minus_02_dot_10_bar_00_dot_00_bar__minus_02_dot_03 SinkType) + (objectType ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_99_bar__minus_01_dot_34 ToiletPaperType) + (objectType Cloth_bar__minus_00_dot_94_bar__plus_00_dot_06_bar__minus_03_dot_05 ClothType) + (objectType TissueBox_bar__minus_02_dot_19_bar__plus_00_dot_67_bar__minus_01_dot_12 TissueBoxType) + (objectType SoapBar_bar__minus_01_dot_94_bar__plus_00_dot_06_bar__minus_02_dot_93 SoapBarType) + (objectType SoapBottle_bar__minus_02_dot_11_bar__plus_00_dot_68_bar__minus_01_dot_55 SoapBottleType) + (objectType ToiletPaper_bar__minus_00_dot_09_bar__plus_01_dot_04_bar__minus_01_dot_75 ToiletPaperType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType ClothType) + (canContain ToiletType CandleType) + (canContain ToiletType SoapBarType) + (canContain ToiletType SprayBottleType) + (canContain ToiletType TissueBoxType) + (canContain BathtubBasinType ClothType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType HandTowelType) + (canContain SideTableType CandleType) + (canContain SideTableType SoapBarType) + (canContain SideTableType SprayBottleType) + (canContain SideTableType ToiletPaperType) + (canContain SideTableType SoapBottleType) + (canContain SideTableType ClothType) + (canContain SideTableType TissueBoxType) + (canContain SideTableType HandTowelType) + (canContain TowelHolderType TowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType TissueBoxType) + (canContain GarbageCanType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (pickupable Plunger_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_02_dot_38) + (pickupable Candle_bar__minus_00_dot_04_bar__plus_00_dot_48_bar__minus_02_dot_60) + (pickupable SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_48_bar__minus_02_dot_52) + (pickupable HandTowel_bar__minus_02_dot_37_bar__plus_01_dot_52_bar__minus_01_dot_51) + (pickupable Cloth_bar__minus_00_dot_69_bar__plus_00_dot_06_bar__minus_02_dot_86) + (pickupable SoapBar_bar__minus_02_dot_34_bar__plus_00_dot_48_bar__minus_02_dot_58) + (pickupable SprayBottle_bar__minus_00_dot_24_bar__plus_01_dot_05_bar__minus_02_dot_01) + (pickupable SoapBottle_bar__minus_00_dot_22_bar__plus_01_dot_05_bar__minus_01_dot_75) + (pickupable ScrubBrush_bar__minus_00_dot_16_bar__plus_00_dot_00_bar__minus_02_dot_16) + (pickupable Candle_bar__minus_00_dot_93_bar__plus_00_dot_48_bar__minus_02_dot_50) + (pickupable SoapBar_bar__minus_00_dot_20_bar__plus_00_dot_06_bar__minus_01_dot_38) + (pickupable Towel_bar__minus_00_dot_05_bar__plus_01_dot_85_bar__minus_01_dot_89) + (pickupable Candle_bar__minus_01_dot_20_bar__plus_00_dot_48_bar__minus_02_dot_55) + (pickupable ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_99_bar__minus_01_dot_34) + (pickupable Cloth_bar__minus_00_dot_94_bar__plus_00_dot_06_bar__minus_03_dot_05) + (pickupable TissueBox_bar__minus_02_dot_19_bar__plus_00_dot_67_bar__minus_01_dot_12) + (pickupable SoapBar_bar__minus_01_dot_94_bar__plus_00_dot_06_bar__minus_02_dot_93) + (pickupable SoapBottle_bar__minus_02_dot_11_bar__plus_00_dot_68_bar__minus_01_dot_55) + (pickupable ToiletPaper_bar__minus_00_dot_09_bar__plus_01_dot_04_bar__minus_01_dot_75) + + + + (atLocation agent1 loc_bar__minus_6_bar__minus_6_bar_1_bar_30) + + (cleanable Cloth_bar__minus_00_dot_69_bar__plus_00_dot_06_bar__minus_02_dot_86) + (cleanable SoapBar_bar__minus_02_dot_34_bar__plus_00_dot_48_bar__minus_02_dot_58) + (cleanable SoapBar_bar__minus_00_dot_20_bar__plus_00_dot_06_bar__minus_01_dot_38) + (cleanable Cloth_bar__minus_00_dot_94_bar__plus_00_dot_06_bar__minus_03_dot_05) + (cleanable SoapBar_bar__minus_01_dot_94_bar__plus_00_dot_06_bar__minus_02_dot_93) + + + + + + + + + + + (inReceptacle TissueBox_bar__minus_02_dot_19_bar__plus_00_dot_67_bar__minus_01_dot_12 SideTable_bar__minus_02_dot_12_bar__plus_00_dot_46_bar__minus_01_dot_31) + (inReceptacle SoapBottle_bar__minus_02_dot_11_bar__plus_00_dot_68_bar__minus_01_dot_55 SideTable_bar__minus_02_dot_12_bar__plus_00_dot_46_bar__minus_01_dot_31) + (inReceptacle SoapBar_bar__minus_00_dot_20_bar__plus_00_dot_06_bar__minus_01_dot_38 GarbageCan_bar__minus_00_dot_22_bar__plus_00_dot_00_bar__minus_01_dot_42) + (inReceptacle Towel_bar__minus_00_dot_05_bar__plus_01_dot_85_bar__minus_01_dot_89 TowelHolder_bar__plus_00_dot_06_bar__plus_01_dot_83_bar__minus_01_dot_89) + (inReceptacle ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_99_bar__minus_01_dot_34 ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_99_bar__minus_01_dot_40) + (inReceptacle HandTowel_bar__minus_02_dot_37_bar__plus_01_dot_52_bar__minus_01_dot_51 HandTowelHolder_bar__minus_02_dot_41_bar__plus_01_dot_63_bar__minus_01_dot_51) + (inReceptacle SoapBar_bar__minus_01_dot_94_bar__plus_00_dot_06_bar__minus_02_dot_93 Bathtub_bar__minus_00_dot_98_bar__minus_00_dot_72_bar__minus_02_dot_93_bar_BathtubBasin) + (inReceptacle Cloth_bar__minus_00_dot_69_bar__plus_00_dot_06_bar__minus_02_dot_86 Bathtub_bar__minus_00_dot_98_bar__minus_00_dot_72_bar__minus_02_dot_93_bar_BathtubBasin) + (inReceptacle Cloth_bar__minus_00_dot_94_bar__plus_00_dot_06_bar__minus_03_dot_05 Bathtub_bar__minus_00_dot_98_bar__minus_00_dot_72_bar__minus_02_dot_93_bar_BathtubBasin) + (inReceptacle SprayBottle_bar__minus_00_dot_24_bar__plus_01_dot_05_bar__minus_02_dot_01 Toilet_bar__minus_00_dot_47_bar__plus_00_dot_00_bar__minus_01_dot_88) + (inReceptacle SoapBottle_bar__minus_00_dot_22_bar__plus_01_dot_05_bar__minus_01_dot_75 Toilet_bar__minus_00_dot_47_bar__plus_00_dot_00_bar__minus_01_dot_88) + (inReceptacle ToiletPaper_bar__minus_00_dot_09_bar__plus_01_dot_04_bar__minus_01_dot_75 Toilet_bar__minus_00_dot_47_bar__plus_00_dot_00_bar__minus_01_dot_88) + + + (receptacleAtLocation Bathtub_bar__minus_00_dot_98_bar__minus_00_dot_72_bar__minus_02_dot_93_bar_BathtubBasin loc_bar__minus_5_bar__minus_8_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_12_bar__plus_00_dot_17_bar__minus_01_dot_31 loc_bar__minus_7_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_12_bar__plus_00_dot_46_bar__minus_01_dot_31 loc_bar__minus_7_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_22_bar__plus_00_dot_00_bar__minus_01_dot_42 loc_bar__minus_3_bar__minus_5_bar_1_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_41_bar__plus_01_dot_63_bar__minus_01_dot_51 loc_bar__minus_6_bar__minus_6_bar_3_bar_0) + (receptacleAtLocation SideTable_bar__minus_02_dot_12_bar__plus_00_dot_46_bar__minus_01_dot_31 loc_bar__minus_7_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Sink_bar__minus_02_dot_10_bar_00_dot_00_bar__minus_02_dot_03_bar_SinkBasin loc_bar__minus_6_bar__minus_7_bar_3_bar_60) + (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_99_bar__minus_01_dot_40 loc_bar__minus_3_bar__minus_5_bar_1_bar_45) + (receptacleAtLocation Toilet_bar__minus_00_dot_47_bar__plus_00_dot_00_bar__minus_01_dot_88 loc_bar__minus_5_bar__minus_8_bar_1_bar_60) + (receptacleAtLocation TowelHolder_bar__plus_00_dot_06_bar__plus_01_dot_83_bar__minus_01_dot_89 loc_bar__minus_5_bar__minus_8_bar_1_bar__minus_15) + (objectAtLocation Candle_bar__minus_01_dot_20_bar__plus_00_dot_48_bar__minus_02_dot_55 loc_bar__minus_5_bar__minus_8_bar_2_bar_60) + (objectAtLocation SoapBottle_bar__minus_00_dot_22_bar__plus_01_dot_05_bar__minus_01_dot_75 loc_bar__minus_5_bar__minus_8_bar_1_bar_60) + (objectAtLocation Cloth_bar__minus_00_dot_94_bar__plus_00_dot_06_bar__minus_03_dot_05 loc_bar__minus_5_bar__minus_8_bar_2_bar_60) + (objectAtLocation SoapBar_bar__minus_00_dot_20_bar__plus_00_dot_06_bar__minus_01_dot_38 loc_bar__minus_3_bar__minus_5_bar_1_bar_60) + (objectAtLocation SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_48_bar__minus_02_dot_52 loc_bar__minus_5_bar__minus_8_bar_2_bar_60) + (objectAtLocation SoapBar_bar__minus_02_dot_34_bar__plus_00_dot_48_bar__minus_02_dot_58 loc_bar__minus_5_bar__minus_8_bar_2_bar_60) + (objectAtLocation Candle_bar__minus_00_dot_04_bar__plus_00_dot_48_bar__minus_02_dot_60 loc_bar__minus_5_bar__minus_8_bar_2_bar_60) + (objectAtLocation Bathtub_bar__minus_00_dot_98_bar__minus_00_dot_72_bar__minus_02_dot_93 loc_bar__minus_5_bar__minus_9_bar_2_bar_60) + (objectAtLocation Sink_bar__minus_02_dot_10_bar_00_dot_00_bar__minus_02_dot_03 loc_bar__minus_6_bar__minus_8_bar_3_bar_60) + (objectAtLocation Mirror_bar__minus_02_dot_45_bar__plus_01_dot_64_bar__minus_02_dot_03 loc_bar__minus_6_bar__minus_8_bar_3_bar_0) + (objectAtLocation HandTowel_bar__minus_02_dot_37_bar__plus_01_dot_52_bar__minus_01_dot_51 loc_bar__minus_6_bar__minus_6_bar_3_bar_0) + (objectAtLocation SoapBar_bar__minus_01_dot_94_bar__plus_00_dot_06_bar__minus_02_dot_93 loc_bar__minus_5_bar__minus_8_bar_2_bar_60) + (objectAtLocation ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_99_bar__minus_01_dot_34 loc_bar__minus_3_bar__minus_5_bar_1_bar_45) + (objectAtLocation TissueBox_bar__minus_02_dot_19_bar__plus_00_dot_67_bar__minus_01_dot_12 loc_bar__minus_7_bar__minus_2_bar_2_bar_60) + (objectAtLocation ToiletPaper_bar__minus_00_dot_09_bar__plus_01_dot_04_bar__minus_01_dot_75 loc_bar__minus_5_bar__minus_8_bar_1_bar_60) + (objectAtLocation LightSwitch_bar__minus_01_dot_25_bar__plus_01_dot_42_bar__plus_00_dot_00 loc_bar__minus_5_bar__minus_2_bar_0_bar_30) + (objectAtLocation Cloth_bar__minus_00_dot_69_bar__plus_00_dot_06_bar__minus_02_dot_86 loc_bar__minus_5_bar__minus_8_bar_2_bar_60) + (objectAtLocation Towel_bar__minus_00_dot_05_bar__plus_01_dot_85_bar__minus_01_dot_89 loc_bar__minus_5_bar__minus_8_bar_1_bar__minus_15) + (objectAtLocation SoapBottle_bar__minus_02_dot_11_bar__plus_00_dot_68_bar__minus_01_dot_55 loc_bar__minus_7_bar__minus_2_bar_2_bar_60) + (objectAtLocation SprayBottle_bar__minus_00_dot_24_bar__plus_01_dot_05_bar__minus_02_dot_01 loc_bar__minus_5_bar__minus_8_bar_1_bar_60) + (objectAtLocation ScrubBrush_bar__minus_00_dot_16_bar__plus_00_dot_00_bar__minus_02_dot_16 loc_bar__minus_5_bar__minus_9_bar_1_bar_60) + (objectAtLocation Plunger_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_02_dot_38 loc_bar__minus_5_bar__minus_9_bar_1_bar_60) + (objectAtLocation Candle_bar__minus_00_dot_93_bar__plus_00_dot_48_bar__minus_02_dot_50 loc_bar__minus_5_bar__minus_8_bar_2_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 CandleType) + (receptacleType ?r ToiletType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 CandleType) + (receptacleType ?r ToiletType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Candle-None-Toilet-419/trial_T20190909_033518_510659/traj_data.json b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Candle-None-Toilet-419/trial_T20190909_033518_510659/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..a9aa0ad923e1b4ee0b110295fe8211a2c5352d85 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Candle-None-Toilet-419/trial_T20190909_033518_510659/traj_data.json @@ 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"rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plunger_308ec35a", + "position": { + "x": -0.123310566, + "y": 0.00109308213, + "z": -2.37855053 + }, + "rotation": { + "x": -0.00118231389, + "y": 0.000436212431, + "z": 0.000779919443 + } + }, + { + "objectName": "Candle_703cf734", + "position": { + "x": -1.19825029, + "y": 0.48134, + "z": -2.54519939 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2485454596, + "scene_num": 419 + }, + "task_id": "trial_T20190909_033518_510659", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A320QA9HJFUOZO_3OSWBBLG1HOZ02LFZ1868YOLCV8XDE", + "high_descs": [ + "Turn right and walk up to the bathtub", + "Pick up the right most candle from the edge of the bathtub", + "Turn right to face toward the toilet", + "Put the candle on top of the back of the toilet", + "Turn to look back at the bathtub", + "Pick up the nearest candle on the edge of the bathtub", + "Turn to face the toilet", + "Put the candle on top of the back of the toilet" + ], + "task_desc": "Put the candles on the toilet", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "ANBWJZYU2A68T_3P529IW9K1C1YSIMCO08L4WJHYLLFW", + "high_descs": [ + "Turn to your right toward the bathtub", + "Pick the candle on the right from the tub bar", + "Turn around to face the toilet flush and raise the candle", + "Put the candle on the flush tank", + "Turn around to the tub and face the second candle", + "Put the second candle from tub bar", + "Go back to face the flush toilet", + "Put the candle behind the first candle on the flush tank" + ], + "task_desc": "Put two scent candles on the flush tank", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A12HZGOZQD5YK7_3Z3ZLGNNSLLH9DI6KY721H6GOGPQ37", + "high_descs": [ + "Turn right and go to the tub.", + "Pick up the candle to the left of the bottle.", + "Turn left and go to the toilet. ", + "Put the candle on the back of the toilet.", + "Turn right and go to the tub.", + "Pick up the candle on the edge of the tub.", + "Turn back to the toilet.", + "Put the candle on the back of the toilet behind the blue spray bottle." + ], + "task_desc": "Put two candles on the back of the toilet.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Candle-None-Toilet-419/trial_T20190909_033541_196290/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Candle-None-Toilet-419/trial_T20190909_033541_196290/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..0cb51f1f58bf3481884ca31a4934307060bb3cfe --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Candle-None-Toilet-419/trial_T20190909_033541_196290/initial_state.pddl @@ -0,0 +1,436 @@ + +(define (problem plan_trial_T20190909_033541_196290) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Bathtub_bar__minus_00_dot_98_bar__minus_00_dot_72_bar__minus_02_dot_93 - object + Candle_bar__minus_00_dot_08_bar__plus_00_dot_48_bar__minus_02_dot_52 - object + Candle_bar__minus_01_dot_99_bar__plus_00_dot_48_bar__minus_02_dot_56 - object + Cloth_bar__minus_01_dot_19_bar__plus_00_dot_06_bar__minus_02_dot_86 - object + Cloth_bar__minus_01_dot_44_bar__plus_00_dot_06_bar__minus_03_dot_05 - object + Faucet_bar__minus_00_dot_01_bar__plus_01_dot_72_bar__minus_02_dot_98 - object + Faucet_bar__minus_00_dot_02_bar__plus_00_dot_47_bar__minus_02_dot_97 - object + Faucet_bar__minus_02_dot_35_bar__plus_00_dot_96_bar__minus_02_dot_03 - object + HandTowel_bar__minus_02_dot_37_bar__plus_01_dot_52_bar__minus_01_dot_51 - object + LightSwitch_bar__minus_01_dot_25_bar__plus_01_dot_42_bar__plus_00_dot_00 - object + Mirror_bar__minus_02_dot_45_bar__plus_01_dot_64_bar__minus_02_dot_03 - object + Plunger_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_02_dot_38 - object + ScrubBrush_bar__minus_00_dot_16_bar__plus_00_dot_00_bar__minus_02_dot_16 - object + ShowerCurtain_bar__minus_02_dot_33_bar__plus_01_dot_96_bar__minus_02_dot_46 - object + Sink_bar__minus_02_dot_10_bar_00_dot_00_bar__minus_02_dot_03 - object + SoapBar_bar__minus_00_dot_67_bar__plus_00_dot_48_bar__minus_02_dot_53 - object + SoapBar_bar__minus_01_dot_69_bar__plus_00_dot_06_bar__minus_03_dot_12 - object + SoapBar_bar__minus_02_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_95 - object + SoapBottle_bar__minus_02_dot_31_bar__plus_00_dot_48_bar__minus_02_dot_54 - object + SprayBottle_bar__minus_00_dot_14_bar__plus_01_dot_05_bar__minus_01_dot_75 - object + SprayBottle_bar__minus_00_dot_22_bar__plus_01_dot_05_bar__minus_02_dot_01 - object + TissueBox_bar__minus_02_dot_19_bar__plus_00_dot_67_bar__minus_01_dot_12 - object + ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_99_bar__minus_01_dot_34 - object + ToiletPaper_bar__minus_00_dot_19_bar__plus_01_dot_04_bar__minus_01_dot_88 - object + Towel_bar__minus_00_dot_05_bar__plus_01_dot_85_bar__minus_01_dot_89 - object + Bathtub_bar__minus_00_dot_98_bar__minus_00_dot_72_bar__minus_02_dot_93_bar_BathtubBasin - receptacle + Drawer_bar__minus_02_dot_12_bar__plus_00_dot_17_bar__minus_01_dot_31 - receptacle + Drawer_bar__minus_02_dot_12_bar__plus_00_dot_46_bar__minus_01_dot_31 - receptacle + GarbageCan_bar__minus_00_dot_22_bar__plus_00_dot_00_bar__minus_01_dot_42 - receptacle + HandTowelHolder_bar__minus_02_dot_41_bar__plus_01_dot_63_bar__minus_01_dot_51 - receptacle + SideTable_bar__minus_02_dot_12_bar__plus_00_dot_46_bar__minus_01_dot_31 - receptacle + Sink_bar__minus_02_dot_10_bar_00_dot_00_bar__minus_02_dot_03_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_99_bar__minus_01_dot_40 - receptacle + Toilet_bar__minus_00_dot_47_bar__plus_00_dot_00_bar__minus_01_dot_88 - receptacle + TowelHolder_bar__plus_00_dot_06_bar__plus_01_dot_83_bar__minus_01_dot_89 - receptacle + loc_bar__minus_6_bar__minus_6_bar_3_bar_0 - location + loc_bar__minus_7_bar__minus_2_bar_2_bar_60 - location + loc_bar__minus_5_bar__minus_9_bar_1_bar_60 - location + loc_bar__minus_5_bar__minus_8_bar_2_bar_60 - location + loc_bar__minus_6_bar__minus_8_bar_3_bar_0 - location + loc_bar__minus_6_bar__minus_7_bar_3_bar_60 - location + loc_bar__minus_5_bar__minus_9_bar_2_bar_60 - location + loc_bar__minus_5_bar__minus_2_bar_0_bar_30 - location + loc_bar__minus_3_bar__minus_5_bar_1_bar_45 - location + loc_bar__minus_7_bar__minus_5_bar_3_bar_60 - location + loc_bar__minus_5_bar__minus_8_bar_1_bar_60 - location + loc_bar__minus_5_bar__minus_8_bar_1_bar__minus_15 - location + loc_bar__minus_2_bar__minus_4_bar_1_bar_60 - location + loc_bar__minus_3_bar__minus_5_bar_1_bar_60 - location + loc_bar__minus_6_bar__minus_8_bar_3_bar_60 - location + loc_bar__minus_3_bar__minus_5_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_99_bar__minus_01_dot_40 ToiletPaperHangerType) + (receptacleType Toilet_bar__minus_00_dot_47_bar__plus_00_dot_00_bar__minus_01_dot_88 ToiletType) + (receptacleType Bathtub_bar__minus_00_dot_98_bar__minus_00_dot_72_bar__minus_02_dot_93_bar_BathtubBasin BathtubBasinType) + (receptacleType Drawer_bar__minus_02_dot_12_bar__plus_00_dot_46_bar__minus_01_dot_31 DrawerType) + (receptacleType Drawer_bar__minus_02_dot_12_bar__plus_00_dot_17_bar__minus_01_dot_31 DrawerType) + (receptacleType SideTable_bar__minus_02_dot_12_bar__plus_00_dot_46_bar__minus_01_dot_31 SideTableType) + (receptacleType TowelHolder_bar__plus_00_dot_06_bar__plus_01_dot_83_bar__minus_01_dot_89 TowelHolderType) + (receptacleType HandTowelHolder_bar__minus_02_dot_41_bar__plus_01_dot_63_bar__minus_01_dot_51 HandTowelHolderType) + (receptacleType GarbageCan_bar__minus_00_dot_22_bar__plus_00_dot_00_bar__minus_01_dot_42 GarbageCanType) + (receptacleType Sink_bar__minus_02_dot_10_bar_00_dot_00_bar__minus_02_dot_03_bar_SinkBasin SinkBasinType) + (objectType Plunger_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_02_dot_38 PlungerType) + (objectType LightSwitch_bar__minus_01_dot_25_bar__plus_01_dot_42_bar__plus_00_dot_00 LightSwitchType) + (objectType HandTowel_bar__minus_02_dot_37_bar__plus_01_dot_52_bar__minus_01_dot_51 HandTowelType) + (objectType Candle_bar__minus_00_dot_08_bar__plus_00_dot_48_bar__minus_02_dot_52 CandleType) + (objectType SprayBottle_bar__minus_00_dot_14_bar__plus_01_dot_05_bar__minus_01_dot_75 SprayBottleType) + (objectType SoapBottle_bar__minus_02_dot_31_bar__plus_00_dot_48_bar__minus_02_dot_54 SoapBottleType) + (objectType ToiletPaper_bar__minus_00_dot_19_bar__plus_01_dot_04_bar__minus_01_dot_88 ToiletPaperType) + (objectType ScrubBrush_bar__minus_00_dot_16_bar__plus_00_dot_00_bar__minus_02_dot_16 ScrubBrushType) + (objectType SoapBar_bar__minus_02_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_95 SoapBarType) + (objectType SprayBottle_bar__minus_00_dot_22_bar__plus_01_dot_05_bar__minus_02_dot_01 SprayBottleType) + (objectType Bathtub_bar__minus_00_dot_98_bar__minus_00_dot_72_bar__minus_02_dot_93 BathtubType) + (objectType Mirror_bar__minus_02_dot_45_bar__plus_01_dot_64_bar__minus_02_dot_03 MirrorType) + (objectType Cloth_bar__minus_01_dot_19_bar__plus_00_dot_06_bar__minus_02_dot_86 ClothType) + (objectType Cloth_bar__minus_01_dot_44_bar__plus_00_dot_06_bar__minus_03_dot_05 ClothType) + (objectType Sink_bar__minus_02_dot_10_bar_00_dot_00_bar__minus_02_dot_03 SinkType) + (objectType ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_99_bar__minus_01_dot_34 ToiletPaperType) + (objectType TissueBox_bar__minus_02_dot_19_bar__plus_00_dot_67_bar__minus_01_dot_12 TissueBoxType) + (objectType SoapBar_bar__minus_01_dot_69_bar__plus_00_dot_06_bar__minus_03_dot_12 SoapBarType) + (objectType SoapBar_bar__minus_00_dot_67_bar__plus_00_dot_48_bar__minus_02_dot_53 SoapBarType) + (objectType Candle_bar__minus_01_dot_99_bar__plus_00_dot_48_bar__minus_02_dot_56 CandleType) + (objectType Towel_bar__minus_00_dot_05_bar__plus_01_dot_85_bar__minus_01_dot_89 TowelType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType ClothType) + (canContain ToiletType CandleType) + (canContain ToiletType SoapBarType) + (canContain ToiletType SprayBottleType) + (canContain ToiletType TissueBoxType) + (canContain BathtubBasinType ClothType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType HandTowelType) + (canContain SideTableType CandleType) + (canContain SideTableType SoapBarType) + (canContain SideTableType SprayBottleType) + (canContain SideTableType ToiletPaperType) + (canContain SideTableType SoapBottleType) + (canContain SideTableType ClothType) + (canContain SideTableType TissueBoxType) + (canContain SideTableType HandTowelType) + (canContain TowelHolderType TowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType TissueBoxType) + (canContain GarbageCanType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (pickupable Plunger_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_02_dot_38) + (pickupable HandTowel_bar__minus_02_dot_37_bar__plus_01_dot_52_bar__minus_01_dot_51) + (pickupable Candle_bar__minus_00_dot_08_bar__plus_00_dot_48_bar__minus_02_dot_52) + (pickupable SprayBottle_bar__minus_00_dot_14_bar__plus_01_dot_05_bar__minus_01_dot_75) + (pickupable SoapBottle_bar__minus_02_dot_31_bar__plus_00_dot_48_bar__minus_02_dot_54) + (pickupable ToiletPaper_bar__minus_00_dot_19_bar__plus_01_dot_04_bar__minus_01_dot_88) + (pickupable ScrubBrush_bar__minus_00_dot_16_bar__plus_00_dot_00_bar__minus_02_dot_16) + (pickupable SoapBar_bar__minus_02_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_95) + (pickupable SprayBottle_bar__minus_00_dot_22_bar__plus_01_dot_05_bar__minus_02_dot_01) + (pickupable Cloth_bar__minus_01_dot_19_bar__plus_00_dot_06_bar__minus_02_dot_86) + (pickupable Cloth_bar__minus_01_dot_44_bar__plus_00_dot_06_bar__minus_03_dot_05) + (pickupable ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_99_bar__minus_01_dot_34) + (pickupable TissueBox_bar__minus_02_dot_19_bar__plus_00_dot_67_bar__minus_01_dot_12) + (pickupable SoapBar_bar__minus_01_dot_69_bar__plus_00_dot_06_bar__minus_03_dot_12) + (pickupable SoapBar_bar__minus_00_dot_67_bar__plus_00_dot_48_bar__minus_02_dot_53) + (pickupable Candle_bar__minus_01_dot_99_bar__plus_00_dot_48_bar__minus_02_dot_56) + (pickupable Towel_bar__minus_00_dot_05_bar__plus_01_dot_85_bar__minus_01_dot_89) + + + + (atLocation agent1 loc_bar__minus_3_bar__minus_5_bar_1_bar_30) + + (cleanable SoapBar_bar__minus_02_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_95) + (cleanable Cloth_bar__minus_01_dot_19_bar__plus_00_dot_06_bar__minus_02_dot_86) + (cleanable Cloth_bar__minus_01_dot_44_bar__plus_00_dot_06_bar__minus_03_dot_05) + (cleanable SoapBar_bar__minus_01_dot_69_bar__plus_00_dot_06_bar__minus_03_dot_12) + (cleanable SoapBar_bar__minus_00_dot_67_bar__plus_00_dot_48_bar__minus_02_dot_53) + + + + + + + + + + + (inReceptacle TissueBox_bar__minus_02_dot_19_bar__plus_00_dot_67_bar__minus_01_dot_12 SideTable_bar__minus_02_dot_12_bar__plus_00_dot_46_bar__minus_01_dot_31) + (inReceptacle Towel_bar__minus_00_dot_05_bar__plus_01_dot_85_bar__minus_01_dot_89 TowelHolder_bar__plus_00_dot_06_bar__plus_01_dot_83_bar__minus_01_dot_89) + (inReceptacle HandTowel_bar__minus_02_dot_37_bar__plus_01_dot_52_bar__minus_01_dot_51 HandTowelHolder_bar__minus_02_dot_41_bar__plus_01_dot_63_bar__minus_01_dot_51) + (inReceptacle SoapBar_bar__minus_01_dot_69_bar__plus_00_dot_06_bar__minus_03_dot_12 Bathtub_bar__minus_00_dot_98_bar__minus_00_dot_72_bar__minus_02_dot_93_bar_BathtubBasin) + (inReceptacle Cloth_bar__minus_01_dot_19_bar__plus_00_dot_06_bar__minus_02_dot_86 Bathtub_bar__minus_00_dot_98_bar__minus_00_dot_72_bar__minus_02_dot_93_bar_BathtubBasin) + (inReceptacle Cloth_bar__minus_01_dot_44_bar__plus_00_dot_06_bar__minus_03_dot_05 Bathtub_bar__minus_00_dot_98_bar__minus_00_dot_72_bar__minus_02_dot_93_bar_BathtubBasin) + (inReceptacle SprayBottle_bar__minus_00_dot_22_bar__plus_01_dot_05_bar__minus_02_dot_01 Toilet_bar__minus_00_dot_47_bar__plus_00_dot_00_bar__minus_01_dot_88) + (inReceptacle ToiletPaper_bar__minus_00_dot_19_bar__plus_01_dot_04_bar__minus_01_dot_88 Toilet_bar__minus_00_dot_47_bar__plus_00_dot_00_bar__minus_01_dot_88) + (inReceptacle SprayBottle_bar__minus_00_dot_14_bar__plus_01_dot_05_bar__minus_01_dot_75 Toilet_bar__minus_00_dot_47_bar__plus_00_dot_00_bar__minus_01_dot_88) + + + (receptacleAtLocation Bathtub_bar__minus_00_dot_98_bar__minus_00_dot_72_bar__minus_02_dot_93_bar_BathtubBasin loc_bar__minus_5_bar__minus_8_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_12_bar__plus_00_dot_17_bar__minus_01_dot_31 loc_bar__minus_7_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_12_bar__plus_00_dot_46_bar__minus_01_dot_31 loc_bar__minus_7_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_22_bar__plus_00_dot_00_bar__minus_01_dot_42 loc_bar__minus_3_bar__minus_5_bar_1_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_41_bar__plus_01_dot_63_bar__minus_01_dot_51 loc_bar__minus_6_bar__minus_6_bar_3_bar_0) + (receptacleAtLocation SideTable_bar__minus_02_dot_12_bar__plus_00_dot_46_bar__minus_01_dot_31 loc_bar__minus_7_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Sink_bar__minus_02_dot_10_bar_00_dot_00_bar__minus_02_dot_03_bar_SinkBasin loc_bar__minus_6_bar__minus_7_bar_3_bar_60) + (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_99_bar__minus_01_dot_40 loc_bar__minus_3_bar__minus_5_bar_1_bar_45) + (receptacleAtLocation Toilet_bar__minus_00_dot_47_bar__plus_00_dot_00_bar__minus_01_dot_88 loc_bar__minus_5_bar__minus_8_bar_1_bar_60) + (receptacleAtLocation TowelHolder_bar__plus_00_dot_06_bar__plus_01_dot_83_bar__minus_01_dot_89 loc_bar__minus_5_bar__minus_8_bar_1_bar__minus_15) + (objectAtLocation Candle_bar__minus_01_dot_99_bar__plus_00_dot_48_bar__minus_02_dot_56 loc_bar__minus_5_bar__minus_8_bar_2_bar_60) + (objectAtLocation SprayBottle_bar__minus_00_dot_22_bar__plus_01_dot_05_bar__minus_02_dot_01 loc_bar__minus_5_bar__minus_8_bar_1_bar_60) + (objectAtLocation Cloth_bar__minus_01_dot_44_bar__plus_00_dot_06_bar__minus_03_dot_05 loc_bar__minus_5_bar__minus_8_bar_2_bar_60) + (objectAtLocation SoapBar_bar__minus_00_dot_67_bar__plus_00_dot_48_bar__minus_02_dot_53 loc_bar__minus_5_bar__minus_8_bar_2_bar_60) + (objectAtLocation SoapBar_bar__minus_02_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_95 loc_bar__minus_6_bar__minus_7_bar_3_bar_60) + (objectAtLocation Bathtub_bar__minus_00_dot_98_bar__minus_00_dot_72_bar__minus_02_dot_93 loc_bar__minus_5_bar__minus_9_bar_2_bar_60) + (objectAtLocation Sink_bar__minus_02_dot_10_bar_00_dot_00_bar__minus_02_dot_03 loc_bar__minus_6_bar__minus_8_bar_3_bar_60) + (objectAtLocation Mirror_bar__minus_02_dot_45_bar__plus_01_dot_64_bar__minus_02_dot_03 loc_bar__minus_6_bar__minus_8_bar_3_bar_0) + (objectAtLocation HandTowel_bar__minus_02_dot_37_bar__plus_01_dot_52_bar__minus_01_dot_51 loc_bar__minus_6_bar__minus_6_bar_3_bar_0) + (objectAtLocation SoapBar_bar__minus_01_dot_69_bar__plus_00_dot_06_bar__minus_03_dot_12 loc_bar__minus_5_bar__minus_8_bar_2_bar_60) + (objectAtLocation ToiletPaper_bar__minus_00_dot_19_bar__plus_01_dot_04_bar__minus_01_dot_88 loc_bar__minus_5_bar__minus_8_bar_1_bar_60) + (objectAtLocation TissueBox_bar__minus_02_dot_19_bar__plus_00_dot_67_bar__minus_01_dot_12 loc_bar__minus_7_bar__minus_2_bar_2_bar_60) + (objectAtLocation ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_99_bar__minus_01_dot_34 loc_bar__minus_2_bar__minus_4_bar_1_bar_60) + (objectAtLocation LightSwitch_bar__minus_01_dot_25_bar__plus_01_dot_42_bar__plus_00_dot_00 loc_bar__minus_5_bar__minus_2_bar_0_bar_30) + (objectAtLocation Cloth_bar__minus_01_dot_19_bar__plus_00_dot_06_bar__minus_02_dot_86 loc_bar__minus_5_bar__minus_8_bar_2_bar_60) + (objectAtLocation Towel_bar__minus_00_dot_05_bar__plus_01_dot_85_bar__minus_01_dot_89 loc_bar__minus_5_bar__minus_8_bar_1_bar__minus_15) + (objectAtLocation SoapBottle_bar__minus_02_dot_31_bar__plus_00_dot_48_bar__minus_02_dot_54 loc_bar__minus_5_bar__minus_8_bar_2_bar_60) + (objectAtLocation SprayBottle_bar__minus_00_dot_14_bar__plus_01_dot_05_bar__minus_01_dot_75 loc_bar__minus_5_bar__minus_8_bar_1_bar_60) + (objectAtLocation ScrubBrush_bar__minus_00_dot_16_bar__plus_00_dot_00_bar__minus_02_dot_16 loc_bar__minus_5_bar__minus_9_bar_1_bar_60) + (objectAtLocation Plunger_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_02_dot_38 loc_bar__minus_5_bar__minus_9_bar_1_bar_60) + (objectAtLocation Candle_bar__minus_00_dot_08_bar__plus_00_dot_48_bar__minus_02_dot_52 loc_bar__minus_5_bar__minus_8_bar_2_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 CandleType) + (receptacleType ?r ToiletType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 CandleType) + (receptacleType ?r ToiletType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Candle-None-Toilet-419/trial_T20190909_033541_196290/traj_data.json b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Candle-None-Toilet-419/trial_T20190909_033541_196290/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..8ed012e87918aaf2c0af1e7b89328689c974ca97 --- 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+ "z": 0.000779919443 + } + }, + { + "objectName": "Candle_703cf734", + "position": { + "x": -1.99381518, + "y": 0.479884446, + "z": -2.55926466 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3322812489, + "scene_num": 419 + }, + "task_id": "trial_T20190909_033541_196290", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AJQGWGESKQT4Y_37UEWGM5HWZLBBJRA9IJIE1OMHZR11", + "high_descs": [ + "Turn around and stand next to the tub, facing the toilet.", + "Pick the candle up from the side of the tub.", + "Move to the left a bit to face the toilet.", + "Put the candle on the back of the toilet.", + "Turn around and stand next to the tub facing the sink.", + "Pick the candle up from the side of the tub.", + "Turn around and face the toilet.", + "Put the candle on the back of the toilet." + ], + "task_desc": "Put two candles on the back of a toilet.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A20FCMWP43CVIU_3A7Y0R2P2RFC3OL79XUHBWJYHFGXJ3", + "high_descs": [ + "walk to face top end of bath tub", + "pick up candle stick from edge of tub", + "turn to face toilet", + "put candle stick on toilet tank lid", + "turn to face end of bath tub", + "pick up candle stick from edge of tub", + "turn to face toilet", + "put candle stick on toilet tank lid" + ], + "task_desc": "put two candle sticks on toilet tank lid", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1T643M1P572AA_3LUY3GC632REAKIEMXV3ETSMOL17PC", + "high_descs": [ + "Turn around walk to the toilet and face it", + "pick up the candle that was on the tub", + "move in front of the toilet and face it", + "place the candle on top of the toilet lid in front of the left spray", + "turn around and face the sink that was behind you", + "pick up the other candle that was on the tub's edge", + "turn around and face the toilet ", + "place the candle to the left of the other candle that is on the toilet" + ], + "task_desc": "pick up both candles that are on the tub and move them to the top of the toilet by the left spray.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Candle-None-Toilet-419/trial_T20190909_033617_968102/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Candle-None-Toilet-419/trial_T20190909_033617_968102/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..d7b3d9b782c834b15c5058d4e70e758851bd8fee --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Candle-None-Toilet-419/trial_T20190909_033617_968102/initial_state.pddl @@ -0,0 +1,444 @@ + +(define (problem plan_trial_T20190909_033617_968102) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Bathtub_bar__minus_00_dot_98_bar__minus_00_dot_72_bar__minus_02_dot_93 - object + Candle_bar__minus_00_dot_40_bar__plus_00_dot_48_bar__minus_02_dot_55 - object + Candle_bar__minus_01_dot_46_bar__plus_00_dot_48_bar__minus_02_dot_53 - object + Candle_bar__minus_02_dot_14_bar__plus_00_dot_37_bar__minus_01_dot_26 - object + Cloth_bar__minus_01_dot_69_bar__plus_00_dot_06_bar__minus_03_dot_05 - object + Faucet_bar__minus_00_dot_01_bar__plus_01_dot_72_bar__minus_02_dot_98 - object + Faucet_bar__minus_00_dot_02_bar__plus_00_dot_47_bar__minus_02_dot_97 - object + Faucet_bar__minus_02_dot_35_bar__plus_00_dot_96_bar__minus_02_dot_03 - object + HandTowel_bar__minus_02_dot_37_bar__plus_01_dot_52_bar__minus_01_dot_51 - object + LightSwitch_bar__minus_01_dot_25_bar__plus_01_dot_42_bar__plus_00_dot_00 - object + Mirror_bar__minus_02_dot_45_bar__plus_01_dot_64_bar__minus_02_dot_03 - object + Plunger_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_02_dot_38 - object + ScrubBrush_bar__minus_00_dot_16_bar__plus_00_dot_00_bar__minus_02_dot_16 - object + ShowerCurtain_bar__minus_02_dot_33_bar__plus_01_dot_96_bar__minus_02_dot_46 - object + Sink_bar__minus_02_dot_10_bar_00_dot_00_bar__minus_02_dot_03 - object + SoapBar_bar__minus_00_dot_45_bar__plus_00_dot_06_bar__minus_02_dot_86 - object + SoapBar_bar__minus_01_dot_19_bar__plus_00_dot_06_bar__minus_03_dot_18 - object + SoapBottle_bar__minus_02_dot_16_bar__plus_00_dot_09_bar__minus_01_dot_14 - object + SprayBottle_bar__minus_00_dot_17_bar__plus_01_dot_05_bar__minus_01_dot_88 - object + SprayBottle_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__minus_02_dot_01 - object + SprayBottle_bar__minus_02_dot_25_bar__plus_00_dot_68_bar__minus_01_dot_24 - object + TissueBox_bar__minus_00_dot_17_bar__plus_01_dot_05_bar__minus_01_dot_75 - object + TissueBox_bar__minus_02_dot_19_bar__plus_00_dot_67_bar__minus_01_dot_12 - object + ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_99_bar__minus_01_dot_34 - object + ToiletPaper_bar__minus_00_dot_17_bar__plus_01_dot_04_bar__minus_02_dot_08 - object + ToiletPaper_bar__minus_02_dot_32_bar__plus_00_dot_48_bar__minus_02_dot_56 - object + Towel_bar__minus_00_dot_05_bar__plus_01_dot_85_bar__minus_01_dot_89 - object + Bathtub_bar__minus_00_dot_98_bar__minus_00_dot_72_bar__minus_02_dot_93_bar_BathtubBasin - receptacle + Drawer_bar__minus_02_dot_12_bar__plus_00_dot_17_bar__minus_01_dot_31 - receptacle + Drawer_bar__minus_02_dot_12_bar__plus_00_dot_46_bar__minus_01_dot_31 - receptacle + GarbageCan_bar__minus_00_dot_22_bar__plus_00_dot_00_bar__minus_01_dot_42 - receptacle + HandTowelHolder_bar__minus_02_dot_41_bar__plus_01_dot_63_bar__minus_01_dot_51 - receptacle + SideTable_bar__minus_02_dot_12_bar__plus_00_dot_46_bar__minus_01_dot_31 - receptacle + Sink_bar__minus_02_dot_10_bar_00_dot_00_bar__minus_02_dot_03_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_99_bar__minus_01_dot_40 - receptacle + Toilet_bar__minus_00_dot_47_bar__plus_00_dot_00_bar__minus_01_dot_88 - receptacle + TowelHolder_bar__plus_00_dot_06_bar__plus_01_dot_83_bar__minus_01_dot_89 - receptacle + loc_bar__minus_6_bar__minus_6_bar_3_bar_0 - location + loc_bar__minus_7_bar__minus_2_bar_2_bar_60 - location + loc_bar__minus_5_bar__minus_9_bar_1_bar_60 - location + loc_bar__minus_5_bar__minus_8_bar_2_bar_60 - location + loc_bar__minus_6_bar__minus_8_bar_3_bar_0 - location + loc_bar__minus_6_bar__minus_7_bar_3_bar_60 - location + loc_bar__minus_5_bar__minus_9_bar_2_bar_60 - location + loc_bar__minus_5_bar__minus_2_bar_0_bar_30 - location + loc_bar__minus_3_bar__minus_5_bar_1_bar_45 - location + loc_bar__minus_7_bar__minus_5_bar_3_bar_60 - location + loc_bar__minus_5_bar__minus_8_bar_1_bar_60 - location + loc_bar__minus_5_bar__minus_8_bar_1_bar__minus_15 - location + loc_bar__minus_3_bar__minus_5_bar_1_bar_60 - location + loc_bar__minus_6_bar__minus_8_bar_3_bar_60 - location + loc_bar__minus_5_bar__minus_7_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_99_bar__minus_01_dot_40 ToiletPaperHangerType) + (receptacleType Toilet_bar__minus_00_dot_47_bar__plus_00_dot_00_bar__minus_01_dot_88 ToiletType) + (receptacleType Bathtub_bar__minus_00_dot_98_bar__minus_00_dot_72_bar__minus_02_dot_93_bar_BathtubBasin BathtubBasinType) + (receptacleType Drawer_bar__minus_02_dot_12_bar__plus_00_dot_46_bar__minus_01_dot_31 DrawerType) + (receptacleType Drawer_bar__minus_02_dot_12_bar__plus_00_dot_17_bar__minus_01_dot_31 DrawerType) + (receptacleType SideTable_bar__minus_02_dot_12_bar__plus_00_dot_46_bar__minus_01_dot_31 SideTableType) + (receptacleType TowelHolder_bar__plus_00_dot_06_bar__plus_01_dot_83_bar__minus_01_dot_89 TowelHolderType) + (receptacleType HandTowelHolder_bar__minus_02_dot_41_bar__plus_01_dot_63_bar__minus_01_dot_51 HandTowelHolderType) + (receptacleType GarbageCan_bar__minus_00_dot_22_bar__plus_00_dot_00_bar__minus_01_dot_42 GarbageCanType) + (receptacleType Sink_bar__minus_02_dot_10_bar_00_dot_00_bar__minus_02_dot_03_bar_SinkBasin SinkBasinType) + (objectType Plunger_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_02_dot_38 PlungerType) + (objectType Candle_bar__minus_02_dot_14_bar__plus_00_dot_37_bar__minus_01_dot_26 CandleType) + (objectType SprayBottle_bar__minus_02_dot_25_bar__plus_00_dot_68_bar__minus_01_dot_24 SprayBottleType) + (objectType Candle_bar__minus_01_dot_46_bar__plus_00_dot_48_bar__minus_02_dot_53 CandleType) + (objectType LightSwitch_bar__minus_01_dot_25_bar__plus_01_dot_42_bar__plus_00_dot_00 LightSwitchType) + (objectType HandTowel_bar__minus_02_dot_37_bar__plus_01_dot_52_bar__minus_01_dot_51 HandTowelType) + (objectType ToiletPaper_bar__minus_02_dot_32_bar__plus_00_dot_48_bar__minus_02_dot_56 ToiletPaperType) + (objectType ToiletPaper_bar__minus_00_dot_17_bar__plus_01_dot_04_bar__minus_02_dot_08 ToiletPaperType) + (objectType Cloth_bar__minus_01_dot_69_bar__plus_00_dot_06_bar__minus_03_dot_05 ClothType) + (objectType SoapBottle_bar__minus_02_dot_16_bar__plus_00_dot_09_bar__minus_01_dot_14 SoapBottleType) + (objectType ScrubBrush_bar__minus_00_dot_16_bar__plus_00_dot_00_bar__minus_02_dot_16 ScrubBrushType) + (objectType Bathtub_bar__minus_00_dot_98_bar__minus_00_dot_72_bar__minus_02_dot_93 BathtubType) + (objectType Mirror_bar__minus_02_dot_45_bar__plus_01_dot_64_bar__minus_02_dot_03 MirrorType) + (objectType TissueBox_bar__minus_00_dot_17_bar__plus_01_dot_05_bar__minus_01_dot_75 TissueBoxType) + (objectType Candle_bar__minus_00_dot_40_bar__plus_00_dot_48_bar__minus_02_dot_55 CandleType) + (objectType Sink_bar__minus_02_dot_10_bar_00_dot_00_bar__minus_02_dot_03 SinkType) + (objectType ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_99_bar__minus_01_dot_34 ToiletPaperType) + (objectType SoapBar_bar__minus_01_dot_19_bar__plus_00_dot_06_bar__minus_03_dot_18 SoapBarType) + (objectType TissueBox_bar__minus_02_dot_19_bar__plus_00_dot_67_bar__minus_01_dot_12 TissueBoxType) + (objectType SprayBottle_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__minus_02_dot_01 SprayBottleType) + (objectType SoapBar_bar__minus_00_dot_45_bar__plus_00_dot_06_bar__minus_02_dot_86 SoapBarType) + (objectType SprayBottle_bar__minus_00_dot_17_bar__plus_01_dot_05_bar__minus_01_dot_88 SprayBottleType) + (objectType Towel_bar__minus_00_dot_05_bar__plus_01_dot_85_bar__minus_01_dot_89 TowelType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType ClothType) + (canContain ToiletType CandleType) + (canContain ToiletType SoapBarType) + (canContain ToiletType SprayBottleType) + (canContain ToiletType TissueBoxType) + (canContain BathtubBasinType ClothType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType HandTowelType) + (canContain SideTableType CandleType) + (canContain SideTableType SoapBarType) + (canContain SideTableType SprayBottleType) + (canContain SideTableType ToiletPaperType) + (canContain SideTableType SoapBottleType) + (canContain SideTableType ClothType) + (canContain SideTableType TissueBoxType) + (canContain SideTableType HandTowelType) + (canContain TowelHolderType TowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType TissueBoxType) + (canContain GarbageCanType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (pickupable Plunger_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_02_dot_38) + (pickupable Candle_bar__minus_02_dot_14_bar__plus_00_dot_37_bar__minus_01_dot_26) + (pickupable SprayBottle_bar__minus_02_dot_25_bar__plus_00_dot_68_bar__minus_01_dot_24) + (pickupable Candle_bar__minus_01_dot_46_bar__plus_00_dot_48_bar__minus_02_dot_53) + (pickupable HandTowel_bar__minus_02_dot_37_bar__plus_01_dot_52_bar__minus_01_dot_51) + (pickupable ToiletPaper_bar__minus_02_dot_32_bar__plus_00_dot_48_bar__minus_02_dot_56) + (pickupable ToiletPaper_bar__minus_00_dot_17_bar__plus_01_dot_04_bar__minus_02_dot_08) + (pickupable Cloth_bar__minus_01_dot_69_bar__plus_00_dot_06_bar__minus_03_dot_05) + (pickupable SoapBottle_bar__minus_02_dot_16_bar__plus_00_dot_09_bar__minus_01_dot_14) + (pickupable ScrubBrush_bar__minus_00_dot_16_bar__plus_00_dot_00_bar__minus_02_dot_16) + (pickupable TissueBox_bar__minus_00_dot_17_bar__plus_01_dot_05_bar__minus_01_dot_75) + (pickupable Candle_bar__minus_00_dot_40_bar__plus_00_dot_48_bar__minus_02_dot_55) + (pickupable ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_99_bar__minus_01_dot_34) + (pickupable SoapBar_bar__minus_01_dot_19_bar__plus_00_dot_06_bar__minus_03_dot_18) + (pickupable TissueBox_bar__minus_02_dot_19_bar__plus_00_dot_67_bar__minus_01_dot_12) + (pickupable SprayBottle_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__minus_02_dot_01) + (pickupable SoapBar_bar__minus_00_dot_45_bar__plus_00_dot_06_bar__minus_02_dot_86) + (pickupable SprayBottle_bar__minus_00_dot_17_bar__plus_01_dot_05_bar__minus_01_dot_88) + (pickupable Towel_bar__minus_00_dot_05_bar__plus_01_dot_85_bar__minus_01_dot_89) + + + + (atLocation agent1 loc_bar__minus_5_bar__minus_7_bar_1_bar_30) + + (cleanable Cloth_bar__minus_01_dot_69_bar__plus_00_dot_06_bar__minus_03_dot_05) + (cleanable SoapBar_bar__minus_01_dot_19_bar__plus_00_dot_06_bar__minus_03_dot_18) + (cleanable SoapBar_bar__minus_00_dot_45_bar__plus_00_dot_06_bar__minus_02_dot_86) + + + + + + + + + + + (inReceptacle Candle_bar__minus_02_dot_14_bar__plus_00_dot_37_bar__minus_01_dot_26 Drawer_bar__minus_02_dot_12_bar__plus_00_dot_46_bar__minus_01_dot_31) + (inReceptacle TissueBox_bar__minus_02_dot_19_bar__plus_00_dot_67_bar__minus_01_dot_12 SideTable_bar__minus_02_dot_12_bar__plus_00_dot_46_bar__minus_01_dot_31) + (inReceptacle SprayBottle_bar__minus_02_dot_25_bar__plus_00_dot_68_bar__minus_01_dot_24 SideTable_bar__minus_02_dot_12_bar__plus_00_dot_46_bar__minus_01_dot_31) + (inReceptacle SoapBottle_bar__minus_02_dot_16_bar__plus_00_dot_09_bar__minus_01_dot_14 Drawer_bar__minus_02_dot_12_bar__plus_00_dot_17_bar__minus_01_dot_31) + (inReceptacle Towel_bar__minus_00_dot_05_bar__plus_01_dot_85_bar__minus_01_dot_89 TowelHolder_bar__plus_00_dot_06_bar__plus_01_dot_83_bar__minus_01_dot_89) + (inReceptacle HandTowel_bar__minus_02_dot_37_bar__plus_01_dot_52_bar__minus_01_dot_51 HandTowelHolder_bar__minus_02_dot_41_bar__plus_01_dot_63_bar__minus_01_dot_51) + (inReceptacle SoapBar_bar__minus_00_dot_45_bar__plus_00_dot_06_bar__minus_02_dot_86 Bathtub_bar__minus_00_dot_98_bar__minus_00_dot_72_bar__minus_02_dot_93_bar_BathtubBasin) + (inReceptacle Cloth_bar__minus_01_dot_69_bar__plus_00_dot_06_bar__minus_03_dot_05 Bathtub_bar__minus_00_dot_98_bar__minus_00_dot_72_bar__minus_02_dot_93_bar_BathtubBasin) + (inReceptacle SoapBar_bar__minus_01_dot_19_bar__plus_00_dot_06_bar__minus_03_dot_18 Bathtub_bar__minus_00_dot_98_bar__minus_00_dot_72_bar__minus_02_dot_93_bar_BathtubBasin) + (inReceptacle TissueBox_bar__minus_00_dot_17_bar__plus_01_dot_05_bar__minus_01_dot_75 Toilet_bar__minus_00_dot_47_bar__plus_00_dot_00_bar__minus_01_dot_88) + (inReceptacle SprayBottle_bar__minus_00_dot_17_bar__plus_01_dot_05_bar__minus_01_dot_88 Toilet_bar__minus_00_dot_47_bar__plus_00_dot_00_bar__minus_01_dot_88) + (inReceptacle SprayBottle_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__minus_02_dot_01 Toilet_bar__minus_00_dot_47_bar__plus_00_dot_00_bar__minus_01_dot_88) + + + (receptacleAtLocation Bathtub_bar__minus_00_dot_98_bar__minus_00_dot_72_bar__minus_02_dot_93_bar_BathtubBasin loc_bar__minus_5_bar__minus_8_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_12_bar__plus_00_dot_17_bar__minus_01_dot_31 loc_bar__minus_7_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_12_bar__plus_00_dot_46_bar__minus_01_dot_31 loc_bar__minus_7_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_22_bar__plus_00_dot_00_bar__minus_01_dot_42 loc_bar__minus_3_bar__minus_5_bar_1_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_41_bar__plus_01_dot_63_bar__minus_01_dot_51 loc_bar__minus_6_bar__minus_6_bar_3_bar_0) + (receptacleAtLocation SideTable_bar__minus_02_dot_12_bar__plus_00_dot_46_bar__minus_01_dot_31 loc_bar__minus_7_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Sink_bar__minus_02_dot_10_bar_00_dot_00_bar__minus_02_dot_03_bar_SinkBasin loc_bar__minus_6_bar__minus_7_bar_3_bar_60) + (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_99_bar__minus_01_dot_40 loc_bar__minus_3_bar__minus_5_bar_1_bar_45) + (receptacleAtLocation Toilet_bar__minus_00_dot_47_bar__plus_00_dot_00_bar__minus_01_dot_88 loc_bar__minus_5_bar__minus_8_bar_1_bar_60) + (receptacleAtLocation TowelHolder_bar__plus_00_dot_06_bar__plus_01_dot_83_bar__minus_01_dot_89 loc_bar__minus_5_bar__minus_8_bar_1_bar__minus_15) + (objectAtLocation Candle_bar__minus_01_dot_46_bar__plus_00_dot_48_bar__minus_02_dot_53 loc_bar__minus_5_bar__minus_8_bar_2_bar_60) + (objectAtLocation SprayBottle_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__minus_02_dot_01 loc_bar__minus_5_bar__minus_8_bar_1_bar_60) + (objectAtLocation ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_99_bar__minus_01_dot_34 loc_bar__minus_3_bar__minus_5_bar_1_bar_60) + (objectAtLocation TissueBox_bar__minus_02_dot_19_bar__plus_00_dot_67_bar__minus_01_dot_12 loc_bar__minus_7_bar__minus_2_bar_2_bar_60) + (objectAtLocation SoapBar_bar__minus_00_dot_45_bar__plus_00_dot_06_bar__minus_02_dot_86 loc_bar__minus_5_bar__minus_8_bar_2_bar_60) + (objectAtLocation SprayBottle_bar__minus_00_dot_17_bar__plus_01_dot_05_bar__minus_01_dot_88 loc_bar__minus_5_bar__minus_8_bar_1_bar_60) + (objectAtLocation Candle_bar__minus_02_dot_14_bar__plus_00_dot_37_bar__minus_01_dot_26 loc_bar__minus_7_bar__minus_5_bar_3_bar_60) + (objectAtLocation Bathtub_bar__minus_00_dot_98_bar__minus_00_dot_72_bar__minus_02_dot_93 loc_bar__minus_5_bar__minus_9_bar_2_bar_60) + (objectAtLocation Sink_bar__minus_02_dot_10_bar_00_dot_00_bar__minus_02_dot_03 loc_bar__minus_6_bar__minus_8_bar_3_bar_60) + (objectAtLocation Mirror_bar__minus_02_dot_45_bar__plus_01_dot_64_bar__minus_02_dot_03 loc_bar__minus_6_bar__minus_8_bar_3_bar_0) + (objectAtLocation HandTowel_bar__minus_02_dot_37_bar__plus_01_dot_52_bar__minus_01_dot_51 loc_bar__minus_6_bar__minus_6_bar_3_bar_0) + (objectAtLocation SoapBar_bar__minus_01_dot_19_bar__plus_00_dot_06_bar__minus_03_dot_18 loc_bar__minus_5_bar__minus_8_bar_2_bar_60) + (objectAtLocation ToiletPaper_bar__minus_02_dot_32_bar__plus_00_dot_48_bar__minus_02_dot_56 loc_bar__minus_5_bar__minus_8_bar_2_bar_60) + (objectAtLocation TissueBox_bar__minus_00_dot_17_bar__plus_01_dot_05_bar__minus_01_dot_75 loc_bar__minus_5_bar__minus_8_bar_1_bar_60) + (objectAtLocation ToiletPaper_bar__minus_00_dot_17_bar__plus_01_dot_04_bar__minus_02_dot_08 loc_bar__minus_5_bar__minus_9_bar_1_bar_60) + (objectAtLocation LightSwitch_bar__minus_01_dot_25_bar__plus_01_dot_42_bar__plus_00_dot_00 loc_bar__minus_5_bar__minus_2_bar_0_bar_30) + (objectAtLocation Cloth_bar__minus_01_dot_69_bar__plus_00_dot_06_bar__minus_03_dot_05 loc_bar__minus_5_bar__minus_8_bar_2_bar_60) + (objectAtLocation Towel_bar__minus_00_dot_05_bar__plus_01_dot_85_bar__minus_01_dot_89 loc_bar__minus_5_bar__minus_8_bar_1_bar__minus_15) + (objectAtLocation SoapBottle_bar__minus_02_dot_16_bar__plus_00_dot_09_bar__minus_01_dot_14 loc_bar__minus_7_bar__minus_5_bar_3_bar_60) + (objectAtLocation SprayBottle_bar__minus_02_dot_25_bar__plus_00_dot_68_bar__minus_01_dot_24 loc_bar__minus_7_bar__minus_2_bar_2_bar_60) + (objectAtLocation ScrubBrush_bar__minus_00_dot_16_bar__plus_00_dot_00_bar__minus_02_dot_16 loc_bar__minus_5_bar__minus_9_bar_1_bar_60) + (objectAtLocation Plunger_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_02_dot_38 loc_bar__minus_5_bar__minus_9_bar_1_bar_60) + (objectAtLocation Candle_bar__minus_00_dot_40_bar__plus_00_dot_48_bar__minus_02_dot_55 loc_bar__minus_5_bar__minus_8_bar_2_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 CandleType) + (receptacleType ?r ToiletType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 CandleType) + (receptacleType ?r ToiletType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Candle-None-Toilet-419/trial_T20190909_033617_968102/traj_data.json b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Candle-None-Toilet-419/trial_T20190909_033617_968102/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..1d7160ce7151f0e7f532eb377ebaa1660e6c6916 --- 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and face the toilet again", + "place the candle down on top of the back side of the toilet", + "turn around and walk over to the bath tub ledge on your left, turn to face it", + "grab the candle off of the bath tub ledge there", + "turn left and walk back over to the toilet again", + "place the candle on top of the back side of the toilet" + ], + "task_desc": "place two candles down on top of the toilet", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_3L4D84MIL2JFHYLS4TCV8AV4TPSJHR", + "high_descs": [ + "Turn right and walk up to the tub, then turn left to face the toilet.", + "Pick up the candle off of the toilet.", + "Turn left and take a step forward, then turn right to face the toilet.", + "Put the candle on top of the toilet tank in front of the rightmost spray bottle.", + "Turn around and walk up to the sink, then turn left and walk up to the tub.", + "Pick up the candle off of the tub.", + "Turn around and take a step forward, then turn right and walk up to the toilet.", + "Put the candle on top of the toilet tank to the left of the candle that's already there." + ], + "task_desc": "Move two candles to the toilet tank.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1ELPYAFO7MANS_3NPI0JQDARW18IFLZ0Y4JPK4DIRPT5", + "high_descs": [ + "Turn right and walk to the tub.", + "Pick up the candle on the side of the tub near the toilet.", + "Turn to face the toilet.", + "Place the candle on the toilet tank in front of the rightmost spray bottle.", + "Turn right and walk the other end of the tub.", + "Pick up the candle on the lip of the tub.", + "Turn left and walk back to the toilet.", + "Place the candle on the toilet tank, to the left of the first candle." + ], + "task_desc": "Place two candles on a toilet tank.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Cloth-None-Shelf-415/trial_T20190908_112300_533888/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Cloth-None-Shelf-415/trial_T20190908_112300_533888/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..d52f9d5888af2cf1be12e038936627b7c4b88f4f --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Cloth-None-Shelf-415/trial_T20190908_112300_533888/initial_state.pddl @@ -0,0 +1,488 @@ + +(define (problem plan_trial_T20190908_112300_533888) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83 - object + Candle_bar__minus_00_dot_06_bar__plus_01_dot_04_bar__minus_00_dot_54 - object + Candle_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_39 - object + Candle_bar__minus_02_dot_77_bar__plus_00_dot_99_bar__minus_02_dot_13 - object + Cloth_bar__minus_02_dot_59_bar__plus_00_dot_09_bar__minus_00_dot_97 - object + Cloth_bar__minus_02_dot_84_bar__plus_01_dot_00_bar__minus_03_dot_72 - object + Faucet_bar__minus_00_dot_04_bar__plus_01_dot_02_bar__minus_02_dot_08 - object + HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66 - object + LightSwitch_bar__minus_00_dot_36_bar__plus_01_dot_33_bar__minus_04_dot_00 - object + Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 - object + Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10 - object + ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11 - object + ShowerCurtain_bar__minus_02_dot_19_bar__plus_01_dot_92_bar__minus_01_dot_56 - object + ShowerHead_bar__minus_02_dot_58_bar__plus_01_dot_20_bar__minus_00_dot_06 - object + Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08 - object + SoapBar_bar__minus_00_dot_12_bar__plus_01_dot_04_bar__minus_00_dot_61 - object + SoapBottle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_50 - object + SoapBottle_bar__minus_00_dot_25_bar__plus_00_dot_05_bar__minus_02_dot_80 - object + SoapBottle_bar__minus_02_dot_55_bar__plus_00_dot_99_bar__minus_03_dot_19 - object + SprayBottle_bar__minus_00_dot_12_bar__plus_01_dot_05_bar__minus_00_dot_74 - object + ToiletPaper_bar__minus_00_dot_10_bar__plus_00_dot_87_bar__minus_01_dot_03 - object + ToiletPaper_bar__minus_00_dot_10_bar__plus_01_dot_04_bar__minus_00_dot_39 - object + Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 - object + Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin - receptacle + CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92 - receptacle + Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40 - receptacle + Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40 - receptacle + Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40 - receptacle + Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40 - receptacle + Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40 - receptacle + GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80 - receptacle + HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55 - receptacle + HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66 - receptacle + Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92 - receptacle + Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92 - receptacle + Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_97 - receptacle + Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55 - receptacle + TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00 - receptacle + loc_bar__minus_5_bar__minus_12_bar_1_bar_45 - location + loc_bar__minus_3_bar__minus_11_bar_1_bar_0 - location + loc_bar__minus_3_bar__minus_6_bar_2_bar_60 - location + loc_bar__minus_2_bar__minus_4_bar_0_bar_60 - location + loc_bar__minus_2_bar__minus_13_bar_2_bar_30 - location + loc_bar__minus_2_bar__minus_5_bar_0_bar_60 - location + loc_bar__minus_8_bar__minus_12_bar_3_bar_60 - location + loc_bar__minus_6_bar__minus_11_bar_1_bar_45 - location + loc_bar__minus_5_bar__minus_11_bar_1_bar_60 - location + loc_bar__minus_3_bar__minus_13_bar_1_bar_60 - location + loc_bar__minus_6_bar__minus_2_bar_3_bar_60 - location + loc_bar__minus_2_bar__minus_4_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_8_bar_1_bar_60 - location + loc_bar__minus_3_bar__minus_6_bar_1_bar_0 - location + loc_bar__minus_5_bar__minus_11_bar_3_bar_45 - location + loc_bar__minus_5_bar__minus_9_bar_1_bar_60 - location + loc_bar__minus_8_bar__minus_11_bar_3_bar_45 - location + loc_bar__minus_5_bar__minus_2_bar_0_bar_45 - location + loc_bar__minus_4_bar__minus_13_bar_1_bar_45 - location + loc_bar__minus_7_bar__minus_3_bar_3_bar_60 - location + loc_bar__minus_8_bar__minus_15_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55 HandTowelHolderType) + (receptacleType HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66 HandTowelHolderType) + (receptacleType Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40 DresserType) + (receptacleType CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92 CounterTopType) + (receptacleType ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_97 ToiletPaperHangerType) + (receptacleType TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00 TowelHolderType) + (receptacleType Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin BathtubBasinType) + (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40 DrawerType) + (receptacleType Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92 ShelfType) + (receptacleType Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08_bar_SinkBasin SinkBasinType) + (receptacleType GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80 GarbageCanType) + (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40 DrawerType) + (receptacleType Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92 ShelfType) + (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40 DrawerType) + (receptacleType Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55 ToiletType) + (objectType SoapBottle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_50 SoapBottleType) + (objectType Cloth_bar__minus_02_dot_84_bar__plus_01_dot_00_bar__minus_03_dot_72 ClothType) + (objectType HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66 HandTowelType) + (objectType SoapBar_bar__minus_00_dot_12_bar__plus_01_dot_04_bar__minus_00_dot_61 SoapBarType) + (objectType Candle_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_39 CandleType) + (objectType ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11 ScrubBrushType) + (objectType SoapBottle_bar__minus_00_dot_25_bar__plus_00_dot_05_bar__minus_02_dot_80 SoapBottleType) + (objectType Candle_bar__minus_02_dot_77_bar__plus_00_dot_99_bar__minus_02_dot_13 CandleType) + (objectType ToiletPaper_bar__minus_00_dot_10_bar__plus_01_dot_04_bar__minus_00_dot_39 ToiletPaperType) + (objectType Candle_bar__minus_00_dot_06_bar__plus_01_dot_04_bar__minus_00_dot_54 CandleType) + (objectType Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 TowelType) + (objectType ToiletPaper_bar__minus_00_dot_10_bar__plus_00_dot_87_bar__minus_01_dot_03 ToiletPaperType) + (objectType SprayBottle_bar__minus_00_dot_12_bar__plus_01_dot_05_bar__minus_00_dot_74 SprayBottleType) + (objectType Cloth_bar__minus_02_dot_59_bar__plus_00_dot_09_bar__minus_00_dot_97 ClothType) + (objectType SoapBottle_bar__minus_02_dot_55_bar__plus_00_dot_99_bar__minus_03_dot_19 SoapBottleType) + (objectType Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 MirrorType) + (objectType Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08 SinkType) + (objectType LightSwitch_bar__minus_00_dot_36_bar__plus_01_dot_33_bar__minus_04_dot_00 LightSwitchType) + (objectType Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10 PlungerType) + (objectType Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83 BathtubType) + (canContain HandTowelHolderType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain DresserType CandleType) + (canContain DresserType SprayBottleType) + (canContain DresserType ToiletPaperType) + (canContain DresserType ClothType) + (canContain CounterTopType CandleType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType HandTowelType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain TowelHolderType TowelType) + (canContain BathtubBasinType ClothType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain ShelfType CandleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType ClothType) + (canContain ShelfType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain ShelfType CandleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType ClothType) + (canContain ShelfType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType ClothType) + (canContain ToiletType CandleType) + (canContain ToiletType SoapBarType) + (canContain ToiletType SprayBottleType) + (pickupable SoapBottle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_50) + (pickupable Cloth_bar__minus_02_dot_84_bar__plus_01_dot_00_bar__minus_03_dot_72) + (pickupable HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66) + (pickupable SoapBar_bar__minus_00_dot_12_bar__plus_01_dot_04_bar__minus_00_dot_61) + (pickupable Candle_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_39) + (pickupable ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11) + (pickupable SoapBottle_bar__minus_00_dot_25_bar__plus_00_dot_05_bar__minus_02_dot_80) + (pickupable Candle_bar__minus_02_dot_77_bar__plus_00_dot_99_bar__minus_02_dot_13) + (pickupable ToiletPaper_bar__minus_00_dot_10_bar__plus_01_dot_04_bar__minus_00_dot_39) + (pickupable Candle_bar__minus_00_dot_06_bar__plus_01_dot_04_bar__minus_00_dot_54) + (pickupable Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11) + (pickupable ToiletPaper_bar__minus_00_dot_10_bar__plus_00_dot_87_bar__minus_01_dot_03) + (pickupable SprayBottle_bar__minus_00_dot_12_bar__plus_01_dot_05_bar__minus_00_dot_74) + (pickupable Cloth_bar__minus_02_dot_59_bar__plus_00_dot_09_bar__minus_00_dot_97) + (pickupable SoapBottle_bar__minus_02_dot_55_bar__plus_00_dot_99_bar__minus_03_dot_19) + (pickupable Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10) + + (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40) + (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40) + (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40) + (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40) + + (atLocation agent1 loc_bar__minus_8_bar__minus_15_bar_1_bar_30) + + (cleanable Cloth_bar__minus_02_dot_84_bar__plus_01_dot_00_bar__minus_03_dot_72) + (cleanable SoapBar_bar__minus_00_dot_12_bar__plus_01_dot_04_bar__minus_00_dot_61) + (cleanable Cloth_bar__minus_02_dot_59_bar__plus_00_dot_09_bar__minus_00_dot_97) + + + + + + + + + + + (inReceptacle SoapBottle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_50 Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40) + (inReceptacle Cloth_bar__minus_02_dot_84_bar__plus_01_dot_00_bar__minus_03_dot_72 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92) + (inReceptacle Candle_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_39 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92) + (inReceptacle SoapBottle_bar__minus_02_dot_55_bar__plus_00_dot_99_bar__minus_03_dot_19 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92) + (inReceptacle Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92) + (inReceptacle Candle_bar__minus_02_dot_77_bar__plus_00_dot_99_bar__minus_02_dot_13 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92) + (inReceptacle Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00) + (inReceptacle SoapBottle_bar__minus_00_dot_25_bar__plus_00_dot_05_bar__minus_02_dot_80 GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80) + (inReceptacle HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66 HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66) + (inReceptacle Cloth_bar__minus_02_dot_59_bar__plus_00_dot_09_bar__minus_00_dot_97 Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin) + (inReceptacle ToiletPaper_bar__minus_00_dot_10_bar__plus_01_dot_04_bar__minus_00_dot_39 Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55) + (inReceptacle SprayBottle_bar__minus_00_dot_12_bar__plus_01_dot_05_bar__minus_00_dot_74 Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55) + (inReceptacle SoapBar_bar__minus_00_dot_12_bar__plus_01_dot_04_bar__minus_00_dot_61 Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55) + (inReceptacle Candle_bar__minus_00_dot_06_bar__plus_01_dot_04_bar__minus_00_dot_54 Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55) + + + (receptacleAtLocation Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin loc_bar__minus_6_bar__minus_2_bar_3_bar_60) + (receptacleAtLocation CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92 loc_bar__minus_8_bar__minus_11_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40 loc_bar__minus_5_bar__minus_11_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40 loc_bar__minus_6_bar__minus_11_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40 loc_bar__minus_5_bar__minus_12_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40 loc_bar__minus_4_bar__minus_13_bar_1_bar_45) + (receptacleAtLocation Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40 loc_bar__minus_3_bar__minus_13_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80 loc_bar__minus_5_bar__minus_9_bar_1_bar_60) + (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55 loc_bar__minus_3_bar__minus_6_bar_1_bar_0) + (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66 loc_bar__minus_3_bar__minus_11_bar_1_bar_0) + (receptacleAtLocation Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92 loc_bar__minus_8_bar__minus_12_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92 loc_bar__minus_5_bar__minus_11_bar_3_bar_45) + (receptacleAtLocation Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08_bar_SinkBasin loc_bar__minus_3_bar__minus_6_bar_2_bar_60) + (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_97 loc_bar__minus_2_bar__minus_4_bar_1_bar_60) + (receptacleAtLocation Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55 loc_bar__minus_2_bar__minus_5_bar_0_bar_60) + (receptacleAtLocation TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00 loc_bar__minus_5_bar__minus_2_bar_0_bar_45) + (objectAtLocation Candle_bar__minus_00_dot_06_bar__plus_01_dot_04_bar__minus_00_dot_54 loc_bar__minus_2_bar__minus_5_bar_0_bar_60) + (objectAtLocation Cloth_bar__minus_02_dot_59_bar__plus_00_dot_09_bar__minus_00_dot_97 loc_bar__minus_6_bar__minus_2_bar_3_bar_60) + (objectAtLocation SoapBottle_bar__minus_00_dot_25_bar__plus_00_dot_05_bar__minus_02_dot_80 loc_bar__minus_5_bar__minus_9_bar_1_bar_60) + (objectAtLocation SoapBottle_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_50 loc_bar__minus_3_bar__minus_13_bar_1_bar_60) + (objectAtLocation Candle_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__minus_02_dot_39 loc_bar__minus_8_bar__minus_11_bar_3_bar_45) + (objectAtLocation Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83 loc_bar__minus_7_bar__minus_3_bar_3_bar_60) + (objectAtLocation Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08 loc_bar__minus_4_bar__minus_8_bar_1_bar_60) + (objectAtLocation Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 loc_bar__minus_8_bar__minus_11_bar_3_bar_45) + (objectAtLocation HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66 loc_bar__minus_3_bar__minus_11_bar_1_bar_0) + (objectAtLocation SoapBar_bar__minus_00_dot_12_bar__plus_01_dot_04_bar__minus_00_dot_61 loc_bar__minus_2_bar__minus_5_bar_0_bar_60) + (objectAtLocation ToiletPaper_bar__minus_00_dot_10_bar__plus_01_dot_04_bar__minus_00_dot_39 loc_bar__minus_2_bar__minus_5_bar_0_bar_60) + (objectAtLocation LightSwitch_bar__minus_00_dot_36_bar__plus_01_dot_33_bar__minus_04_dot_00 loc_bar__minus_2_bar__minus_13_bar_2_bar_30) + (objectAtLocation ToiletPaper_bar__minus_00_dot_10_bar__plus_00_dot_87_bar__minus_01_dot_03 loc_bar__minus_2_bar__minus_4_bar_1_bar_60) + (objectAtLocation Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 loc_bar__minus_5_bar__minus_2_bar_0_bar_45) + (objectAtLocation SoapBottle_bar__minus_02_dot_55_bar__plus_00_dot_99_bar__minus_03_dot_19 loc_bar__minus_8_bar__minus_11_bar_3_bar_45) + (objectAtLocation ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11 loc_bar__minus_2_bar__minus_4_bar_0_bar_60) + (objectAtLocation Cloth_bar__minus_02_dot_84_bar__plus_01_dot_00_bar__minus_03_dot_72 loc_bar__minus_8_bar__minus_11_bar_3_bar_45) + (objectAtLocation Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10 loc_bar__minus_2_bar__minus_4_bar_0_bar_60) + (objectAtLocation Candle_bar__minus_02_dot_77_bar__plus_00_dot_99_bar__minus_02_dot_13 loc_bar__minus_8_bar__minus_11_bar_3_bar_45) + (objectAtLocation SprayBottle_bar__minus_00_dot_12_bar__plus_01_dot_05_bar__minus_00_dot_74 loc_bar__minus_2_bar__minus_5_bar_0_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 ClothType) + (receptacleType ?r ShelfType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 ClothType) + (receptacleType ?r ShelfType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git 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"high_descs": [ + "Turn right and face the shelf on your right", + "Pick up the cloth on the shelf", + "Turn right then move further on the shelf", + "Put the cloth under the shelf", + "Turn right and head to the tub", + "Pick up the cloth on the tub", + "Turn left then head to the shelf", + "Put the cloth on top of the cloth at the shelf" + ], + "task_desc": "Put two cloth under the shelf", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1K5ILJMG439M5_3O6CYIULEGS6S4RBBR29GFE2PKCWUR", + "high_descs": [ + "Turn around to face the counter behind you.", + "Pick the cloth up from on the counter.", + "Bring the cloth to the right and turn to face the middle of the counter.", + "Put the cloth on the middle shelf under the counter top.", + "Turn to the right and go to the bath tub, then look down.", + "Pick up the cloth that's in the tub.", + "Bring the cloth with you and go to the left, back to the middle of the counter.", + "Put the cloth down on top of the first one." + ], + "task_desc": "Move the wash cloths to the shelf.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "ARB8SJAWXUWTD_3IHR8NYAMASHRX0VKZXWBH8CXAA4P6", + "high_descs": [ + "Turn to the bathroom counter", + "Pick up the tissue on the counter", + "Spin around and face the shelf underneath the counter", + "Place the tissue on a shelf underneath the counter", + "Go to the bathroom", + "Pick up the tissue in the bathtub", + "Go to the shelf underneath the counter", + "Place the tissue in the shelf underneath the counter" + ], + "task_desc": "Move two tissues to a shelf", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Cloth-None-Shelf-415/trial_T20190908_112333_938142/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Cloth-None-Shelf-415/trial_T20190908_112333_938142/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..d3846c1b930f1beb85bf25407df0d4e75fb60158 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Cloth-None-Shelf-415/trial_T20190908_112333_938142/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 cloth in shelf.\"\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_112333_938142)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83 - object\n Candle_bar__minus_00_dot_06_bar__plus_01_dot_04_bar__minus_00_dot_48 - object\n Candle_bar__minus_00_dot_19_bar__plus_00_dot_88_bar__minus_03_dot_25 - object\n Cloth_bar__minus_00_dot_12_bar__plus_01_dot_17_bar__minus_03_dot_50 - object\n Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_68 - object\n Cloth_bar__minus_02_dot_77_bar__plus_01_dot_00_bar__minus_02_dot_66 - object\n Faucet_bar__minus_00_dot_04_bar__plus_01_dot_02_bar__minus_02_dot_08 - object\n HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66 - object\n LightSwitch_bar__minus_00_dot_36_bar__plus_01_dot_33_bar__minus_04_dot_00 - object\n Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 - object\n Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10 - object\n ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11 - object\n ShowerCurtain_bar__minus_02_dot_19_bar__plus_01_dot_92_bar__minus_01_dot_56 - object\n ShowerHead_bar__minus_02_dot_58_bar__plus_01_dot_20_bar__minus_00_dot_06 - object\n Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08 - object\n SoapBar_bar__minus_00_dot_19_bar__plus_00_dot_04_bar__minus_02_dot_85 - object\n SoapBar_bar__minus_02_dot_46_bar__plus_00_dot_08_bar__minus_01_dot_25 - object\n SoapBar_bar__minus_02_dot_92_bar__plus_00_dot_99_bar__minus_02_dot_66 - object\n SoapBottle_bar__minus_00_dot_09_bar__plus_01_dot_05_bar__minus_00_dot_68 - object\n SprayBottle_bar__minus_00_dot_15_bar__plus_01_dot_05_bar__minus_00_dot_54 - object\n SprayBottle_bar__minus_00_dot_19_bar__plus_00_dot_05_bar__minus_02_dot_80 - object\n ToiletPaper_bar__minus_00_dot_10_bar__plus_00_dot_87_bar__minus_01_dot_03 - object\n ToiletPaper_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_69 - object\n Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 - object\n Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin - receptacle\n CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92 - receptacle\n Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40 - receptacle\n Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40 - receptacle\n Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40 - receptacle\n Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40 - receptacle\n Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40 - receptacle\n GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80 - receptacle\n HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55 - receptacle\n HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66 - receptacle\n Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92 - receptacle\n Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92 - receptacle\n Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_97 - receptacle\n Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55 - receptacle\n TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00 - receptacle\n loc_bar__minus_5_bar__minus_12_bar_1_bar_45 - location\n loc_bar__minus_3_bar__minus_11_bar_1_bar_0 - location\n loc_bar__minus_3_bar__minus_6_bar_2_bar_60 - location\n loc_bar__minus_2_bar__minus_4_bar_0_bar_60 - location\n loc_bar__minus_2_bar__minus_13_bar_2_bar_30 - location\n loc_bar__minus_2_bar__minus_5_bar_0_bar_60 - location\n loc_bar__minus_8_bar__minus_12_bar_3_bar_60 - location\n loc_bar__minus_6_bar__minus_11_bar_1_bar_45 - location\n loc_bar__minus_5_bar__minus_11_bar_1_bar_60 - location\n loc_bar__minus_3_bar__minus_13_bar_1_bar_60 - location\n loc_bar__minus_6_bar__minus_2_bar_3_bar_60 - location\n loc_bar__minus_2_bar__minus_4_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_8_bar_1_bar_60 - location\n loc_bar__minus_3_bar__minus_6_bar_1_bar_0 - location\n loc_bar__minus_5_bar__minus_11_bar_3_bar_45 - location\n loc_bar__minus_5_bar__minus_9_bar_1_bar_60 - location\n loc_bar__minus_8_bar__minus_11_bar_3_bar_45 - location\n loc_bar__minus_5_bar__minus_2_bar_0_bar_45 - location\n loc_bar__minus_4_bar__minus_13_bar_1_bar_45 - location\n loc_bar__minus_7_bar__minus_3_bar_3_bar_60 - location\n loc_bar__minus_3_bar__minus_14_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55 HandTowelHolderType)\n (receptacleType HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66 HandTowelHolderType)\n (receptacleType Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40 DresserType)\n (receptacleType CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92 CounterTopType)\n (receptacleType ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_97 ToiletPaperHangerType)\n (receptacleType TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00 TowelHolderType)\n (receptacleType Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin BathtubBasinType)\n (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40 DrawerType)\n (receptacleType Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92 ShelfType)\n (receptacleType Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08_bar_SinkBasin SinkBasinType)\n (receptacleType GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80 GarbageCanType)\n (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40 DrawerType)\n (receptacleType Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92 ShelfType)\n (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40 DrawerType)\n (receptacleType Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55 ToiletType)\n (objectType Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_68 ClothType)\n (objectType SoapBar_bar__minus_02_dot_92_bar__plus_00_dot_99_bar__minus_02_dot_66 SoapBarType)\n (objectType HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66 HandTowelType)\n (objectType ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11 ScrubBrushType)\n (objectType ToiletPaper_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_69 ToiletPaperType)\n (objectType SprayBottle_bar__minus_00_dot_19_bar__plus_00_dot_05_bar__minus_02_dot_80 SprayBottleType)\n (objectType SprayBottle_bar__minus_00_dot_15_bar__plus_01_dot_05_bar__minus_00_dot_54 SprayBottleType)\n (objectType SoapBottle_bar__minus_00_dot_09_bar__plus_01_dot_05_bar__minus_00_dot_68 SoapBottleType)\n (objectType SoapBar_bar__minus_02_dot_46_bar__plus_00_dot_08_bar__minus_01_dot_25 SoapBarType)\n (objectType Candle_bar__minus_00_dot_06_bar__plus_01_dot_04_bar__minus_00_dot_48 CandleType)\n (objectType Cloth_bar__minus_02_dot_77_bar__plus_01_dot_00_bar__minus_02_dot_66 ClothType)\n (objectType Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 TowelType)\n (objectType Candle_bar__minus_00_dot_19_bar__plus_00_dot_88_bar__minus_03_dot_25 CandleType)\n (objectType ToiletPaper_bar__minus_00_dot_10_bar__plus_00_dot_87_bar__minus_01_dot_03 ToiletPaperType)\n (objectType SoapBar_bar__minus_00_dot_19_bar__plus_00_dot_04_bar__minus_02_dot_85 SoapBarType)\n (objectType Cloth_bar__minus_00_dot_12_bar__plus_01_dot_17_bar__minus_03_dot_50 ClothType)\n (objectType Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 MirrorType)\n (objectType Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08 SinkType)\n (objectType LightSwitch_bar__minus_00_dot_36_bar__plus_01_dot_33_bar__minus_04_dot_00 LightSwitchType)\n (objectType Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10 PlungerType)\n (objectType Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83 BathtubType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain DresserType CandleType)\n (canContain DresserType SprayBottleType)\n (canContain DresserType ToiletPaperType)\n (canContain DresserType ClothType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain TowelHolderType TowelType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain ShelfType CandleType)\n (canContain ShelfType SoapBarType)\n (canContain ShelfType SprayBottleType)\n (canContain ShelfType ToiletPaperType)\n (canContain ShelfType SoapBottleType)\n (canContain ShelfType ClothType)\n (canContain ShelfType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain ShelfType CandleType)\n (canContain ShelfType SoapBarType)\n (canContain ShelfType SprayBottleType)\n (canContain ShelfType ToiletPaperType)\n (canContain ShelfType SoapBottleType)\n (canContain ShelfType ClothType)\n (canContain ShelfType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType SprayBottleType)\n (pickupable Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_68)\n (pickupable SoapBar_bar__minus_02_dot_92_bar__plus_00_dot_99_bar__minus_02_dot_66)\n (pickupable HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66)\n (pickupable ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11)\n (pickupable ToiletPaper_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_69)\n (pickupable SprayBottle_bar__minus_00_dot_19_bar__plus_00_dot_05_bar__minus_02_dot_80)\n (pickupable SprayBottle_bar__minus_00_dot_15_bar__plus_01_dot_05_bar__minus_00_dot_54)\n (pickupable SoapBottle_bar__minus_00_dot_09_bar__plus_01_dot_05_bar__minus_00_dot_68)\n (pickupable SoapBar_bar__minus_02_dot_46_bar__plus_00_dot_08_bar__minus_01_dot_25)\n (pickupable Candle_bar__minus_00_dot_06_bar__plus_01_dot_04_bar__minus_00_dot_48)\n (pickupable Cloth_bar__minus_02_dot_77_bar__plus_01_dot_00_bar__minus_02_dot_66)\n (pickupable Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11)\n (pickupable Candle_bar__minus_00_dot_19_bar__plus_00_dot_88_bar__minus_03_dot_25)\n (pickupable ToiletPaper_bar__minus_00_dot_10_bar__plus_00_dot_87_bar__minus_01_dot_03)\n (pickupable SoapBar_bar__minus_00_dot_19_bar__plus_00_dot_04_bar__minus_02_dot_85)\n (pickupable Cloth_bar__minus_00_dot_12_bar__plus_01_dot_17_bar__minus_03_dot_50)\n (pickupable Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10)\n \n (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40)\n (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40)\n (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40)\n (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40)\n \n (atLocation agent1 loc_bar__minus_3_bar__minus_14_bar_0_bar_30)\n \n (cleanable Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_68)\n (cleanable SoapBar_bar__minus_02_dot_92_bar__plus_00_dot_99_bar__minus_02_dot_66)\n (cleanable SoapBar_bar__minus_02_dot_46_bar__plus_00_dot_08_bar__minus_01_dot_25)\n (cleanable Cloth_bar__minus_02_dot_77_bar__plus_01_dot_00_bar__minus_02_dot_66)\n (cleanable SoapBar_bar__minus_00_dot_19_bar__plus_00_dot_04_bar__minus_02_dot_85)\n (cleanable Cloth_bar__minus_00_dot_12_bar__plus_01_dot_17_bar__minus_03_dot_50)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle Candle_bar__minus_00_dot_19_bar__plus_00_dot_88_bar__minus_03_dot_25 Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40)\n (inReceptacle ToiletPaper_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_69 Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40)\n (inReceptacle Cloth_bar__minus_00_dot_12_bar__plus_01_dot_17_bar__minus_03_dot_50 Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40)\n (inReceptacle SoapBar_bar__minus_02_dot_92_bar__plus_00_dot_99_bar__minus_02_dot_66 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92)\n (inReceptacle Cloth_bar__minus_02_dot_77_bar__plus_01_dot_00_bar__minus_02_dot_66 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92)\n (inReceptacle Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92)\n (inReceptacle Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00)\n (inReceptacle SoapBar_bar__minus_00_dot_19_bar__plus_00_dot_04_bar__minus_02_dot_85 GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80)\n (inReceptacle SprayBottle_bar__minus_00_dot_19_bar__plus_00_dot_05_bar__minus_02_dot_80 GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80)\n (inReceptacle HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66 HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66)\n (inReceptacle Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_68 Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin)\n (inReceptacle SoapBar_bar__minus_02_dot_46_bar__plus_00_dot_08_bar__minus_01_dot_25 Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin)\n (inReceptacle ToiletPaper_bar__minus_00_dot_10_bar__plus_00_dot_87_bar__minus_01_dot_03 ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_97)\n (inReceptacle SoapBottle_bar__minus_00_dot_09_bar__plus_01_dot_05_bar__minus_00_dot_68 Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55)\n (inReceptacle Candle_bar__minus_00_dot_06_bar__plus_01_dot_04_bar__minus_00_dot_48 Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55)\n (inReceptacle SprayBottle_bar__minus_00_dot_15_bar__plus_01_dot_05_bar__minus_00_dot_54 Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55)\n \n \n (receptacleAtLocation Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin loc_bar__minus_6_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92 loc_bar__minus_8_bar__minus_11_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40 loc_bar__minus_5_bar__minus_11_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40 loc_bar__minus_6_bar__minus_11_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40 loc_bar__minus_5_bar__minus_12_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40 loc_bar__minus_4_bar__minus_13_bar_1_bar_45)\n (receptacleAtLocation Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40 loc_bar__minus_3_bar__minus_13_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80 loc_bar__minus_5_bar__minus_9_bar_1_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55 loc_bar__minus_3_bar__minus_6_bar_1_bar_0)\n (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66 loc_bar__minus_3_bar__minus_11_bar_1_bar_0)\n (receptacleAtLocation Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92 loc_bar__minus_8_bar__minus_12_bar_3_bar_60)\n (receptacleAtLocation Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92 loc_bar__minus_5_bar__minus_11_bar_3_bar_45)\n (receptacleAtLocation Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08_bar_SinkBasin loc_bar__minus_3_bar__minus_6_bar_2_bar_60)\n (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_97 loc_bar__minus_2_bar__minus_4_bar_1_bar_60)\n (receptacleAtLocation Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55 loc_bar__minus_2_bar__minus_5_bar_0_bar_60)\n (receptacleAtLocation TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00 loc_bar__minus_5_bar__minus_2_bar_0_bar_45)\n (objectAtLocation SprayBottle_bar__minus_00_dot_19_bar__plus_00_dot_05_bar__minus_02_dot_80 loc_bar__minus_5_bar__minus_9_bar_1_bar_60)\n (objectAtLocation Candle_bar__minus_00_dot_06_bar__plus_01_dot_04_bar__minus_00_dot_48 loc_bar__minus_2_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Cloth_bar__minus_02_dot_77_bar__plus_01_dot_00_bar__minus_02_dot_66 loc_bar__minus_8_bar__minus_11_bar_3_bar_45)\n (objectAtLocation SoapBar_bar__minus_02_dot_92_bar__plus_00_dot_99_bar__minus_02_dot_66 loc_bar__minus_8_bar__minus_11_bar_3_bar_45)\n (objectAtLocation SoapBar_bar__minus_00_dot_19_bar__plus_00_dot_04_bar__minus_02_dot_85 loc_bar__minus_5_bar__minus_9_bar_1_bar_60)\n (objectAtLocation Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_68 loc_bar__minus_6_bar__minus_2_bar_3_bar_60)\n (objectAtLocation Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83 loc_bar__minus_7_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08 loc_bar__minus_4_bar__minus_8_bar_1_bar_60)\n (objectAtLocation Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 loc_bar__minus_8_bar__minus_11_bar_3_bar_45)\n (objectAtLocation HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66 loc_bar__minus_3_bar__minus_11_bar_1_bar_0)\n (objectAtLocation SoapBar_bar__minus_02_dot_46_bar__plus_00_dot_08_bar__minus_01_dot_25 loc_bar__minus_6_bar__minus_2_bar_3_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_10_bar__plus_00_dot_87_bar__minus_01_dot_03 loc_bar__minus_2_bar__minus_4_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__minus_00_dot_36_bar__plus_01_dot_33_bar__minus_04_dot_00 loc_bar__minus_2_bar__minus_13_bar_2_bar_30)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_69 loc_bar__minus_3_bar__minus_13_bar_1_bar_60)\n (objectAtLocation Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 loc_bar__minus_5_bar__minus_2_bar_0_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_09_bar__plus_01_dot_05_bar__minus_00_dot_68 loc_bar__minus_2_bar__minus_5_bar_0_bar_60)\n (objectAtLocation ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11 loc_bar__minus_2_bar__minus_4_bar_0_bar_60)\n (objectAtLocation Cloth_bar__minus_00_dot_12_bar__plus_01_dot_17_bar__minus_03_dot_50 loc_bar__minus_3_bar__minus_13_bar_1_bar_60)\n (objectAtLocation Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10 loc_bar__minus_2_bar__minus_4_bar_0_bar_60)\n (objectAtLocation Candle_bar__minus_00_dot_19_bar__plus_00_dot_88_bar__minus_03_dot_25 loc_bar__minus_4_bar__minus_13_bar_1_bar_45)\n (objectAtLocation SprayBottle_bar__minus_00_dot_15_bar__plus_01_dot_05_bar__minus_00_dot_54 loc_bar__minus_2_bar__minus_5_bar_0_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 ClothType)\n (receptacleType ?r ShelfType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 ClothType)\n (receptacleType ?r ShelfType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to dresser 1", "take cloth 3 from dresser 1", "go to shelf 1", "move cloth 3 to shelf 1", "go to bathtubbasin 1", "take cloth 2 from bathtubbasin 1", "go to shelf 1", "move cloth 2 to shelf 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Cloth-None-Shelf-415/trial_T20190908_112333_938142/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Cloth-None-Shelf-415/trial_T20190908_112333_938142/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..02228a42cd14096f8fbdd25a419018833da1dd8d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Cloth-None-Shelf-415/trial_T20190908_112333_938142/initial_state.pddl @@ -0,0 +1,497 @@ + +(define (problem plan_trial_T20190908_112333_938142) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83 - object + Candle_bar__minus_00_dot_06_bar__plus_01_dot_04_bar__minus_00_dot_48 - object + Candle_bar__minus_00_dot_19_bar__plus_00_dot_88_bar__minus_03_dot_25 - object + Cloth_bar__minus_00_dot_12_bar__plus_01_dot_17_bar__minus_03_dot_50 - object + Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_68 - object + Cloth_bar__minus_02_dot_77_bar__plus_01_dot_00_bar__minus_02_dot_66 - object + Faucet_bar__minus_00_dot_04_bar__plus_01_dot_02_bar__minus_02_dot_08 - object + HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66 - object + LightSwitch_bar__minus_00_dot_36_bar__plus_01_dot_33_bar__minus_04_dot_00 - object + Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 - object + Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10 - object + ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11 - object + ShowerCurtain_bar__minus_02_dot_19_bar__plus_01_dot_92_bar__minus_01_dot_56 - object + ShowerHead_bar__minus_02_dot_58_bar__plus_01_dot_20_bar__minus_00_dot_06 - object + Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08 - object + SoapBar_bar__minus_00_dot_19_bar__plus_00_dot_04_bar__minus_02_dot_85 - object + SoapBar_bar__minus_02_dot_46_bar__plus_00_dot_08_bar__minus_01_dot_25 - object + SoapBar_bar__minus_02_dot_92_bar__plus_00_dot_99_bar__minus_02_dot_66 - object + SoapBottle_bar__minus_00_dot_09_bar__plus_01_dot_05_bar__minus_00_dot_68 - object + SprayBottle_bar__minus_00_dot_15_bar__plus_01_dot_05_bar__minus_00_dot_54 - object + SprayBottle_bar__minus_00_dot_19_bar__plus_00_dot_05_bar__minus_02_dot_80 - object + ToiletPaper_bar__minus_00_dot_10_bar__plus_00_dot_87_bar__minus_01_dot_03 - object + ToiletPaper_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_69 - object + Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 - object + Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin - receptacle + CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92 - receptacle + Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40 - receptacle + Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40 - receptacle + Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40 - receptacle + Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40 - receptacle + Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40 - receptacle + GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80 - receptacle + HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55 - receptacle + HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66 - receptacle + Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92 - receptacle + Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92 - receptacle + Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_97 - receptacle + Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55 - receptacle + TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00 - receptacle + loc_bar__minus_5_bar__minus_12_bar_1_bar_45 - location + loc_bar__minus_3_bar__minus_11_bar_1_bar_0 - location + loc_bar__minus_3_bar__minus_6_bar_2_bar_60 - location + loc_bar__minus_2_bar__minus_4_bar_0_bar_60 - location + loc_bar__minus_2_bar__minus_13_bar_2_bar_30 - location + loc_bar__minus_2_bar__minus_5_bar_0_bar_60 - location + loc_bar__minus_8_bar__minus_12_bar_3_bar_60 - location + loc_bar__minus_6_bar__minus_11_bar_1_bar_45 - location + loc_bar__minus_5_bar__minus_11_bar_1_bar_60 - location + loc_bar__minus_3_bar__minus_13_bar_1_bar_60 - location + loc_bar__minus_6_bar__minus_2_bar_3_bar_60 - location + loc_bar__minus_2_bar__minus_4_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_8_bar_1_bar_60 - location + loc_bar__minus_3_bar__minus_6_bar_1_bar_0 - location + loc_bar__minus_5_bar__minus_11_bar_3_bar_45 - location + loc_bar__minus_5_bar__minus_9_bar_1_bar_60 - location + loc_bar__minus_8_bar__minus_11_bar_3_bar_45 - location + loc_bar__minus_5_bar__minus_2_bar_0_bar_45 - location + loc_bar__minus_4_bar__minus_13_bar_1_bar_45 - location + loc_bar__minus_7_bar__minus_3_bar_3_bar_60 - location + loc_bar__minus_3_bar__minus_14_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55 HandTowelHolderType) + (receptacleType HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66 HandTowelHolderType) + (receptacleType Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40 DresserType) + (receptacleType CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92 CounterTopType) + (receptacleType ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_97 ToiletPaperHangerType) + (receptacleType TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00 TowelHolderType) + (receptacleType Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin BathtubBasinType) + (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40 DrawerType) + (receptacleType Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92 ShelfType) + (receptacleType Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08_bar_SinkBasin SinkBasinType) + (receptacleType GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80 GarbageCanType) + (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40 DrawerType) + (receptacleType Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92 ShelfType) + (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40 DrawerType) + (receptacleType Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55 ToiletType) + (objectType Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_68 ClothType) + (objectType SoapBar_bar__minus_02_dot_92_bar__plus_00_dot_99_bar__minus_02_dot_66 SoapBarType) + (objectType HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66 HandTowelType) + (objectType ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11 ScrubBrushType) + (objectType ToiletPaper_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_69 ToiletPaperType) + (objectType SprayBottle_bar__minus_00_dot_19_bar__plus_00_dot_05_bar__minus_02_dot_80 SprayBottleType) + (objectType SprayBottle_bar__minus_00_dot_15_bar__plus_01_dot_05_bar__minus_00_dot_54 SprayBottleType) + (objectType SoapBottle_bar__minus_00_dot_09_bar__plus_01_dot_05_bar__minus_00_dot_68 SoapBottleType) + (objectType SoapBar_bar__minus_02_dot_46_bar__plus_00_dot_08_bar__minus_01_dot_25 SoapBarType) + (objectType Candle_bar__minus_00_dot_06_bar__plus_01_dot_04_bar__minus_00_dot_48 CandleType) + (objectType Cloth_bar__minus_02_dot_77_bar__plus_01_dot_00_bar__minus_02_dot_66 ClothType) + (objectType Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 TowelType) + (objectType Candle_bar__minus_00_dot_19_bar__plus_00_dot_88_bar__minus_03_dot_25 CandleType) + (objectType ToiletPaper_bar__minus_00_dot_10_bar__plus_00_dot_87_bar__minus_01_dot_03 ToiletPaperType) + (objectType SoapBar_bar__minus_00_dot_19_bar__plus_00_dot_04_bar__minus_02_dot_85 SoapBarType) + (objectType Cloth_bar__minus_00_dot_12_bar__plus_01_dot_17_bar__minus_03_dot_50 ClothType) + (objectType Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 MirrorType) + (objectType Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08 SinkType) + (objectType LightSwitch_bar__minus_00_dot_36_bar__plus_01_dot_33_bar__minus_04_dot_00 LightSwitchType) + (objectType Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10 PlungerType) + (objectType Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83 BathtubType) + (canContain HandTowelHolderType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain DresserType CandleType) + (canContain DresserType SprayBottleType) + (canContain DresserType ToiletPaperType) + (canContain DresserType ClothType) + (canContain CounterTopType CandleType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType HandTowelType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain TowelHolderType TowelType) + (canContain BathtubBasinType ClothType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain ShelfType CandleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType ClothType) + (canContain ShelfType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain ShelfType CandleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType ClothType) + (canContain ShelfType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType ClothType) + (canContain ToiletType CandleType) + (canContain ToiletType SoapBarType) + (canContain ToiletType SprayBottleType) + (pickupable Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_68) + (pickupable SoapBar_bar__minus_02_dot_92_bar__plus_00_dot_99_bar__minus_02_dot_66) + (pickupable HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66) + (pickupable ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11) + (pickupable ToiletPaper_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_69) + (pickupable SprayBottle_bar__minus_00_dot_19_bar__plus_00_dot_05_bar__minus_02_dot_80) + (pickupable SprayBottle_bar__minus_00_dot_15_bar__plus_01_dot_05_bar__minus_00_dot_54) + (pickupable SoapBottle_bar__minus_00_dot_09_bar__plus_01_dot_05_bar__minus_00_dot_68) + (pickupable SoapBar_bar__minus_02_dot_46_bar__plus_00_dot_08_bar__minus_01_dot_25) + (pickupable Candle_bar__minus_00_dot_06_bar__plus_01_dot_04_bar__minus_00_dot_48) + (pickupable Cloth_bar__minus_02_dot_77_bar__plus_01_dot_00_bar__minus_02_dot_66) + (pickupable Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11) + (pickupable Candle_bar__minus_00_dot_19_bar__plus_00_dot_88_bar__minus_03_dot_25) + (pickupable ToiletPaper_bar__minus_00_dot_10_bar__plus_00_dot_87_bar__minus_01_dot_03) + (pickupable SoapBar_bar__minus_00_dot_19_bar__plus_00_dot_04_bar__minus_02_dot_85) + (pickupable Cloth_bar__minus_00_dot_12_bar__plus_01_dot_17_bar__minus_03_dot_50) + (pickupable Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10) + + (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40) + (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40) + (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40) + (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40) + + (atLocation agent1 loc_bar__minus_3_bar__minus_14_bar_0_bar_30) + + (cleanable Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_68) + (cleanable SoapBar_bar__minus_02_dot_92_bar__plus_00_dot_99_bar__minus_02_dot_66) + (cleanable SoapBar_bar__minus_02_dot_46_bar__plus_00_dot_08_bar__minus_01_dot_25) + (cleanable Cloth_bar__minus_02_dot_77_bar__plus_01_dot_00_bar__minus_02_dot_66) + (cleanable SoapBar_bar__minus_00_dot_19_bar__plus_00_dot_04_bar__minus_02_dot_85) + (cleanable Cloth_bar__minus_00_dot_12_bar__plus_01_dot_17_bar__minus_03_dot_50) + + + + + + + + + + + (inReceptacle Candle_bar__minus_00_dot_19_bar__plus_00_dot_88_bar__minus_03_dot_25 Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40) + (inReceptacle ToiletPaper_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_69 Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40) + (inReceptacle Cloth_bar__minus_00_dot_12_bar__plus_01_dot_17_bar__minus_03_dot_50 Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40) + (inReceptacle SoapBar_bar__minus_02_dot_92_bar__plus_00_dot_99_bar__minus_02_dot_66 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92) + (inReceptacle Cloth_bar__minus_02_dot_77_bar__plus_01_dot_00_bar__minus_02_dot_66 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92) + (inReceptacle Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92) + (inReceptacle Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00) + (inReceptacle SoapBar_bar__minus_00_dot_19_bar__plus_00_dot_04_bar__minus_02_dot_85 GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80) + (inReceptacle SprayBottle_bar__minus_00_dot_19_bar__plus_00_dot_05_bar__minus_02_dot_80 GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80) + (inReceptacle HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66 HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66) + (inReceptacle Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_68 Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin) + (inReceptacle SoapBar_bar__minus_02_dot_46_bar__plus_00_dot_08_bar__minus_01_dot_25 Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin) + (inReceptacle ToiletPaper_bar__minus_00_dot_10_bar__plus_00_dot_87_bar__minus_01_dot_03 ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_97) + (inReceptacle SoapBottle_bar__minus_00_dot_09_bar__plus_01_dot_05_bar__minus_00_dot_68 Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55) + (inReceptacle Candle_bar__minus_00_dot_06_bar__plus_01_dot_04_bar__minus_00_dot_48 Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55) + (inReceptacle SprayBottle_bar__minus_00_dot_15_bar__plus_01_dot_05_bar__minus_00_dot_54 Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55) + + + (receptacleAtLocation Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin loc_bar__minus_6_bar__minus_2_bar_3_bar_60) + (receptacleAtLocation CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92 loc_bar__minus_8_bar__minus_11_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40 loc_bar__minus_5_bar__minus_11_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40 loc_bar__minus_6_bar__minus_11_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40 loc_bar__minus_5_bar__minus_12_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40 loc_bar__minus_4_bar__minus_13_bar_1_bar_45) + (receptacleAtLocation Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40 loc_bar__minus_3_bar__minus_13_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80 loc_bar__minus_5_bar__minus_9_bar_1_bar_60) + (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55 loc_bar__minus_3_bar__minus_6_bar_1_bar_0) + (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66 loc_bar__minus_3_bar__minus_11_bar_1_bar_0) + (receptacleAtLocation Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92 loc_bar__minus_8_bar__minus_12_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92 loc_bar__minus_5_bar__minus_11_bar_3_bar_45) + (receptacleAtLocation Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08_bar_SinkBasin loc_bar__minus_3_bar__minus_6_bar_2_bar_60) + (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_97 loc_bar__minus_2_bar__minus_4_bar_1_bar_60) + (receptacleAtLocation Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55 loc_bar__minus_2_bar__minus_5_bar_0_bar_60) + (receptacleAtLocation TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00 loc_bar__minus_5_bar__minus_2_bar_0_bar_45) + (objectAtLocation SprayBottle_bar__minus_00_dot_19_bar__plus_00_dot_05_bar__minus_02_dot_80 loc_bar__minus_5_bar__minus_9_bar_1_bar_60) + (objectAtLocation Candle_bar__minus_00_dot_06_bar__plus_01_dot_04_bar__minus_00_dot_48 loc_bar__minus_2_bar__minus_5_bar_0_bar_60) + (objectAtLocation Cloth_bar__minus_02_dot_77_bar__plus_01_dot_00_bar__minus_02_dot_66 loc_bar__minus_8_bar__minus_11_bar_3_bar_45) + (objectAtLocation SoapBar_bar__minus_02_dot_92_bar__plus_00_dot_99_bar__minus_02_dot_66 loc_bar__minus_8_bar__minus_11_bar_3_bar_45) + (objectAtLocation SoapBar_bar__minus_00_dot_19_bar__plus_00_dot_04_bar__minus_02_dot_85 loc_bar__minus_5_bar__minus_9_bar_1_bar_60) + (objectAtLocation Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_68 loc_bar__minus_6_bar__minus_2_bar_3_bar_60) + (objectAtLocation Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83 loc_bar__minus_7_bar__minus_3_bar_3_bar_60) + (objectAtLocation Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08 loc_bar__minus_4_bar__minus_8_bar_1_bar_60) + (objectAtLocation Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 loc_bar__minus_8_bar__minus_11_bar_3_bar_45) + (objectAtLocation HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_02_dot_66 loc_bar__minus_3_bar__minus_11_bar_1_bar_0) + (objectAtLocation SoapBar_bar__minus_02_dot_46_bar__plus_00_dot_08_bar__minus_01_dot_25 loc_bar__minus_6_bar__minus_2_bar_3_bar_60) + (objectAtLocation ToiletPaper_bar__minus_00_dot_10_bar__plus_00_dot_87_bar__minus_01_dot_03 loc_bar__minus_2_bar__minus_4_bar_1_bar_60) + (objectAtLocation LightSwitch_bar__minus_00_dot_36_bar__plus_01_dot_33_bar__minus_04_dot_00 loc_bar__minus_2_bar__minus_13_bar_2_bar_30) + (objectAtLocation ToiletPaper_bar__minus_00_dot_12_bar__plus_01_dot_16_bar__minus_03_dot_69 loc_bar__minus_3_bar__minus_13_bar_1_bar_60) + (objectAtLocation Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 loc_bar__minus_5_bar__minus_2_bar_0_bar_45) + (objectAtLocation SoapBottle_bar__minus_00_dot_09_bar__plus_01_dot_05_bar__minus_00_dot_68 loc_bar__minus_2_bar__minus_5_bar_0_bar_60) + (objectAtLocation ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11 loc_bar__minus_2_bar__minus_4_bar_0_bar_60) + (objectAtLocation Cloth_bar__minus_00_dot_12_bar__plus_01_dot_17_bar__minus_03_dot_50 loc_bar__minus_3_bar__minus_13_bar_1_bar_60) + (objectAtLocation Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10 loc_bar__minus_2_bar__minus_4_bar_0_bar_60) + (objectAtLocation Candle_bar__minus_00_dot_19_bar__plus_00_dot_88_bar__minus_03_dot_25 loc_bar__minus_4_bar__minus_13_bar_1_bar_45) + (objectAtLocation SprayBottle_bar__minus_00_dot_15_bar__plus_01_dot_05_bar__minus_00_dot_54 loc_bar__minus_2_bar__minus_5_bar_0_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 ClothType) + (receptacleType ?r ShelfType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 ClothType) + (receptacleType ?r ShelfType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Cloth-None-Shelf-415/trial_T20190908_112333_938142/traj_data.json b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Cloth-None-Shelf-415/trial_T20190908_112333_938142/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..1dc6b0298bdce3a18594d07a2b7604c44a6f91e3 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Cloth-None-Shelf-415/trial_T20190908_112333_938142/traj_data.json @@ -0,0 +1,3098 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000001.png", + "low_idx": 0 + }, + { + "high_idx": 0, + 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1.17007422, + "z": -3.49716139 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Cloth_925ae57e", + "position": { + "x": -2.64918971, + "y": 0.08588481, + "z": -0.6789924 + }, + "rotation": { + "x": 1.51660667e-21, + "y": 90.0, + "z": 1.40334191e-14 + } + }, + { + "objectName": "Candle_7c60a913", + "position": { + "x": -0.1859816, + "y": 0.877388954, + "z": -3.25432777 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "SprayBottle_c604c576", + "position": { + "x": -0.149266779, + "y": 1.04582572, + "z": -0.5445575 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "SoapBar_096cb92b", + "position": { + "x": -2.46262026, + "y": 0.08074254, + "z": -1.253794 + }, + "rotation": { + "x": 1.51660667e-21, + "y": 90.0, + "z": 1.40334191e-14 + } + }, + { + "objectName": "SoapBar_096cb92b", + "position": { + "x": -0.191722617, + "y": 0.0432327129, + "z": -2.8496902 + }, + "rotation": { + "x": 0.0, + "y": 89.99984, + "z": 0.0 + } + }, + { + "objectName": "HandTowel_801bc07e", + "position": { + "x": -0.0383, + "y": 1.481, + "z": -2.661 + }, + "rotation": { + "x": 0.0, + "y": 90.00002, + "z": 0.0 + } + }, + { + "objectName": "SoapBar_096cb92b", + "position": { + "x": -2.91538239, + "y": 0.992569745, + "z": -2.65714025 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ToiletPaper_b548d64b", + "position": { + "x": -0.103500023, + "y": 0.866393864, + "z": -1.03366709 + }, + "rotation": { + "x": 0.0, + "y": 270.000031, + "z": 270.0 + } + }, + { + "objectName": "ToiletPaper_90be43f0", + "position": { + "x": -0.116041638, + "y": 1.158, + "z": -3.69348478 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Towel_f66c2b38", + "position": { + "x": -1.33899987, + "y": 1.19300008, + "z": -0.1069 + }, + "rotation": { + "x": 0.0, + "y": 179.999969, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_201a1dc1", + "position": { + "x": -0.08800036, + "y": 1.04632449, + "z": -0.675701439 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "ScrubBrush_525406ff", + "position": { + "x": -0.136, + "y": -0.0002756752, + "z": -0.105 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cloth_925ae57e", + "position": { + "x": -2.76805568, + "y": 0.997712, + "z": -2.65714025 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plunger_cb0776d8", + "position": { + "x": -0.370999247, + "y": -0.000738665462, + "z": -0.09700089 + }, + "rotation": { + "x": -0.00118371623, + "y": 0.0004447984, + "z": 0.000782377669 + } + }, + { + "objectName": "Candle_7c60a913", + "position": { + "x": -0.05736637, + "y": 1.04317713, + "z": -0.478985876 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "SprayBottle_c604c576", + "position": { + "x": -0.191722751, + "y": 0.0452438556, + "z": -2.798433 + }, + "rotation": { + "x": 0.0, + "y": 179.999847, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2522617275, + "scene_num": 415 + }, + "task_id": "trial_T20190908_112333_938142", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A24RGLS3BRZ60J_345LHZDED0J916PN17R7BI35RTMU3R", + "high_descs": [ + "Turn to the left and face the white counter.", + "Pick up the white cloth from on top of the counter.", + "Hold the cloth and look down.", + "Place the cloth on the middle shelf of the counter.", + "Turn around to find the tall white dresser.", + "Pick up the white cloth from the top of the dresser.", + "Hold the cloth and turn around to the white counter.", + "Place the cloth on the middle shelf with the other cloth." + ], + "task_desc": "Move two cloths to a shelf.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "ARB8SJAWXUWTD_30BXRYBRP7O1NILRBSVAX0PCVCFWHV", + "high_descs": [ + "Go to the bathroom counter", + "Pick up a towel from the counter", + "Turn around and back to the counter", + "Place the towel in a shelf underneath the counter", + "Go to the cabinet", + "Pick up a towel from the top of the cabinet", + "Go to the bathroom counter", + "Place the towel in a shelf underneath the counter" + ], + "task_desc": "Move two towels to an underneath shelf", + "votes": [ + 1, + 0, + 1 + ] + }, + { + "assignment_id": "A98E8M4QLI9RS_3CCZ6YKWRAAEVTOOHFK9UJEBS5I95M", + "high_descs": [ + "turn to the left and move forward to the white counter", + "pick up the dirty white cloth from the counter", + "stay facing the counter with the shelves underneath", + "put the dirty cloth on to the middle of the top shelf under the counter", + "turn around and move forward to the chest of drawers on the other side of the room", + "remove the dirty cloth that is on top of the dresser", + "turn around and move across the room to the counter with the shelves below it", + "put the second dirty cloth on top of the first dirty cloth that is on the top shelf" + ], + "task_desc": "put two dirty cloths on to the shelf under the counter", + "votes": [ + 0, + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Cloth-None-Shelf-415/trial_T20190918_160612_509595/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Cloth-None-Shelf-415/trial_T20190918_160612_509595/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..a680e796eebef698f01b43eb78f78c813f12e08d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Cloth-None-Shelf-415/trial_T20190918_160612_509595/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: find two cloth and put them in shelf.\"\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_T20190918_160612_509595)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83 - object\n Candle_bar__minus_00_dot_03_bar__plus_01_dot_04_bar__minus_00_dot_48 - object\n Candle_bar__minus_00_dot_15_bar__plus_01_dot_16_bar__minus_03_dot_10 - object\n Cloth_bar__minus_00_dot_18_bar__plus_01_dot_17_bar__minus_03_dot_50 - object\n Cloth_bar__minus_02_dot_62_bar__plus_01_dot_00_bar__minus_02_dot_13 - object\n Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_39 - object\n Faucet_bar__minus_00_dot_04_bar__plus_01_dot_02_bar__minus_02_dot_08 - object\n HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_01_dot_55 - object\n LightSwitch_bar__minus_00_dot_36_bar__plus_01_dot_33_bar__minus_04_dot_00 - object\n Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 - object\n Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10 - object\n ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11 - object\n ShowerCurtain_bar__minus_02_dot_19_bar__plus_01_dot_92_bar__minus_01_dot_56 - object\n ShowerHead_bar__minus_02_dot_58_bar__plus_01_dot_20_bar__minus_00_dot_06 - object\n Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08 - object\n SoapBar_bar__minus_00_dot_14_bar__plus_00_dot_88_bar__minus_03_dot_25 - object\n SoapBottle_bar__minus_00_dot_14_bar__plus_00_dot_62_bar__minus_03_dot_18 - object\n SoapBottle_bar__minus_00_dot_16_bar__plus_00_dot_88_bar__minus_03_dot_47 - object\n SoapBottle_bar__minus_02_dot_47_bar__plus_00_dot_99_bar__minus_02_dot_92 - object\n SprayBottle_bar__minus_00_dot_08_bar__plus_01_dot_17_bar__minus_03_dot_69 - object\n ToiletPaper_bar__minus_00_dot_10_bar__plus_01_dot_04_bar__minus_00_dot_39 - object\n ToiletPaper_bar__minus_00_dot_19_bar__plus_00_dot_88_bar__minus_03_dot_62 - object\n Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 - object\n Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin - receptacle\n CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92 - receptacle\n Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40 - receptacle\n Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40 - receptacle\n Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40 - receptacle\n Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40 - receptacle\n Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40 - receptacle\n GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80 - receptacle\n HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55 - receptacle\n HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66 - receptacle\n Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92 - receptacle\n Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92 - receptacle\n Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_97 - receptacle\n Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55 - receptacle\n TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00 - receptacle\n loc_bar__minus_5_bar__minus_12_bar_1_bar_45 - location\n loc_bar__minus_3_bar__minus_11_bar_1_bar_0 - location\n loc_bar__minus_3_bar__minus_6_bar_2_bar_60 - location\n loc_bar__minus_2_bar__minus_4_bar_0_bar_60 - location\n loc_bar__minus_2_bar__minus_13_bar_2_bar_30 - location\n loc_bar__minus_2_bar__minus_5_bar_0_bar_60 - location\n loc_bar__minus_8_bar__minus_12_bar_3_bar_60 - location\n loc_bar__minus_6_bar__minus_11_bar_1_bar_45 - location\n loc_bar__minus_5_bar__minus_11_bar_1_bar_60 - location\n loc_bar__minus_3_bar__minus_13_bar_1_bar_60 - location\n loc_bar__minus_6_bar__minus_2_bar_3_bar_60 - location\n loc_bar__minus_2_bar__minus_4_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_8_bar_1_bar_60 - location\n loc_bar__minus_3_bar__minus_6_bar_1_bar_0 - location\n loc_bar__minus_5_bar__minus_11_bar_3_bar_45 - location\n loc_bar__minus_5_bar__minus_9_bar_1_bar_60 - location\n loc_bar__minus_8_bar__minus_11_bar_3_bar_45 - location\n loc_bar__minus_5_bar__minus_2_bar_0_bar_45 - location\n loc_bar__minus_4_bar__minus_13_bar_1_bar_45 - location\n loc_bar__minus_7_bar__minus_3_bar_3_bar_60 - location\n loc_bar__minus_7_bar__minus_3_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55 HandTowelHolderType)\n (receptacleType HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66 HandTowelHolderType)\n (receptacleType Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40 DresserType)\n (receptacleType CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92 CounterTopType)\n (receptacleType ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_97 ToiletPaperHangerType)\n (receptacleType TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00 TowelHolderType)\n (receptacleType Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin BathtubBasinType)\n (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40 DrawerType)\n (receptacleType Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92 ShelfType)\n (receptacleType Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08_bar_SinkBasin SinkBasinType)\n (receptacleType GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80 GarbageCanType)\n (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40 DrawerType)\n (receptacleType Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92 ShelfType)\n (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40 DrawerType)\n (receptacleType Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55 ToiletType)\n (objectType SoapBottle_bar__minus_02_dot_47_bar__plus_00_dot_99_bar__minus_02_dot_92 SoapBottleType)\n (objectType SoapBar_bar__minus_00_dot_14_bar__plus_00_dot_88_bar__minus_03_dot_25 SoapBarType)\n (objectType Cloth_bar__minus_00_dot_18_bar__plus_01_dot_17_bar__minus_03_dot_50 ClothType)\n (objectType ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11 ScrubBrushType)\n (objectType Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_39 ClothType)\n (objectType ToiletPaper_bar__minus_00_dot_19_bar__plus_00_dot_88_bar__minus_03_dot_62 ToiletPaperType)\n (objectType SoapBottle_bar__minus_00_dot_14_bar__plus_00_dot_62_bar__minus_03_dot_18 SoapBottleType)\n (objectType ToiletPaper_bar__minus_00_dot_10_bar__plus_01_dot_04_bar__minus_00_dot_39 ToiletPaperType)\n (objectType Candle_bar__minus_00_dot_15_bar__plus_01_dot_16_bar__minus_03_dot_10 CandleType)\n (objectType SoapBottle_bar__minus_00_dot_16_bar__plus_00_dot_88_bar__minus_03_dot_47 SoapBottleType)\n (objectType HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_01_dot_55 HandTowelType)\n (objectType Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 TowelType)\n (objectType SprayBottle_bar__minus_00_dot_08_bar__plus_01_dot_17_bar__minus_03_dot_69 SprayBottleType)\n (objectType Cloth_bar__minus_02_dot_62_bar__plus_01_dot_00_bar__minus_02_dot_13 ClothType)\n (objectType Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 MirrorType)\n (objectType Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08 SinkType)\n (objectType LightSwitch_bar__minus_00_dot_36_bar__plus_01_dot_33_bar__minus_04_dot_00 LightSwitchType)\n (objectType Candle_bar__minus_00_dot_03_bar__plus_01_dot_04_bar__minus_00_dot_48 CandleType)\n (objectType Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10 PlungerType)\n (objectType Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83 BathtubType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain DresserType CandleType)\n (canContain DresserType SprayBottleType)\n (canContain DresserType ToiletPaperType)\n (canContain DresserType ClothType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain TowelHolderType TowelType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain ShelfType CandleType)\n (canContain ShelfType SoapBarType)\n (canContain ShelfType SprayBottleType)\n (canContain ShelfType ToiletPaperType)\n (canContain ShelfType SoapBottleType)\n (canContain ShelfType ClothType)\n (canContain ShelfType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain ShelfType CandleType)\n (canContain ShelfType SoapBarType)\n (canContain ShelfType SprayBottleType)\n (canContain ShelfType ToiletPaperType)\n (canContain ShelfType SoapBottleType)\n (canContain ShelfType ClothType)\n (canContain ShelfType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType SprayBottleType)\n (pickupable SoapBottle_bar__minus_02_dot_47_bar__plus_00_dot_99_bar__minus_02_dot_92)\n (pickupable SoapBar_bar__minus_00_dot_14_bar__plus_00_dot_88_bar__minus_03_dot_25)\n (pickupable Cloth_bar__minus_00_dot_18_bar__plus_01_dot_17_bar__minus_03_dot_50)\n (pickupable ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11)\n (pickupable Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_39)\n (pickupable ToiletPaper_bar__minus_00_dot_19_bar__plus_00_dot_88_bar__minus_03_dot_62)\n (pickupable SoapBottle_bar__minus_00_dot_14_bar__plus_00_dot_62_bar__minus_03_dot_18)\n (pickupable ToiletPaper_bar__minus_00_dot_10_bar__plus_01_dot_04_bar__minus_00_dot_39)\n (pickupable Candle_bar__minus_00_dot_15_bar__plus_01_dot_16_bar__minus_03_dot_10)\n (pickupable SoapBottle_bar__minus_00_dot_16_bar__plus_00_dot_88_bar__minus_03_dot_47)\n (pickupable HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_01_dot_55)\n (pickupable Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11)\n (pickupable SprayBottle_bar__minus_00_dot_08_bar__plus_01_dot_17_bar__minus_03_dot_69)\n (pickupable Cloth_bar__minus_02_dot_62_bar__plus_01_dot_00_bar__minus_02_dot_13)\n (pickupable Candle_bar__minus_00_dot_03_bar__plus_01_dot_04_bar__minus_00_dot_48)\n (pickupable Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10)\n \n (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40)\n (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40)\n (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40)\n (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40)\n \n (atLocation agent1 loc_bar__minus_7_bar__minus_3_bar_2_bar_30)\n \n (cleanable SoapBar_bar__minus_00_dot_14_bar__plus_00_dot_88_bar__minus_03_dot_25)\n (cleanable Cloth_bar__minus_00_dot_18_bar__plus_01_dot_17_bar__minus_03_dot_50)\n (cleanable Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_39)\n (cleanable Cloth_bar__minus_02_dot_62_bar__plus_01_dot_00_bar__minus_02_dot_13)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle SoapBottle_bar__minus_00_dot_16_bar__plus_00_dot_88_bar__minus_03_dot_47 Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40)\n (inReceptacle ToiletPaper_bar__minus_00_dot_19_bar__plus_00_dot_88_bar__minus_03_dot_62 Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40)\n (inReceptacle SoapBar_bar__minus_00_dot_14_bar__plus_00_dot_88_bar__minus_03_dot_25 Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40)\n (inReceptacle SprayBottle_bar__minus_00_dot_08_bar__plus_01_dot_17_bar__minus_03_dot_69 Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40)\n (inReceptacle Candle_bar__minus_00_dot_15_bar__plus_01_dot_16_bar__minus_03_dot_10 Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40)\n (inReceptacle Cloth_bar__minus_00_dot_18_bar__plus_01_dot_17_bar__minus_03_dot_50 Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40)\n (inReceptacle SoapBottle_bar__minus_00_dot_14_bar__plus_00_dot_62_bar__minus_03_dot_18 Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40)\n (inReceptacle Cloth_bar__minus_02_dot_62_bar__plus_01_dot_00_bar__minus_02_dot_13 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92)\n (inReceptacle Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92)\n (inReceptacle SoapBottle_bar__minus_02_dot_47_bar__plus_00_dot_99_bar__minus_02_dot_92 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92)\n (inReceptacle Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00)\n (inReceptacle HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_01_dot_55 HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55)\n (inReceptacle Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_39 Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin)\n (inReceptacle ToiletPaper_bar__minus_00_dot_10_bar__plus_01_dot_04_bar__minus_00_dot_39 Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55)\n (inReceptacle Candle_bar__minus_00_dot_03_bar__plus_01_dot_04_bar__minus_00_dot_48 Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55)\n \n \n (receptacleAtLocation Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin loc_bar__minus_6_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92 loc_bar__minus_8_bar__minus_11_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40 loc_bar__minus_5_bar__minus_11_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40 loc_bar__minus_6_bar__minus_11_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40 loc_bar__minus_5_bar__minus_12_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40 loc_bar__minus_4_bar__minus_13_bar_1_bar_45)\n (receptacleAtLocation Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40 loc_bar__minus_3_bar__minus_13_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80 loc_bar__minus_5_bar__minus_9_bar_1_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55 loc_bar__minus_3_bar__minus_6_bar_1_bar_0)\n (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66 loc_bar__minus_3_bar__minus_11_bar_1_bar_0)\n (receptacleAtLocation Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92 loc_bar__minus_8_bar__minus_12_bar_3_bar_60)\n (receptacleAtLocation Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92 loc_bar__minus_5_bar__minus_11_bar_3_bar_45)\n (receptacleAtLocation Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08_bar_SinkBasin loc_bar__minus_3_bar__minus_6_bar_2_bar_60)\n (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_97 loc_bar__minus_2_bar__minus_4_bar_1_bar_60)\n (receptacleAtLocation Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55 loc_bar__minus_2_bar__minus_5_bar_0_bar_60)\n (receptacleAtLocation TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00 loc_bar__minus_5_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Candle_bar__minus_00_dot_03_bar__plus_01_dot_04_bar__minus_00_dot_48 loc_bar__minus_2_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Cloth_bar__minus_00_dot_18_bar__plus_01_dot_17_bar__minus_03_dot_50 loc_bar__minus_3_bar__minus_13_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__minus_02_dot_47_bar__plus_00_dot_99_bar__minus_02_dot_92 loc_bar__minus_8_bar__minus_11_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_16_bar__plus_00_dot_88_bar__minus_03_dot_47 loc_bar__minus_4_bar__minus_13_bar_1_bar_45)\n (objectAtLocation Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_39 loc_bar__minus_6_bar__minus_2_bar_3_bar_60)\n (objectAtLocation Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83 loc_bar__minus_7_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08 loc_bar__minus_4_bar__minus_8_bar_1_bar_60)\n (objectAtLocation Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 loc_bar__minus_8_bar__minus_11_bar_3_bar_45)\n (objectAtLocation HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_01_dot_55 loc_bar__minus_3_bar__minus_6_bar_1_bar_0)\n (objectAtLocation SoapBar_bar__minus_00_dot_14_bar__plus_00_dot_88_bar__minus_03_dot_25 loc_bar__minus_4_bar__minus_13_bar_1_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_10_bar__plus_01_dot_04_bar__minus_00_dot_39 loc_bar__minus_2_bar__minus_5_bar_0_bar_60)\n (objectAtLocation LightSwitch_bar__minus_00_dot_36_bar__plus_01_dot_33_bar__minus_04_dot_00 loc_bar__minus_2_bar__minus_13_bar_2_bar_30)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_19_bar__plus_00_dot_88_bar__minus_03_dot_62 loc_bar__minus_4_bar__minus_13_bar_1_bar_45)\n (objectAtLocation Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 loc_bar__minus_5_bar__minus_2_bar_0_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_14_bar__plus_00_dot_62_bar__minus_03_dot_18 loc_bar__minus_5_bar__minus_12_bar_1_bar_45)\n (objectAtLocation ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11 loc_bar__minus_2_bar__minus_4_bar_0_bar_60)\n (objectAtLocation Cloth_bar__minus_02_dot_62_bar__plus_01_dot_00_bar__minus_02_dot_13 loc_bar__minus_8_bar__minus_11_bar_3_bar_45)\n (objectAtLocation Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10 loc_bar__minus_2_bar__minus_4_bar_0_bar_60)\n (objectAtLocation Candle_bar__minus_00_dot_15_bar__plus_01_dot_16_bar__minus_03_dot_10 loc_bar__minus_3_bar__minus_13_bar_1_bar_60)\n (objectAtLocation SprayBottle_bar__minus_00_dot_08_bar__plus_01_dot_17_bar__minus_03_dot_69 loc_bar__minus_3_bar__minus_13_bar_1_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 ClothType)\n (receptacleType ?r ShelfType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 ClothType)\n (receptacleType ?r ShelfType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to dresser 1", "take cloth 3 from dresser 1", "go to shelf 1", "move cloth 3 to shelf 1", "go to bathtubbasin 1", "take cloth 1 from bathtubbasin 1", "go to shelf 1", "move cloth 1 to shelf 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Cloth-None-Shelf-415/trial_T20190918_160612_509595/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Cloth-None-Shelf-415/trial_T20190918_160612_509595/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..9f85cffcf2f1a20bb3bdd1d9dabe7efd0695f8b8 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Cloth-None-Shelf-415/trial_T20190918_160612_509595/initial_state.pddl @@ -0,0 +1,490 @@ + +(define (problem plan_trial_T20190918_160612_509595) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83 - object + Candle_bar__minus_00_dot_03_bar__plus_01_dot_04_bar__minus_00_dot_48 - object + Candle_bar__minus_00_dot_15_bar__plus_01_dot_16_bar__minus_03_dot_10 - object + Cloth_bar__minus_00_dot_18_bar__plus_01_dot_17_bar__minus_03_dot_50 - object + Cloth_bar__minus_02_dot_62_bar__plus_01_dot_00_bar__minus_02_dot_13 - object + Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_39 - object + Faucet_bar__minus_00_dot_04_bar__plus_01_dot_02_bar__minus_02_dot_08 - object + HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_01_dot_55 - object + LightSwitch_bar__minus_00_dot_36_bar__plus_01_dot_33_bar__minus_04_dot_00 - object + Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 - object + Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10 - object + ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11 - object + ShowerCurtain_bar__minus_02_dot_19_bar__plus_01_dot_92_bar__minus_01_dot_56 - object + ShowerHead_bar__minus_02_dot_58_bar__plus_01_dot_20_bar__minus_00_dot_06 - object + Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08 - object + SoapBar_bar__minus_00_dot_14_bar__plus_00_dot_88_bar__minus_03_dot_25 - object + SoapBottle_bar__minus_00_dot_14_bar__plus_00_dot_62_bar__minus_03_dot_18 - object + SoapBottle_bar__minus_00_dot_16_bar__plus_00_dot_88_bar__minus_03_dot_47 - object + SoapBottle_bar__minus_02_dot_47_bar__plus_00_dot_99_bar__minus_02_dot_92 - object + SprayBottle_bar__minus_00_dot_08_bar__plus_01_dot_17_bar__minus_03_dot_69 - object + ToiletPaper_bar__minus_00_dot_10_bar__plus_01_dot_04_bar__minus_00_dot_39 - object + ToiletPaper_bar__minus_00_dot_19_bar__plus_00_dot_88_bar__minus_03_dot_62 - object + Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 - object + Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin - receptacle + CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92 - receptacle + Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40 - receptacle + Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40 - receptacle + Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40 - receptacle + Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40 - receptacle + Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40 - receptacle + GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80 - receptacle + HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55 - receptacle + HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66 - receptacle + Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92 - receptacle + Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92 - receptacle + Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_97 - receptacle + Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55 - receptacle + TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00 - receptacle + loc_bar__minus_5_bar__minus_12_bar_1_bar_45 - location + loc_bar__minus_3_bar__minus_11_bar_1_bar_0 - location + loc_bar__minus_3_bar__minus_6_bar_2_bar_60 - location + loc_bar__minus_2_bar__minus_4_bar_0_bar_60 - location + loc_bar__minus_2_bar__minus_13_bar_2_bar_30 - location + loc_bar__minus_2_bar__minus_5_bar_0_bar_60 - location + loc_bar__minus_8_bar__minus_12_bar_3_bar_60 - location + loc_bar__minus_6_bar__minus_11_bar_1_bar_45 - location + loc_bar__minus_5_bar__minus_11_bar_1_bar_60 - location + loc_bar__minus_3_bar__minus_13_bar_1_bar_60 - location + loc_bar__minus_6_bar__minus_2_bar_3_bar_60 - location + loc_bar__minus_2_bar__minus_4_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_8_bar_1_bar_60 - location + loc_bar__minus_3_bar__minus_6_bar_1_bar_0 - location + loc_bar__minus_5_bar__minus_11_bar_3_bar_45 - location + loc_bar__minus_5_bar__minus_9_bar_1_bar_60 - location + loc_bar__minus_8_bar__minus_11_bar_3_bar_45 - location + loc_bar__minus_5_bar__minus_2_bar_0_bar_45 - location + loc_bar__minus_4_bar__minus_13_bar_1_bar_45 - location + loc_bar__minus_7_bar__minus_3_bar_3_bar_60 - location + loc_bar__minus_7_bar__minus_3_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55 HandTowelHolderType) + (receptacleType HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66 HandTowelHolderType) + (receptacleType Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40 DresserType) + (receptacleType CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92 CounterTopType) + (receptacleType ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_97 ToiletPaperHangerType) + (receptacleType TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00 TowelHolderType) + (receptacleType Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin BathtubBasinType) + (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40 DrawerType) + (receptacleType Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92 ShelfType) + (receptacleType Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08_bar_SinkBasin SinkBasinType) + (receptacleType GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80 GarbageCanType) + (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40 DrawerType) + (receptacleType Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92 ShelfType) + (receptacleType Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40 DrawerType) + (receptacleType Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55 ToiletType) + (objectType SoapBottle_bar__minus_02_dot_47_bar__plus_00_dot_99_bar__minus_02_dot_92 SoapBottleType) + (objectType SoapBar_bar__minus_00_dot_14_bar__plus_00_dot_88_bar__minus_03_dot_25 SoapBarType) + (objectType Cloth_bar__minus_00_dot_18_bar__plus_01_dot_17_bar__minus_03_dot_50 ClothType) + (objectType ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11 ScrubBrushType) + (objectType Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_39 ClothType) + (objectType ToiletPaper_bar__minus_00_dot_19_bar__plus_00_dot_88_bar__minus_03_dot_62 ToiletPaperType) + (objectType SoapBottle_bar__minus_00_dot_14_bar__plus_00_dot_62_bar__minus_03_dot_18 SoapBottleType) + (objectType ToiletPaper_bar__minus_00_dot_10_bar__plus_01_dot_04_bar__minus_00_dot_39 ToiletPaperType) + (objectType Candle_bar__minus_00_dot_15_bar__plus_01_dot_16_bar__minus_03_dot_10 CandleType) + (objectType SoapBottle_bar__minus_00_dot_16_bar__plus_00_dot_88_bar__minus_03_dot_47 SoapBottleType) + (objectType HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_01_dot_55 HandTowelType) + (objectType Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 TowelType) + (objectType SprayBottle_bar__minus_00_dot_08_bar__plus_01_dot_17_bar__minus_03_dot_69 SprayBottleType) + (objectType Cloth_bar__minus_02_dot_62_bar__plus_01_dot_00_bar__minus_02_dot_13 ClothType) + (objectType Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 MirrorType) + (objectType Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08 SinkType) + (objectType LightSwitch_bar__minus_00_dot_36_bar__plus_01_dot_33_bar__minus_04_dot_00 LightSwitchType) + (objectType Candle_bar__minus_00_dot_03_bar__plus_01_dot_04_bar__minus_00_dot_48 CandleType) + (objectType Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10 PlungerType) + (objectType Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83 BathtubType) + (canContain HandTowelHolderType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain DresserType CandleType) + (canContain DresserType SprayBottleType) + (canContain DresserType ToiletPaperType) + (canContain DresserType ClothType) + (canContain CounterTopType CandleType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType HandTowelType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain TowelHolderType TowelType) + (canContain BathtubBasinType ClothType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain ShelfType CandleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType ClothType) + (canContain ShelfType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain ShelfType CandleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType ClothType) + (canContain ShelfType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType ClothType) + (canContain ToiletType CandleType) + (canContain ToiletType SoapBarType) + (canContain ToiletType SprayBottleType) + (pickupable SoapBottle_bar__minus_02_dot_47_bar__plus_00_dot_99_bar__minus_02_dot_92) + (pickupable SoapBar_bar__minus_00_dot_14_bar__plus_00_dot_88_bar__minus_03_dot_25) + (pickupable Cloth_bar__minus_00_dot_18_bar__plus_01_dot_17_bar__minus_03_dot_50) + (pickupable ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11) + (pickupable Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_39) + (pickupable ToiletPaper_bar__minus_00_dot_19_bar__plus_00_dot_88_bar__minus_03_dot_62) + (pickupable SoapBottle_bar__minus_00_dot_14_bar__plus_00_dot_62_bar__minus_03_dot_18) + (pickupable ToiletPaper_bar__minus_00_dot_10_bar__plus_01_dot_04_bar__minus_00_dot_39) + (pickupable Candle_bar__minus_00_dot_15_bar__plus_01_dot_16_bar__minus_03_dot_10) + (pickupable SoapBottle_bar__minus_00_dot_16_bar__plus_00_dot_88_bar__minus_03_dot_47) + (pickupable HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_01_dot_55) + (pickupable Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11) + (pickupable SprayBottle_bar__minus_00_dot_08_bar__plus_01_dot_17_bar__minus_03_dot_69) + (pickupable Cloth_bar__minus_02_dot_62_bar__plus_01_dot_00_bar__minus_02_dot_13) + (pickupable Candle_bar__minus_00_dot_03_bar__plus_01_dot_04_bar__minus_00_dot_48) + (pickupable Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10) + + (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40) + (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40) + (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40) + (openable Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40) + + (atLocation agent1 loc_bar__minus_7_bar__minus_3_bar_2_bar_30) + + (cleanable SoapBar_bar__minus_00_dot_14_bar__plus_00_dot_88_bar__minus_03_dot_25) + (cleanable Cloth_bar__minus_00_dot_18_bar__plus_01_dot_17_bar__minus_03_dot_50) + (cleanable Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_39) + (cleanable Cloth_bar__minus_02_dot_62_bar__plus_01_dot_00_bar__minus_02_dot_13) + + + + + + + + + + + (inReceptacle SoapBottle_bar__minus_00_dot_16_bar__plus_00_dot_88_bar__minus_03_dot_47 Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40) + (inReceptacle ToiletPaper_bar__minus_00_dot_19_bar__plus_00_dot_88_bar__minus_03_dot_62 Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40) + (inReceptacle SoapBar_bar__minus_00_dot_14_bar__plus_00_dot_88_bar__minus_03_dot_25 Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40) + (inReceptacle SprayBottle_bar__minus_00_dot_08_bar__plus_01_dot_17_bar__minus_03_dot_69 Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40) + (inReceptacle Candle_bar__minus_00_dot_15_bar__plus_01_dot_16_bar__minus_03_dot_10 Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40) + (inReceptacle Cloth_bar__minus_00_dot_18_bar__plus_01_dot_17_bar__minus_03_dot_50 Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40) + (inReceptacle SoapBottle_bar__minus_00_dot_14_bar__plus_00_dot_62_bar__minus_03_dot_18 Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40) + (inReceptacle Cloth_bar__minus_02_dot_62_bar__plus_01_dot_00_bar__minus_02_dot_13 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92) + (inReceptacle Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92) + (inReceptacle SoapBottle_bar__minus_02_dot_47_bar__plus_00_dot_99_bar__minus_02_dot_92 CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92) + (inReceptacle Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00) + (inReceptacle HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_01_dot_55 HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55) + (inReceptacle Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_39 Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin) + (inReceptacle ToiletPaper_bar__minus_00_dot_10_bar__plus_01_dot_04_bar__minus_00_dot_39 Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55) + (inReceptacle Candle_bar__minus_00_dot_03_bar__plus_01_dot_04_bar__minus_00_dot_48 Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55) + + + (receptacleAtLocation Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83_bar_BathtubBasin loc_bar__minus_6_bar__minus_2_bar_3_bar_60) + (receptacleAtLocation CounterTop_bar__minus_02_dot_71_bar__plus_01_dot_03_bar__minus_02_dot_92 loc_bar__minus_8_bar__minus_11_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_16_bar__minus_03_dot_40 loc_bar__minus_5_bar__minus_11_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_42_bar__minus_03_dot_40 loc_bar__minus_6_bar__minus_11_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_68_bar__minus_03_dot_40 loc_bar__minus_5_bar__minus_12_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_19_bar__plus_00_dot_94_bar__minus_03_dot_40 loc_bar__minus_4_bar__minus_13_bar_1_bar_45) + (receptacleAtLocation Dresser_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_03_dot_40 loc_bar__minus_3_bar__minus_13_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__minus_02_dot_80 loc_bar__minus_5_bar__minus_9_bar_1_bar_60) + (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_01_dot_55 loc_bar__minus_3_bar__minus_6_bar_1_bar_0) + (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_58_bar__minus_02_dot_66 loc_bar__minus_3_bar__minus_11_bar_1_bar_0) + (receptacleAtLocation Shelf_bar__minus_02_dot_54_bar__plus_00_dot_13_bar__minus_02_dot_92 loc_bar__minus_8_bar__minus_12_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__minus_02_dot_58_bar__plus_00_dot_40_bar__minus_02_dot_92 loc_bar__minus_5_bar__minus_11_bar_3_bar_45) + (receptacleAtLocation Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08_bar_SinkBasin loc_bar__minus_3_bar__minus_6_bar_2_bar_60) + (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_97 loc_bar__minus_2_bar__minus_4_bar_1_bar_60) + (receptacleAtLocation Toilet_bar__minus_00_dot_41_bar_00_dot_00_bar__minus_00_dot_55 loc_bar__minus_2_bar__minus_5_bar_0_bar_60) + (receptacleAtLocation TowelHolder_bar__minus_01_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_00 loc_bar__minus_5_bar__minus_2_bar_0_bar_45) + (objectAtLocation Candle_bar__minus_00_dot_03_bar__plus_01_dot_04_bar__minus_00_dot_48 loc_bar__minus_2_bar__minus_5_bar_0_bar_60) + (objectAtLocation Cloth_bar__minus_00_dot_18_bar__plus_01_dot_17_bar__minus_03_dot_50 loc_bar__minus_3_bar__minus_13_bar_1_bar_60) + (objectAtLocation SoapBottle_bar__minus_02_dot_47_bar__plus_00_dot_99_bar__minus_02_dot_92 loc_bar__minus_8_bar__minus_11_bar_3_bar_45) + (objectAtLocation SoapBottle_bar__minus_00_dot_16_bar__plus_00_dot_88_bar__minus_03_dot_47 loc_bar__minus_4_bar__minus_13_bar_1_bar_45) + (objectAtLocation Cloth_bar__minus_02_dot_65_bar__plus_00_dot_09_bar__minus_00_dot_39 loc_bar__minus_6_bar__minus_2_bar_3_bar_60) + (objectAtLocation Bathtub_bar__minus_02_dot_10_bar__plus_00_dot_53_bar__minus_00_dot_83 loc_bar__minus_7_bar__minus_3_bar_3_bar_60) + (objectAtLocation Sink_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_02_dot_08 loc_bar__minus_4_bar__minus_8_bar_1_bar_60) + (objectAtLocation Mirror_bar__minus_02_dot_98_bar__plus_01_dot_57_bar__minus_02_dot_90 loc_bar__minus_8_bar__minus_11_bar_3_bar_45) + (objectAtLocation HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_48_bar__minus_01_dot_55 loc_bar__minus_3_bar__minus_6_bar_1_bar_0) + (objectAtLocation SoapBar_bar__minus_00_dot_14_bar__plus_00_dot_88_bar__minus_03_dot_25 loc_bar__minus_4_bar__minus_13_bar_1_bar_45) + (objectAtLocation ToiletPaper_bar__minus_00_dot_10_bar__plus_01_dot_04_bar__minus_00_dot_39 loc_bar__minus_2_bar__minus_5_bar_0_bar_60) + (objectAtLocation LightSwitch_bar__minus_00_dot_36_bar__plus_01_dot_33_bar__minus_04_dot_00 loc_bar__minus_2_bar__minus_13_bar_2_bar_30) + (objectAtLocation ToiletPaper_bar__minus_00_dot_19_bar__plus_00_dot_88_bar__minus_03_dot_62 loc_bar__minus_4_bar__minus_13_bar_1_bar_45) + (objectAtLocation Towel_bar__minus_01_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_11 loc_bar__minus_5_bar__minus_2_bar_0_bar_45) + (objectAtLocation SoapBottle_bar__minus_00_dot_14_bar__plus_00_dot_62_bar__minus_03_dot_18 loc_bar__minus_5_bar__minus_12_bar_1_bar_45) + (objectAtLocation ScrubBrush_bar__minus_00_dot_14_bar_00_dot_00_bar__minus_00_dot_11 loc_bar__minus_2_bar__minus_4_bar_0_bar_60) + (objectAtLocation Cloth_bar__minus_02_dot_62_bar__plus_01_dot_00_bar__minus_02_dot_13 loc_bar__minus_8_bar__minus_11_bar_3_bar_45) + (objectAtLocation Plunger_bar__minus_00_dot_37_bar_00_dot_00_bar__minus_00_dot_10 loc_bar__minus_2_bar__minus_4_bar_0_bar_60) + (objectAtLocation Candle_bar__minus_00_dot_15_bar__plus_01_dot_16_bar__minus_03_dot_10 loc_bar__minus_3_bar__minus_13_bar_1_bar_60) + (objectAtLocation SprayBottle_bar__minus_00_dot_08_bar__plus_01_dot_17_bar__minus_03_dot_69 loc_bar__minus_3_bar__minus_13_bar_1_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 ClothType) + (receptacleType ?r ShelfType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 ClothType) + (receptacleType ?r ShelfType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Cloth-None-Shelf-415/trial_T20190918_160612_509595/traj_data.json b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Cloth-None-Shelf-415/trial_T20190918_160612_509595/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..f867dadb6d510db280c8e45c49ce97b703830dfe --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Cloth-None-Shelf-415/trial_T20190918_160612_509595/traj_data.json @@ -0,0 +1,3328 @@ +{ + "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": "000000004.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000005.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000006.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000007.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000008.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000009.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000010.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000011.png", + "low_idx": 1 + }, + { + "high_idx": 0, + "image_name": "000000012.png", + "low_idx": 1 + }, + { + "high_idx": 0, + "image_name": "000000013.png", + "low_idx": 2 + }, + { + "high_idx": 0, + "image_name": "000000014.png", + "low_idx": 2 + }, + { + "high_idx": 0, + "image_name": "000000015.png", + "low_idx": 3 + }, + { + "high_idx": 0, + "image_name": "000000016.png", + "low_idx": 3 + }, + { + "high_idx": 0, + "image_name": "000000017.png", + "low_idx": 4 + }, + { + "high_idx": 0, + "image_name": "000000018.png", + "low_idx": 4 + }, + { + "high_idx": 0, + "image_name": "000000019.png", + 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+ "Put the white rag on the top shelf below the white table.", + "Turn left and walk up to the door, then turn left again and walk over to the white dresser.", + "Pick up the white rag off of the white dresser.", + "Turn left and walk forward, the turn left again and walk over to the white table.", + "Put the white rag on the top shelf below the white table on top of the rag that is already there." + ], + "task_desc": "Move to white rags to a shelf.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "ARB8SJAWXUWTD_34S9DKFK76GXMJ22TR8BNH7OSX4NYC", + "high_descs": [ + "Go to the bathroom counter", + "Pick up the towel", + "Look back at the bathroom counter", + "Put the towel in a lower shelf", + "Go to the bathroom cabinet", + "Pick up the towel on top of the cabinet", + "Go to the bathroom counter", + "Put the towel in a lower shelf" + ], + "task_desc": "Move two towels to a lower shelf in the bathroom", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1O3TWBUDONVLO_3Z7EFSHGNC5PVAF1Z5DVOS63RM8XC8", + "high_descs": [ + "Walk forward and turn right to face the rag on the right end of the desk.", + "Pick up the rag on the desk.", + "Take a step back to face the second shelf from the bottom of the desk.", + "Place the rag on the second shelf from the bottom of the desk.", + "Turn around and walk across the room to face the dresser.", + "Pick up the rag on the top of the dresser.", + "Turn around and step forward to face the second shelf from the bottom of the desk.", + "Place the rag on the second shelf from the bottom of the desk." + ], + "task_desc": "Place two rags on the second shelf from the bottom of the shelves of a desk.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-CreditCard-None-ArmChair-223/trial_T20190909_110354_219840/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-CreditCard-None-ArmChair-223/trial_T20190909_110354_219840/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..a9e9c5a181556c7a877811ec1f85d86c43ad9144 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-CreditCard-None-ArmChair-223/trial_T20190909_110354_219840/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 creditcard in armchair.\"\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_110354_219840)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Box_bar__minus_03_dot_25_bar__plus_00_dot_74_bar__plus_00_dot_21 - object\n Box_bar__minus_03_dot_34_bar__plus_00_dot_74_bar__minus_00_dot_81 - object\n Candle_bar__plus_02_dot_33_bar__plus_00_dot_78_bar__minus_00_dot_05 - object\n Candle_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__minus_00_dot_24 - object\n Chair_bar__plus_01_dot_46_bar_00_dot_00_bar__plus_00_dot_20 - object\n Chair_bar__plus_01_dot_64_bar_00_dot_00_bar__minus_00_dot_85 - object\n Chair_bar__plus_02_dot_22_bar_00_dot_00_bar__plus_00_dot_15 - object\n Chair_bar__plus_02_dot_29_bar_00_dot_00_bar__minus_00_dot_78 - object\n CreditCard_bar__plus_01_dot_88_bar__plus_00_dot_78_bar__plus_00_dot_08 - object\n CreditCard_bar__minus_01_dot_77_bar__plus_00_dot_45_bar__plus_00_dot_02 - object\n FloorLamp_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_73 - object\n HousePlant_bar__minus_03_dot_48_bar__plus_00_dot_71_bar__minus_01_dot_59 - object\n KeyChain_bar__minus_03_dot_08_bar__plus_00_dot_53_bar__minus_00_dot_30 - object\n Laptop_bar__plus_01_dot_22_bar__plus_00_dot_78_bar__minus_00_dot_17 - object\n Laptop_bar__minus_02_dot_10_bar__plus_00_dot_45_bar__plus_00_dot_27 - object\n LightSwitch_bar__minus_03_dot_90_bar__plus_01_dot_28_bar__plus_01_dot_68 - object\n Painting_bar__plus_04_dot_14_bar__plus_01_dot_59_bar__minus_00_dot_30 - object\n Painting_bar__minus_00_dot_06_bar__plus_01_dot_60_bar__plus_01_dot_73 - object\n Pillow_bar__minus_01_dot_92_bar__plus_00_dot_36_bar__minus_01_dot_50 - object\n Plate_bar__minus_02_dot_21_bar__plus_00_dot_24_bar__plus_02_dot_79 - object\n RemoteControl_bar__minus_01_dot_61_bar__plus_00_dot_71_bar__plus_02_dot_79 - object\n RemoteControl_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__plus_00_dot_02 - object\n RemoteControl_bar__minus_03_dot_25_bar__plus_00_dot_53_bar__plus_00_dot_72 - object\n Statue_bar__plus_02_dot_11_bar__plus_00_dot_79_bar__minus_00_dot_54 - object\n Statue_bar__minus_01_dot_86_bar__plus_00_dot_24_bar__plus_02_dot_71 - object\n Statue_bar__minus_02_dot_02_bar__plus_00_dot_46_bar__minus_00_dot_11 - object\n Television_bar__minus_01_dot_86_bar__plus_01_dot_20_bar__plus_02_dot_69 - object\n Vase_bar__plus_02_dot_11_bar__plus_00_dot_79_bar__minus_00_dot_05 - object\n Vase_bar__minus_01_dot_77_bar__plus_00_dot_45_bar__plus_00_dot_27 - object\n Vase_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__minus_00_dot_36 - object\n WateringCan_bar__minus_03_dot_25_bar_00_dot_00_bar__minus_01_dot_86 - object\n Window_bar__plus_01_dot_48_bar__plus_01_dot_51_bar__minus_01_dot_93 - object\n Window_bar__plus_03_dot_48_bar__plus_01_dot_51_bar__minus_01_dot_93 - object\n Window_bar__minus_02_dot_00_bar__plus_01_dot_51_bar__minus_01_dot_93 - object\n ArmChair_bar__minus_00_dot_43_bar__plus_00_dot_00_bar__plus_01_dot_06 - receptacle\n ArmChair_bar__minus_00_dot_44_bar__plus_00_dot_00_bar__plus_01_dot_92 - receptacle\n ArmChair_bar__minus_02_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_58 - receptacle\n CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02 - receptacle\n DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29 - receptacle\n DiningTable_bar__minus_01_dot_88_bar__plus_00_dot_27_bar__plus_02_dot_79 - receptacle\n GarbageCan_bar__plus_00_dot_29_bar__plus_00_dot_00_bar__plus_01_dot_26 - receptacle\n Sofa_bar__minus_03_dot_44_bar__minus_00_dot_01_bar__minus_00_dot_04 - receptacle\n TVStand_bar__minus_01_dot_86_bar__minus_00_dot_01_bar__plus_02_dot_79 - receptacle\n loc_bar__minus_9_bar_7_bar_0_bar_60 - location\n loc_bar__minus_13_bar_7_bar_3_bar_30 - location\n loc_bar_9_bar_3_bar_2_bar_60 - location\n loc_bar_8_bar__minus_5_bar_0_bar_60 - location\n loc_bar_6_bar__minus_5_bar_2_bar_15 - location\n loc_bar__minus_6_bar_5_bar_1_bar_60 - location\n loc_bar__minus_5_bar_7_bar_1_bar_0 - location\n loc_bar__minus_11_bar_0_bar_3_bar_60 - location\n loc_bar__minus_4_bar_0_bar_3_bar_60 - location\n loc_bar_14_bar__minus_5_bar_2_bar_15 - location\n loc_bar__minus_5_bar_8_bar_1_bar_60 - location\n loc_bar__minus_11_bar__minus_6_bar_1_bar_15 - location\n loc_bar__minus_11_bar__minus_6_bar_3_bar_45 - location\n loc_bar_7_bar__minus_5_bar_0_bar_60 - location\n loc_bar__minus_11_bar__minus_1_bar_3_bar_60 - location\n loc_bar_9_bar__minus_5_bar_0_bar_60 - location\n loc_bar_3_bar_4_bar_3_bar_60 - location\n loc_bar_14_bar__minus_1_bar_1_bar_0 - location\n loc_bar__minus_8_bar_7_bar_0_bar_60 - location\n loc_bar__minus_11_bar_3_bar_3_bar_60 - location\n loc_bar_6_bar_3_bar_2_bar_60 - location\n loc_bar__minus_11_bar__minus_6_bar_3_bar_60 - location\n loc_bar__minus_6_bar_8_bar_1_bar_60 - location\n loc_bar__minus_3_bar__minus_5_bar_3_bar_60 - location\n loc_bar_5_bar_3_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Sofa_bar__minus_03_dot_44_bar__minus_00_dot_01_bar__minus_00_dot_04 SofaType)\n (receptacleType DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29 DiningTableType)\n (receptacleType CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02 CoffeeTableType)\n (receptacleType ArmChair_bar__minus_02_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_58 ArmChairType)\n (receptacleType ArmChair_bar__minus_00_dot_44_bar__plus_00_dot_00_bar__plus_01_dot_92 ArmChairType)\n (receptacleType DiningTable_bar__minus_01_dot_88_bar__plus_00_dot_27_bar__plus_02_dot_79 DiningTableType)\n (receptacleType ArmChair_bar__minus_00_dot_43_bar__plus_00_dot_00_bar__plus_01_dot_06 ArmChairType)\n (receptacleType GarbageCan_bar__plus_00_dot_29_bar__plus_00_dot_00_bar__plus_01_dot_26 GarbageCanType)\n (receptacleType TVStand_bar__minus_01_dot_86_bar__minus_00_dot_01_bar__plus_02_dot_79 TVStandType)\n (objectType Window_bar__plus_03_dot_48_bar__plus_01_dot_51_bar__minus_01_dot_93 WindowType)\n (objectType Candle_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__minus_00_dot_24 CandleType)\n (objectType Laptop_bar__minus_02_dot_10_bar__plus_00_dot_45_bar__plus_00_dot_27 LaptopType)\n (objectType Candle_bar__plus_02_dot_33_bar__plus_00_dot_78_bar__minus_00_dot_05 CandleType)\n (objectType FloorLamp_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_73 FloorLampType)\n (objectType Statue_bar__minus_02_dot_02_bar__plus_00_dot_46_bar__minus_00_dot_11 StatueType)\n (objectType Chair_bar__plus_01_dot_46_bar_00_dot_00_bar__plus_00_dot_20 ChairType)\n (objectType Plate_bar__minus_02_dot_21_bar__plus_00_dot_24_bar__plus_02_dot_79 PlateType)\n (objectType LightSwitch_bar__minus_03_dot_90_bar__plus_01_dot_28_bar__plus_01_dot_68 LightSwitchType)\n (objectType Painting_bar__plus_04_dot_14_bar__plus_01_dot_59_bar__minus_00_dot_30 PaintingType)\n (objectType Painting_bar__minus_00_dot_06_bar__plus_01_dot_60_bar__plus_01_dot_73 PaintingType)\n (objectType Chair_bar__plus_02_dot_22_bar_00_dot_00_bar__plus_00_dot_15 ChairType)\n (objectType Statue_bar__minus_01_dot_86_bar__plus_00_dot_24_bar__plus_02_dot_71 StatueType)\n (objectType RemoteControl_bar__minus_01_dot_61_bar__plus_00_dot_71_bar__plus_02_dot_79 RemoteControlType)\n (objectType KeyChain_bar__minus_03_dot_08_bar__plus_00_dot_53_bar__minus_00_dot_30 KeyChainType)\n (objectType Window_bar__minus_02_dot_00_bar__plus_01_dot_51_bar__minus_01_dot_93 WindowType)\n (objectType Box_bar__minus_03_dot_25_bar__plus_00_dot_74_bar__plus_00_dot_21 BoxType)\n (objectType Vase_bar__minus_01_dot_77_bar__plus_00_dot_45_bar__plus_00_dot_27 VaseType)\n (objectType RemoteControl_bar__minus_03_dot_25_bar__plus_00_dot_53_bar__plus_00_dot_72 RemoteControlType)\n (objectType HousePlant_bar__minus_03_dot_48_bar__plus_00_dot_71_bar__minus_01_dot_59 HousePlantType)\n (objectType Window_bar__plus_01_dot_48_bar__plus_01_dot_51_bar__minus_01_dot_93 WindowType)\n (objectType RemoteControl_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__plus_00_dot_02 RemoteControlType)\n (objectType Chair_bar__plus_01_dot_64_bar_00_dot_00_bar__minus_00_dot_85 ChairType)\n (objectType WateringCan_bar__minus_03_dot_25_bar_00_dot_00_bar__minus_01_dot_86 WateringCanType)\n (objectType Statue_bar__plus_02_dot_11_bar__plus_00_dot_79_bar__minus_00_dot_54 StatueType)\n (objectType Chair_bar__plus_02_dot_29_bar_00_dot_00_bar__minus_00_dot_78 ChairType)\n (objectType Laptop_bar__plus_01_dot_22_bar__plus_00_dot_78_bar__minus_00_dot_17 LaptopType)\n (objectType Pillow_bar__minus_01_dot_92_bar__plus_00_dot_36_bar__minus_01_dot_50 PillowType)\n (objectType CreditCard_bar__plus_01_dot_88_bar__plus_00_dot_78_bar__plus_00_dot_08 CreditCardType)\n (objectType Television_bar__minus_01_dot_86_bar__plus_01_dot_20_bar__plus_02_dot_69 TelevisionType)\n (objectType Vase_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__minus_00_dot_36 VaseType)\n (objectType Vase_bar__plus_02_dot_11_bar__plus_00_dot_79_bar__minus_00_dot_05 VaseType)\n (objectType Box_bar__minus_03_dot_34_bar__plus_00_dot_74_bar__minus_00_dot_81 BoxType)\n (objectType CreditCard_bar__minus_01_dot_77_bar__plus_00_dot_45_bar__plus_00_dot_02 CreditCardType)\n (canContain SofaType BoxType)\n (canContain SofaType LaptopType)\n (canContain SofaType PillowType)\n (canContain SofaType RemoteControlType)\n (canContain SofaType KeyChainType)\n (canContain SofaType CreditCardType)\n (canContain DiningTableType CandleType)\n (canContain DiningTableType VaseType)\n (canContain DiningTableType BoxType)\n (canContain DiningTableType KeyChainType)\n (canContain DiningTableType CreditCardType)\n (canContain DiningTableType LaptopType)\n (canContain DiningTableType PlateType)\n (canContain DiningTableType RemoteControlType)\n (canContain DiningTableType StatueType)\n (canContain DiningTableType WateringCanType)\n (canContain CoffeeTableType CandleType)\n (canContain CoffeeTableType VaseType)\n (canContain CoffeeTableType BoxType)\n (canContain CoffeeTableType KeyChainType)\n (canContain CoffeeTableType CreditCardType)\n (canContain CoffeeTableType LaptopType)\n (canContain CoffeeTableType PlateType)\n (canContain CoffeeTableType RemoteControlType)\n (canContain CoffeeTableType StatueType)\n (canContain CoffeeTableType WateringCanType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType CreditCardType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType CreditCardType)\n (canContain DiningTableType CandleType)\n (canContain DiningTableType VaseType)\n (canContain DiningTableType BoxType)\n (canContain DiningTableType KeyChainType)\n (canContain DiningTableType CreditCardType)\n (canContain DiningTableType LaptopType)\n (canContain DiningTableType PlateType)\n (canContain DiningTableType RemoteControlType)\n (canContain DiningTableType StatueType)\n (canContain DiningTableType WateringCanType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType CreditCardType)\n (pickupable Candle_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__minus_00_dot_24)\n (pickupable Laptop_bar__minus_02_dot_10_bar__plus_00_dot_45_bar__plus_00_dot_27)\n (pickupable Candle_bar__plus_02_dot_33_bar__plus_00_dot_78_bar__minus_00_dot_05)\n (pickupable Statue_bar__minus_02_dot_02_bar__plus_00_dot_46_bar__minus_00_dot_11)\n (pickupable Plate_bar__minus_02_dot_21_bar__plus_00_dot_24_bar__plus_02_dot_79)\n (pickupable Statue_bar__minus_01_dot_86_bar__plus_00_dot_24_bar__plus_02_dot_71)\n (pickupable RemoteControl_bar__minus_01_dot_61_bar__plus_00_dot_71_bar__plus_02_dot_79)\n (pickupable KeyChain_bar__minus_03_dot_08_bar__plus_00_dot_53_bar__minus_00_dot_30)\n (pickupable Box_bar__minus_03_dot_25_bar__plus_00_dot_74_bar__plus_00_dot_21)\n (pickupable Vase_bar__minus_01_dot_77_bar__plus_00_dot_45_bar__plus_00_dot_27)\n (pickupable RemoteControl_bar__minus_03_dot_25_bar__plus_00_dot_53_bar__plus_00_dot_72)\n (pickupable RemoteControl_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__plus_00_dot_02)\n (pickupable WateringCan_bar__minus_03_dot_25_bar_00_dot_00_bar__minus_01_dot_86)\n (pickupable Statue_bar__plus_02_dot_11_bar__plus_00_dot_79_bar__minus_00_dot_54)\n (pickupable Laptop_bar__plus_01_dot_22_bar__plus_00_dot_78_bar__minus_00_dot_17)\n (pickupable Pillow_bar__minus_01_dot_92_bar__plus_00_dot_36_bar__minus_01_dot_50)\n (pickupable CreditCard_bar__plus_01_dot_88_bar__plus_00_dot_78_bar__plus_00_dot_08)\n (pickupable Vase_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__minus_00_dot_36)\n (pickupable Vase_bar__plus_02_dot_11_bar__plus_00_dot_79_bar__minus_00_dot_05)\n (pickupable Box_bar__minus_03_dot_34_bar__plus_00_dot_74_bar__minus_00_dot_81)\n (pickupable CreditCard_bar__minus_01_dot_77_bar__plus_00_dot_45_bar__plus_00_dot_02)\n (isReceptacleObject Plate_bar__minus_02_dot_21_bar__plus_00_dot_24_bar__plus_02_dot_79)\n (isReceptacleObject Box_bar__minus_03_dot_25_bar__plus_00_dot_74_bar__plus_00_dot_21)\n (isReceptacleObject Box_bar__minus_03_dot_34_bar__plus_00_dot_74_bar__minus_00_dot_81)\n \n \n (atLocation agent1 loc_bar_5_bar_3_bar_1_bar_30)\n \n (cleanable Plate_bar__minus_02_dot_21_bar__plus_00_dot_24_bar__plus_02_dot_79)\n \n (heatable Plate_bar__minus_02_dot_21_bar__plus_00_dot_24_bar__plus_02_dot_79)\n (coolable Plate_bar__minus_02_dot_21_bar__plus_00_dot_24_bar__plus_02_dot_79)\n \n \n (toggleable FloorLamp_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_73)\n \n \n \n \n (inReceptacle RemoteControl_bar__minus_01_dot_61_bar__plus_00_dot_71_bar__plus_02_dot_79 TVStand_bar__minus_01_dot_86_bar__minus_00_dot_01_bar__plus_02_dot_79)\n (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)\n (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)\n (inReceptacle CreditCard_bar__plus_01_dot_88_bar__plus_00_dot_78_bar__plus_00_dot_08 DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29)\n (inReceptacle Candle_bar__plus_02_dot_33_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)\n (inReceptacle Vase_bar__plus_02_dot_11_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)\n (inReceptacle Statue_bar__plus_02_dot_11_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)\n (inReceptacle Laptop_bar__plus_01_dot_22_bar__plus_00_dot_78_bar__minus_00_dot_17 DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29)\n (inReceptacle Box_bar__minus_03_dot_25_bar__plus_00_dot_74_bar__plus_00_dot_21 Sofa_bar__minus_03_dot_44_bar__minus_00_dot_01_bar__minus_00_dot_04)\n (inReceptacle Box_bar__minus_03_dot_34_bar__plus_00_dot_74_bar__minus_00_dot_81 Sofa_bar__minus_03_dot_44_bar__minus_00_dot_01_bar__minus_00_dot_04)\n (inReceptacle Vase_bar__minus_01_dot_77_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)\n (inReceptacle Candle_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__minus_00_dot_24 CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02)\n (inReceptacle Laptop_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)\n (inReceptacle Statue_bar__minus_02_dot_02_bar__plus_00_dot_46_bar__minus_00_dot_11 CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02)\n (inReceptacle Vase_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__minus_00_dot_36 CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02)\n (inReceptacle RemoteControl_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__plus_00_dot_02 CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02)\n (inReceptacle CreditCard_bar__minus_01_dot_77_bar__plus_00_dot_45_bar__plus_00_dot_02 CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02)\n (inReceptacle Plate_bar__minus_02_dot_21_bar__plus_00_dot_24_bar__plus_02_dot_79 DiningTable_bar__minus_01_dot_88_bar__plus_00_dot_27_bar__plus_02_dot_79)\n (inReceptacle Statue_bar__minus_01_dot_86_bar__plus_00_dot_24_bar__plus_02_dot_71 DiningTable_bar__minus_01_dot_88_bar__plus_00_dot_27_bar__plus_02_dot_79)\n \n \n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (objectAtLocation Statue_bar__plus_02_dot_11_bar__plus_00_dot_79_bar__minus_00_dot_54 loc_bar_8_bar__minus_5_bar_0_bar_60)\n (objectAtLocation RemoteControl_bar__minus_01_dot_61_bar__plus_00_dot_71_bar__plus_02_dot_79 loc_bar__minus_8_bar_7_bar_0_bar_60)\n (objectAtLocation Laptop_bar__plus_01_dot_22_bar__plus_00_dot_78_bar__minus_00_dot_17 loc_bar_8_bar__minus_5_bar_0_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_77_bar__plus_00_dot_45_bar__plus_00_dot_02 loc_bar__minus_4_bar_0_bar_3_bar_60)\n (objectAtLocation Vase_bar__minus_01_dot_77_bar__plus_00_dot_45_bar__plus_00_dot_27 loc_bar__minus_4_bar_0_bar_3_bar_60)\n (objectAtLocation Candle_bar__plus_02_dot_33_bar__plus_00_dot_78_bar__minus_00_dot_05 loc_bar_8_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Box_bar__minus_03_dot_34_bar__plus_00_dot_74_bar__minus_00_dot_81 loc_bar__minus_11_bar_0_bar_3_bar_60)\n (objectAtLocation RemoteControl_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__plus_00_dot_02 loc_bar__minus_4_bar_0_bar_3_bar_60)\n (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)\n (objectAtLocation Box_bar__minus_03_dot_25_bar__plus_00_dot_74_bar__plus_00_dot_21 loc_bar__minus_11_bar_0_bar_3_bar_60)\n (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)\n (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)\n (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)\n (objectAtLocation Candle_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__minus_00_dot_24 loc_bar__minus_4_bar_0_bar_3_bar_60)\n (objectAtLocation Vase_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__minus_00_dot_36 loc_bar__minus_4_bar_0_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__plus_01_dot_88_bar__plus_00_dot_78_bar__plus_00_dot_08 loc_bar_8_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Vase_bar__plus_02_dot_11_bar__plus_00_dot_79_bar__minus_00_dot_05 loc_bar_8_bar__minus_5_bar_0_bar_60)\n (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)\n (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)\n (objectAtLocation Laptop_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)\n (objectAtLocation RemoteControl_bar__minus_03_dot_25_bar__plus_00_dot_53_bar__plus_00_dot_72 loc_bar__minus_11_bar_3_bar_3_bar_60)\n (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)\n (objectAtLocation Statue_bar__minus_02_dot_02_bar__plus_00_dot_46_bar__minus_00_dot_11 loc_bar__minus_4_bar_0_bar_3_bar_60)\n (objectAtLocation KeyChain_bar__minus_03_dot_08_bar__plus_00_dot_53_bar__minus_00_dot_30 loc_bar__minus_11_bar__minus_1_bar_3_bar_60)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (objectAtLocation Plate_bar__minus_02_dot_21_bar__plus_00_dot_24_bar__plus_02_dot_79 loc_bar__minus_9_bar_7_bar_0_bar_60)\n (objectAtLocation Statue_bar__minus_01_dot_86_bar__plus_00_dot_24_bar__plus_02_dot_71 loc_bar__minus_9_bar_7_bar_0_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 CreditCardType)\n (receptacleType ?r ArmChairType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 CreditCardType)\n (receptacleType ?r ArmChairType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 1", "take creditcard 1 from diningtable 1", "go to armchair 1", "move creditcard 1 to armchair 1", "go to coffeetable 1", "take creditcard 2 from coffeetable 1", "go to armchair 1", "move creditcard 2 to armchair 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-CreditCard-None-ArmChair-223/trial_T20190909_110354_219840/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-CreditCard-None-ArmChair-223/trial_T20190909_110354_219840/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..4c8a9fe28216baa565839e985836e523e371805d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-CreditCard-None-ArmChair-223/trial_T20190909_110354_219840/initial_state.pddl @@ -0,0 +1,495 @@ + +(define (problem plan_trial_T20190909_110354_219840) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Box_bar__minus_03_dot_25_bar__plus_00_dot_74_bar__plus_00_dot_21 - object + Box_bar__minus_03_dot_34_bar__plus_00_dot_74_bar__minus_00_dot_81 - object + Candle_bar__plus_02_dot_33_bar__plus_00_dot_78_bar__minus_00_dot_05 - object + Candle_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__minus_00_dot_24 - 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__plus_01_dot_88_bar__plus_00_dot_78_bar__plus_00_dot_08 - object + CreditCard_bar__minus_01_dot_77_bar__plus_00_dot_45_bar__plus_00_dot_02 - 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__minus_03_dot_08_bar__plus_00_dot_53_bar__minus_00_dot_30 - object + Laptop_bar__plus_01_dot_22_bar__plus_00_dot_78_bar__minus_00_dot_17 - object + Laptop_bar__minus_02_dot_10_bar__plus_00_dot_45_bar__plus_00_dot_27 - 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__minus_02_dot_21_bar__plus_00_dot_24_bar__plus_02_dot_79 - object + RemoteControl_bar__minus_01_dot_61_bar__plus_00_dot_71_bar__plus_02_dot_79 - object + RemoteControl_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__plus_00_dot_02 - object + RemoteControl_bar__minus_03_dot_25_bar__plus_00_dot_53_bar__plus_00_dot_72 - object + Statue_bar__plus_02_dot_11_bar__plus_00_dot_79_bar__minus_00_dot_54 - object + Statue_bar__minus_01_dot_86_bar__plus_00_dot_24_bar__plus_02_dot_71 - object + Statue_bar__minus_02_dot_02_bar__plus_00_dot_46_bar__minus_00_dot_11 - 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_05 - object + Vase_bar__minus_01_dot_77_bar__plus_00_dot_45_bar__plus_00_dot_27 - object + Vase_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__minus_00_dot_36 - 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_1_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__minus_11_bar_3_bar_3_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_5_bar_3_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Sofa_bar__minus_03_dot_44_bar__minus_00_dot_01_bar__minus_00_dot_04 SofaType) + (receptacleType DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29 DiningTableType) + (receptacleType CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02 CoffeeTableType) + (receptacleType ArmChair_bar__minus_02_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_58 ArmChairType) + (receptacleType ArmChair_bar__minus_00_dot_44_bar__plus_00_dot_00_bar__plus_01_dot_92 ArmChairType) + (receptacleType DiningTable_bar__minus_01_dot_88_bar__plus_00_dot_27_bar__plus_02_dot_79 DiningTableType) + (receptacleType ArmChair_bar__minus_00_dot_43_bar__plus_00_dot_00_bar__plus_01_dot_06 ArmChairType) + (receptacleType GarbageCan_bar__plus_00_dot_29_bar__plus_00_dot_00_bar__plus_01_dot_26 GarbageCanType) + (receptacleType TVStand_bar__minus_01_dot_86_bar__minus_00_dot_01_bar__plus_02_dot_79 TVStandType) + (objectType Window_bar__plus_03_dot_48_bar__plus_01_dot_51_bar__minus_01_dot_93 WindowType) + (objectType Candle_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__minus_00_dot_24 CandleType) + (objectType Laptop_bar__minus_02_dot_10_bar__plus_00_dot_45_bar__plus_00_dot_27 LaptopType) + (objectType Candle_bar__plus_02_dot_33_bar__plus_00_dot_78_bar__minus_00_dot_05 CandleType) + (objectType FloorLamp_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_73 FloorLampType) + (objectType Statue_bar__minus_02_dot_02_bar__plus_00_dot_46_bar__minus_00_dot_11 StatueType) + (objectType Chair_bar__plus_01_dot_46_bar_00_dot_00_bar__plus_00_dot_20 ChairType) + (objectType Plate_bar__minus_02_dot_21_bar__plus_00_dot_24_bar__plus_02_dot_79 PlateType) + (objectType LightSwitch_bar__minus_03_dot_90_bar__plus_01_dot_28_bar__plus_01_dot_68 LightSwitchType) + (objectType Painting_bar__plus_04_dot_14_bar__plus_01_dot_59_bar__minus_00_dot_30 PaintingType) + (objectType Painting_bar__minus_00_dot_06_bar__plus_01_dot_60_bar__plus_01_dot_73 PaintingType) + (objectType Chair_bar__plus_02_dot_22_bar_00_dot_00_bar__plus_00_dot_15 ChairType) + (objectType Statue_bar__minus_01_dot_86_bar__plus_00_dot_24_bar__plus_02_dot_71 StatueType) + (objectType RemoteControl_bar__minus_01_dot_61_bar__plus_00_dot_71_bar__plus_02_dot_79 RemoteControlType) + (objectType KeyChain_bar__minus_03_dot_08_bar__plus_00_dot_53_bar__minus_00_dot_30 KeyChainType) + (objectType Window_bar__minus_02_dot_00_bar__plus_01_dot_51_bar__minus_01_dot_93 WindowType) + (objectType Box_bar__minus_03_dot_25_bar__plus_00_dot_74_bar__plus_00_dot_21 BoxType) + (objectType Vase_bar__minus_01_dot_77_bar__plus_00_dot_45_bar__plus_00_dot_27 VaseType) + (objectType RemoteControl_bar__minus_03_dot_25_bar__plus_00_dot_53_bar__plus_00_dot_72 RemoteControlType) + (objectType HousePlant_bar__minus_03_dot_48_bar__plus_00_dot_71_bar__minus_01_dot_59 HousePlantType) + (objectType Window_bar__plus_01_dot_48_bar__plus_01_dot_51_bar__minus_01_dot_93 WindowType) + (objectType RemoteControl_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__plus_00_dot_02 RemoteControlType) + (objectType Chair_bar__plus_01_dot_64_bar_00_dot_00_bar__minus_00_dot_85 ChairType) + (objectType WateringCan_bar__minus_03_dot_25_bar_00_dot_00_bar__minus_01_dot_86 WateringCanType) + (objectType Statue_bar__plus_02_dot_11_bar__plus_00_dot_79_bar__minus_00_dot_54 StatueType) + (objectType Chair_bar__plus_02_dot_29_bar_00_dot_00_bar__minus_00_dot_78 ChairType) + (objectType Laptop_bar__plus_01_dot_22_bar__plus_00_dot_78_bar__minus_00_dot_17 LaptopType) + (objectType Pillow_bar__minus_01_dot_92_bar__plus_00_dot_36_bar__minus_01_dot_50 PillowType) + (objectType CreditCard_bar__plus_01_dot_88_bar__plus_00_dot_78_bar__plus_00_dot_08 CreditCardType) + (objectType Television_bar__minus_01_dot_86_bar__plus_01_dot_20_bar__plus_02_dot_69 TelevisionType) + (objectType Vase_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__minus_00_dot_36 VaseType) + (objectType Vase_bar__plus_02_dot_11_bar__plus_00_dot_79_bar__minus_00_dot_05 VaseType) + (objectType Box_bar__minus_03_dot_34_bar__plus_00_dot_74_bar__minus_00_dot_81 BoxType) + (objectType CreditCard_bar__minus_01_dot_77_bar__plus_00_dot_45_bar__plus_00_dot_02 CreditCardType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType CreditCardType) + (canContain DiningTableType CandleType) + (canContain DiningTableType VaseType) + (canContain DiningTableType BoxType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType PlateType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType StatueType) + (canContain DiningTableType WateringCanType) + (canContain CoffeeTableType CandleType) + (canContain CoffeeTableType VaseType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType PlateType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType StatueType) + (canContain CoffeeTableType WateringCanType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain DiningTableType CandleType) + (canContain DiningTableType VaseType) + (canContain DiningTableType BoxType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType PlateType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType StatueType) + (canContain DiningTableType WateringCanType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (pickupable Candle_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__minus_00_dot_24) + (pickupable Laptop_bar__minus_02_dot_10_bar__plus_00_dot_45_bar__plus_00_dot_27) + (pickupable Candle_bar__plus_02_dot_33_bar__plus_00_dot_78_bar__minus_00_dot_05) + (pickupable Statue_bar__minus_02_dot_02_bar__plus_00_dot_46_bar__minus_00_dot_11) + (pickupable Plate_bar__minus_02_dot_21_bar__plus_00_dot_24_bar__plus_02_dot_79) + (pickupable Statue_bar__minus_01_dot_86_bar__plus_00_dot_24_bar__plus_02_dot_71) + (pickupable RemoteControl_bar__minus_01_dot_61_bar__plus_00_dot_71_bar__plus_02_dot_79) + (pickupable KeyChain_bar__minus_03_dot_08_bar__plus_00_dot_53_bar__minus_00_dot_30) + (pickupable Box_bar__minus_03_dot_25_bar__plus_00_dot_74_bar__plus_00_dot_21) + (pickupable Vase_bar__minus_01_dot_77_bar__plus_00_dot_45_bar__plus_00_dot_27) + (pickupable RemoteControl_bar__minus_03_dot_25_bar__plus_00_dot_53_bar__plus_00_dot_72) + (pickupable RemoteControl_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__plus_00_dot_02) + (pickupable WateringCan_bar__minus_03_dot_25_bar_00_dot_00_bar__minus_01_dot_86) + (pickupable Statue_bar__plus_02_dot_11_bar__plus_00_dot_79_bar__minus_00_dot_54) + (pickupable Laptop_bar__plus_01_dot_22_bar__plus_00_dot_78_bar__minus_00_dot_17) + (pickupable Pillow_bar__minus_01_dot_92_bar__plus_00_dot_36_bar__minus_01_dot_50) + (pickupable CreditCard_bar__plus_01_dot_88_bar__plus_00_dot_78_bar__plus_00_dot_08) + (pickupable Vase_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__minus_00_dot_36) + (pickupable Vase_bar__plus_02_dot_11_bar__plus_00_dot_79_bar__minus_00_dot_05) + (pickupable Box_bar__minus_03_dot_34_bar__plus_00_dot_74_bar__minus_00_dot_81) + (pickupable CreditCard_bar__minus_01_dot_77_bar__plus_00_dot_45_bar__plus_00_dot_02) + (isReceptacleObject Plate_bar__minus_02_dot_21_bar__plus_00_dot_24_bar__plus_02_dot_79) + (isReceptacleObject Box_bar__minus_03_dot_25_bar__plus_00_dot_74_bar__plus_00_dot_21) + (isReceptacleObject Box_bar__minus_03_dot_34_bar__plus_00_dot_74_bar__minus_00_dot_81) + + + (atLocation agent1 loc_bar_5_bar_3_bar_1_bar_30) + + (cleanable Plate_bar__minus_02_dot_21_bar__plus_00_dot_24_bar__plus_02_dot_79) + + (heatable Plate_bar__minus_02_dot_21_bar__plus_00_dot_24_bar__plus_02_dot_79) + (coolable Plate_bar__minus_02_dot_21_bar__plus_00_dot_24_bar__plus_02_dot_79) + + + (toggleable FloorLamp_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_73) + + + + + (inReceptacle RemoteControl_bar__minus_01_dot_61_bar__plus_00_dot_71_bar__plus_02_dot_79 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 CreditCard_bar__plus_01_dot_88_bar__plus_00_dot_78_bar__plus_00_dot_08 DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29) + (inReceptacle Candle_bar__plus_02_dot_33_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_05 DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29) + (inReceptacle Statue_bar__plus_02_dot_11_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 Laptop_bar__plus_01_dot_22_bar__plus_00_dot_78_bar__minus_00_dot_17 DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29) + (inReceptacle Box_bar__minus_03_dot_25_bar__plus_00_dot_74_bar__plus_00_dot_21 Sofa_bar__minus_03_dot_44_bar__minus_00_dot_01_bar__minus_00_dot_04) + (inReceptacle Box_bar__minus_03_dot_34_bar__plus_00_dot_74_bar__minus_00_dot_81 Sofa_bar__minus_03_dot_44_bar__minus_00_dot_01_bar__minus_00_dot_04) + (inReceptacle Vase_bar__minus_01_dot_77_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 Candle_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__minus_00_dot_24 CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02) + (inReceptacle Laptop_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 Statue_bar__minus_02_dot_02_bar__plus_00_dot_46_bar__minus_00_dot_11 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__minus_00_dot_36 CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02) + (inReceptacle RemoteControl_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__plus_00_dot_02 CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02) + (inReceptacle CreditCard_bar__minus_01_dot_77_bar__plus_00_dot_45_bar__plus_00_dot_02 CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02) + (inReceptacle Plate_bar__minus_02_dot_21_bar__plus_00_dot_24_bar__plus_02_dot_79 DiningTable_bar__minus_01_dot_88_bar__plus_00_dot_27_bar__plus_02_dot_79) + (inReceptacle Statue_bar__minus_01_dot_86_bar__plus_00_dot_24_bar__plus_02_dot_71 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 Statue_bar__plus_02_dot_11_bar__plus_00_dot_79_bar__minus_00_dot_54 loc_bar_8_bar__minus_5_bar_0_bar_60) + (objectAtLocation RemoteControl_bar__minus_01_dot_61_bar__plus_00_dot_71_bar__plus_02_dot_79 loc_bar__minus_8_bar_7_bar_0_bar_60) + (objectAtLocation Laptop_bar__plus_01_dot_22_bar__plus_00_dot_78_bar__minus_00_dot_17 loc_bar_8_bar__minus_5_bar_0_bar_60) + (objectAtLocation CreditCard_bar__minus_01_dot_77_bar__plus_00_dot_45_bar__plus_00_dot_02 loc_bar__minus_4_bar_0_bar_3_bar_60) + (objectAtLocation Vase_bar__minus_01_dot_77_bar__plus_00_dot_45_bar__plus_00_dot_27 loc_bar__minus_4_bar_0_bar_3_bar_60) + (objectAtLocation Candle_bar__plus_02_dot_33_bar__plus_00_dot_78_bar__minus_00_dot_05 loc_bar_8_bar__minus_5_bar_0_bar_60) + (objectAtLocation Box_bar__minus_03_dot_34_bar__plus_00_dot_74_bar__minus_00_dot_81 loc_bar__minus_11_bar_0_bar_3_bar_60) + (objectAtLocation RemoteControl_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__plus_00_dot_02 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_25_bar__plus_00_dot_74_bar__plus_00_dot_21 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_86_bar__plus_00_dot_45_bar__minus_00_dot_24 loc_bar__minus_4_bar_0_bar_3_bar_60) + (objectAtLocation Vase_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__minus_00_dot_36 loc_bar__minus_4_bar_0_bar_3_bar_60) + (objectAtLocation CreditCard_bar__plus_01_dot_88_bar__plus_00_dot_78_bar__plus_00_dot_08 loc_bar_8_bar__minus_5_bar_0_bar_60) + (objectAtLocation Vase_bar__plus_02_dot_11_bar__plus_00_dot_79_bar__minus_00_dot_05 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_10_bar__plus_00_dot_45_bar__plus_00_dot_27 loc_bar__minus_4_bar_0_bar_3_bar_60) + (objectAtLocation RemoteControl_bar__minus_03_dot_25_bar__plus_00_dot_53_bar__plus_00_dot_72 loc_bar__minus_11_bar_3_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__minus_02_dot_02_bar__plus_00_dot_46_bar__minus_00_dot_11 loc_bar__minus_4_bar_0_bar_3_bar_60) + (objectAtLocation KeyChain_bar__minus_03_dot_08_bar__plus_00_dot_53_bar__minus_00_dot_30 loc_bar__minus_11_bar__minus_1_bar_3_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__minus_02_dot_21_bar__plus_00_dot_24_bar__plus_02_dot_79 loc_bar__minus_9_bar_7_bar_0_bar_60) + (objectAtLocation Statue_bar__minus_01_dot_86_bar__plus_00_dot_24_bar__plus_02_dot_71 loc_bar__minus_9_bar_7_bar_0_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 CreditCardType) + (receptacleType ?r ArmChairType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 CreditCardType) + (receptacleType ?r ArmChairType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-CreditCard-None-ArmChair-223/trial_T20190909_110354_219840/traj_data.json 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0.447271645, + "z": 0.273055881 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Box_eaccedba", + "position": { + "x": -3.34175682, + "y": 0.7365765, + "z": -0.8077137 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "Candle_3ee9e360", + "position": { + "x": 2.32722735, + "y": 0.784944534, + "z": -0.0455313325 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Vase_f4354234", + "position": { + "x": -1.77422142, + "y": 0.449970543, + "z": 0.273055881 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_d7aec6d8", + "position": { + "x": -1.77422142, + "y": 0.449267626, + "z": 0.0180000067 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Vase_95f65e00", + "position": { + "x": 2.10561371, + "y": 0.793670654, + "z": -0.0455313325 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "WateringCan_d0feff7e", + "position": { + "x": -3.25224686, + "y": -0.000859186053, + "z": -1.86184561 + }, + "rotation": { + "x": -0.0020941745, + "y": 0.000389775232, + "z": 0.000298145751 + } + }, + { + "objectName": "Laptop_c9f0ebe9", + "position": { + "x": 1.21915877, + "y": 0.7823, + "z": -0.1687657 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "RemoteControl_51c35588", + "position": { + "x": -1.6072638, + "y": 0.710034132, + "z": 2.788001 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_28993a48", + "position": { + "x": -2.02037263, + "y": 0.455951035, + "z": -0.109527953 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_50799138", + "position": { + "x": -3.08132458, + "y": 0.5331471, + "z": -0.2972378 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "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": -2.2088995, + "y": 0.238044038, + "z": 2.7879 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_eefd1644", + "position": { + "x": 2.10561371, + "y": 0.794364, + "z": -0.5384687 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 1089407598, + "scene_num": 223 + }, + "task_id": "trial_T20190909_110354_219840", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "ALZDJ7DBWN919_35K3O9HUAE4NSM8UV2D4896Z8C7FEC", + "high_descs": [ + "Go to the glass coffee table.", + "Pick up the credit card off of the table.", + "Turn towards the TV and face the first white chair on the right.", + "Place the credit card on the chair.", + "Walk over to the dining room table.", + "Pick up the credit card off of the table.", + "Return to the white chair.", + "Place the credit card next to the first on the chair." + ], + "task_desc": "Place two credit cards on the white chair in the living room.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A002160837SWJFPIAI7L7_3WI0P0II64JF36Z3Q22EJG2XBMCDR3", + "high_descs": [ + "Turn around and walk to the table in the middle of the other room.", + "Grab the credit card from the table.", + "Turn right then right again to face the chairs.", + "Place the credit card on the chair on the right.", + "Turn right then left to go to the first room, then take a left then a right to face the table.", + "Grab the credit card from the table.", + "Turn right and walk back to the room with the two chairs.", + "Place the second credit card to the right of the first one." + ], + "task_desc": "Place two credit cards on the chair", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A32W24TWSWXW_38YMOXR4MXQLQT1AF946090MMGF6WK", + "high_descs": [ + "Turn around and walk two steps, turn left for three steps, turn right and walk to the coffee table and stop.", + "Pick up the credit card in front of the remote on the coffee table.", + "Turn right for three steps, turn left for one step, turn right for two steps and turn right to face the chairs. ", + "Put the credit card on the bottom left side of the cushion on the chair to the right.", + "Turn right and take five steps, turn left and take seven steps, turn left for three steps, turn right for six steps then turn right to face the table.", + "Pick up the credit card on the table between the two chairs.", + "Turn right for six steps, turn left for three steps, turn right for seven steps, turn right for three steps, turn left for one, turn right for one step, turn right to face the chairs.", + "Put the credit to the right of the first credit card on the cushion, with their ends touching slightly." + ], + "task_desc": "Put two credits cards on the cushion of a chair.", + "votes": [ + 1, + 1, + 0 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-CreditCard-None-ArmChair-223/trial_T20190909_110442_533707/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-CreditCard-None-ArmChair-223/trial_T20190909_110442_533707/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..405fcafbc204af3b9175420bc0f4c4601c21796a --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-CreditCard-None-ArmChair-223/trial_T20190909_110442_533707/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: find two creditcard and put them in armchair.\"\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_110442_533707)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Box_bar__plus_01_dot_88_bar__plus_00_dot_94_bar__minus_00_dot_05 - object\n Candle_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__plus_00_dot_27 - object\n Candle_bar__minus_01_dot_94_bar__plus_00_dot_45_bar__minus_00_dot_36 - object\n Chair_bar__plus_01_dot_46_bar_00_dot_00_bar__plus_00_dot_20 - object\n Chair_bar__plus_01_dot_64_bar_00_dot_00_bar__minus_00_dot_85 - object\n Chair_bar__plus_02_dot_22_bar_00_dot_00_bar__plus_00_dot_15 - object\n Chair_bar__plus_02_dot_29_bar_00_dot_00_bar__minus_00_dot_78 - object\n CreditCard_bar__minus_01_dot_86_bar__plus_00_dot_23_bar__plus_02_dot_68 - object\n CreditCard_bar__minus_02_dot_12_bar__plus_00_dot_71_bar__plus_02_dot_70 - object\n CreditCard_bar__minus_03_dot_52_bar__plus_00_dot_58_bar__plus_00_dot_21 - object\n FloorLamp_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_73 - object\n HousePlant_bar__minus_03_dot_48_bar__plus_00_dot_71_bar__minus_01_dot_59 - object\n KeyChain_bar__minus_01_dot_61_bar__plus_00_dot_71_bar__plus_02_dot_66 - object\n Laptop_bar__minus_03_dot_25_bar__plus_00_dot_58_bar__minus_00_dot_81 - object\n LightSwitch_bar__minus_03_dot_90_bar__plus_01_dot_28_bar__plus_01_dot_68 - object\n Painting_bar__plus_04_dot_14_bar__plus_01_dot_59_bar__minus_00_dot_30 - object\n Painting_bar__minus_00_dot_06_bar__plus_01_dot_60_bar__plus_01_dot_73 - object\n Pillow_bar__minus_01_dot_92_bar__plus_00_dot_36_bar__minus_01_dot_50 - object\n Plate_bar__minus_02_dot_18_bar__plus_00_dot_45_bar__minus_00_dot_36 - object\n RemoteControl_bar__minus_02_dot_02_bar__plus_00_dot_45_bar__plus_00_dot_15 - object\n Statue_bar__plus_02_dot_55_bar__plus_00_dot_79_bar__minus_00_dot_17 - object\n Statue_bar__minus_02_dot_10_bar__plus_00_dot_45_bar__plus_00_dot_27 - object\n Television_bar__minus_01_dot_86_bar__plus_01_dot_20_bar__plus_02_dot_69 - object\n Vase_bar__plus_02_dot_33_bar__plus_00_dot_79_bar__minus_00_dot_29 - object\n Vase_bar__minus_01_dot_77_bar__plus_00_dot_45_bar__plus_00_dot_15 - object\n WateringCan_bar__minus_03_dot_25_bar_00_dot_00_bar__minus_01_dot_86 - object\n Window_bar__plus_01_dot_48_bar__plus_01_dot_51_bar__minus_01_dot_93 - object\n Window_bar__plus_03_dot_48_bar__plus_01_dot_51_bar__minus_01_dot_93 - object\n Window_bar__minus_02_dot_00_bar__plus_01_dot_51_bar__minus_01_dot_93 - object\n ArmChair_bar__minus_00_dot_43_bar__plus_00_dot_00_bar__plus_01_dot_06 - receptacle\n ArmChair_bar__minus_00_dot_44_bar__plus_00_dot_00_bar__plus_01_dot_92 - receptacle\n ArmChair_bar__minus_02_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_58 - receptacle\n CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02 - receptacle\n DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29 - receptacle\n DiningTable_bar__minus_01_dot_88_bar__plus_00_dot_27_bar__plus_02_dot_79 - receptacle\n GarbageCan_bar__plus_00_dot_29_bar__plus_00_dot_00_bar__plus_01_dot_26 - receptacle\n Sofa_bar__minus_03_dot_44_bar__minus_00_dot_01_bar__minus_00_dot_04 - receptacle\n TVStand_bar__minus_01_dot_86_bar__minus_00_dot_01_bar__plus_02_dot_79 - receptacle\n loc_bar__minus_9_bar_7_bar_0_bar_60 - location\n loc_bar__minus_13_bar_7_bar_3_bar_30 - location\n loc_bar_9_bar_3_bar_2_bar_60 - location\n loc_bar_8_bar__minus_5_bar_0_bar_60 - location\n loc_bar_6_bar__minus_5_bar_2_bar_15 - location\n loc_bar__minus_6_bar_5_bar_1_bar_60 - location\n loc_bar__minus_5_bar_7_bar_1_bar_0 - location\n loc_bar__minus_11_bar_0_bar_3_bar_60 - location\n loc_bar__minus_4_bar_0_bar_3_bar_60 - location\n loc_bar_14_bar__minus_5_bar_2_bar_15 - location\n loc_bar__minus_5_bar_8_bar_1_bar_60 - location\n loc_bar__minus_11_bar__minus_6_bar_1_bar_15 - location\n loc_bar__minus_11_bar__minus_6_bar_3_bar_45 - location\n loc_bar_7_bar__minus_5_bar_0_bar_60 - location\n loc_bar_9_bar__minus_5_bar_0_bar_60 - location\n loc_bar_3_bar_4_bar_3_bar_60 - location\n loc_bar_14_bar__minus_1_bar_1_bar_0 - location\n loc_bar__minus_8_bar_7_bar_0_bar_60 - location\n loc_bar_6_bar_3_bar_2_bar_60 - location\n loc_bar__minus_11_bar__minus_6_bar_3_bar_60 - location\n loc_bar__minus_6_bar_8_bar_1_bar_60 - location\n loc_bar__minus_3_bar__minus_5_bar_3_bar_60 - location\n loc_bar_11_bar__minus_4_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Sofa_bar__minus_03_dot_44_bar__minus_00_dot_01_bar__minus_00_dot_04 SofaType)\n (receptacleType DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29 DiningTableType)\n (receptacleType CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02 CoffeeTableType)\n (receptacleType ArmChair_bar__minus_02_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_58 ArmChairType)\n (receptacleType ArmChair_bar__minus_00_dot_44_bar__plus_00_dot_00_bar__plus_01_dot_92 ArmChairType)\n (receptacleType DiningTable_bar__minus_01_dot_88_bar__plus_00_dot_27_bar__plus_02_dot_79 DiningTableType)\n (receptacleType ArmChair_bar__minus_00_dot_43_bar__plus_00_dot_00_bar__plus_01_dot_06 ArmChairType)\n (receptacleType GarbageCan_bar__plus_00_dot_29_bar__plus_00_dot_00_bar__plus_01_dot_26 GarbageCanType)\n (receptacleType TVStand_bar__minus_01_dot_86_bar__minus_00_dot_01_bar__plus_02_dot_79 TVStandType)\n (objectType Window_bar__plus_03_dot_48_bar__plus_01_dot_51_bar__minus_01_dot_93 WindowType)\n (objectType CreditCard_bar__minus_01_dot_86_bar__plus_00_dot_23_bar__plus_02_dot_68 CreditCardType)\n (objectType KeyChain_bar__minus_01_dot_61_bar__plus_00_dot_71_bar__plus_02_dot_66 KeyChainType)\n (objectType FloorLamp_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_73 FloorLampType)\n (objectType Statue_bar__plus_02_dot_55_bar__plus_00_dot_79_bar__minus_00_dot_17 StatueType)\n (objectType Chair_bar__plus_01_dot_46_bar_00_dot_00_bar__plus_00_dot_20 ChairType)\n (objectType Vase_bar__plus_02_dot_33_bar__plus_00_dot_79_bar__minus_00_dot_29 VaseType)\n (objectType LightSwitch_bar__minus_03_dot_90_bar__plus_01_dot_28_bar__plus_01_dot_68 LightSwitchType)\n (objectType CreditCard_bar__minus_02_dot_12_bar__plus_00_dot_71_bar__plus_02_dot_70 CreditCardType)\n (objectType Painting_bar__plus_04_dot_14_bar__plus_01_dot_59_bar__minus_00_dot_30 PaintingType)\n (objectType RemoteControl_bar__minus_02_dot_02_bar__plus_00_dot_45_bar__plus_00_dot_15 RemoteControlType)\n (objectType Painting_bar__minus_00_dot_06_bar__plus_01_dot_60_bar__plus_01_dot_73 PaintingType)\n (objectType Chair_bar__plus_02_dot_22_bar_00_dot_00_bar__plus_00_dot_15 ChairType)\n (objectType Statue_bar__minus_02_dot_10_bar__plus_00_dot_45_bar__plus_00_dot_27 StatueType)\n (objectType Plate_bar__minus_02_dot_18_bar__plus_00_dot_45_bar__minus_00_dot_36 PlateType)\n (objectType Box_bar__plus_01_dot_88_bar__plus_00_dot_94_bar__minus_00_dot_05 BoxType)\n (objectType Window_bar__minus_02_dot_00_bar__plus_01_dot_51_bar__minus_01_dot_93 WindowType)\n (objectType Candle_bar__minus_01_dot_94_bar__plus_00_dot_45_bar__minus_00_dot_36 CandleType)\n (objectType HousePlant_bar__minus_03_dot_48_bar__plus_00_dot_71_bar__minus_01_dot_59 HousePlantType)\n (objectType Window_bar__plus_01_dot_48_bar__plus_01_dot_51_bar__minus_01_dot_93 WindowType)\n (objectType Candle_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__plus_00_dot_27 CandleType)\n (objectType Chair_bar__plus_01_dot_64_bar_00_dot_00_bar__minus_00_dot_85 ChairType)\n (objectType Vase_bar__minus_01_dot_77_bar__plus_00_dot_45_bar__plus_00_dot_15 VaseType)\n (objectType CreditCard_bar__minus_03_dot_52_bar__plus_00_dot_58_bar__plus_00_dot_21 CreditCardType)\n (objectType WateringCan_bar__minus_03_dot_25_bar_00_dot_00_bar__minus_01_dot_86 WateringCanType)\n (objectType Laptop_bar__minus_03_dot_25_bar__plus_00_dot_58_bar__minus_00_dot_81 LaptopType)\n (objectType Chair_bar__plus_02_dot_29_bar_00_dot_00_bar__minus_00_dot_78 ChairType)\n (objectType Pillow_bar__minus_01_dot_92_bar__plus_00_dot_36_bar__minus_01_dot_50 PillowType)\n (objectType Television_bar__minus_01_dot_86_bar__plus_01_dot_20_bar__plus_02_dot_69 TelevisionType)\n (canContain SofaType BoxType)\n (canContain SofaType LaptopType)\n (canContain SofaType PillowType)\n (canContain SofaType RemoteControlType)\n (canContain SofaType KeyChainType)\n (canContain SofaType CreditCardType)\n (canContain DiningTableType CandleType)\n (canContain DiningTableType VaseType)\n (canContain DiningTableType BoxType)\n (canContain DiningTableType KeyChainType)\n (canContain DiningTableType CreditCardType)\n (canContain DiningTableType LaptopType)\n (canContain DiningTableType PlateType)\n (canContain DiningTableType RemoteControlType)\n (canContain DiningTableType StatueType)\n (canContain DiningTableType WateringCanType)\n (canContain CoffeeTableType CandleType)\n (canContain CoffeeTableType VaseType)\n (canContain CoffeeTableType BoxType)\n (canContain CoffeeTableType KeyChainType)\n (canContain CoffeeTableType CreditCardType)\n (canContain CoffeeTableType LaptopType)\n (canContain CoffeeTableType PlateType)\n (canContain CoffeeTableType RemoteControlType)\n (canContain CoffeeTableType StatueType)\n (canContain CoffeeTableType WateringCanType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType CreditCardType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType CreditCardType)\n (canContain DiningTableType CandleType)\n (canContain DiningTableType VaseType)\n (canContain DiningTableType BoxType)\n (canContain DiningTableType KeyChainType)\n (canContain DiningTableType CreditCardType)\n (canContain DiningTableType LaptopType)\n (canContain DiningTableType PlateType)\n (canContain DiningTableType RemoteControlType)\n (canContain DiningTableType StatueType)\n (canContain DiningTableType WateringCanType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType CreditCardType)\n (pickupable CreditCard_bar__minus_01_dot_86_bar__plus_00_dot_23_bar__plus_02_dot_68)\n (pickupable KeyChain_bar__minus_01_dot_61_bar__plus_00_dot_71_bar__plus_02_dot_66)\n (pickupable Statue_bar__plus_02_dot_55_bar__plus_00_dot_79_bar__minus_00_dot_17)\n (pickupable Vase_bar__plus_02_dot_33_bar__plus_00_dot_79_bar__minus_00_dot_29)\n (pickupable CreditCard_bar__minus_02_dot_12_bar__plus_00_dot_71_bar__plus_02_dot_70)\n (pickupable RemoteControl_bar__minus_02_dot_02_bar__plus_00_dot_45_bar__plus_00_dot_15)\n (pickupable Statue_bar__minus_02_dot_10_bar__plus_00_dot_45_bar__plus_00_dot_27)\n (pickupable Plate_bar__minus_02_dot_18_bar__plus_00_dot_45_bar__minus_00_dot_36)\n (pickupable Box_bar__plus_01_dot_88_bar__plus_00_dot_94_bar__minus_00_dot_05)\n (pickupable Candle_bar__minus_01_dot_94_bar__plus_00_dot_45_bar__minus_00_dot_36)\n (pickupable Candle_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__plus_00_dot_27)\n (pickupable Vase_bar__minus_01_dot_77_bar__plus_00_dot_45_bar__plus_00_dot_15)\n (pickupable CreditCard_bar__minus_03_dot_52_bar__plus_00_dot_58_bar__plus_00_dot_21)\n (pickupable WateringCan_bar__minus_03_dot_25_bar_00_dot_00_bar__minus_01_dot_86)\n (pickupable Laptop_bar__minus_03_dot_25_bar__plus_00_dot_58_bar__minus_00_dot_81)\n (pickupable Pillow_bar__minus_01_dot_92_bar__plus_00_dot_36_bar__minus_01_dot_50)\n (isReceptacleObject Plate_bar__minus_02_dot_18_bar__plus_00_dot_45_bar__minus_00_dot_36)\n (isReceptacleObject Box_bar__plus_01_dot_88_bar__plus_00_dot_94_bar__minus_00_dot_05)\n \n \n (atLocation agent1 loc_bar_11_bar__minus_4_bar_3_bar_30)\n \n (cleanable Plate_bar__minus_02_dot_18_bar__plus_00_dot_45_bar__minus_00_dot_36)\n \n (heatable Plate_bar__minus_02_dot_18_bar__plus_00_dot_45_bar__minus_00_dot_36)\n (coolable Plate_bar__minus_02_dot_18_bar__plus_00_dot_45_bar__minus_00_dot_36)\n \n \n (toggleable FloorLamp_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_73)\n \n \n \n \n (inReceptacle CreditCard_bar__minus_02_dot_12_bar__plus_00_dot_71_bar__plus_02_dot_70 TVStand_bar__minus_01_dot_86_bar__minus_00_dot_01_bar__plus_02_dot_79)\n (inReceptacle KeyChain_bar__minus_01_dot_61_bar__plus_00_dot_71_bar__plus_02_dot_66 TVStand_bar__minus_01_dot_86_bar__minus_00_dot_01_bar__plus_02_dot_79)\n (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)\n (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)\n (inReceptacle Statue_bar__plus_02_dot_55_bar__plus_00_dot_79_bar__minus_00_dot_17 DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29)\n (inReceptacle Vase_bar__plus_02_dot_33_bar__plus_00_dot_79_bar__minus_00_dot_29 DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29)\n (inReceptacle Box_bar__plus_01_dot_88_bar__plus_00_dot_94_bar__minus_00_dot_05 DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29)\n (inReceptacle CreditCard_bar__minus_03_dot_52_bar__plus_00_dot_58_bar__plus_00_dot_21 Sofa_bar__minus_03_dot_44_bar__minus_00_dot_01_bar__minus_00_dot_04)\n (inReceptacle Laptop_bar__minus_03_dot_25_bar__plus_00_dot_58_bar__minus_00_dot_81 Sofa_bar__minus_03_dot_44_bar__minus_00_dot_01_bar__minus_00_dot_04)\n (inReceptacle RemoteControl_bar__minus_02_dot_02_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)\n (inReceptacle Statue_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)\n (inReceptacle Candle_bar__minus_01_dot_86_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)\n (inReceptacle Vase_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)\n (inReceptacle Plate_bar__minus_02_dot_18_bar__plus_00_dot_45_bar__minus_00_dot_36 CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02)\n (inReceptacle Candle_bar__minus_01_dot_94_bar__plus_00_dot_45_bar__minus_00_dot_36 CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02)\n (inReceptacle CreditCard_bar__minus_01_dot_86_bar__plus_00_dot_23_bar__plus_02_dot_68 DiningTable_bar__minus_01_dot_88_bar__plus_00_dot_27_bar__plus_02_dot_79)\n \n \n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (objectAtLocation CreditCard_bar__minus_02_dot_12_bar__plus_00_dot_71_bar__plus_02_dot_70 loc_bar__minus_8_bar_7_bar_0_bar_60)\n (objectAtLocation Candle_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__plus_00_dot_27 loc_bar__minus_4_bar_0_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_86_bar__plus_00_dot_23_bar__plus_02_dot_68 loc_bar__minus_9_bar_7_bar_0_bar_60)\n (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)\n (objectAtLocation Box_bar__plus_01_dot_88_bar__plus_00_dot_94_bar__minus_00_dot_05 loc_bar_8_bar__minus_5_bar_0_bar_60)\n (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)\n (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)\n (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)\n (objectAtLocation Candle_bar__minus_01_dot_94_bar__plus_00_dot_45_bar__minus_00_dot_36 loc_bar__minus_4_bar_0_bar_3_bar_60)\n (objectAtLocation Vase_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)\n (objectAtLocation CreditCard_bar__minus_03_dot_52_bar__plus_00_dot_58_bar__plus_00_dot_21 loc_bar__minus_11_bar_0_bar_3_bar_60)\n (objectAtLocation Vase_bar__plus_02_dot_33_bar__plus_00_dot_79_bar__minus_00_dot_29 loc_bar_8_bar__minus_5_bar_0_bar_60)\n (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)\n (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)\n (objectAtLocation Laptop_bar__minus_03_dot_25_bar__plus_00_dot_58_bar__minus_00_dot_81 loc_bar__minus_11_bar_0_bar_3_bar_60)\n (objectAtLocation RemoteControl_bar__minus_02_dot_02_bar__plus_00_dot_45_bar__plus_00_dot_15 loc_bar__minus_4_bar_0_bar_3_bar_60)\n (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)\n (objectAtLocation Statue_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)\n (objectAtLocation KeyChain_bar__minus_01_dot_61_bar__plus_00_dot_71_bar__plus_02_dot_66 loc_bar__minus_8_bar_7_bar_0_bar_60)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (objectAtLocation Plate_bar__minus_02_dot_18_bar__plus_00_dot_45_bar__minus_00_dot_36 loc_bar__minus_4_bar_0_bar_3_bar_60)\n (objectAtLocation Statue_bar__plus_02_dot_55_bar__plus_00_dot_79_bar__minus_00_dot_17 loc_bar_8_bar__minus_5_bar_0_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 CreditCardType)\n (receptacleType ?r ArmChairType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 CreditCardType)\n (receptacleType ?r ArmChairType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sofa 1", "take creditcard 1 from sofa 1", "go to armchair 1", "move creditcard 1 to armchair 1", "go to tvstand 1", "take creditcard 2 from tvstand 1", "go to armchair 1", "move creditcard 2 to armchair 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-CreditCard-None-ArmChair-223/trial_T20190909_110442_533707/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-CreditCard-None-ArmChair-223/trial_T20190909_110442_533707/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..c8c1df7229f9d0502b5614ec1d4fb38b86a0a29e --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-CreditCard-None-ArmChair-223/trial_T20190909_110442_533707/initial_state.pddl @@ -0,0 +1,469 @@ + +(define (problem plan_trial_T20190909_110442_533707) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Box_bar__plus_01_dot_88_bar__plus_00_dot_94_bar__minus_00_dot_05 - object + Candle_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__plus_00_dot_27 - object + Candle_bar__minus_01_dot_94_bar__plus_00_dot_45_bar__minus_00_dot_36 - 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_86_bar__plus_00_dot_23_bar__plus_02_dot_68 - object + CreditCard_bar__minus_02_dot_12_bar__plus_00_dot_71_bar__plus_02_dot_70 - object + CreditCard_bar__minus_03_dot_52_bar__plus_00_dot_58_bar__plus_00_dot_21 - 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__minus_01_dot_61_bar__plus_00_dot_71_bar__plus_02_dot_66 - object + Laptop_bar__minus_03_dot_25_bar__plus_00_dot_58_bar__minus_00_dot_81 - 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__minus_02_dot_18_bar__plus_00_dot_45_bar__minus_00_dot_36 - object + RemoteControl_bar__minus_02_dot_02_bar__plus_00_dot_45_bar__plus_00_dot_15 - object + Statue_bar__plus_02_dot_55_bar__plus_00_dot_79_bar__minus_00_dot_17 - object + Statue_bar__minus_02_dot_10_bar__plus_00_dot_45_bar__plus_00_dot_27 - object + Television_bar__minus_01_dot_86_bar__plus_01_dot_20_bar__plus_02_dot_69 - object + Vase_bar__plus_02_dot_33_bar__plus_00_dot_79_bar__minus_00_dot_29 - object + Vase_bar__minus_01_dot_77_bar__plus_00_dot_45_bar__plus_00_dot_15 - 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_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_11_bar__minus_4_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Sofa_bar__minus_03_dot_44_bar__minus_00_dot_01_bar__minus_00_dot_04 SofaType) + (receptacleType DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29 DiningTableType) + (receptacleType CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02 CoffeeTableType) + (receptacleType ArmChair_bar__minus_02_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_58 ArmChairType) + (receptacleType ArmChair_bar__minus_00_dot_44_bar__plus_00_dot_00_bar__plus_01_dot_92 ArmChairType) + (receptacleType DiningTable_bar__minus_01_dot_88_bar__plus_00_dot_27_bar__plus_02_dot_79 DiningTableType) + (receptacleType ArmChair_bar__minus_00_dot_43_bar__plus_00_dot_00_bar__plus_01_dot_06 ArmChairType) + (receptacleType GarbageCan_bar__plus_00_dot_29_bar__plus_00_dot_00_bar__plus_01_dot_26 GarbageCanType) + (receptacleType TVStand_bar__minus_01_dot_86_bar__minus_00_dot_01_bar__plus_02_dot_79 TVStandType) + (objectType Window_bar__plus_03_dot_48_bar__plus_01_dot_51_bar__minus_01_dot_93 WindowType) + (objectType CreditCard_bar__minus_01_dot_86_bar__plus_00_dot_23_bar__plus_02_dot_68 CreditCardType) + (objectType KeyChain_bar__minus_01_dot_61_bar__plus_00_dot_71_bar__plus_02_dot_66 KeyChainType) + (objectType FloorLamp_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_73 FloorLampType) + (objectType Statue_bar__plus_02_dot_55_bar__plus_00_dot_79_bar__minus_00_dot_17 StatueType) + (objectType Chair_bar__plus_01_dot_46_bar_00_dot_00_bar__plus_00_dot_20 ChairType) + (objectType Vase_bar__plus_02_dot_33_bar__plus_00_dot_79_bar__minus_00_dot_29 VaseType) + (objectType LightSwitch_bar__minus_03_dot_90_bar__plus_01_dot_28_bar__plus_01_dot_68 LightSwitchType) + (objectType CreditCard_bar__minus_02_dot_12_bar__plus_00_dot_71_bar__plus_02_dot_70 CreditCardType) + (objectType Painting_bar__plus_04_dot_14_bar__plus_01_dot_59_bar__minus_00_dot_30 PaintingType) + (objectType RemoteControl_bar__minus_02_dot_02_bar__plus_00_dot_45_bar__plus_00_dot_15 RemoteControlType) + (objectType Painting_bar__minus_00_dot_06_bar__plus_01_dot_60_bar__plus_01_dot_73 PaintingType) + (objectType Chair_bar__plus_02_dot_22_bar_00_dot_00_bar__plus_00_dot_15 ChairType) + (objectType Statue_bar__minus_02_dot_10_bar__plus_00_dot_45_bar__plus_00_dot_27 StatueType) + (objectType Plate_bar__minus_02_dot_18_bar__plus_00_dot_45_bar__minus_00_dot_36 PlateType) + (objectType Box_bar__plus_01_dot_88_bar__plus_00_dot_94_bar__minus_00_dot_05 BoxType) + (objectType Window_bar__minus_02_dot_00_bar__plus_01_dot_51_bar__minus_01_dot_93 WindowType) + (objectType Candle_bar__minus_01_dot_94_bar__plus_00_dot_45_bar__minus_00_dot_36 CandleType) + (objectType HousePlant_bar__minus_03_dot_48_bar__plus_00_dot_71_bar__minus_01_dot_59 HousePlantType) + (objectType Window_bar__plus_01_dot_48_bar__plus_01_dot_51_bar__minus_01_dot_93 WindowType) + (objectType Candle_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__plus_00_dot_27 CandleType) + (objectType Chair_bar__plus_01_dot_64_bar_00_dot_00_bar__minus_00_dot_85 ChairType) + (objectType Vase_bar__minus_01_dot_77_bar__plus_00_dot_45_bar__plus_00_dot_15 VaseType) + (objectType CreditCard_bar__minus_03_dot_52_bar__plus_00_dot_58_bar__plus_00_dot_21 CreditCardType) + (objectType WateringCan_bar__minus_03_dot_25_bar_00_dot_00_bar__minus_01_dot_86 WateringCanType) + (objectType Laptop_bar__minus_03_dot_25_bar__plus_00_dot_58_bar__minus_00_dot_81 LaptopType) + (objectType Chair_bar__plus_02_dot_29_bar_00_dot_00_bar__minus_00_dot_78 ChairType) + (objectType Pillow_bar__minus_01_dot_92_bar__plus_00_dot_36_bar__minus_01_dot_50 PillowType) + (objectType Television_bar__minus_01_dot_86_bar__plus_01_dot_20_bar__plus_02_dot_69 TelevisionType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType CreditCardType) + (canContain DiningTableType CandleType) + (canContain DiningTableType VaseType) + (canContain DiningTableType BoxType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType PlateType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType StatueType) + (canContain DiningTableType WateringCanType) + (canContain CoffeeTableType CandleType) + (canContain CoffeeTableType VaseType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType PlateType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType StatueType) + (canContain CoffeeTableType WateringCanType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain DiningTableType CandleType) + (canContain DiningTableType VaseType) + (canContain DiningTableType BoxType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType PlateType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType StatueType) + (canContain DiningTableType WateringCanType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (pickupable CreditCard_bar__minus_01_dot_86_bar__plus_00_dot_23_bar__plus_02_dot_68) + (pickupable KeyChain_bar__minus_01_dot_61_bar__plus_00_dot_71_bar__plus_02_dot_66) + (pickupable Statue_bar__plus_02_dot_55_bar__plus_00_dot_79_bar__minus_00_dot_17) + (pickupable Vase_bar__plus_02_dot_33_bar__plus_00_dot_79_bar__minus_00_dot_29) + (pickupable CreditCard_bar__minus_02_dot_12_bar__plus_00_dot_71_bar__plus_02_dot_70) + (pickupable RemoteControl_bar__minus_02_dot_02_bar__plus_00_dot_45_bar__plus_00_dot_15) + (pickupable Statue_bar__minus_02_dot_10_bar__plus_00_dot_45_bar__plus_00_dot_27) + (pickupable Plate_bar__minus_02_dot_18_bar__plus_00_dot_45_bar__minus_00_dot_36) + (pickupable Box_bar__plus_01_dot_88_bar__plus_00_dot_94_bar__minus_00_dot_05) + (pickupable Candle_bar__minus_01_dot_94_bar__plus_00_dot_45_bar__minus_00_dot_36) + (pickupable Candle_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__plus_00_dot_27) + (pickupable Vase_bar__minus_01_dot_77_bar__plus_00_dot_45_bar__plus_00_dot_15) + (pickupable CreditCard_bar__minus_03_dot_52_bar__plus_00_dot_58_bar__plus_00_dot_21) + (pickupable WateringCan_bar__minus_03_dot_25_bar_00_dot_00_bar__minus_01_dot_86) + (pickupable Laptop_bar__minus_03_dot_25_bar__plus_00_dot_58_bar__minus_00_dot_81) + (pickupable Pillow_bar__minus_01_dot_92_bar__plus_00_dot_36_bar__minus_01_dot_50) + (isReceptacleObject Plate_bar__minus_02_dot_18_bar__plus_00_dot_45_bar__minus_00_dot_36) + (isReceptacleObject Box_bar__plus_01_dot_88_bar__plus_00_dot_94_bar__minus_00_dot_05) + + + (atLocation agent1 loc_bar_11_bar__minus_4_bar_3_bar_30) + + (cleanable Plate_bar__minus_02_dot_18_bar__plus_00_dot_45_bar__minus_00_dot_36) + + (heatable Plate_bar__minus_02_dot_18_bar__plus_00_dot_45_bar__minus_00_dot_36) + (coolable Plate_bar__minus_02_dot_18_bar__plus_00_dot_45_bar__minus_00_dot_36) + + + (toggleable FloorLamp_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_73) + + + + + (inReceptacle CreditCard_bar__minus_02_dot_12_bar__plus_00_dot_71_bar__plus_02_dot_70 TVStand_bar__minus_01_dot_86_bar__minus_00_dot_01_bar__plus_02_dot_79) + (inReceptacle KeyChain_bar__minus_01_dot_61_bar__plus_00_dot_71_bar__plus_02_dot_66 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 Statue_bar__plus_02_dot_55_bar__plus_00_dot_79_bar__minus_00_dot_17 DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29) + (inReceptacle Vase_bar__plus_02_dot_33_bar__plus_00_dot_79_bar__minus_00_dot_29 DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29) + (inReceptacle Box_bar__plus_01_dot_88_bar__plus_00_dot_94_bar__minus_00_dot_05 DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29) + (inReceptacle CreditCard_bar__minus_03_dot_52_bar__plus_00_dot_58_bar__plus_00_dot_21 Sofa_bar__minus_03_dot_44_bar__minus_00_dot_01_bar__minus_00_dot_04) + (inReceptacle Laptop_bar__minus_03_dot_25_bar__plus_00_dot_58_bar__minus_00_dot_81 Sofa_bar__minus_03_dot_44_bar__minus_00_dot_01_bar__minus_00_dot_04) + (inReceptacle RemoteControl_bar__minus_02_dot_02_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 Statue_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 Candle_bar__minus_01_dot_86_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_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_18_bar__plus_00_dot_45_bar__minus_00_dot_36 CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02) + (inReceptacle Candle_bar__minus_01_dot_94_bar__plus_00_dot_45_bar__minus_00_dot_36 CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02) + (inReceptacle CreditCard_bar__minus_01_dot_86_bar__plus_00_dot_23_bar__plus_02_dot_68 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 CreditCard_bar__minus_02_dot_12_bar__plus_00_dot_71_bar__plus_02_dot_70 loc_bar__minus_8_bar_7_bar_0_bar_60) + (objectAtLocation Candle_bar__minus_01_dot_86_bar__plus_00_dot_45_bar__plus_00_dot_27 loc_bar__minus_4_bar_0_bar_3_bar_60) + (objectAtLocation CreditCard_bar__minus_01_dot_86_bar__plus_00_dot_23_bar__plus_02_dot_68 loc_bar__minus_9_bar_7_bar_0_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__plus_01_dot_88_bar__plus_00_dot_94_bar__minus_00_dot_05 loc_bar_8_bar__minus_5_bar_0_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_94_bar__plus_00_dot_45_bar__minus_00_dot_36 loc_bar__minus_4_bar_0_bar_3_bar_60) + (objectAtLocation Vase_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 CreditCard_bar__minus_03_dot_52_bar__plus_00_dot_58_bar__plus_00_dot_21 loc_bar__minus_11_bar_0_bar_3_bar_60) + (objectAtLocation Vase_bar__plus_02_dot_33_bar__plus_00_dot_79_bar__minus_00_dot_29 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_03_dot_25_bar__plus_00_dot_58_bar__minus_00_dot_81 loc_bar__minus_11_bar_0_bar_3_bar_60) + (objectAtLocation RemoteControl_bar__minus_02_dot_02_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__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_01_dot_61_bar__plus_00_dot_71_bar__plus_02_dot_66 loc_bar__minus_8_bar_7_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__minus_02_dot_18_bar__plus_00_dot_45_bar__minus_00_dot_36 loc_bar__minus_4_bar_0_bar_3_bar_60) + (objectAtLocation Statue_bar__plus_02_dot_55_bar__plus_00_dot_79_bar__minus_00_dot_17 loc_bar_8_bar__minus_5_bar_0_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 CreditCardType) + (receptacleType ?r ArmChairType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 CreditCardType) + (receptacleType ?r ArmChairType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-CreditCard-None-ArmChair-223/trial_T20190909_110442_533707/traj_data.json b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-CreditCard-None-ArmChair-223/trial_T20190909_110442_533707/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..88cb16eba6972b70f1027c366e606d350a22dc1a --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-CreditCard-None-ArmChair-223/trial_T20190909_110442_533707/traj_data.json @@ -0,0 +1,4315 @@ +{ + "images": [ + { + 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"random_seed": 165738564, + "scene_num": 223 + }, + "task_id": "trial_T20190909_110442_533707", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AM2KK02JXXW48_37QW5D2ZRJDFNQ3POJR3NYTSMY28SM", + "high_descs": [ + "Head straight into the other room, turn right at the chair, head to the TV.", + "Pick up the credit card on the bottom shelf of the TV stand. ", + "Turn right, bring the card to the chair next to the tall lamp. ", + "Put the card on the left chair. ", + "Go back to the TV stand on your left.", + "Pick up the credit card on the TV stand. ", + "Turn right, go to the left chair.", + "Put the credit card on the chair, left of the other credit card." + ], + "task_desc": "Put two credit cards on a chair. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AO33H4GL9KZX9_3EF8EXOTT4M4DN0E249AGNFXC9OJ12", + "high_descs": [ + "Go forward and around the furniture to the front of the TV stand on the right. ", + "Pick up the blue credit card on the bottom shelf of the stand. ", + "Turn right and move towards the gray arm chair on the left.", + "Place the credit card on the seat. ", + "Turn around and move back to the front of the TV stand. ", + "Pick up the blue credit card on the left of the TV. ", + "Turn right and go back to the gray arm chair on the left.", + "Place the credit card on the left of the first credit card. " + ], + "task_desc": "Move two credit cards from the TV stand to the chair. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1MKCTVKE7J0ZP_3OJSZ2ATDVNAHA0V2IMPGNN5XT875E", + "high_descs": [ + "Go across the room to the coffee table, then turn right and go forward to the entertainment center.", + "Pick up the credit card from the shelf under the TV.", + "Turn right to face the chair, next to the lamp.", + "Put the credit card on the chair.", + "Turn around and return to the entertainment center.", + "Pick up the credit card on the entertainment center.", + "Turn right to face the chair, next to the lamp.", + "Put the credit card on the chair." + ], + "task_desc": "Moved two credit cards to the chair.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-CreditCard-None-ArmChair-223/trial_T20190909_110633_599375/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-CreditCard-None-ArmChair-223/trial_T20190909_110633_599375/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..9e8989ce07a7adc979252e21ce74bce27bff3924 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-CreditCard-None-ArmChair-223/trial_T20190909_110633_599375/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 creditcard in armchair.\"\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_110633_599375)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Box_bar__plus_02_dot_11_bar__plus_00_dot_94_bar__minus_00_dot_42 - object\n Box_bar__minus_03_dot_25_bar__plus_00_dot_74_bar__minus_00_dot_30 - object\n Candle_bar__minus_01_dot_77_bar__plus_00_dot_45_bar__minus_00_dot_11 - object\n Candle_bar__minus_02_dot_02_bar__plus_00_dot_45_bar__minus_00_dot_36 - object\n Chair_bar__plus_01_dot_46_bar_00_dot_00_bar__plus_00_dot_20 - object\n Chair_bar__plus_01_dot_64_bar_00_dot_00_bar__minus_00_dot_85 - object\n Chair_bar__plus_02_dot_22_bar_00_dot_00_bar__plus_00_dot_15 - object\n Chair_bar__plus_02_dot_29_bar_00_dot_00_bar__minus_00_dot_78 - object\n CreditCard_bar__plus_02_dot_11_bar__plus_00_dot_78_bar__minus_00_dot_05 - object\n CreditCard_bar__minus_02_dot_09_bar__plus_00_dot_23_bar__plus_02_dot_83 - object\n FloorLamp_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_73 - object\n HousePlant_bar__minus_03_dot_48_bar__plus_00_dot_71_bar__minus_01_dot_59 - object\n KeyChain_bar__minus_01_dot_84_bar__plus_00_dot_19_bar__minus_01_dot_46 - object\n KeyChain_bar__minus_02_dot_02_bar__plus_00_dot_45_bar__plus_00_dot_40 - object\n KeyChain_bar__minus_03_dot_34_bar__plus_00_dot_58_bar__minus_00_dot_81 - object\n Laptop_bar__minus_02_dot_02_bar__plus_00_dot_44_bar__minus_00_dot_12 - object\n LightSwitch_bar__minus_03_dot_90_bar__plus_01_dot_28_bar__plus_01_dot_68 - object\n Painting_bar__plus_04_dot_14_bar__plus_01_dot_59_bar__minus_00_dot_30 - object\n Painting_bar__minus_00_dot_06_bar__plus_01_dot_60_bar__plus_01_dot_73 - object\n Pillow_bar__minus_01_dot_92_bar__plus_00_dot_36_bar__minus_01_dot_50 - object\n Plate_bar__plus_02_dot_55_bar__plus_00_dot_79_bar__minus_00_dot_54 - object\n RemoteControl_bar__minus_01_dot_48_bar__plus_00_dot_71_bar__plus_02_dot_83 - object\n RemoteControl_bar__minus_03_dot_52_bar__plus_00_dot_53_bar__plus_00_dot_21 - object\n RemoteControl_bar__minus_03_dot_60_bar__plus_00_dot_53_bar__plus_00_dot_72 - object\n Statue_bar__plus_01_dot_22_bar__plus_00_dot_79_bar__minus_00_dot_17 - object\n Statue_bar__plus_01_dot_66_bar__plus_00_dot_79_bar__minus_00_dot_54 - object\n Statue_bar__minus_02_dot_18_bar__plus_00_dot_46_bar__plus_00_dot_27 - object\n Television_bar__minus_01_dot_86_bar__plus_01_dot_20_bar__plus_02_dot_69 - object\n Vase_bar__plus_01_dot_22_bar__plus_00_dot_78_bar__minus_00_dot_42 - object\n Vase_bar__plus_02_dot_55_bar__plus_00_dot_79_bar__minus_00_dot_05 - object\n WateringCan_bar__minus_03_dot_25_bar_00_dot_00_bar__minus_01_dot_86 - object\n Window_bar__plus_01_dot_48_bar__plus_01_dot_51_bar__minus_01_dot_93 - object\n Window_bar__plus_03_dot_48_bar__plus_01_dot_51_bar__minus_01_dot_93 - object\n Window_bar__minus_02_dot_00_bar__plus_01_dot_51_bar__minus_01_dot_93 - object\n ArmChair_bar__minus_00_dot_43_bar__plus_00_dot_00_bar__plus_01_dot_06 - receptacle\n ArmChair_bar__minus_00_dot_44_bar__plus_00_dot_00_bar__plus_01_dot_92 - receptacle\n ArmChair_bar__minus_02_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_58 - receptacle\n CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02 - receptacle\n DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29 - receptacle\n DiningTable_bar__minus_01_dot_88_bar__plus_00_dot_27_bar__plus_02_dot_79 - receptacle\n GarbageCan_bar__plus_00_dot_29_bar__plus_00_dot_00_bar__plus_01_dot_26 - receptacle\n Sofa_bar__minus_03_dot_44_bar__minus_00_dot_01_bar__minus_00_dot_04 - receptacle\n TVStand_bar__minus_01_dot_86_bar__minus_00_dot_01_bar__plus_02_dot_79 - receptacle\n loc_bar__minus_9_bar_7_bar_0_bar_60 - location\n loc_bar__minus_13_bar_7_bar_3_bar_30 - location\n loc_bar_9_bar_3_bar_2_bar_60 - location\n loc_bar_8_bar__minus_5_bar_0_bar_60 - location\n loc_bar_6_bar__minus_5_bar_2_bar_15 - location\n loc_bar__minus_6_bar_5_bar_1_bar_60 - location\n loc_bar__minus_5_bar__minus_6_bar_3_bar_60 - location\n loc_bar__minus_5_bar_7_bar_1_bar_0 - location\n loc_bar__minus_11_bar_0_bar_3_bar_60 - location\n loc_bar__minus_4_bar_0_bar_3_bar_60 - location\n loc_bar_14_bar__minus_5_bar_2_bar_15 - location\n loc_bar__minus_5_bar_8_bar_1_bar_60 - location\n loc_bar__minus_11_bar__minus_6_bar_1_bar_15 - location\n loc_bar__minus_11_bar_1_bar_3_bar_60 - location\n loc_bar__minus_11_bar__minus_6_bar_3_bar_45 - location\n loc_bar_7_bar__minus_5_bar_0_bar_60 - location\n loc_bar_9_bar__minus_5_bar_0_bar_60 - location\n loc_bar_3_bar_4_bar_3_bar_60 - location\n loc_bar_14_bar__minus_1_bar_1_bar_0 - location\n loc_bar__minus_8_bar_7_bar_0_bar_60 - location\n loc_bar__minus_11_bar_3_bar_3_bar_60 - location\n loc_bar_6_bar_3_bar_2_bar_60 - location\n loc_bar__minus_11_bar__minus_6_bar_3_bar_60 - location\n loc_bar__minus_6_bar_8_bar_1_bar_60 - location\n loc_bar__minus_3_bar__minus_5_bar_3_bar_60 - location\n loc_bar_2_bar_1_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Sofa_bar__minus_03_dot_44_bar__minus_00_dot_01_bar__minus_00_dot_04 SofaType)\n (receptacleType DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29 DiningTableType)\n (receptacleType CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02 CoffeeTableType)\n (receptacleType ArmChair_bar__minus_02_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_58 ArmChairType)\n (receptacleType ArmChair_bar__minus_00_dot_44_bar__plus_00_dot_00_bar__plus_01_dot_92 ArmChairType)\n (receptacleType DiningTable_bar__minus_01_dot_88_bar__plus_00_dot_27_bar__plus_02_dot_79 DiningTableType)\n (receptacleType ArmChair_bar__minus_00_dot_43_bar__plus_00_dot_00_bar__plus_01_dot_06 ArmChairType)\n (receptacleType GarbageCan_bar__plus_00_dot_29_bar__plus_00_dot_00_bar__plus_01_dot_26 GarbageCanType)\n (receptacleType TVStand_bar__minus_01_dot_86_bar__minus_00_dot_01_bar__plus_02_dot_79 TVStandType)\n (objectType Window_bar__plus_03_dot_48_bar__plus_01_dot_51_bar__minus_01_dot_93 WindowType)\n (objectType FloorLamp_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_73 FloorLampType)\n (objectType Vase_bar__plus_01_dot_22_bar__plus_00_dot_78_bar__minus_00_dot_42 VaseType)\n (objectType Box_bar__minus_03_dot_25_bar__plus_00_dot_74_bar__minus_00_dot_30 BoxType)\n (objectType RemoteControl_bar__minus_03_dot_60_bar__plus_00_dot_53_bar__plus_00_dot_72 RemoteControlType)\n (objectType Chair_bar__plus_01_dot_46_bar_00_dot_00_bar__plus_00_dot_20 ChairType)\n (objectType CreditCard_bar__minus_02_dot_09_bar__plus_00_dot_23_bar__plus_02_dot_83 CreditCardType)\n (objectType Statue_bar__minus_02_dot_18_bar__plus_00_dot_46_bar__plus_00_dot_27 StatueType)\n (objectType LightSwitch_bar__minus_03_dot_90_bar__plus_01_dot_28_bar__plus_01_dot_68 LightSwitchType)\n (objectType RemoteControl_bar__minus_03_dot_52_bar__plus_00_dot_53_bar__plus_00_dot_21 RemoteControlType)\n (objectType Painting_bar__plus_04_dot_14_bar__plus_01_dot_59_bar__minus_00_dot_30 PaintingType)\n (objectType Plate_bar__plus_02_dot_55_bar__plus_00_dot_79_bar__minus_00_dot_54 PlateType)\n (objectType Painting_bar__minus_00_dot_06_bar__plus_01_dot_60_bar__plus_01_dot_73 PaintingType)\n (objectType Chair_bar__plus_02_dot_22_bar_00_dot_00_bar__plus_00_dot_15 ChairType)\n (objectType RemoteControl_bar__minus_01_dot_48_bar__plus_00_dot_71_bar__plus_02_dot_83 RemoteControlType)\n (objectType Candle_bar__minus_01_dot_77_bar__plus_00_dot_45_bar__minus_00_dot_11 CandleType)\n (objectType KeyChain_bar__minus_03_dot_34_bar__plus_00_dot_58_bar__minus_00_dot_81 KeyChainType)\n (objectType KeyChain_bar__minus_02_dot_02_bar__plus_00_dot_45_bar__plus_00_dot_40 KeyChainType)\n (objectType Window_bar__minus_02_dot_00_bar__plus_01_dot_51_bar__minus_01_dot_93 WindowType)\n (objectType Laptop_bar__minus_02_dot_02_bar__plus_00_dot_44_bar__minus_00_dot_12 LaptopType)\n (objectType Statue_bar__plus_01_dot_66_bar__plus_00_dot_79_bar__minus_00_dot_54 StatueType)\n (objectType HousePlant_bar__minus_03_dot_48_bar__plus_00_dot_71_bar__minus_01_dot_59 HousePlantType)\n (objectType Statue_bar__plus_01_dot_22_bar__plus_00_dot_79_bar__minus_00_dot_17 StatueType)\n (objectType Box_bar__plus_02_dot_11_bar__plus_00_dot_94_bar__minus_00_dot_42 BoxType)\n (objectType Window_bar__plus_01_dot_48_bar__plus_01_dot_51_bar__minus_01_dot_93 WindowType)\n (objectType Candle_bar__minus_02_dot_02_bar__plus_00_dot_45_bar__minus_00_dot_36 CandleType)\n (objectType Chair_bar__plus_01_dot_64_bar_00_dot_00_bar__minus_00_dot_85 ChairType)\n (objectType WateringCan_bar__minus_03_dot_25_bar_00_dot_00_bar__minus_01_dot_86 WateringCanType)\n (objectType Chair_bar__plus_02_dot_29_bar_00_dot_00_bar__minus_00_dot_78 ChairType)\n (objectType Pillow_bar__minus_01_dot_92_bar__plus_00_dot_36_bar__minus_01_dot_50 PillowType)\n (objectType Vase_bar__plus_02_dot_55_bar__plus_00_dot_79_bar__minus_00_dot_05 VaseType)\n (objectType Television_bar__minus_01_dot_86_bar__plus_01_dot_20_bar__plus_02_dot_69 TelevisionType)\n (objectType CreditCard_bar__plus_02_dot_11_bar__plus_00_dot_78_bar__minus_00_dot_05 CreditCardType)\n (objectType KeyChain_bar__minus_01_dot_84_bar__plus_00_dot_19_bar__minus_01_dot_46 KeyChainType)\n (canContain SofaType BoxType)\n (canContain SofaType LaptopType)\n (canContain SofaType PillowType)\n (canContain SofaType RemoteControlType)\n (canContain SofaType KeyChainType)\n (canContain SofaType CreditCardType)\n (canContain DiningTableType CandleType)\n (canContain DiningTableType VaseType)\n (canContain DiningTableType BoxType)\n (canContain DiningTableType KeyChainType)\n (canContain DiningTableType CreditCardType)\n (canContain DiningTableType LaptopType)\n (canContain DiningTableType PlateType)\n (canContain DiningTableType RemoteControlType)\n (canContain DiningTableType StatueType)\n (canContain DiningTableType WateringCanType)\n (canContain CoffeeTableType CandleType)\n (canContain CoffeeTableType VaseType)\n (canContain CoffeeTableType BoxType)\n (canContain CoffeeTableType KeyChainType)\n (canContain CoffeeTableType CreditCardType)\n (canContain CoffeeTableType LaptopType)\n (canContain CoffeeTableType PlateType)\n (canContain CoffeeTableType RemoteControlType)\n (canContain CoffeeTableType StatueType)\n (canContain CoffeeTableType WateringCanType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType CreditCardType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType CreditCardType)\n (canContain DiningTableType CandleType)\n (canContain DiningTableType VaseType)\n (canContain DiningTableType BoxType)\n (canContain DiningTableType KeyChainType)\n (canContain DiningTableType CreditCardType)\n (canContain DiningTableType LaptopType)\n (canContain DiningTableType PlateType)\n (canContain DiningTableType RemoteControlType)\n (canContain DiningTableType StatueType)\n (canContain DiningTableType WateringCanType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType CreditCardType)\n (pickupable Vase_bar__plus_01_dot_22_bar__plus_00_dot_78_bar__minus_00_dot_42)\n (pickupable Box_bar__minus_03_dot_25_bar__plus_00_dot_74_bar__minus_00_dot_30)\n (pickupable RemoteControl_bar__minus_03_dot_60_bar__plus_00_dot_53_bar__plus_00_dot_72)\n (pickupable CreditCard_bar__minus_02_dot_09_bar__plus_00_dot_23_bar__plus_02_dot_83)\n (pickupable Statue_bar__minus_02_dot_18_bar__plus_00_dot_46_bar__plus_00_dot_27)\n (pickupable RemoteControl_bar__minus_03_dot_52_bar__plus_00_dot_53_bar__plus_00_dot_21)\n (pickupable Plate_bar__plus_02_dot_55_bar__plus_00_dot_79_bar__minus_00_dot_54)\n (pickupable RemoteControl_bar__minus_01_dot_48_bar__plus_00_dot_71_bar__plus_02_dot_83)\n (pickupable Candle_bar__minus_01_dot_77_bar__plus_00_dot_45_bar__minus_00_dot_11)\n (pickupable KeyChain_bar__minus_03_dot_34_bar__plus_00_dot_58_bar__minus_00_dot_81)\n (pickupable KeyChain_bar__minus_02_dot_02_bar__plus_00_dot_45_bar__plus_00_dot_40)\n (pickupable Laptop_bar__minus_02_dot_02_bar__plus_00_dot_44_bar__minus_00_dot_12)\n (pickupable Statue_bar__plus_01_dot_66_bar__plus_00_dot_79_bar__minus_00_dot_54)\n (pickupable Statue_bar__plus_01_dot_22_bar__plus_00_dot_79_bar__minus_00_dot_17)\n (pickupable Box_bar__plus_02_dot_11_bar__plus_00_dot_94_bar__minus_00_dot_42)\n (pickupable Candle_bar__minus_02_dot_02_bar__plus_00_dot_45_bar__minus_00_dot_36)\n (pickupable WateringCan_bar__minus_03_dot_25_bar_00_dot_00_bar__minus_01_dot_86)\n (pickupable Pillow_bar__minus_01_dot_92_bar__plus_00_dot_36_bar__minus_01_dot_50)\n (pickupable Vase_bar__plus_02_dot_55_bar__plus_00_dot_79_bar__minus_00_dot_05)\n (pickupable CreditCard_bar__plus_02_dot_11_bar__plus_00_dot_78_bar__minus_00_dot_05)\n (pickupable KeyChain_bar__minus_01_dot_84_bar__plus_00_dot_19_bar__minus_01_dot_46)\n (isReceptacleObject Box_bar__minus_03_dot_25_bar__plus_00_dot_74_bar__minus_00_dot_30)\n (isReceptacleObject Plate_bar__plus_02_dot_55_bar__plus_00_dot_79_bar__minus_00_dot_54)\n (isReceptacleObject Box_bar__plus_02_dot_11_bar__plus_00_dot_94_bar__minus_00_dot_42)\n \n \n (atLocation agent1 loc_bar_2_bar_1_bar_3_bar_30)\n \n (cleanable Plate_bar__plus_02_dot_55_bar__plus_00_dot_79_bar__minus_00_dot_54)\n \n (heatable Plate_bar__plus_02_dot_55_bar__plus_00_dot_79_bar__minus_00_dot_54)\n (coolable Plate_bar__plus_02_dot_55_bar__plus_00_dot_79_bar__minus_00_dot_54)\n \n \n (toggleable FloorLamp_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_73)\n \n \n \n \n (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)\n (inReceptacle RemoteControl_bar__minus_01_dot_48_bar__plus_00_dot_71_bar__plus_02_dot_83 TVStand_bar__minus_01_dot_86_bar__minus_00_dot_01_bar__plus_02_dot_79)\n (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)\n (inReceptacle Vase_bar__plus_02_dot_55_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)\n (inReceptacle Statue_bar__plus_01_dot_66_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)\n (inReceptacle Plate_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)\n (inReceptacle Statue_bar__plus_01_dot_22_bar__plus_00_dot_79_bar__minus_00_dot_17 DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29)\n (inReceptacle Box_bar__plus_02_dot_11_bar__plus_00_dot_94_bar__minus_00_dot_42 DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29)\n (inReceptacle CreditCard_bar__plus_02_dot_11_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)\n (inReceptacle Vase_bar__plus_01_dot_22_bar__plus_00_dot_78_bar__minus_00_dot_42 DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29)\n (inReceptacle Box_bar__minus_03_dot_25_bar__plus_00_dot_74_bar__minus_00_dot_30 Sofa_bar__minus_03_dot_44_bar__minus_00_dot_01_bar__minus_00_dot_04)\n (inReceptacle KeyChain_bar__minus_03_dot_34_bar__plus_00_dot_58_bar__minus_00_dot_81 Sofa_bar__minus_03_dot_44_bar__minus_00_dot_01_bar__minus_00_dot_04)\n (inReceptacle Candle_bar__minus_02_dot_02_bar__plus_00_dot_45_bar__minus_00_dot_36 CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02)\n (inReceptacle Candle_bar__minus_01_dot_77_bar__plus_00_dot_45_bar__minus_00_dot_11 CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02)\n (inReceptacle Statue_bar__minus_02_dot_18_bar__plus_00_dot_46_bar__plus_00_dot_27 CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02)\n (inReceptacle KeyChain_bar__minus_02_dot_02_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)\n (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)\n (inReceptacle CreditCard_bar__minus_02_dot_09_bar__plus_00_dot_23_bar__plus_02_dot_83 DiningTable_bar__minus_01_dot_88_bar__plus_00_dot_27_bar__plus_02_dot_79)\n \n \n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (objectAtLocation Statue_bar__plus_01_dot_22_bar__plus_00_dot_79_bar__minus_00_dot_17 loc_bar_8_bar__minus_5_bar_0_bar_60)\n (objectAtLocation KeyChain_bar__minus_03_dot_34_bar__plus_00_dot_58_bar__minus_00_dot_81 loc_bar__minus_11_bar_0_bar_3_bar_60)\n (objectAtLocation RemoteControl_bar__minus_03_dot_52_bar__plus_00_dot_53_bar__plus_00_dot_21 loc_bar__minus_11_bar_1_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__plus_02_dot_11_bar__plus_00_dot_78_bar__minus_00_dot_05 loc_bar_8_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Candle_bar__minus_02_dot_02_bar__plus_00_dot_45_bar__minus_00_dot_36 loc_bar__minus_4_bar_0_bar_3_bar_60)\n (objectAtLocation Box_bar__minus_03_dot_25_bar__plus_00_dot_74_bar__minus_00_dot_30 loc_bar__minus_11_bar_0_bar_3_bar_60)\n (objectAtLocation RemoteControl_bar__minus_03_dot_60_bar__plus_00_dot_53_bar__plus_00_dot_72 loc_bar__minus_11_bar_3_bar_3_bar_60)\n (objectAtLocation KeyChain_bar__minus_02_dot_02_bar__plus_00_dot_45_bar__plus_00_dot_40 loc_bar__minus_4_bar_0_bar_3_bar_60)\n (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)\n (objectAtLocation Box_bar__plus_02_dot_11_bar__plus_00_dot_94_bar__minus_00_dot_42 loc_bar_8_bar__minus_5_bar_0_bar_60)\n (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)\n (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)\n (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)\n (objectAtLocation Candle_bar__minus_01_dot_77_bar__plus_00_dot_45_bar__minus_00_dot_11 loc_bar__minus_4_bar_0_bar_3_bar_60)\n (objectAtLocation Vase_bar__plus_01_dot_22_bar__plus_00_dot_78_bar__minus_00_dot_42 loc_bar_8_bar__minus_5_bar_0_bar_60)\n (objectAtLocation CreditCard_bar__minus_02_dot_09_bar__plus_00_dot_23_bar__plus_02_dot_83 loc_bar__minus_9_bar_7_bar_0_bar_60)\n (objectAtLocation Vase_bar__plus_02_dot_55_bar__plus_00_dot_79_bar__minus_00_dot_05 loc_bar_8_bar__minus_5_bar_0_bar_60)\n (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)\n (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)\n (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)\n (objectAtLocation RemoteControl_bar__minus_01_dot_48_bar__plus_00_dot_71_bar__plus_02_dot_83 loc_bar__minus_8_bar_7_bar_0_bar_60)\n (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)\n (objectAtLocation Statue_bar__plus_01_dot_66_bar__plus_00_dot_79_bar__minus_00_dot_54 loc_bar_8_bar__minus_5_bar_0_bar_60)\n (objectAtLocation KeyChain_bar__minus_01_dot_84_bar__plus_00_dot_19_bar__minus_01_dot_46 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (objectAtLocation Plate_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)\n (objectAtLocation Statue_bar__minus_02_dot_18_bar__plus_00_dot_46_bar__plus_00_dot_27 loc_bar__minus_4_bar_0_bar_3_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 CreditCardType)\n (receptacleType ?r ArmChairType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 CreditCardType)\n (receptacleType ?r ArmChairType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 1", "take creditcard 1 from diningtable 1", "go to armchair 1", "move creditcard 1 to armchair 1", "go to diningtable 2", "take creditcard 2 from diningtable 2", "go to armchair 1", "move creditcard 2 to armchair 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-CreditCard-None-ArmChair-223/trial_T20190909_110633_599375/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-CreditCard-None-ArmChair-223/trial_T20190909_110633_599375/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..0df22907f89db2b14bb52634493b3409ec7ffbe2 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-CreditCard-None-ArmChair-223/trial_T20190909_110633_599375/initial_state.pddl @@ -0,0 +1,495 @@ + +(define (problem plan_trial_T20190909_110633_599375) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Box_bar__plus_02_dot_11_bar__plus_00_dot_94_bar__minus_00_dot_42 - object + Box_bar__minus_03_dot_25_bar__plus_00_dot_74_bar__minus_00_dot_30 - object + Candle_bar__minus_01_dot_77_bar__plus_00_dot_45_bar__minus_00_dot_11 - object + Candle_bar__minus_02_dot_02_bar__plus_00_dot_45_bar__minus_00_dot_36 - 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__plus_02_dot_11_bar__plus_00_dot_78_bar__minus_00_dot_05 - object + CreditCard_bar__minus_02_dot_09_bar__plus_00_dot_23_bar__plus_02_dot_83 - 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__minus_01_dot_84_bar__plus_00_dot_19_bar__minus_01_dot_46 - object + KeyChain_bar__minus_02_dot_02_bar__plus_00_dot_45_bar__plus_00_dot_40 - object + KeyChain_bar__minus_03_dot_34_bar__plus_00_dot_58_bar__minus_00_dot_81 - 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_55_bar__plus_00_dot_79_bar__minus_00_dot_54 - object + RemoteControl_bar__minus_01_dot_48_bar__plus_00_dot_71_bar__plus_02_dot_83 - object + RemoteControl_bar__minus_03_dot_52_bar__plus_00_dot_53_bar__plus_00_dot_21 - object + RemoteControl_bar__minus_03_dot_60_bar__plus_00_dot_53_bar__plus_00_dot_72 - object + Statue_bar__plus_01_dot_22_bar__plus_00_dot_79_bar__minus_00_dot_17 - object + Statue_bar__plus_01_dot_66_bar__plus_00_dot_79_bar__minus_00_dot_54 - object + Statue_bar__minus_02_dot_18_bar__plus_00_dot_46_bar__plus_00_dot_27 - object + Television_bar__minus_01_dot_86_bar__plus_01_dot_20_bar__plus_02_dot_69 - object + Vase_bar__plus_01_dot_22_bar__plus_00_dot_78_bar__minus_00_dot_42 - object + Vase_bar__plus_02_dot_55_bar__plus_00_dot_79_bar__minus_00_dot_05 - 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__minus_6_bar_3_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_1_bar_3_bar_60 - 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_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__minus_11_bar_3_bar_3_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_2_bar_1_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Sofa_bar__minus_03_dot_44_bar__minus_00_dot_01_bar__minus_00_dot_04 SofaType) + (receptacleType DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29 DiningTableType) + (receptacleType CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02 CoffeeTableType) + (receptacleType ArmChair_bar__minus_02_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_58 ArmChairType) + (receptacleType ArmChair_bar__minus_00_dot_44_bar__plus_00_dot_00_bar__plus_01_dot_92 ArmChairType) + (receptacleType DiningTable_bar__minus_01_dot_88_bar__plus_00_dot_27_bar__plus_02_dot_79 DiningTableType) + (receptacleType ArmChair_bar__minus_00_dot_43_bar__plus_00_dot_00_bar__plus_01_dot_06 ArmChairType) + (receptacleType GarbageCan_bar__plus_00_dot_29_bar__plus_00_dot_00_bar__plus_01_dot_26 GarbageCanType) + (receptacleType TVStand_bar__minus_01_dot_86_bar__minus_00_dot_01_bar__plus_02_dot_79 TVStandType) + (objectType Window_bar__plus_03_dot_48_bar__plus_01_dot_51_bar__minus_01_dot_93 WindowType) + (objectType FloorLamp_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_73 FloorLampType) + (objectType Vase_bar__plus_01_dot_22_bar__plus_00_dot_78_bar__minus_00_dot_42 VaseType) + (objectType Box_bar__minus_03_dot_25_bar__plus_00_dot_74_bar__minus_00_dot_30 BoxType) + (objectType RemoteControl_bar__minus_03_dot_60_bar__plus_00_dot_53_bar__plus_00_dot_72 RemoteControlType) + (objectType Chair_bar__plus_01_dot_46_bar_00_dot_00_bar__plus_00_dot_20 ChairType) + (objectType CreditCard_bar__minus_02_dot_09_bar__plus_00_dot_23_bar__plus_02_dot_83 CreditCardType) + (objectType Statue_bar__minus_02_dot_18_bar__plus_00_dot_46_bar__plus_00_dot_27 StatueType) + (objectType LightSwitch_bar__minus_03_dot_90_bar__plus_01_dot_28_bar__plus_01_dot_68 LightSwitchType) + (objectType RemoteControl_bar__minus_03_dot_52_bar__plus_00_dot_53_bar__plus_00_dot_21 RemoteControlType) + (objectType Painting_bar__plus_04_dot_14_bar__plus_01_dot_59_bar__minus_00_dot_30 PaintingType) + (objectType Plate_bar__plus_02_dot_55_bar__plus_00_dot_79_bar__minus_00_dot_54 PlateType) + (objectType Painting_bar__minus_00_dot_06_bar__plus_01_dot_60_bar__plus_01_dot_73 PaintingType) + (objectType Chair_bar__plus_02_dot_22_bar_00_dot_00_bar__plus_00_dot_15 ChairType) + (objectType RemoteControl_bar__minus_01_dot_48_bar__plus_00_dot_71_bar__plus_02_dot_83 RemoteControlType) + (objectType Candle_bar__minus_01_dot_77_bar__plus_00_dot_45_bar__minus_00_dot_11 CandleType) + (objectType KeyChain_bar__minus_03_dot_34_bar__plus_00_dot_58_bar__minus_00_dot_81 KeyChainType) + (objectType KeyChain_bar__minus_02_dot_02_bar__plus_00_dot_45_bar__plus_00_dot_40 KeyChainType) + (objectType Window_bar__minus_02_dot_00_bar__plus_01_dot_51_bar__minus_01_dot_93 WindowType) + (objectType Laptop_bar__minus_02_dot_02_bar__plus_00_dot_44_bar__minus_00_dot_12 LaptopType) + (objectType Statue_bar__plus_01_dot_66_bar__plus_00_dot_79_bar__minus_00_dot_54 StatueType) + (objectType HousePlant_bar__minus_03_dot_48_bar__plus_00_dot_71_bar__minus_01_dot_59 HousePlantType) + (objectType Statue_bar__plus_01_dot_22_bar__plus_00_dot_79_bar__minus_00_dot_17 StatueType) + (objectType Box_bar__plus_02_dot_11_bar__plus_00_dot_94_bar__minus_00_dot_42 BoxType) + (objectType Window_bar__plus_01_dot_48_bar__plus_01_dot_51_bar__minus_01_dot_93 WindowType) + (objectType Candle_bar__minus_02_dot_02_bar__plus_00_dot_45_bar__minus_00_dot_36 CandleType) + (objectType Chair_bar__plus_01_dot_64_bar_00_dot_00_bar__minus_00_dot_85 ChairType) + (objectType WateringCan_bar__minus_03_dot_25_bar_00_dot_00_bar__minus_01_dot_86 WateringCanType) + (objectType Chair_bar__plus_02_dot_29_bar_00_dot_00_bar__minus_00_dot_78 ChairType) + (objectType Pillow_bar__minus_01_dot_92_bar__plus_00_dot_36_bar__minus_01_dot_50 PillowType) + (objectType Vase_bar__plus_02_dot_55_bar__plus_00_dot_79_bar__minus_00_dot_05 VaseType) + (objectType Television_bar__minus_01_dot_86_bar__plus_01_dot_20_bar__plus_02_dot_69 TelevisionType) + (objectType CreditCard_bar__plus_02_dot_11_bar__plus_00_dot_78_bar__minus_00_dot_05 CreditCardType) + (objectType KeyChain_bar__minus_01_dot_84_bar__plus_00_dot_19_bar__minus_01_dot_46 KeyChainType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType CreditCardType) + (canContain DiningTableType CandleType) + (canContain DiningTableType VaseType) + (canContain DiningTableType BoxType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType PlateType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType StatueType) + (canContain DiningTableType WateringCanType) + (canContain CoffeeTableType CandleType) + (canContain CoffeeTableType VaseType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType PlateType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType StatueType) + (canContain CoffeeTableType WateringCanType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain DiningTableType CandleType) + (canContain DiningTableType VaseType) + (canContain DiningTableType BoxType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType PlateType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType StatueType) + (canContain DiningTableType WateringCanType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (pickupable Vase_bar__plus_01_dot_22_bar__plus_00_dot_78_bar__minus_00_dot_42) + (pickupable Box_bar__minus_03_dot_25_bar__plus_00_dot_74_bar__minus_00_dot_30) + (pickupable RemoteControl_bar__minus_03_dot_60_bar__plus_00_dot_53_bar__plus_00_dot_72) + (pickupable CreditCard_bar__minus_02_dot_09_bar__plus_00_dot_23_bar__plus_02_dot_83) + (pickupable Statue_bar__minus_02_dot_18_bar__plus_00_dot_46_bar__plus_00_dot_27) + (pickupable RemoteControl_bar__minus_03_dot_52_bar__plus_00_dot_53_bar__plus_00_dot_21) + (pickupable Plate_bar__plus_02_dot_55_bar__plus_00_dot_79_bar__minus_00_dot_54) + (pickupable RemoteControl_bar__minus_01_dot_48_bar__plus_00_dot_71_bar__plus_02_dot_83) + (pickupable Candle_bar__minus_01_dot_77_bar__plus_00_dot_45_bar__minus_00_dot_11) + (pickupable KeyChain_bar__minus_03_dot_34_bar__plus_00_dot_58_bar__minus_00_dot_81) + (pickupable KeyChain_bar__minus_02_dot_02_bar__plus_00_dot_45_bar__plus_00_dot_40) + (pickupable Laptop_bar__minus_02_dot_02_bar__plus_00_dot_44_bar__minus_00_dot_12) + (pickupable Statue_bar__plus_01_dot_66_bar__plus_00_dot_79_bar__minus_00_dot_54) + (pickupable Statue_bar__plus_01_dot_22_bar__plus_00_dot_79_bar__minus_00_dot_17) + (pickupable Box_bar__plus_02_dot_11_bar__plus_00_dot_94_bar__minus_00_dot_42) + (pickupable Candle_bar__minus_02_dot_02_bar__plus_00_dot_45_bar__minus_00_dot_36) + (pickupable WateringCan_bar__minus_03_dot_25_bar_00_dot_00_bar__minus_01_dot_86) + (pickupable Pillow_bar__minus_01_dot_92_bar__plus_00_dot_36_bar__minus_01_dot_50) + (pickupable Vase_bar__plus_02_dot_55_bar__plus_00_dot_79_bar__minus_00_dot_05) + (pickupable CreditCard_bar__plus_02_dot_11_bar__plus_00_dot_78_bar__minus_00_dot_05) + (pickupable KeyChain_bar__minus_01_dot_84_bar__plus_00_dot_19_bar__minus_01_dot_46) + (isReceptacleObject Box_bar__minus_03_dot_25_bar__plus_00_dot_74_bar__minus_00_dot_30) + (isReceptacleObject Plate_bar__plus_02_dot_55_bar__plus_00_dot_79_bar__minus_00_dot_54) + (isReceptacleObject Box_bar__plus_02_dot_11_bar__plus_00_dot_94_bar__minus_00_dot_42) + + + (atLocation agent1 loc_bar_2_bar_1_bar_3_bar_30) + + (cleanable Plate_bar__plus_02_dot_55_bar__plus_00_dot_79_bar__minus_00_dot_54) + + (heatable Plate_bar__plus_02_dot_55_bar__plus_00_dot_79_bar__minus_00_dot_54) + (coolable Plate_bar__plus_02_dot_55_bar__plus_00_dot_79_bar__minus_00_dot_54) + + + (toggleable FloorLamp_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_73) + + + + + (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 RemoteControl_bar__minus_01_dot_48_bar__plus_00_dot_71_bar__plus_02_dot_83 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 Vase_bar__plus_02_dot_55_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 Statue_bar__plus_01_dot_66_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_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 Statue_bar__plus_01_dot_22_bar__plus_00_dot_79_bar__minus_00_dot_17 DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29) + (inReceptacle Box_bar__plus_02_dot_11_bar__plus_00_dot_94_bar__minus_00_dot_42 DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29) + (inReceptacle CreditCard_bar__plus_02_dot_11_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_01_dot_22_bar__plus_00_dot_78_bar__minus_00_dot_42 DiningTable_bar__plus_01_dot_88_bar_00_dot_00_bar__minus_00_dot_29) + (inReceptacle Box_bar__minus_03_dot_25_bar__plus_00_dot_74_bar__minus_00_dot_30 Sofa_bar__minus_03_dot_44_bar__minus_00_dot_01_bar__minus_00_dot_04) + (inReceptacle KeyChain_bar__minus_03_dot_34_bar__plus_00_dot_58_bar__minus_00_dot_81 Sofa_bar__minus_03_dot_44_bar__minus_00_dot_01_bar__minus_00_dot_04) + (inReceptacle Candle_bar__minus_02_dot_02_bar__plus_00_dot_45_bar__minus_00_dot_36 CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02) + (inReceptacle Candle_bar__minus_01_dot_77_bar__plus_00_dot_45_bar__minus_00_dot_11 CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02) + (inReceptacle Statue_bar__minus_02_dot_18_bar__plus_00_dot_46_bar__plus_00_dot_27 CoffeeTable_bar__minus_02_dot_02_bar__minus_00_dot_01_bar__plus_00_dot_02) + (inReceptacle KeyChain_bar__minus_02_dot_02_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 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 CreditCard_bar__minus_02_dot_09_bar__plus_00_dot_23_bar__plus_02_dot_83 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 Statue_bar__plus_01_dot_22_bar__plus_00_dot_79_bar__minus_00_dot_17 loc_bar_8_bar__minus_5_bar_0_bar_60) + (objectAtLocation KeyChain_bar__minus_03_dot_34_bar__plus_00_dot_58_bar__minus_00_dot_81 loc_bar__minus_11_bar_0_bar_3_bar_60) + (objectAtLocation RemoteControl_bar__minus_03_dot_52_bar__plus_00_dot_53_bar__plus_00_dot_21 loc_bar__minus_11_bar_1_bar_3_bar_60) + (objectAtLocation CreditCard_bar__plus_02_dot_11_bar__plus_00_dot_78_bar__minus_00_dot_05 loc_bar_8_bar__minus_5_bar_0_bar_60) + (objectAtLocation Candle_bar__minus_02_dot_02_bar__plus_00_dot_45_bar__minus_00_dot_36 loc_bar__minus_4_bar_0_bar_3_bar_60) + (objectAtLocation Box_bar__minus_03_dot_25_bar__plus_00_dot_74_bar__minus_00_dot_30 loc_bar__minus_11_bar_0_bar_3_bar_60) + (objectAtLocation RemoteControl_bar__minus_03_dot_60_bar__plus_00_dot_53_bar__plus_00_dot_72 loc_bar__minus_11_bar_3_bar_3_bar_60) + (objectAtLocation KeyChain_bar__minus_02_dot_02_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__plus_02_dot_11_bar__plus_00_dot_94_bar__minus_00_dot_42 loc_bar_8_bar__minus_5_bar_0_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_77_bar__plus_00_dot_45_bar__minus_00_dot_11 loc_bar__minus_4_bar_0_bar_3_bar_60) + (objectAtLocation Vase_bar__plus_01_dot_22_bar__plus_00_dot_78_bar__minus_00_dot_42 loc_bar_8_bar__minus_5_bar_0_bar_60) + (objectAtLocation CreditCard_bar__minus_02_dot_09_bar__plus_00_dot_23_bar__plus_02_dot_83 loc_bar__minus_9_bar_7_bar_0_bar_60) + (objectAtLocation Vase_bar__plus_02_dot_55_bar__plus_00_dot_79_bar__minus_00_dot_05 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_48_bar__plus_00_dot_71_bar__plus_02_dot_83 loc_bar__minus_8_bar_7_bar_0_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_01_dot_66_bar__plus_00_dot_79_bar__minus_00_dot_54 loc_bar_8_bar__minus_5_bar_0_bar_60) + (objectAtLocation KeyChain_bar__minus_01_dot_84_bar__plus_00_dot_19_bar__minus_01_dot_46 loc_bar__minus_5_bar__minus_6_bar_3_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_55_bar__plus_00_dot_79_bar__minus_00_dot_54 loc_bar_8_bar__minus_5_bar_0_bar_60) + (objectAtLocation Statue_bar__minus_02_dot_18_bar__plus_00_dot_46_bar__plus_00_dot_27 loc_bar__minus_4_bar_0_bar_3_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 CreditCardType) + (receptacleType ?r ArmChairType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 CreditCardType) + (receptacleType ?r ArmChairType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-CreditCard-None-ArmChair-223/trial_T20190909_110633_599375/traj_data.json b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-CreditCard-None-ArmChair-223/trial_T20190909_110633_599375/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..3261a007fb064fa1a35eef43fc52a49a10d6c0db --- /dev/null +++ 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}, + { + "objectName": "KeyChain_50799138", + "position": { + "x": -3.34175682, + "y": 0.5842512, + "z": -0.8077137 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "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": 2.54884124, + "y": 0.789644, + "z": -0.5384687 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_eefd1644", + "position": { + "x": 1.21915877, + "y": 0.794364, + "z": -0.1687657 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3828335240, + "scene_num": 223 + }, + "task_id": "trial_T20190909_110633_599375", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "ANBWJZYU2A68T_32EYX73OY301K8APCXS3TG6LXMLUR8", + "high_descs": [ + "Go to the TV", + "Pick up the credit card from the TV rack", + "Turn around to face right side white sofa", + "Place the card on the sofa", + "Move around the sofa to go the table with chairs ", + "Pick up the credit card from the table", + "Go back to the sofa", + "Place the card next to the first one" + ], + "task_desc": "Place two credit cards on a sofa", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_386CSBG1O2DG6W5O30508KI0YEJQ6J", + "high_descs": [ + "Walk over to the table that the television is on.", + "Pick up the credit card off of the table.", + "Turn around and walk over to the second chair on your left.", + "Place the credit card on the front left edge of the seat of the chair.", + "Turn right and walk forward, then hang a left and walk over to the left side of the large wooden table.", + "Pick up the credit card off of the large wooden table.", + "Walk back over to the chair that you put the credit card on.", + "Put the credit card on the seat of the chair to the right of the card that's already there." + ], + "task_desc": "Move two credit cards to the seat of a chair.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1RLO9LNUJIW5S_3Z7EFSHGNC5PVAF1Z5DVOS63R4RCX6", + "high_descs": [ + "Walk forward to the coffee table then turn right and walk to the tv.", + "Pick up the credit card that's under the tv.", + "Turn around and walk to the coffee table then turn left and walk to the chair that's sitting to the right of another chair.", + "Put the credit card on the chair's cushion.", + "Turn right and take two steps then turn left and walk to the table then take a step or two left to move past the table then walk to the second chair and turn right to face the table.", + "Pick up the credit card that's in front of you.", + "Walk back to where you put the first credit card.", + "Put this credit card to the right of the first one you put on the chair." + ], + "task_desc": "Put two credit cards on the chair.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Cup-None-Microwave-22/trial_T20190907_205322_779427/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Cup-None-Microwave-22/trial_T20190907_205322_779427/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..b45c0f572db09c479454271c5200b49d010ca5d8 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Cup-None-Microwave-22/trial_T20190907_205322_779427/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 cup in microwave.\"\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_205322_779427)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__plus_00_dot_45_bar__plus_01_dot_06_bar__minus_01_dot_35 - object\n Apple_bar__minus_01_dot_51_bar__plus_00_dot_90_bar__minus_01_dot_08 - object\n Bowl_bar__plus_00_dot_76_bar__plus_00_dot_12_bar__minus_01_dot_05 - object\n Bowl_bar__minus_02_dot_80_bar__plus_01_dot_67_bar__plus_00_dot_69 - object\n Bread_bar__minus_02_dot_74_bar__plus_00_dot_43_bar__plus_00_dot_85 - object\n Bread_bar__minus_02_dot_80_bar__plus_01_dot_53_bar__plus_00_dot_69 - object\n ButterKnife_bar__minus_02_dot_22_bar__plus_00_dot_90_bar__minus_01_dot_00 - object\n Chair_bar__plus_01_dot_07_bar__plus_00_dot_01_bar__plus_01_dot_56 - object\n Chair_bar__plus_01_dot_56_bar__plus_00_dot_01_bar__plus_01_dot_36 - object\n CreditCard_bar__plus_01_dot_00_bar__plus_00_dot_90_bar__minus_00_dot_98 - object\n Cup_bar__plus_00_dot_07_bar__plus_01_dot_11_bar__plus_01_dot_35 - object\n Cup_bar__minus_01_dot_42_bar__plus_00_dot_85_bar__minus_01_dot_36 - object\n Cup_bar__minus_02_dot_74_bar__plus_01_dot_66_bar__minus_01_dot_09 - object\n DishSponge_bar__minus_01_dot_22_bar__plus_00_dot_84_bar__minus_01_dot_13 - object\n Egg_bar__plus_00_dot_14_bar__plus_01_dot_14_bar__plus_01_dot_27 - object\n Faucet_bar__minus_01_dot_39_bar__plus_01_dot_14_bar__minus_01_dot_40 - object\n Fork_bar__plus_00_dot_77_bar__plus_00_dot_91_bar__minus_01_dot_28 - object\n Fork_bar__minus_00_dot_03_bar__plus_01_dot_11_bar__plus_01_dot_83 - object\n Kettle_bar__minus_01_dot_51_bar__plus_00_dot_12_bar__minus_01_dot_03 - object\n Kettle_bar__minus_02_dot_59_bar__plus_00_dot_12_bar__plus_00_dot_10 - object\n Kettle_bar__minus_02_dot_62_bar__plus_00_dot_92_bar__minus_00_dot_72 - object\n Knife_bar__plus_00_dot_06_bar__plus_01_dot_11_bar__plus_01_dot_59 - object\n Lettuce_bar__minus_02_dot_74_bar__plus_01_dot_75_bar__plus_00_dot_93 - object\n Lettuce_bar__minus_02_dot_86_bar__plus_00_dot_90_bar__plus_00_dot_93 - object\n LightSwitch_bar__minus_01_dot_17_bar__plus_01_dot_31_bar__plus_03_dot_00 - object\n Mug_bar__plus_00_dot_37_bar__plus_01_dot_65_bar__minus_01_dot_35 - object\n Pan_bar__minus_02_dot_59_bar__plus_00_dot_90_bar__minus_01_dot_15 - object\n PepperShaker_bar__minus_02_dot_83_bar__plus_00_dot_90_bar__minus_00_dot_11 - object\n Plate_bar__plus_00_dot_92_bar__plus_00_dot_91_bar__minus_01_dot_20 - object\n Plate_bar__plus_00_dot_98_bar__plus_00_dot_12_bar__minus_01_dot_01 - object\n Plate_bar__minus_02_dot_74_bar__plus_00_dot_82_bar__plus_00_dot_69 - object\n Potato_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_12 - object\n Pot_bar__plus_00_dot_66_bar__plus_01_dot_11_bar__plus_00_dot_90 - object\n Pot_bar__minus_02_dot_62_bar__plus_00_dot_93_bar__minus_00_dot_40 - object\n SaltShaker_bar__plus_00_dot_00_bar__plus_01_dot_66_bar__minus_01_dot_47 - object\n SaltShaker_bar__plus_00_dot_08_bar__plus_00_dot_11_bar__minus_01_dot_09 - object\n SaltShaker_bar__minus_02_dot_24_bar__plus_00_dot_91_bar__minus_01_dot_12 - object\n Sink_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_01_dot_23 - object\n SoapBottle_bar__plus_00_dot_41_bar__plus_01_dot_11_bar__plus_01_dot_00 - object\n SoapBottle_bar__minus_02_dot_82_bar__plus_00_dot_04_bar__plus_01_dot_43 - object\n Spatula_bar__plus_01_dot_00_bar__plus_00_dot_93_bar__minus_00_dot_95 - object\n Spatula_bar__minus_01_dot_59_bar__plus_00_dot_87_bar__minus_01_dot_14 - object\n Spatula_bar__minus_02_dot_67_bar__plus_00_dot_76_bar__plus_00_dot_04 - object\n Spoon_bar__minus_00_dot_04_bar__plus_01_dot_10_bar__plus_01_dot_61 - object\n Spoon_bar__minus_01_dot_99_bar__plus_00_dot_75_bar__minus_01_dot_01 - object\n Spoon_bar__minus_02_dot_52_bar__plus_00_dot_91_bar__minus_00_dot_06 - object\n StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_32 - object\n StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_48 - object\n StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_62 - object\n StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_78 - object\n Tomato_bar__minus_00_dot_34_bar__plus_00_dot_96_bar__minus_01_dot_03 - object\n Tomato_bar__minus_02_dot_68_bar__plus_01_dot_52_bar__plus_01_dot_01 - object\n Window_bar__plus_00_dot_32_bar__plus_01_dot_45_bar__plus_03_dot_09 - object\n Cabinet_bar__plus_00_dot_17_bar__plus_02_dot_01_bar__minus_01_dot_20 - receptacle\n Cabinet_bar__plus_00_dot_24_bar__plus_02_dot_01_bar__minus_01_dot_20 - receptacle\n Cabinet_bar__plus_00_dot_48_bar__plus_00_dot_39_bar__minus_00_dot_90 - receptacle\n Cabinet_bar__plus_01_dot_12_bar__plus_02_dot_01_bar__minus_01_dot_20 - receptacle\n Cabinet_bar__plus_01_dot_13_bar__plus_00_dot_47_bar__minus_00_dot_90 - receptacle\n Cabinet_bar__minus_00_dot_77_bar__plus_02_dot_01_bar__minus_01_dot_20 - receptacle\n Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_00_dot_91 - receptacle\n Cabinet_bar__minus_00_dot_84_bar__plus_02_dot_01_bar__minus_01_dot_20 - receptacle\n Cabinet_bar__minus_01_dot_77_bar__plus_02_dot_01_bar__minus_01_dot_20 - receptacle\n Cabinet_bar__minus_01_dot_80_bar__plus_00_dot_47_bar__minus_00_dot_91 - receptacle\n Cabinet_bar__minus_01_dot_84_bar__plus_02_dot_01_bar__minus_01_dot_20 - receptacle\n Cabinet_bar__minus_01_dot_85_bar__plus_00_dot_39_bar__minus_00_dot_90 - receptacle\n Cabinet_bar__minus_02_dot_39_bar__plus_00_dot_39_bar__plus_00_dot_38 - receptacle\n Cabinet_bar__minus_02_dot_63_bar__plus_02_dot_01_bar__minus_01_dot_20 - receptacle\n Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_01_bar__plus_00_dot_36 - receptacle\n Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_01_bar__minus_00_dot_95 - receptacle\n Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_08_bar__minus_00_dot_23 - receptacle\n Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_08_bar__minus_00_dot_88 - receptacle\n Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_20_bar__plus_00_dot_43 - receptacle\n Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_20_bar__plus_01_dot_67 - receptacle\n CoffeeMachine_bar__plus_01_dot_14_bar__plus_01_dot_10_bar__plus_00_dot_30 - receptacle\n CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20 - receptacle\n CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79 - receptacle\n CounterTop_bar__minus_02_dot_70_bar__plus_00_dot_95_bar__plus_00_dot_11 - receptacle\n Drawer_bar__plus_00_dot_26_bar__plus_00_dot_78_bar__minus_01_dot_08 - receptacle\n Drawer_bar__minus_02_dot_03_bar__plus_00_dot_78_bar__minus_01_dot_08 - receptacle\n Drawer_bar__minus_02_dot_57_bar__plus_00_dot_78_bar__plus_00_dot_10 - receptacle\n Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85 - receptacle\n GarbageCan_bar__minus_02_dot_76_bar__plus_00_dot_00_bar__plus_01_dot_47 - receptacle\n Microwave_bar__plus_00_dot_28_bar__plus_00_dot_90_bar__minus_01_dot_33 - receptacle\n Sink_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_01_dot_23_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_02_dot_62_bar__plus_00_dot_89_bar__minus_00_dot_40 - receptacle\n StoveBurner_bar__minus_02_dot_62_bar__plus_00_dot_89_bar__minus_00_dot_71 - receptacle\n StoveBurner_bar__minus_02_dot_82_bar__plus_00_dot_89_bar__minus_00_dot_40 - receptacle\n StoveBurner_bar__minus_02_dot_82_bar__plus_00_dot_89_bar__minus_00_dot_71 - receptacle\n Toaster_bar__minus_02_dot_82_bar__plus_00_dot_90_bar__plus_00_dot_25 - receptacle\n loc_bar_2_bar_0_bar_2_bar_45 - location\n loc_bar_6_bar_7_bar_2_bar_60 - location\n loc_bar__minus_6_bar__minus_1_bar_3_bar_45 - location\n loc_bar__minus_5_bar_10_bar_0_bar_30 - location\n loc_bar__minus_8_bar__minus_1_bar_2_bar_60 - location\n loc_bar__minus_6_bar__minus_2_bar_2_bar__minus_30 - location\n loc_bar__minus_8_bar_0_bar_2_bar_45 - location\n loc_bar__minus_8_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_8_bar_0_bar_3_bar_45 - location\n loc_bar_2_bar__minus_2_bar_2_bar__minus_30 - location\n loc_bar__minus_8_bar__minus_2_bar_3_bar__minus_30 - location\n loc_bar__minus_4_bar__minus_2_bar_2_bar__minus_30 - location\n loc_bar__minus_8_bar__minus_2_bar_2_bar__minus_30 - location\n loc_bar__minus_8_bar_0_bar_3_bar__minus_30 - location\n loc_bar_0_bar__minus_2_bar_2_bar__minus_30 - location\n loc_bar__minus_8_bar_1_bar_3_bar_45 - location\n loc_bar__minus_5_bar__minus_2_bar_2_bar_45 - location\n loc_bar_4_bar_8_bar_2_bar_60 - location\n loc_bar__minus_2_bar_0_bar_2_bar_45 - location\n loc_bar__minus_8_bar__minus_1_bar_2_bar__minus_15 - location\n loc_bar__minus_7_bar_3_bar_3_bar_60 - location\n loc_bar_2_bar_0_bar_2_bar_60 - location\n loc_bar__minus_8_bar__minus_2_bar_3_bar_60 - location\n loc_bar__minus_8_bar__minus_1_bar_3_bar_60 - location\n loc_bar__minus_6_bar_7_bar_3_bar__minus_30 - location\n loc_bar__minus_6_bar__minus_2_bar_3_bar__minus_15 - location\n loc_bar__minus_3_bar__minus_2_bar_2_bar__minus_30 - location\n loc_bar__minus_6_bar_1_bar_3_bar_60 - location\n loc_bar__minus_6_bar_1_bar_3_bar__minus_30 - location\n loc_bar_1_bar__minus_2_bar_2_bar_45 - location\n loc_bar__minus_8_bar_6_bar_3_bar_60 - location\n loc_bar_2_bar_0_bar_1_bar_45 - location\n loc_bar__minus_1_bar_0_bar_2_bar_60 - location\n loc_bar__minus_8_bar__minus_2_bar_3_bar_45 - location\n loc_bar_1_bar_10_bar_0_bar_15 - location\n loc_bar_2_bar__minus_2_bar_2_bar_45 - location\n loc_bar__minus_2_bar_6_bar_1_bar_15 - location\n loc_bar__minus_8_bar_8_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__minus_00_dot_77_bar__plus_02_dot_01_bar__minus_01_dot_20 CabinetType)\n (receptacleType StoveBurner_bar__minus_02_dot_82_bar__plus_00_dot_89_bar__minus_00_dot_40 StoveBurnerType)\n (receptacleType CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79 CounterTopType)\n (receptacleType Cabinet_bar__minus_01_dot_80_bar__plus_00_dot_47_bar__minus_00_dot_91 CabinetType)\n (receptacleType Toaster_bar__minus_02_dot_82_bar__plus_00_dot_90_bar__plus_00_dot_25 ToasterType)\n (receptacleType CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20 CounterTopType)\n (receptacleType Microwave_bar__plus_00_dot_28_bar__plus_00_dot_90_bar__minus_01_dot_33 MicrowaveType)\n (receptacleType Cabinet_bar__minus_02_dot_39_bar__plus_00_dot_39_bar__plus_00_dot_38 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_13_bar__plus_00_dot_47_bar__minus_00_dot_90 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_01_bar__plus_00_dot_36 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_08_bar__minus_00_dot_88 CabinetType)\n (receptacleType Drawer_bar__plus_00_dot_26_bar__plus_00_dot_78_bar__minus_01_dot_08 DrawerType)\n (receptacleType CounterTop_bar__minus_02_dot_70_bar__plus_00_dot_95_bar__plus_00_dot_11 CounterTopType)\n (receptacleType GarbageCan_bar__minus_02_dot_76_bar__plus_00_dot_00_bar__plus_01_dot_47 GarbageCanType)\n (receptacleType Cabinet_bar__minus_02_dot_63_bar__plus_02_dot_01_bar__minus_01_dot_20 CabinetType)\n (receptacleType StoveBurner_bar__minus_02_dot_62_bar__plus_00_dot_89_bar__minus_00_dot_40 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_00_dot_84_bar__plus_02_dot_01_bar__minus_01_dot_20 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_48_bar__plus_00_dot_39_bar__minus_00_dot_90 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_20_bar__plus_01_dot_67 CabinetType)\n (receptacleType Drawer_bar__minus_02_dot_03_bar__plus_00_dot_78_bar__minus_01_dot_08 DrawerType)\n (receptacleType Cabinet_bar__minus_01_dot_84_bar__plus_02_dot_01_bar__minus_01_dot_20 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_08_bar__minus_00_dot_23 CabinetType)\n (receptacleType StoveBurner_bar__minus_02_dot_82_bar__plus_00_dot_89_bar__minus_00_dot_71 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_01_dot_12_bar__plus_02_dot_01_bar__minus_01_dot_20 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_01_bar__minus_00_dot_95 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_17_bar__plus_02_dot_01_bar__minus_01_dot_20 CabinetType)\n (receptacleType CoffeeMachine_bar__plus_01_dot_14_bar__plus_01_dot_10_bar__plus_00_dot_30 CoffeeMachineType)\n (receptacleType Cabinet_bar__plus_00_dot_24_bar__plus_02_dot_01_bar__minus_01_dot_20 CabinetType)\n (receptacleType Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85 FridgeType)\n (receptacleType StoveBurner_bar__minus_02_dot_62_bar__plus_00_dot_89_bar__minus_00_dot_71 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_01_dot_77_bar__plus_02_dot_01_bar__minus_01_dot_20 CabinetType)\n (receptacleType Sink_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_01_dot_23_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_00_dot_91 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_85_bar__plus_00_dot_39_bar__minus_00_dot_90 CabinetType)\n (receptacleType Drawer_bar__minus_02_dot_57_bar__plus_00_dot_78_bar__plus_00_dot_10 DrawerType)\n (receptacleType Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_20_bar__plus_00_dot_43 CabinetType)\n (objectType Kettle_bar__minus_02_dot_62_bar__plus_00_dot_92_bar__minus_00_dot_72 KettleType)\n (objectType Spoon_bar__minus_02_dot_52_bar__plus_00_dot_91_bar__minus_00_dot_06 SpoonType)\n (objectType Cup_bar__minus_01_dot_42_bar__plus_00_dot_85_bar__minus_01_dot_36 CupType)\n (objectType Pot_bar__minus_02_dot_62_bar__plus_00_dot_93_bar__minus_00_dot_40 PotType)\n (objectType Kettle_bar__minus_01_dot_51_bar__plus_00_dot_12_bar__minus_01_dot_03 KettleType)\n (objectType Spoon_bar__minus_01_dot_99_bar__plus_00_dot_75_bar__minus_01_dot_01 SpoonType)\n (objectType Tomato_bar__minus_02_dot_68_bar__plus_01_dot_52_bar__plus_01_dot_01 TomatoType)\n (objectType LightSwitch_bar__minus_01_dot_17_bar__plus_01_dot_31_bar__plus_03_dot_00 LightSwitchType)\n (objectType Window_bar__plus_00_dot_32_bar__plus_01_dot_45_bar__plus_03_dot_09 WindowType)\n (objectType Lettuce_bar__minus_02_dot_74_bar__plus_01_dot_75_bar__plus_00_dot_93 LettuceType)\n (objectType Spatula_bar__minus_01_dot_59_bar__plus_00_dot_87_bar__minus_01_dot_14 SpatulaType)\n (objectType Mug_bar__plus_00_dot_37_bar__plus_01_dot_65_bar__minus_01_dot_35 MugType)\n (objectType Bowl_bar__minus_02_dot_80_bar__plus_01_dot_67_bar__plus_00_dot_69 BowlType)\n (objectType Spatula_bar__minus_02_dot_67_bar__plus_00_dot_76_bar__plus_00_dot_04 SpatulaType)\n (objectType Spoon_bar__minus_00_dot_04_bar__plus_01_dot_10_bar__plus_01_dot_61 SpoonType)\n (objectType Cup_bar__plus_00_dot_07_bar__plus_01_dot_11_bar__plus_01_dot_35 CupType)\n (objectType StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_48 StoveKnobType)\n (objectType Bread_bar__minus_02_dot_80_bar__plus_01_dot_53_bar__plus_00_dot_69 BreadType)\n (objectType Plate_bar__plus_00_dot_98_bar__plus_00_dot_12_bar__minus_01_dot_01 PlateType)\n (objectType Pot_bar__plus_00_dot_66_bar__plus_01_dot_11_bar__plus_00_dot_90 PotType)\n (objectType SoapBottle_bar__plus_00_dot_41_bar__plus_01_dot_11_bar__plus_01_dot_00 SoapBottleType)\n (objectType Bread_bar__minus_02_dot_74_bar__plus_00_dot_43_bar__plus_00_dot_85 BreadType)\n (objectType Apple_bar__plus_00_dot_45_bar__plus_01_dot_06_bar__minus_01_dot_35 AppleType)\n (objectType CreditCard_bar__plus_01_dot_00_bar__plus_00_dot_90_bar__minus_00_dot_98 CreditCardType)\n (objectType Kettle_bar__minus_02_dot_59_bar__plus_00_dot_12_bar__plus_00_dot_10 KettleType)\n (objectType SaltShaker_bar__minus_02_dot_24_bar__plus_00_dot_91_bar__minus_01_dot_12 SaltShakerType)\n (objectType SaltShaker_bar__plus_00_dot_08_bar__plus_00_dot_11_bar__minus_01_dot_09 SaltShakerType)\n (objectType Knife_bar__plus_00_dot_06_bar__plus_01_dot_11_bar__plus_01_dot_59 KnifeType)\n (objectType StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_78 StoveKnobType)\n (objectType Fork_bar__plus_00_dot_77_bar__plus_00_dot_91_bar__minus_01_dot_28 ForkType)\n (objectType SoapBottle_bar__minus_02_dot_82_bar__plus_00_dot_04_bar__plus_01_dot_43 SoapBottleType)\n (objectType Sink_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_01_dot_23 SinkType)\n (objectType Chair_bar__plus_01_dot_07_bar__plus_00_dot_01_bar__plus_01_dot_56 ChairType)\n (objectType Bowl_bar__plus_00_dot_76_bar__plus_00_dot_12_bar__minus_01_dot_05 BowlType)\n (objectType Tomato_bar__minus_00_dot_34_bar__plus_00_dot_96_bar__minus_01_dot_03 TomatoType)\n (objectType Potato_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_12 PotatoType)\n (objectType Fork_bar__minus_00_dot_03_bar__plus_01_dot_11_bar__plus_01_dot_83 ForkType)\n (objectType Spatula_bar__plus_01_dot_00_bar__plus_00_dot_93_bar__minus_00_dot_95 SpatulaType)\n (objectType PepperShaker_bar__minus_02_dot_83_bar__plus_00_dot_90_bar__minus_00_dot_11 PepperShakerType)\n (objectType SaltShaker_bar__plus_00_dot_00_bar__plus_01_dot_66_bar__minus_01_dot_47 SaltShakerType)\n (objectType StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_62 StoveKnobType)\n (objectType Plate_bar__plus_00_dot_92_bar__plus_00_dot_91_bar__minus_01_dot_20 PlateType)\n (objectType Apple_bar__minus_01_dot_51_bar__plus_00_dot_90_bar__minus_01_dot_08 AppleType)\n (objectType StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_32 StoveKnobType)\n (objectType Egg_bar__plus_00_dot_14_bar__plus_01_dot_14_bar__plus_01_dot_27 EggType)\n (objectType Chair_bar__plus_01_dot_56_bar__plus_00_dot_01_bar__plus_01_dot_36 ChairType)\n (objectType Plate_bar__minus_02_dot_74_bar__plus_00_dot_82_bar__plus_00_dot_69 PlateType)\n (objectType 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(canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain CounterTopType SaltShakerType)\n (canContain CounterTopType BreadType)\n (canContain CounterTopType DishSpongeType)\n (canContain CounterTopType BowlType)\n (canContain CounterTopType KettleType)\n (canContain CounterTopType PotType)\n (canContain CounterTopType MugType)\n (canContain CounterTopType EggType)\n (canContain CounterTopType ForkType)\n (canContain CounterTopType CreditCardType)\n (canContain CounterTopType SpoonType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType LettuceType)\n (canContain CounterTopType PotatoType)\n (canContain CounterTopType ButterKnifeType)\n (canContain CounterTopType CupType)\n (canContain CounterTopType PlateType)\n (canContain CounterTopType PepperShakerType)\n (canContain CounterTopType TomatoType)\n (canContain CounterTopType KnifeType)\n (canContain CounterTopType AppleType)\n (canContain CounterTopType PanType)\n (canContain CounterTopType SpatulaType)\n (canContain MicrowaveType MugType)\n (canContain MicrowaveType PotatoType)\n (canContain MicrowaveType EggType)\n (canContain MicrowaveType AppleType)\n (canContain MicrowaveType TomatoType)\n (canContain MicrowaveType BreadType)\n (canContain MicrowaveType CupType)\n (canContain MicrowaveType PlateType)\n (canContain MicrowaveType BowlType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType 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(inReceptacle Cup_bar__minus_02_dot_74_bar__plus_01_dot_66_bar__minus_01_dot_09 Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_01_bar__minus_00_dot_95)\n (inReceptacle SaltShaker_bar__plus_00_dot_00_bar__plus_01_dot_66_bar__minus_01_dot_47 Cabinet_bar__plus_00_dot_17_bar__plus_02_dot_01_bar__minus_01_dot_20)\n (inReceptacle Kettle_bar__minus_02_dot_62_bar__plus_00_dot_92_bar__minus_00_dot_72 StoveBurner_bar__minus_02_dot_62_bar__plus_00_dot_89_bar__minus_00_dot_71)\n (inReceptacle Spoon_bar__minus_02_dot_52_bar__plus_00_dot_91_bar__minus_00_dot_06 CounterTop_bar__minus_02_dot_70_bar__plus_00_dot_95_bar__plus_00_dot_11)\n (inReceptacle PepperShaker_bar__minus_02_dot_83_bar__plus_00_dot_90_bar__minus_00_dot_11 CounterTop_bar__minus_02_dot_70_bar__plus_00_dot_95_bar__plus_00_dot_11)\n (inReceptacle Spoon_bar__minus_00_dot_04_bar__plus_01_dot_10_bar__plus_01_dot_61 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79)\n (inReceptacle Knife_bar__plus_00_dot_06_bar__plus_01_dot_11_bar__plus_01_dot_59 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79)\n (inReceptacle Cup_bar__plus_00_dot_07_bar__plus_01_dot_11_bar__plus_01_dot_35 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79)\n (inReceptacle Egg_bar__plus_00_dot_14_bar__plus_01_dot_14_bar__plus_01_dot_27 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79)\n (inReceptacle Pot_bar__plus_00_dot_66_bar__plus_01_dot_11_bar__plus_00_dot_90 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79)\n (inReceptacle Fork_bar__minus_00_dot_03_bar__plus_01_dot_11_bar__plus_01_dot_83 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79)\n (inReceptacle SoapBottle_bar__plus_00_dot_41_bar__plus_01_dot_11_bar__plus_01_dot_00 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79)\n (inReceptacle Pot_bar__minus_02_dot_62_bar__plus_00_dot_93_bar__minus_00_dot_40 StoveBurner_bar__minus_02_dot_62_bar__plus_00_dot_89_bar__minus_00_dot_40)\n (inReceptacle Spatula_bar__minus_02_dot_67_bar__plus_00_dot_76_bar__plus_00_dot_04 Drawer_bar__minus_02_dot_57_bar__plus_00_dot_78_bar__plus_00_dot_10)\n (inReceptacle Pot_bar__minus_02_dot_62_bar__plus_00_dot_93_bar__minus_00_dot_40 StoveBurner_bar__minus_02_dot_82_bar__plus_00_dot_89_bar__minus_00_dot_40)\n (inReceptacle SaltShaker_bar__minus_02_dot_24_bar__plus_00_dot_91_bar__minus_01_dot_12 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20)\n (inReceptacle Plate_bar__plus_00_dot_92_bar__plus_00_dot_91_bar__minus_01_dot_20 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20)\n (inReceptacle Fork_bar__plus_00_dot_77_bar__plus_00_dot_91_bar__minus_01_dot_28 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20)\n (inReceptacle Pan_bar__minus_02_dot_59_bar__plus_00_dot_90_bar__minus_01_dot_15 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20)\n (inReceptacle Tomato_bar__minus_00_dot_34_bar__plus_00_dot_96_bar__minus_01_dot_03 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20)\n (inReceptacle Potato_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_12 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20)\n (inReceptacle ButterKnife_bar__minus_02_dot_22_bar__plus_00_dot_90_bar__minus_01_dot_00 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20)\n (inReceptacle Spatula_bar__plus_01_dot_00_bar__plus_00_dot_93_bar__minus_00_dot_95 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20)\n (inReceptacle CreditCard_bar__plus_01_dot_00_bar__plus_00_dot_90_bar__minus_00_dot_98 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20)\n (inReceptacle DishSponge_bar__minus_01_dot_22_bar__plus_00_dot_84_bar__minus_01_dot_13 Sink_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_01_dot_23_bar_SinkBasin)\n (inReceptacle Spatula_bar__minus_01_dot_59_bar__plus_00_dot_87_bar__minus_01_dot_14 Sink_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_01_dot_23_bar_SinkBasin)\n (inReceptacle Cup_bar__minus_01_dot_42_bar__plus_00_dot_85_bar__minus_01_dot_36 Sink_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_01_dot_23_bar_SinkBasin)\n (inReceptacle Apple_bar__minus_01_dot_51_bar__plus_00_dot_90_bar__minus_01_dot_08 Sink_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_01_dot_23_bar_SinkBasin)\n (inReceptacle SoapBottle_bar__minus_02_dot_82_bar__plus_00_dot_04_bar__plus_01_dot_43 GarbageCan_bar__minus_02_dot_76_bar__plus_00_dot_00_bar__plus_01_dot_47)\n (inReceptacle Tomato_bar__minus_02_dot_68_bar__plus_01_dot_52_bar__plus_01_dot_01 Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85)\n (inReceptacle Bread_bar__minus_02_dot_80_bar__plus_01_dot_53_bar__plus_00_dot_69 Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85)\n (inReceptacle Plate_bar__minus_02_dot_74_bar__plus_00_dot_82_bar__plus_00_dot_69 Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85)\n (inReceptacle Lettuce_bar__minus_02_dot_74_bar__plus_01_dot_75_bar__plus_00_dot_93 Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85)\n (inReceptacle Bowl_bar__minus_02_dot_80_bar__plus_01_dot_67_bar__plus_00_dot_69 Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85)\n (inReceptacle Lettuce_bar__minus_02_dot_86_bar__plus_00_dot_90_bar__plus_00_dot_93 Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85)\n (inReceptacle Bread_bar__minus_02_dot_74_bar__plus_00_dot_43_bar__plus_00_dot_85 Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85)\n (inReceptacle Apple_bar__plus_00_dot_45_bar__plus_01_dot_06_bar__minus_01_dot_35 Microwave_bar__plus_00_dot_28_bar__plus_00_dot_90_bar__minus_01_dot_33)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_17_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar_0_bar__minus_2_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_24_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar_2_bar__minus_2_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_48_bar__plus_00_dot_39_bar__minus_00_dot_90 loc_bar__minus_1_bar_0_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_12_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar_2_bar__minus_2_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_13_bar__plus_00_dot_47_bar__minus_00_dot_90 loc_bar_2_bar_0_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_77_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar__minus_3_bar__minus_2_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_00_dot_91 loc_bar__minus_2_bar_0_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_84_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar__minus_4_bar__minus_2_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_77_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar__minus_6_bar__minus_2_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_80_bar__plus_00_dot_47_bar__minus_00_dot_91 loc_bar__minus_8_bar_0_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_84_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar__minus_8_bar__minus_2_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_85_bar__plus_00_dot_39_bar__minus_00_dot_90 loc_bar__minus_8_bar__minus_1_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_39_bar__plus_00_dot_39_bar__plus_00_dot_38 loc_bar__minus_6_bar_1_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_63_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar__minus_8_bar__minus_1_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_01_bar__plus_00_dot_36 loc_bar__minus_8_bar_0_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_01_bar__minus_00_dot_95 loc_bar__minus_6_bar__minus_2_bar_3_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_08_bar__minus_00_dot_23 loc_bar__minus_8_bar__minus_2_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_08_bar__minus_00_dot_88 loc_bar__minus_8_bar__minus_2_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_20_bar__plus_00_dot_43 loc_bar__minus_6_bar_1_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_20_bar__plus_01_dot_67 loc_bar__minus_6_bar_7_bar_3_bar__minus_30)\n (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_14_bar__plus_01_dot_10_bar__plus_00_dot_30 loc_bar_2_bar_0_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79 loc_bar__minus_2_bar_6_bar_1_bar_15)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_70_bar__plus_00_dot_95_bar__plus_00_dot_11 loc_bar__minus_8_bar_0_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_26_bar__plus_00_dot_78_bar__minus_01_dot_08 loc_bar_2_bar_0_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_03_bar__plus_00_dot_78_bar__minus_01_dot_08 loc_bar__minus_8_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_02_dot_57_bar__plus_00_dot_78_bar__plus_00_dot_10 loc_bar__minus_6_bar__minus_1_bar_3_bar_45)\n (receptacleAtLocation Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85 loc_bar__minus_7_bar_3_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_02_dot_76_bar__plus_00_dot_00_bar__plus_01_dot_47 loc_bar__minus_8_bar_6_bar_3_bar_60)\n (receptacleAtLocation Microwave_bar__plus_00_dot_28_bar__plus_00_dot_90_bar__minus_01_dot_33 loc_bar_1_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Sink_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_01_dot_23_bar_SinkBasin loc_bar__minus_5_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_62_bar__plus_00_dot_89_bar__minus_00_dot_40 loc_bar__minus_8_bar__minus_2_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_62_bar__plus_00_dot_89_bar__minus_00_dot_71 loc_bar__minus_8_bar__minus_2_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_82_bar__plus_00_dot_89_bar__minus_00_dot_40 loc_bar__minus_8_bar__minus_2_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_82_bar__plus_00_dot_89_bar__minus_00_dot_71 loc_bar__minus_8_bar__minus_2_bar_3_bar_45)\n (receptacleAtLocation Toaster_bar__minus_02_dot_82_bar__plus_00_dot_90_bar__plus_00_dot_25 loc_bar__minus_8_bar_1_bar_3_bar_45)\n (objectAtLocation Bowl_bar__plus_00_dot_76_bar__plus_00_dot_12_bar__minus_01_dot_05 loc_bar_2_bar_0_bar_2_bar_60)\n (objectAtLocation Cup_bar__minus_02_dot_74_bar__plus_01_dot_66_bar__minus_01_dot_09 loc_bar__minus_6_bar__minus_2_bar_3_bar__minus_15)\n (objectAtLocation Spoon_bar__minus_02_dot_52_bar__plus_00_dot_91_bar__minus_00_dot_06 loc_bar__minus_8_bar_0_bar_3_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_12 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Pot_bar__minus_02_dot_62_bar__plus_00_dot_93_bar__minus_00_dot_40 loc_bar__minus_8_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Tomato_bar__minus_02_dot_68_bar__plus_01_dot_52_bar__plus_01_dot_01 loc_bar__minus_7_bar_3_bar_3_bar_60)\n (objectAtLocation SaltShaker_bar__minus_02_dot_24_bar__plus_00_dot_91_bar__minus_01_dot_12 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__minus_02_dot_74_bar__plus_01_dot_75_bar__plus_00_dot_93 loc_bar__minus_7_bar_3_bar_3_bar_60)\n (objectAtLocation Spatula_bar__minus_01_dot_59_bar__plus_00_dot_87_bar__minus_01_dot_14 loc_bar__minus_5_bar__minus_2_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__plus_00_dot_41_bar__plus_01_dot_11_bar__plus_01_dot_00 loc_bar__minus_2_bar_6_bar_1_bar_15)\n (objectAtLocation Plate_bar__minus_02_dot_74_bar__plus_00_dot_82_bar__plus_00_dot_69 loc_bar__minus_7_bar_3_bar_3_bar_60)\n (objectAtLocation Bread_bar__minus_02_dot_74_bar__plus_00_dot_43_bar__plus_00_dot_85 loc_bar__minus_7_bar_3_bar_3_bar_60)\n (objectAtLocation Kettle_bar__minus_02_dot_62_bar__plus_00_dot_92_bar__minus_00_dot_72 loc_bar__minus_8_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Fork_bar__plus_00_dot_77_bar__plus_00_dot_91_bar__minus_01_dot_28 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Apple_bar__plus_00_dot_45_bar__plus_01_dot_06_bar__minus_01_dot_35 loc_bar_1_bar__minus_2_bar_2_bar_45)\n (objectAtLocation SaltShaker_bar__plus_00_dot_08_bar__plus_00_dot_11_bar__minus_01_dot_09 loc_bar__minus_1_bar_0_bar_2_bar_60)\n (objectAtLocation Plate_bar__plus_00_dot_92_bar__plus_00_dot_91_bar__minus_01_dot_20 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Cup_bar__minus_01_dot_42_bar__plus_00_dot_85_bar__minus_01_dot_36 loc_bar__minus_5_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Spatula_bar__minus_02_dot_67_bar__plus_00_dot_76_bar__plus_00_dot_04 loc_bar__minus_6_bar__minus_1_bar_3_bar_45)\n (objectAtLocation Spoon_bar__minus_01_dot_99_bar__plus_00_dot_75_bar__minus_01_dot_01 loc_bar__minus_8_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Kettle_bar__minus_01_dot_51_bar__plus_00_dot_12_bar__minus_01_dot_03 loc_bar__minus_8_bar_0_bar_2_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_12 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Sink_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_01_dot_23 loc_bar__minus_5_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Chair_bar__plus_01_dot_07_bar__plus_00_dot_01_bar__plus_01_dot_56 loc_bar_4_bar_8_bar_2_bar_60)\n (objectAtLocation Chair_bar__plus_01_dot_56_bar__plus_00_dot_01_bar__plus_01_dot_36 loc_bar_6_bar_7_bar_2_bar_60)\n (objectAtLocation Pan_bar__minus_02_dot_59_bar__plus_00_dot_90_bar__minus_01_dot_15 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Apple_bar__minus_01_dot_51_bar__plus_00_dot_90_bar__minus_01_dot_08 loc_bar__minus_5_bar__minus_2_bar_2_bar_45)\n (objectAtLocation LightSwitch_bar__minus_01_dot_17_bar__plus_01_dot_31_bar__plus_03_dot_00 loc_bar__minus_5_bar_10_bar_0_bar_30)\n (objectAtLocation StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_62 loc_bar__minus_8_bar__minus_2_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_48 loc_bar__minus_8_bar__minus_2_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_78 loc_bar__minus_8_bar__minus_2_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_32 loc_bar__minus_8_bar__minus_1_bar_3_bar_60)\n (objectAtLocation Fork_bar__minus_00_dot_03_bar__plus_01_dot_11_bar__plus_01_dot_83 loc_bar__minus_2_bar_6_bar_1_bar_15)\n (objectAtLocation Kettle_bar__minus_02_dot_59_bar__plus_00_dot_12_bar__plus_00_dot_10 loc_bar__minus_6_bar_1_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__plus_01_dot_00_bar__plus_00_dot_90_bar__minus_00_dot_98 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Bread_bar__minus_02_dot_80_bar__plus_01_dot_53_bar__plus_00_dot_69 loc_bar__minus_7_bar_3_bar_3_bar_60)\n (objectAtLocation Plate_bar__plus_00_dot_98_bar__plus_00_dot_12_bar__minus_01_dot_01 loc_bar_2_bar_0_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__minus_02_dot_82_bar__plus_00_dot_04_bar__plus_01_dot_43 loc_bar__minus_8_bar_6_bar_3_bar_60)\n (objectAtLocation Window_bar__plus_00_dot_32_bar__plus_01_dot_45_bar__plus_03_dot_09 loc_bar_1_bar_10_bar_0_bar_15)\n (objectAtLocation Spatula_bar__plus_01_dot_00_bar__plus_00_dot_93_bar__minus_00_dot_95 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__minus_02_dot_86_bar__plus_00_dot_90_bar__plus_00_dot_93 loc_bar__minus_7_bar_3_bar_3_bar_60)\n (objectAtLocation SaltShaker_bar__plus_00_dot_00_bar__plus_01_dot_66_bar__minus_01_dot_47 loc_bar_0_bar__minus_2_bar_2_bar__minus_30)\n (objectAtLocation Tomato_bar__minus_00_dot_34_bar__plus_00_dot_96_bar__minus_01_dot_03 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__minus_02_dot_83_bar__plus_00_dot_90_bar__minus_00_dot_11 loc_bar__minus_8_bar_0_bar_3_bar_45)\n (objectAtLocation ButterKnife_bar__minus_02_dot_22_bar__plus_00_dot_90_bar__minus_01_dot_00 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Pot_bar__plus_00_dot_66_bar__plus_01_dot_11_bar__plus_00_dot_90 loc_bar__minus_2_bar_6_bar_1_bar_15)\n (objectAtLocation Potato_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_12 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation DishSponge_bar__minus_01_dot_22_bar__plus_00_dot_84_bar__minus_01_dot_13 loc_bar__minus_5_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Egg_bar__plus_00_dot_14_bar__plus_01_dot_14_bar__plus_01_dot_27 loc_bar__minus_2_bar_6_bar_1_bar_15)\n (objectAtLocation Spoon_bar__minus_00_dot_04_bar__plus_01_dot_10_bar__plus_01_dot_61 loc_bar__minus_2_bar_6_bar_1_bar_15)\n (objectAtLocation Knife_bar__plus_00_dot_06_bar__plus_01_dot_11_bar__plus_01_dot_59 loc_bar__minus_2_bar_6_bar_1_bar_15)\n (objectAtLocation Cup_bar__plus_00_dot_07_bar__plus_01_dot_11_bar__plus_01_dot_35 loc_bar__minus_2_bar_6_bar_1_bar_15)\n (objectAtLocation Mug_bar__plus_00_dot_37_bar__plus_01_dot_65_bar__minus_01_dot_35 loc_bar_2_bar__minus_2_bar_2_bar__minus_30)\n (objectAtLocation Bowl_bar__minus_02_dot_80_bar__plus_01_dot_67_bar__plus_00_dot_69 loc_bar__minus_7_bar_3_bar_3_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 CupType)\n (receptacleType ?r MicrowaveType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 CupType)\n (receptacleType ?r MicrowaveType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take cup 1 from countertop 1", "go to microwave 1", "open microwave 1", "move cup 1 to microwave 1", "go to sinkbasin 1", "take cup 3 from sinkbasin 1", "go to microwave 1", "move cup 3 to microwave 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Cup-None-Microwave-22/trial_T20190907_205322_779427/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Cup-None-Microwave-22/trial_T20190907_205322_779427/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..f1b7386cdaf8da20a4ef3086c19696575704b628 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Cup-None-Microwave-22/trial_T20190907_205322_779427/initial_state.pddl @@ -0,0 +1,1127 @@ + +(define (problem plan_trial_T20190907_205322_779427) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__plus_00_dot_45_bar__plus_01_dot_06_bar__minus_01_dot_35 - object + Apple_bar__minus_01_dot_51_bar__plus_00_dot_90_bar__minus_01_dot_08 - object + Bowl_bar__plus_00_dot_76_bar__plus_00_dot_12_bar__minus_01_dot_05 - object + Bowl_bar__minus_02_dot_80_bar__plus_01_dot_67_bar__plus_00_dot_69 - object + Bread_bar__minus_02_dot_74_bar__plus_00_dot_43_bar__plus_00_dot_85 - object + Bread_bar__minus_02_dot_80_bar__plus_01_dot_53_bar__plus_00_dot_69 - object + ButterKnife_bar__minus_02_dot_22_bar__plus_00_dot_90_bar__minus_01_dot_00 - object + Chair_bar__plus_01_dot_07_bar__plus_00_dot_01_bar__plus_01_dot_56 - object + Chair_bar__plus_01_dot_56_bar__plus_00_dot_01_bar__plus_01_dot_36 - object + CreditCard_bar__plus_01_dot_00_bar__plus_00_dot_90_bar__minus_00_dot_98 - object + Cup_bar__plus_00_dot_07_bar__plus_01_dot_11_bar__plus_01_dot_35 - object + Cup_bar__minus_01_dot_42_bar__plus_00_dot_85_bar__minus_01_dot_36 - object + Cup_bar__minus_02_dot_74_bar__plus_01_dot_66_bar__minus_01_dot_09 - object + DishSponge_bar__minus_01_dot_22_bar__plus_00_dot_84_bar__minus_01_dot_13 - object + Egg_bar__plus_00_dot_14_bar__plus_01_dot_14_bar__plus_01_dot_27 - object + Faucet_bar__minus_01_dot_39_bar__plus_01_dot_14_bar__minus_01_dot_40 - object + Fork_bar__plus_00_dot_77_bar__plus_00_dot_91_bar__minus_01_dot_28 - object + Fork_bar__minus_00_dot_03_bar__plus_01_dot_11_bar__plus_01_dot_83 - object + Kettle_bar__minus_01_dot_51_bar__plus_00_dot_12_bar__minus_01_dot_03 - object + Kettle_bar__minus_02_dot_59_bar__plus_00_dot_12_bar__plus_00_dot_10 - object + Kettle_bar__minus_02_dot_62_bar__plus_00_dot_92_bar__minus_00_dot_72 - object + Knife_bar__plus_00_dot_06_bar__plus_01_dot_11_bar__plus_01_dot_59 - object + Lettuce_bar__minus_02_dot_74_bar__plus_01_dot_75_bar__plus_00_dot_93 - object + Lettuce_bar__minus_02_dot_86_bar__plus_00_dot_90_bar__plus_00_dot_93 - object + LightSwitch_bar__minus_01_dot_17_bar__plus_01_dot_31_bar__plus_03_dot_00 - object + Mug_bar__plus_00_dot_37_bar__plus_01_dot_65_bar__minus_01_dot_35 - object + Pan_bar__minus_02_dot_59_bar__plus_00_dot_90_bar__minus_01_dot_15 - object + PepperShaker_bar__minus_02_dot_83_bar__plus_00_dot_90_bar__minus_00_dot_11 - object + Plate_bar__plus_00_dot_92_bar__plus_00_dot_91_bar__minus_01_dot_20 - object + Plate_bar__plus_00_dot_98_bar__plus_00_dot_12_bar__minus_01_dot_01 - object + Plate_bar__minus_02_dot_74_bar__plus_00_dot_82_bar__plus_00_dot_69 - object + Potato_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_12 - object + Pot_bar__plus_00_dot_66_bar__plus_01_dot_11_bar__plus_00_dot_90 - object + Pot_bar__minus_02_dot_62_bar__plus_00_dot_93_bar__minus_00_dot_40 - object + SaltShaker_bar__plus_00_dot_00_bar__plus_01_dot_66_bar__minus_01_dot_47 - object + SaltShaker_bar__plus_00_dot_08_bar__plus_00_dot_11_bar__minus_01_dot_09 - object + SaltShaker_bar__minus_02_dot_24_bar__plus_00_dot_91_bar__minus_01_dot_12 - object + Sink_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_01_dot_23 - object + SoapBottle_bar__plus_00_dot_41_bar__plus_01_dot_11_bar__plus_01_dot_00 - object + SoapBottle_bar__minus_02_dot_82_bar__plus_00_dot_04_bar__plus_01_dot_43 - object + Spatula_bar__plus_01_dot_00_bar__plus_00_dot_93_bar__minus_00_dot_95 - object + Spatula_bar__minus_01_dot_59_bar__plus_00_dot_87_bar__minus_01_dot_14 - object + Spatula_bar__minus_02_dot_67_bar__plus_00_dot_76_bar__plus_00_dot_04 - object + Spoon_bar__minus_00_dot_04_bar__plus_01_dot_10_bar__plus_01_dot_61 - object + Spoon_bar__minus_01_dot_99_bar__plus_00_dot_75_bar__minus_01_dot_01 - object + Spoon_bar__minus_02_dot_52_bar__plus_00_dot_91_bar__minus_00_dot_06 - object + StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_32 - object + StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_48 - object + StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_62 - object + StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_78 - object + Tomato_bar__minus_00_dot_34_bar__plus_00_dot_96_bar__minus_01_dot_03 - object + Tomato_bar__minus_02_dot_68_bar__plus_01_dot_52_bar__plus_01_dot_01 - object + Window_bar__plus_00_dot_32_bar__plus_01_dot_45_bar__plus_03_dot_09 - object + Cabinet_bar__plus_00_dot_17_bar__plus_02_dot_01_bar__minus_01_dot_20 - receptacle + Cabinet_bar__plus_00_dot_24_bar__plus_02_dot_01_bar__minus_01_dot_20 - receptacle + Cabinet_bar__plus_00_dot_48_bar__plus_00_dot_39_bar__minus_00_dot_90 - receptacle + Cabinet_bar__plus_01_dot_12_bar__plus_02_dot_01_bar__minus_01_dot_20 - receptacle + Cabinet_bar__plus_01_dot_13_bar__plus_00_dot_47_bar__minus_00_dot_90 - receptacle + Cabinet_bar__minus_00_dot_77_bar__plus_02_dot_01_bar__minus_01_dot_20 - receptacle + Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_00_dot_91 - receptacle + Cabinet_bar__minus_00_dot_84_bar__plus_02_dot_01_bar__minus_01_dot_20 - receptacle + Cabinet_bar__minus_01_dot_77_bar__plus_02_dot_01_bar__minus_01_dot_20 - receptacle + Cabinet_bar__minus_01_dot_80_bar__plus_00_dot_47_bar__minus_00_dot_91 - receptacle + Cabinet_bar__minus_01_dot_84_bar__plus_02_dot_01_bar__minus_01_dot_20 - receptacle + Cabinet_bar__minus_01_dot_85_bar__plus_00_dot_39_bar__minus_00_dot_90 - receptacle + Cabinet_bar__minus_02_dot_39_bar__plus_00_dot_39_bar__plus_00_dot_38 - receptacle + Cabinet_bar__minus_02_dot_63_bar__plus_02_dot_01_bar__minus_01_dot_20 - receptacle + Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_01_bar__plus_00_dot_36 - receptacle + Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_01_bar__minus_00_dot_95 - receptacle + Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_08_bar__minus_00_dot_23 - receptacle + Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_08_bar__minus_00_dot_88 - receptacle + Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_20_bar__plus_00_dot_43 - receptacle + Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_20_bar__plus_01_dot_67 - receptacle + CoffeeMachine_bar__plus_01_dot_14_bar__plus_01_dot_10_bar__plus_00_dot_30 - receptacle + CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20 - receptacle + CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79 - receptacle + CounterTop_bar__minus_02_dot_70_bar__plus_00_dot_95_bar__plus_00_dot_11 - receptacle + Drawer_bar__plus_00_dot_26_bar__plus_00_dot_78_bar__minus_01_dot_08 - receptacle + Drawer_bar__minus_02_dot_03_bar__plus_00_dot_78_bar__minus_01_dot_08 - receptacle + Drawer_bar__minus_02_dot_57_bar__plus_00_dot_78_bar__plus_00_dot_10 - receptacle + Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85 - receptacle + GarbageCan_bar__minus_02_dot_76_bar__plus_00_dot_00_bar__plus_01_dot_47 - receptacle + Microwave_bar__plus_00_dot_28_bar__plus_00_dot_90_bar__minus_01_dot_33 - receptacle + Sink_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_01_dot_23_bar_SinkBasin - receptacle + StoveBurner_bar__minus_02_dot_62_bar__plus_00_dot_89_bar__minus_00_dot_40 - receptacle + StoveBurner_bar__minus_02_dot_62_bar__plus_00_dot_89_bar__minus_00_dot_71 - receptacle + StoveBurner_bar__minus_02_dot_82_bar__plus_00_dot_89_bar__minus_00_dot_40 - receptacle + StoveBurner_bar__minus_02_dot_82_bar__plus_00_dot_89_bar__minus_00_dot_71 - receptacle + Toaster_bar__minus_02_dot_82_bar__plus_00_dot_90_bar__plus_00_dot_25 - receptacle + loc_bar_2_bar_0_bar_2_bar_45 - location + loc_bar_6_bar_7_bar_2_bar_60 - location + loc_bar__minus_6_bar__minus_1_bar_3_bar_45 - location + loc_bar__minus_5_bar_10_bar_0_bar_30 - location + loc_bar__minus_8_bar__minus_1_bar_2_bar_60 - location + loc_bar__minus_6_bar__minus_2_bar_2_bar__minus_30 - location + loc_bar__minus_8_bar_0_bar_2_bar_45 - location + loc_bar__minus_8_bar__minus_2_bar_2_bar_60 - location + loc_bar__minus_8_bar_0_bar_3_bar_45 - location + loc_bar_2_bar__minus_2_bar_2_bar__minus_30 - location + loc_bar__minus_8_bar__minus_2_bar_3_bar__minus_30 - location + loc_bar__minus_4_bar__minus_2_bar_2_bar__minus_30 - location + loc_bar__minus_8_bar__minus_2_bar_2_bar__minus_30 - location + loc_bar__minus_8_bar_0_bar_3_bar__minus_30 - location + loc_bar_0_bar__minus_2_bar_2_bar__minus_30 - location + loc_bar__minus_8_bar_1_bar_3_bar_45 - location + loc_bar__minus_5_bar__minus_2_bar_2_bar_45 - location + loc_bar_4_bar_8_bar_2_bar_60 - location + loc_bar__minus_2_bar_0_bar_2_bar_45 - location + loc_bar__minus_8_bar__minus_1_bar_2_bar__minus_15 - location + loc_bar__minus_7_bar_3_bar_3_bar_60 - location + loc_bar_2_bar_0_bar_2_bar_60 - location + loc_bar__minus_8_bar__minus_2_bar_3_bar_60 - location + loc_bar__minus_8_bar__minus_1_bar_3_bar_60 - location + loc_bar__minus_6_bar_7_bar_3_bar__minus_30 - location + loc_bar__minus_6_bar__minus_2_bar_3_bar__minus_15 - location + loc_bar__minus_3_bar__minus_2_bar_2_bar__minus_30 - location + loc_bar__minus_6_bar_1_bar_3_bar_60 - location + loc_bar__minus_6_bar_1_bar_3_bar__minus_30 - location + loc_bar_1_bar__minus_2_bar_2_bar_45 - location + loc_bar__minus_8_bar_6_bar_3_bar_60 - location + loc_bar_2_bar_0_bar_1_bar_45 - location + loc_bar__minus_1_bar_0_bar_2_bar_60 - location + loc_bar__minus_8_bar__minus_2_bar_3_bar_45 - location + loc_bar_1_bar_10_bar_0_bar_15 - location + loc_bar_2_bar__minus_2_bar_2_bar_45 - location + loc_bar__minus_2_bar_6_bar_1_bar_15 - location + loc_bar__minus_8_bar_8_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__minus_00_dot_77_bar__plus_02_dot_01_bar__minus_01_dot_20 CabinetType) + (receptacleType StoveBurner_bar__minus_02_dot_82_bar__plus_00_dot_89_bar__minus_00_dot_40 StoveBurnerType) + (receptacleType CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79 CounterTopType) + (receptacleType Cabinet_bar__minus_01_dot_80_bar__plus_00_dot_47_bar__minus_00_dot_91 CabinetType) + (receptacleType Toaster_bar__minus_02_dot_82_bar__plus_00_dot_90_bar__plus_00_dot_25 ToasterType) + (receptacleType CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20 CounterTopType) + (receptacleType Microwave_bar__plus_00_dot_28_bar__plus_00_dot_90_bar__minus_01_dot_33 MicrowaveType) + (receptacleType 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Cabinet_bar__plus_00_dot_17_bar__plus_02_dot_01_bar__minus_01_dot_20) + (inReceptacle Kettle_bar__minus_02_dot_62_bar__plus_00_dot_92_bar__minus_00_dot_72 StoveBurner_bar__minus_02_dot_62_bar__plus_00_dot_89_bar__minus_00_dot_71) + (inReceptacle Spoon_bar__minus_02_dot_52_bar__plus_00_dot_91_bar__minus_00_dot_06 CounterTop_bar__minus_02_dot_70_bar__plus_00_dot_95_bar__plus_00_dot_11) + (inReceptacle PepperShaker_bar__minus_02_dot_83_bar__plus_00_dot_90_bar__minus_00_dot_11 CounterTop_bar__minus_02_dot_70_bar__plus_00_dot_95_bar__plus_00_dot_11) + (inReceptacle Spoon_bar__minus_00_dot_04_bar__plus_01_dot_10_bar__plus_01_dot_61 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79) + (inReceptacle Knife_bar__plus_00_dot_06_bar__plus_01_dot_11_bar__plus_01_dot_59 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79) + (inReceptacle Cup_bar__plus_00_dot_07_bar__plus_01_dot_11_bar__plus_01_dot_35 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79) + (inReceptacle Egg_bar__plus_00_dot_14_bar__plus_01_dot_14_bar__plus_01_dot_27 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79) + (inReceptacle Pot_bar__plus_00_dot_66_bar__plus_01_dot_11_bar__plus_00_dot_90 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79) + (inReceptacle Fork_bar__minus_00_dot_03_bar__plus_01_dot_11_bar__plus_01_dot_83 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79) + (inReceptacle SoapBottle_bar__plus_00_dot_41_bar__plus_01_dot_11_bar__plus_01_dot_00 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79) + (inReceptacle Pot_bar__minus_02_dot_62_bar__plus_00_dot_93_bar__minus_00_dot_40 StoveBurner_bar__minus_02_dot_62_bar__plus_00_dot_89_bar__minus_00_dot_40) + (inReceptacle Spatula_bar__minus_02_dot_67_bar__plus_00_dot_76_bar__plus_00_dot_04 Drawer_bar__minus_02_dot_57_bar__plus_00_dot_78_bar__plus_00_dot_10) 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Potato_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_12 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20) + (inReceptacle ButterKnife_bar__minus_02_dot_22_bar__plus_00_dot_90_bar__minus_01_dot_00 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20) + (inReceptacle Spatula_bar__plus_01_dot_00_bar__plus_00_dot_93_bar__minus_00_dot_95 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20) + (inReceptacle CreditCard_bar__plus_01_dot_00_bar__plus_00_dot_90_bar__minus_00_dot_98 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20) + (inReceptacle DishSponge_bar__minus_01_dot_22_bar__plus_00_dot_84_bar__minus_01_dot_13 Sink_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_01_dot_23_bar_SinkBasin) + (inReceptacle Spatula_bar__minus_01_dot_59_bar__plus_00_dot_87_bar__minus_01_dot_14 Sink_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_01_dot_23_bar_SinkBasin) + (inReceptacle Cup_bar__minus_01_dot_42_bar__plus_00_dot_85_bar__minus_01_dot_36 Sink_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_01_dot_23_bar_SinkBasin) + (inReceptacle Apple_bar__minus_01_dot_51_bar__plus_00_dot_90_bar__minus_01_dot_08 Sink_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_01_dot_23_bar_SinkBasin) + (inReceptacle SoapBottle_bar__minus_02_dot_82_bar__plus_00_dot_04_bar__plus_01_dot_43 GarbageCan_bar__minus_02_dot_76_bar__plus_00_dot_00_bar__plus_01_dot_47) + (inReceptacle Tomato_bar__minus_02_dot_68_bar__plus_01_dot_52_bar__plus_01_dot_01 Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85) + (inReceptacle Bread_bar__minus_02_dot_80_bar__plus_01_dot_53_bar__plus_00_dot_69 Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85) + (inReceptacle Plate_bar__minus_02_dot_74_bar__plus_00_dot_82_bar__plus_00_dot_69 Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85) + (inReceptacle Lettuce_bar__minus_02_dot_74_bar__plus_01_dot_75_bar__plus_00_dot_93 Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85) + (inReceptacle Bowl_bar__minus_02_dot_80_bar__plus_01_dot_67_bar__plus_00_dot_69 Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85) + (inReceptacle Lettuce_bar__minus_02_dot_86_bar__plus_00_dot_90_bar__plus_00_dot_93 Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85) + (inReceptacle Bread_bar__minus_02_dot_74_bar__plus_00_dot_43_bar__plus_00_dot_85 Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85) + (inReceptacle Apple_bar__plus_00_dot_45_bar__plus_01_dot_06_bar__minus_01_dot_35 Microwave_bar__plus_00_dot_28_bar__plus_00_dot_90_bar__minus_01_dot_33) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_17_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar_0_bar__minus_2_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_00_dot_24_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar_2_bar__minus_2_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_00_dot_48_bar__plus_00_dot_39_bar__minus_00_dot_90 loc_bar__minus_1_bar_0_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_12_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar_2_bar__minus_2_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_13_bar__plus_00_dot_47_bar__minus_00_dot_90 loc_bar_2_bar_0_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_77_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar__minus_3_bar__minus_2_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_00_dot_91 loc_bar__minus_2_bar_0_bar_2_bar_45) + (receptacleAtLocation Cabinet_bar__minus_00_dot_84_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar__minus_4_bar__minus_2_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_77_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar__minus_6_bar__minus_2_bar_2_bar__minus_30) 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CounterTop_bar__minus_02_dot_70_bar__plus_00_dot_95_bar__plus_00_dot_11 loc_bar__minus_8_bar_0_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_26_bar__plus_00_dot_78_bar__minus_01_dot_08 loc_bar_2_bar_0_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_03_bar__plus_00_dot_78_bar__minus_01_dot_08 loc_bar__minus_8_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_57_bar__plus_00_dot_78_bar__plus_00_dot_10 loc_bar__minus_6_bar__minus_1_bar_3_bar_45) + (receptacleAtLocation Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85 loc_bar__minus_7_bar_3_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_02_dot_76_bar__plus_00_dot_00_bar__plus_01_dot_47 loc_bar__minus_8_bar_6_bar_3_bar_60) + (receptacleAtLocation Microwave_bar__plus_00_dot_28_bar__plus_00_dot_90_bar__minus_01_dot_33 loc_bar_1_bar__minus_2_bar_2_bar_45) + (receptacleAtLocation 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+ }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": -1.40334183e-14 + } + }, + { + "objectName": "Lettuce_e2bf19ed", + "position": { + "x": -2.7403214, + "y": 1.7524637, + "z": 0.9327627 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_4f98d325", + "position": { + "x": -2.2369647, + "y": 0.9076061, + "z": -1.11555123 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_9ffe4e75", + "position": { + "x": -2.68010259, + "y": 1.523436, + "z": 1.01352549 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_f59054f9", + "position": { + "x": -2.830618, + "y": 0.9, + "z": -0.112962961 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_dc49bd4c", + "position": { + "x": -2.22248077, + "y": 0.9, + "z": -0.997339845 + }, + "rotation": { + "x": 0.0, + "y": 323.977722, + "z": 0.0 + } + }, + { + "objectName": "Pot_86f597c8", + "position": { + "x": -2.6225, + "y": 0.9287, + "z": -0.3964 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Potato_5ea35e17", + "position": { + "x": -0.598039, + "y": 0.9335, + "z": -1.119659 + }, + "rotation": { + "x": 0.0, + "y": 47.53002, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_9171dd8d", + "position": { + "x": -1.221, + "y": 0.8416841, + "z": -1.1264 + }, + "rotation": { + "x": 0.0, + "y": 41.1644974, + "z": 0.0 + } + }, + { + "objectName": "Egg_e02c5e35", + "position": { + "x": 0.136268735, + "y": 1.13652563, + "z": 1.274665 + }, + "rotation": { + "x": 359.9644, + "y": 2.94516053e-06, + "z": 359.9811 + } + }, + { + "objectName": "Spoon_4b9198b3", + "position": { + "x": -2.52118, + "y": 0.9124294, + "z": -0.0629096553 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_1fa5d324", + "position": { + "x": 0.0610825941, + "y": 1.10844207, + "z": 1.58763945 + }, + "rotation": { + "x": 271.130371, + "y": 345.840179, + "z": 223.989517 + } + }, + { + "objectName": "Cup_46773746", + "position": { + "x": -2.73682213, + "y": 1.66395164, + "z": -1.08791053 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_f88244ed", + "position": { + "x": 0.372600049, + "y": 1.65404737, + "z": -1.35359979 + }, + "rotation": { + "x": 359.6101, + "y": -6.57708442e-05, + "z": 0.007356313 + } + }, + { + "objectName": "Bowl_b7a8ccec", + "position": { + "x": 0.7560926, + "y": 0.116327584, + "z": -1.05217338 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 1405563531, + "scene_num": 22 + }, + "task_id": "trial_T20190907_205322_779427", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A2871R3LEPWMMK_31Q0U3WYDSW383DE5NVWCBQMR9P177", + "high_descs": [ + "Turn around and cross the room to reach the sink.", + "Pick up the gold cup from the back of the sink.", + "Turn left and head to the red microwave on your right.", + "Place the gold cup inside the microwave on the blue plate and close the door.", + "Turn around and walk to the counter top ahead.", + "Pick up the gold cup from the counter top next to the potato.", + "Turn around and head back towards the red microwave.", + "Place the gold cup inside the microwave in the middle of the blue plate and close the door." + ], + "task_desc": "Place two cups in a microwave.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AKW57KYG90X61_33C7UALJVOF78HIXFSN2QBMH2TZ18Y", + "high_descs": [ + "turn around and move towards the sink", + "pick up the cup from the sink", + "turn left and head towards the microwave", + "place the cup inside the microwave", + "turn around and locate a table", + "pick up a cup from the table", + "turn around and move to the microwave", + "drop the cup inside the microwave" + ], + "task_desc": "drop two cups inside the microwave oven", + "votes": [ + 0, + 1, + 1 + ] + }, + { + "assignment_id": "A4CHLWPHZIP7Y_39K0FND3AKWINUX15CQE6UGFQRRAME", + "high_descs": [ + "Turn around and go to the sink.", + "Take the brown glass from the sink.", + "Turn left, go to the microwave, and turn right.", + "Open the microwave, put the brown glass in the microwave, and close the microwave.", + "Turn around and go to the curved counter.", + "Take the brown glass from the curved counter.", + "Turn around, turn left, turn right, and go to the microwave.", + "Open the microwave, put the brown glass in the microwave, and close the microwave." + ], + "task_desc": "Place two brown glasses in the microwave.", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Cup-None-Microwave-22/trial_T20190907_205445_957867/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Cup-None-Microwave-22/trial_T20190907_205445_957867/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..bab3eed4b6bcf1f250df5717bfea1f56cc67c995 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Cup-None-Microwave-22/trial_T20190907_205445_957867/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 cup in microwave.\"\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_205445_957867)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__plus_00_dot_28_bar__plus_01_dot_15_bar__plus_01_dot_58 - object\n Bowl_bar__minus_02_dot_68_bar__plus_01_dot_67_bar__plus_00_dot_77 - object\n Bowl_bar__minus_02_dot_86_bar__plus_00_dot_38_bar__plus_00_dot_93 - object\n Bread_bar__minus_00_dot_40_bar__plus_00_dot_95_bar__minus_01_dot_29 - object\n Bread_bar__minus_02_dot_80_bar__plus_01_dot_53_bar__plus_00_dot_69 - object\n ButterKnife_bar__plus_00_dot_13_bar__plus_01_dot_11_bar__plus_01_dot_74 - object\n ButterKnife_bar__minus_00_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_03 - object\n ButterKnife_bar__minus_02_dot_84_bar__plus_00_dot_91_bar__minus_01_dot_03 - object\n Chair_bar__plus_01_dot_07_bar__plus_00_dot_01_bar__plus_01_dot_56 - object\n Chair_bar__plus_01_dot_56_bar__plus_00_dot_01_bar__plus_01_dot_36 - object\n CreditCard_bar__plus_00_dot_07_bar__plus_01_dot_11_bar__plus_01_dot_35 - object\n CreditCard_bar__plus_00_dot_77_bar__plus_00_dot_91_bar__minus_01_dot_37 - object\n CreditCard_bar__minus_02_dot_54_bar__plus_00_dot_74_bar__plus_00_dot_23 - object\n Cup_bar__minus_01_dot_51_bar__plus_00_dot_85_bar__minus_01_dot_36 - object\n Cup_bar__minus_01_dot_59_bar__plus_00_dot_85_bar__minus_01_dot_19 - object\n Cup_bar__minus_02_dot_68_bar__plus_01_dot_67_bar__plus_01_dot_09 - object\n Cup_bar__minus_02_dot_92_bar__plus_00_dot_82_bar__plus_00_dot_77 - object\n DishSponge_bar__minus_01_dot_22_bar__plus_00_dot_84_bar__minus_01_dot_13 - object\n Egg_bar__plus_00_dot_14_bar__plus_01_dot_14_bar__plus_01_dot_27 - object\n Faucet_bar__minus_01_dot_39_bar__plus_01_dot_14_bar__minus_01_dot_40 - object\n Fork_bar__plus_00_dot_25_bar__plus_00_dot_75_bar__minus_01_dot_05 - object\n Fork_bar__minus_02_dot_03_bar__plus_00_dot_75_bar__minus_00_dot_97 - object\n Kettle_bar__minus_02_dot_62_bar__plus_00_dot_92_bar__minus_00_dot_72 - object\n Knife_bar__minus_02_dot_44_bar__plus_00_dot_93_bar__minus_00_dot_06 - object\n Knife_bar__minus_02_dot_54_bar__plus_00_dot_77_bar__plus_00_dot_10 - object\n Knife_bar__minus_02_dot_63_bar__plus_00_dot_77_bar__plus_00_dot_23 - object\n Lettuce_bar__plus_00_dot_47_bar__plus_01_dot_19_bar__plus_01_dot_40 - object\n Lettuce_bar__minus_02_dot_66_bar__plus_00_dot_87_bar__plus_00_dot_98 - object\n LightSwitch_bar__minus_01_dot_17_bar__plus_01_dot_31_bar__plus_03_dot_00 - object\n Mug_bar__plus_00_dot_37_bar__plus_01_dot_65_bar__minus_01_dot_35 - object\n Pan_bar__minus_02_dot_59_bar__plus_00_dot_90_bar__minus_01_dot_15 - object\n PepperShaker_bar__plus_00_dot_76_bar__plus_00_dot_11_bar__minus_01_dot_01 - object\n PepperShaker_bar__minus_02_dot_58_bar__plus_01_dot_66_bar__minus_01_dot_47 - object\n PepperShaker_bar__minus_02_dot_69_bar__plus_00_dot_91_bar__minus_00_dot_15 - object\n Plate_bar__plus_00_dot_92_bar__plus_00_dot_91_bar__minus_01_dot_12 - object\n Plate_bar__minus_00_dot_04_bar__plus_01_dot_11_bar__plus_01_dot_61 - object\n Potato_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_12 - object\n Pot_bar__minus_02_dot_82_bar__plus_00_dot_93_bar__minus_00_dot_40 - object\n SaltShaker_bar__minus_00_dot_44_bar__plus_01_dot_66_bar__minus_01_dot_44 - object\n SaltShaker_bar__minus_02_dot_60_bar__plus_00_dot_91_bar__minus_00_dot_06 - object\n SaltShaker_bar__minus_02_dot_85_bar__plus_01_dot_66_bar__plus_00_dot_17 - object\n Sink_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_01_dot_23 - object\n SoapBottle_bar__plus_00_dot_99_bar__plus_01_dot_11_bar__plus_00_dot_88 - object\n SoapBottle_bar__plus_01_dot_14_bar__plus_01_dot_11_bar__plus_01_dot_04 - object\n SoapBottle_bar__minus_02_dot_77_bar__plus_01_dot_80_bar__minus_00_dot_34 - object\n Spatula_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__plus_00_dot_01 - object\n Spoon_bar__minus_00_dot_16_bar__plus_00_dot_90_bar__minus_01_dot_02 - object\n StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_32 - object\n StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_48 - object\n StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_62 - object\n StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_78 - object\n 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loc_bar__minus_6_bar_1_bar_3_bar__minus_30 - location\n loc_bar_1_bar__minus_2_bar_2_bar_45 - location\n loc_bar__minus_8_bar_6_bar_3_bar_60 - location\n loc_bar_2_bar_0_bar_1_bar_45 - location\n loc_bar__minus_1_bar_0_bar_2_bar_60 - location\n loc_bar__minus_8_bar__minus_2_bar_2_bar_45 - location\n loc_bar__minus_8_bar__minus_2_bar_3_bar_45 - location\n loc_bar_1_bar_10_bar_0_bar_15 - location\n loc_bar_2_bar__minus_2_bar_2_bar_45 - location\n loc_bar__minus_2_bar_6_bar_1_bar_15 - location\n loc_bar_0_bar_9_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__minus_00_dot_77_bar__plus_02_dot_01_bar__minus_01_dot_20 CabinetType)\n (receptacleType StoveBurner_bar__minus_02_dot_82_bar__plus_00_dot_89_bar__minus_00_dot_40 StoveBurnerType)\n (receptacleType CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79 CounterTopType)\n (receptacleType Cabinet_bar__minus_01_dot_80_bar__plus_00_dot_47_bar__minus_00_dot_91 CabinetType)\n (receptacleType 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(canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType ForkType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain 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Bowl_bar__minus_02_dot_68_bar__plus_01_dot_67_bar__plus_00_dot_77)\n (cleanable Lettuce_bar__minus_02_dot_66_bar__plus_00_dot_87_bar__plus_00_dot_98)\n (cleanable Potato_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_12)\n (cleanable Spatula_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__plus_00_dot_01)\n (cleanable Pot_bar__minus_02_dot_82_bar__plus_00_dot_93_bar__minus_00_dot_40)\n (cleanable Tomato_bar__minus_02_dot_73_bar__plus_00_dot_09_bar__plus_01_dot_43)\n (cleanable Egg_bar__plus_00_dot_14_bar__plus_01_dot_14_bar__plus_01_dot_27)\n (cleanable Spoon_bar__minus_00_dot_16_bar__plus_00_dot_90_bar__minus_01_dot_02)\n (cleanable Plate_bar__minus_00_dot_04_bar__plus_01_dot_11_bar__plus_01_dot_61)\n (cleanable Pan_bar__minus_02_dot_59_bar__plus_00_dot_90_bar__minus_01_dot_15)\n (cleanable DishSponge_bar__minus_01_dot_22_bar__plus_00_dot_84_bar__minus_01_dot_13)\n \n (heatable Plate_bar__plus_00_dot_92_bar__plus_00_dot_91_bar__minus_01_dot_12)\n (heatable Cup_bar__minus_01_dot_59_bar__plus_00_dot_85_bar__minus_01_dot_19)\n (heatable Apple_bar__plus_00_dot_28_bar__plus_01_dot_15_bar__plus_01_dot_58)\n (heatable Cup_bar__minus_01_dot_51_bar__plus_00_dot_85_bar__minus_01_dot_36)\n (heatable Mug_bar__plus_00_dot_37_bar__plus_01_dot_65_bar__minus_01_dot_35)\n (heatable Cup_bar__minus_02_dot_92_bar__plus_00_dot_82_bar__plus_00_dot_77)\n (heatable Bread_bar__minus_02_dot_80_bar__plus_01_dot_53_bar__plus_00_dot_69)\n (heatable Tomato_bar__minus_02_dot_52_bar__plus_00_dot_96_bar__plus_00_dot_19)\n (heatable Cup_bar__minus_02_dot_68_bar__plus_01_dot_67_bar__plus_01_dot_09)\n (heatable Potato_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_12)\n (heatable Tomato_bar__minus_02_dot_73_bar__plus_00_dot_09_bar__plus_01_dot_43)\n (heatable Egg_bar__plus_00_dot_14_bar__plus_01_dot_14_bar__plus_01_dot_27)\n (heatable Bread_bar__minus_00_dot_40_bar__plus_00_dot_95_bar__minus_01_dot_29)\n (heatable Plate_bar__minus_00_dot_04_bar__plus_01_dot_11_bar__plus_01_dot_61)\n (coolable Plate_bar__plus_00_dot_92_bar__plus_00_dot_91_bar__minus_01_dot_12)\n (coolable Cup_bar__minus_01_dot_59_bar__plus_00_dot_85_bar__minus_01_dot_19)\n (coolable Apple_bar__plus_00_dot_28_bar__plus_01_dot_15_bar__plus_01_dot_58)\n (coolable Cup_bar__minus_01_dot_51_bar__plus_00_dot_85_bar__minus_01_dot_36)\n (coolable Mug_bar__plus_00_dot_37_bar__plus_01_dot_65_bar__minus_01_dot_35)\n (coolable Cup_bar__minus_02_dot_92_bar__plus_00_dot_82_bar__plus_00_dot_77)\n (coolable Bread_bar__minus_02_dot_80_bar__plus_01_dot_53_bar__plus_00_dot_69)\n (coolable Tomato_bar__minus_02_dot_52_bar__plus_00_dot_96_bar__plus_00_dot_19)\n (coolable Lettuce_bar__plus_00_dot_47_bar__plus_01_dot_19_bar__plus_01_dot_40)\n (coolable Cup_bar__minus_02_dot_68_bar__plus_01_dot_67_bar__plus_01_dot_09)\n (coolable Bowl_bar__minus_02_dot_86_bar__plus_00_dot_38_bar__plus_00_dot_93)\n (coolable Bowl_bar__minus_02_dot_68_bar__plus_01_dot_67_bar__plus_00_dot_77)\n (coolable Lettuce_bar__minus_02_dot_66_bar__plus_00_dot_87_bar__plus_00_dot_98)\n (coolable Potato_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_12)\n (coolable Pot_bar__minus_02_dot_82_bar__plus_00_dot_93_bar__minus_00_dot_40)\n (coolable Tomato_bar__minus_02_dot_73_bar__plus_00_dot_09_bar__plus_01_dot_43)\n (coolable Egg_bar__plus_00_dot_14_bar__plus_01_dot_14_bar__plus_01_dot_27)\n (coolable Bread_bar__minus_00_dot_40_bar__plus_00_dot_95_bar__minus_01_dot_29)\n (coolable Plate_bar__minus_00_dot_04_bar__plus_01_dot_11_bar__plus_01_dot_61)\n (coolable Pan_bar__minus_02_dot_59_bar__plus_00_dot_90_bar__minus_01_dot_15)\n \n (isCool Cup_bar__minus_02_dot_92_bar__plus_00_dot_82_bar__plus_00_dot_77)\n (isCool Cup_bar__minus_02_dot_68_bar__plus_01_dot_67_bar__plus_01_dot_09)\n \n \n \n (sliceable Apple_bar__plus_00_dot_28_bar__plus_01_dot_15_bar__plus_01_dot_58)\n (sliceable Bread_bar__minus_02_dot_80_bar__plus_01_dot_53_bar__plus_00_dot_69)\n (sliceable Tomato_bar__minus_02_dot_52_bar__plus_00_dot_96_bar__plus_00_dot_19)\n (sliceable Lettuce_bar__plus_00_dot_47_bar__plus_01_dot_19_bar__plus_01_dot_40)\n (sliceable Lettuce_bar__minus_02_dot_66_bar__plus_00_dot_87_bar__plus_00_dot_98)\n (sliceable Potato_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_12)\n (sliceable Tomato_bar__minus_02_dot_73_bar__plus_00_dot_09_bar__plus_01_dot_43)\n (sliceable Egg_bar__plus_00_dot_14_bar__plus_01_dot_14_bar__plus_01_dot_27)\n (sliceable Bread_bar__minus_00_dot_40_bar__plus_00_dot_95_bar__minus_01_dot_29)\n \n (inReceptacle SoapBottle_bar__minus_02_dot_77_bar__plus_01_dot_80_bar__minus_00_dot_34 Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_08_bar__minus_00_dot_23)\n (inReceptacle Mug_bar__plus_00_dot_37_bar__plus_01_dot_65_bar__minus_01_dot_35 Cabinet_bar__plus_00_dot_24_bar__plus_02_dot_01_bar__minus_01_dot_20)\n (inReceptacle PepperShaker_bar__plus_00_dot_76_bar__plus_00_dot_11_bar__minus_01_dot_01 Cabinet_bar__plus_01_dot_13_bar__plus_00_dot_47_bar__minus_00_dot_90)\n (inReceptacle PepperShaker_bar__minus_02_dot_58_bar__plus_01_dot_66_bar__minus_01_dot_47 Cabinet_bar__minus_02_dot_63_bar__plus_02_dot_01_bar__minus_01_dot_20)\n (inReceptacle SaltShaker_bar__minus_02_dot_85_bar__plus_01_dot_66_bar__plus_00_dot_17 Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_01_bar__plus_00_dot_36)\n (inReceptacle SaltShaker_bar__minus_00_dot_44_bar__plus_01_dot_66_bar__minus_01_dot_44 Cabinet_bar__minus_00_dot_77_bar__plus_02_dot_01_bar__minus_01_dot_20)\n (inReceptacle Kettle_bar__minus_02_dot_62_bar__plus_00_dot_92_bar__minus_00_dot_72 StoveBurner_bar__minus_02_dot_62_bar__plus_00_dot_89_bar__minus_00_dot_71)\n (inReceptacle Spatula_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__plus_00_dot_01 CounterTop_bar__minus_02_dot_70_bar__plus_00_dot_95_bar__plus_00_dot_11)\n (inReceptacle PepperShaker_bar__minus_02_dot_69_bar__plus_00_dot_91_bar__minus_00_dot_15 CounterTop_bar__minus_02_dot_70_bar__plus_00_dot_95_bar__plus_00_dot_11)\n (inReceptacle Tomato_bar__minus_02_dot_52_bar__plus_00_dot_96_bar__plus_00_dot_19 CounterTop_bar__minus_02_dot_70_bar__plus_00_dot_95_bar__plus_00_dot_11)\n (inReceptacle SaltShaker_bar__minus_02_dot_60_bar__plus_00_dot_91_bar__minus_00_dot_06 CounterTop_bar__minus_02_dot_70_bar__plus_00_dot_95_bar__plus_00_dot_11)\n (inReceptacle Knife_bar__minus_02_dot_44_bar__plus_00_dot_93_bar__minus_00_dot_06 CounterTop_bar__minus_02_dot_70_bar__plus_00_dot_95_bar__plus_00_dot_11)\n (inReceptacle CreditCard_bar__plus_00_dot_07_bar__plus_01_dot_11_bar__plus_01_dot_35 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79)\n (inReceptacle ButterKnife_bar__plus_00_dot_13_bar__plus_01_dot_11_bar__plus_01_dot_74 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79)\n (inReceptacle Egg_bar__plus_00_dot_14_bar__plus_01_dot_14_bar__plus_01_dot_27 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79)\n (inReceptacle Plate_bar__minus_00_dot_04_bar__plus_01_dot_11_bar__plus_01_dot_61 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79)\n (inReceptacle SoapBottle_bar__plus_01_dot_14_bar__plus_01_dot_11_bar__plus_01_dot_04 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79)\n (inReceptacle Apple_bar__plus_00_dot_28_bar__plus_01_dot_15_bar__plus_01_dot_58 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79)\n (inReceptacle Lettuce_bar__plus_00_dot_47_bar__plus_01_dot_19_bar__plus_01_dot_40 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79)\n (inReceptacle SoapBottle_bar__plus_00_dot_99_bar__plus_01_dot_11_bar__plus_00_dot_88 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79)\n (inReceptacle Pot_bar__minus_02_dot_82_bar__plus_00_dot_93_bar__minus_00_dot_40 StoveBurner_bar__minus_02_dot_62_bar__plus_00_dot_89_bar__minus_00_dot_40)\n (inReceptacle Knife_bar__minus_02_dot_54_bar__plus_00_dot_77_bar__plus_00_dot_10 Drawer_bar__minus_02_dot_57_bar__plus_00_dot_78_bar__plus_00_dot_10)\n (inReceptacle CreditCard_bar__minus_02_dot_54_bar__plus_00_dot_74_bar__plus_00_dot_23 Drawer_bar__minus_02_dot_57_bar__plus_00_dot_78_bar__plus_00_dot_10)\n (inReceptacle Knife_bar__minus_02_dot_63_bar__plus_00_dot_77_bar__plus_00_dot_23 Drawer_bar__minus_02_dot_57_bar__plus_00_dot_78_bar__plus_00_dot_10)\n (inReceptacle Pot_bar__minus_02_dot_82_bar__plus_00_dot_93_bar__minus_00_dot_40 StoveBurner_bar__minus_02_dot_82_bar__plus_00_dot_89_bar__minus_00_dot_40)\n (inReceptacle ButterKnife_bar__minus_00_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_03 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20)\n (inReceptacle CreditCard_bar__plus_00_dot_77_bar__plus_00_dot_91_bar__minus_01_dot_37 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20)\n (inReceptacle Plate_bar__plus_00_dot_92_bar__plus_00_dot_91_bar__minus_01_dot_12 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20)\n (inReceptacle Spoon_bar__minus_00_dot_16_bar__plus_00_dot_90_bar__minus_01_dot_02 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20)\n (inReceptacle Bread_bar__minus_00_dot_40_bar__plus_00_dot_95_bar__minus_01_dot_29 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20)\n (inReceptacle ButterKnife_bar__minus_02_dot_84_bar__plus_00_dot_91_bar__minus_01_dot_03 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20)\n (inReceptacle Pan_bar__minus_02_dot_59_bar__plus_00_dot_90_bar__minus_01_dot_15 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20)\n (inReceptacle Potato_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_12 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20)\n (inReceptacle Fork_bar__plus_00_dot_25_bar__plus_00_dot_75_bar__minus_01_dot_05 Drawer_bar__plus_00_dot_26_bar__plus_00_dot_78_bar__minus_01_dot_08)\n (inReceptacleObject ButterKnife_bar__minus_02_dot_84_bar__plus_00_dot_91_bar__minus_01_dot_03 Pan_bar__minus_02_dot_59_bar__plus_00_dot_90_bar__minus_01_dot_15)\n (inReceptacle Cup_bar__minus_01_dot_51_bar__plus_00_dot_85_bar__minus_01_dot_36 Sink_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_01_dot_23_bar_SinkBasin)\n (inReceptacle DishSponge_bar__minus_01_dot_22_bar__plus_00_dot_84_bar__minus_01_dot_13 Sink_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_01_dot_23_bar_SinkBasin)\n (inReceptacle Cup_bar__minus_01_dot_59_bar__plus_00_dot_85_bar__minus_01_dot_19 Sink_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_01_dot_23_bar_SinkBasin)\n (inReceptacle Tomato_bar__minus_02_dot_73_bar__plus_00_dot_09_bar__plus_01_dot_43 GarbageCan_bar__minus_02_dot_76_bar__plus_00_dot_00_bar__plus_01_dot_47)\n (inReceptacle Bowl_bar__minus_02_dot_86_bar__plus_00_dot_38_bar__plus_00_dot_93 Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85)\n (inReceptacle Bowl_bar__minus_02_dot_68_bar__plus_01_dot_67_bar__plus_00_dot_77 Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85)\n (inReceptacle Cup_bar__minus_02_dot_92_bar__plus_00_dot_82_bar__plus_00_dot_77 Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85)\n (inReceptacle Bread_bar__minus_02_dot_80_bar__plus_01_dot_53_bar__plus_00_dot_69 Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85)\n (inReceptacle Lettuce_bar__minus_02_dot_66_bar__plus_00_dot_87_bar__plus_00_dot_98 Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85)\n (inReceptacle Cup_bar__minus_02_dot_68_bar__plus_01_dot_67_bar__plus_01_dot_09 Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_17_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar_0_bar__minus_2_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_24_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar_2_bar__minus_2_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_48_bar__plus_00_dot_39_bar__minus_00_dot_90 loc_bar__minus_1_bar_0_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_12_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar_2_bar__minus_2_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_13_bar__plus_00_dot_47_bar__minus_00_dot_90 loc_bar_2_bar_0_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_77_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar__minus_3_bar__minus_2_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_00_dot_91 loc_bar__minus_2_bar_0_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_84_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar__minus_4_bar__minus_2_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_77_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar__minus_6_bar__minus_2_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_80_bar__plus_00_dot_47_bar__minus_00_dot_91 loc_bar__minus_8_bar_0_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_84_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar__minus_8_bar__minus_2_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_85_bar__plus_00_dot_39_bar__minus_00_dot_90 loc_bar__minus_8_bar__minus_1_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_39_bar__plus_00_dot_39_bar__plus_00_dot_38 loc_bar__minus_6_bar_1_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_63_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar__minus_8_bar__minus_1_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_01_bar__plus_00_dot_36 loc_bar__minus_8_bar_0_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_01_bar__minus_00_dot_95 loc_bar__minus_6_bar__minus_2_bar_3_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_08_bar__minus_00_dot_23 loc_bar__minus_8_bar__minus_2_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_08_bar__minus_00_dot_88 loc_bar__minus_8_bar__minus_2_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_20_bar__plus_00_dot_43 loc_bar__minus_6_bar_1_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_20_bar__plus_01_dot_67 loc_bar__minus_6_bar_7_bar_3_bar__minus_30)\n (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_14_bar__plus_01_dot_10_bar__plus_00_dot_30 loc_bar_2_bar_0_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79 loc_bar__minus_2_bar_6_bar_1_bar_15)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_70_bar__plus_00_dot_95_bar__plus_00_dot_11 loc_bar__minus_8_bar_0_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_26_bar__plus_00_dot_78_bar__minus_01_dot_08 loc_bar_2_bar_0_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_03_bar__plus_00_dot_78_bar__minus_01_dot_08 loc_bar__minus_8_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_02_dot_57_bar__plus_00_dot_78_bar__plus_00_dot_10 loc_bar__minus_6_bar__minus_1_bar_3_bar_45)\n (receptacleAtLocation Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85 loc_bar__minus_7_bar_3_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_02_dot_76_bar__plus_00_dot_00_bar__plus_01_dot_47 loc_bar__minus_8_bar_6_bar_3_bar_60)\n (receptacleAtLocation Microwave_bar__plus_00_dot_28_bar__plus_00_dot_90_bar__minus_01_dot_33 loc_bar_1_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Sink_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_01_dot_23_bar_SinkBasin loc_bar__minus_5_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_62_bar__plus_00_dot_89_bar__minus_00_dot_40 loc_bar__minus_8_bar__minus_2_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_62_bar__plus_00_dot_89_bar__minus_00_dot_71 loc_bar__minus_8_bar__minus_2_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_82_bar__plus_00_dot_89_bar__minus_00_dot_40 loc_bar__minus_8_bar__minus_2_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_82_bar__plus_00_dot_89_bar__minus_00_dot_71 loc_bar__minus_8_bar__minus_2_bar_3_bar_45)\n (receptacleAtLocation Toaster_bar__minus_02_dot_82_bar__plus_00_dot_90_bar__plus_00_dot_25 loc_bar__minus_8_bar_1_bar_3_bar_45)\n (objectAtLocation Bowl_bar__minus_02_dot_86_bar__plus_00_dot_38_bar__plus_00_dot_93 loc_bar__minus_7_bar_3_bar_3_bar_60)\n (objectAtLocation Cup_bar__minus_02_dot_92_bar__plus_00_dot_82_bar__plus_00_dot_77 loc_bar__minus_7_bar_3_bar_3_bar_60)\n (objectAtLocation Knife_bar__minus_02_dot_44_bar__plus_00_dot_93_bar__minus_00_dot_06 loc_bar__minus_8_bar_0_bar_3_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_12 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation ButterKnife_bar__plus_00_dot_13_bar__plus_01_dot_11_bar__plus_01_dot_74 loc_bar__minus_2_bar_6_bar_1_bar_15)\n (objectAtLocation PepperShaker_bar__minus_02_dot_69_bar__plus_00_dot_91_bar__minus_00_dot_15 loc_bar__minus_8_bar_0_bar_3_bar_45)\n (objectAtLocation Tomato_bar__minus_02_dot_73_bar__plus_00_dot_09_bar__plus_01_dot_43 loc_bar__minus_8_bar_6_bar_3_bar_60)\n (objectAtLocation SaltShaker_bar__minus_02_dot_60_bar__plus_00_dot_91_bar__minus_00_dot_06 loc_bar__minus_8_bar_0_bar_3_bar_45)\n (objectAtLocation Lettuce_bar__minus_02_dot_66_bar__plus_00_dot_87_bar__plus_00_dot_98 loc_bar__minus_7_bar_3_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__plus_00_dot_99_bar__plus_01_dot_11_bar__plus_00_dot_88 loc_bar__minus_2_bar_6_bar_1_bar_15)\n (objectAtLocation Plate_bar__plus_00_dot_92_bar__plus_00_dot_91_bar__minus_01_dot_12 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Bread_bar__minus_00_dot_40_bar__plus_00_dot_95_bar__minus_01_dot_29 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation CreditCard_bar__plus_00_dot_77_bar__plus_00_dot_91_bar__minus_01_dot_37 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Fork_bar__minus_02_dot_03_bar__plus_00_dot_75_bar__minus_00_dot_97 loc_bar__minus_8_bar__minus_2_bar_2_bar_60)\n (objectAtLocation SaltShaker_bar__minus_00_dot_44_bar__plus_01_dot_66_bar__minus_01_dot_44 loc_bar__minus_3_bar__minus_2_bar_2_bar__minus_30)\n (objectAtLocation PepperShaker_bar__plus_00_dot_76_bar__plus_00_dot_11_bar__minus_01_dot_01 loc_bar_2_bar_0_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__minus_02_dot_77_bar__plus_01_dot_80_bar__minus_00_dot_34 loc_bar__minus_8_bar__minus_2_bar_3_bar__minus_30)\n (objectAtLocation Knife_bar__minus_02_dot_63_bar__plus_00_dot_77_bar__plus_00_dot_23 loc_bar__minus_6_bar__minus_1_bar_3_bar_45)\n (objectAtLocation Cup_bar__minus_02_dot_68_bar__plus_01_dot_67_bar__plus_01_dot_09 loc_bar__minus_7_bar_3_bar_3_bar_60)\n (objectAtLocation Cup_bar__minus_01_dot_51_bar__plus_00_dot_85_bar__minus_01_dot_36 loc_bar__minus_5_bar__minus_2_bar_2_bar_45)\n (objectAtLocation ButterKnife_bar__minus_02_dot_84_bar__plus_00_dot_91_bar__minus_01_dot_03 loc_bar__minus_8_bar__minus_2_bar_2_bar_45)\n (objectAtLocation CreditCard_bar__plus_00_dot_07_bar__plus_01_dot_11_bar__plus_01_dot_35 loc_bar__minus_2_bar_6_bar_1_bar_15)\n (objectAtLocation Sink_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_01_dot_23 loc_bar__minus_5_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Chair_bar__plus_01_dot_07_bar__plus_00_dot_01_bar__plus_01_dot_56 loc_bar_4_bar_8_bar_2_bar_60)\n (objectAtLocation Chair_bar__plus_01_dot_56_bar__plus_00_dot_01_bar__plus_01_dot_36 loc_bar_6_bar_7_bar_2_bar_60)\n (objectAtLocation Pan_bar__minus_02_dot_59_bar__plus_00_dot_90_bar__minus_01_dot_15 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Apple_bar__plus_00_dot_28_bar__plus_01_dot_15_bar__plus_01_dot_58 loc_bar__minus_2_bar_6_bar_1_bar_15)\n (objectAtLocation LightSwitch_bar__minus_01_dot_17_bar__plus_01_dot_31_bar__plus_03_dot_00 loc_bar__minus_5_bar_10_bar_0_bar_30)\n (objectAtLocation StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_62 loc_bar__minus_8_bar__minus_2_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_48 loc_bar__minus_8_bar__minus_2_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_78 loc_bar__minus_8_bar__minus_2_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_32 loc_bar__minus_8_bar__minus_1_bar_3_bar_60)\n (objectAtLocation Fork_bar__plus_00_dot_25_bar__plus_00_dot_75_bar__minus_01_dot_05 loc_bar_2_bar_0_bar_2_bar_45)\n (objectAtLocation Kettle_bar__minus_02_dot_62_bar__plus_00_dot_92_bar__minus_00_dot_72 loc_bar__minus_8_bar__minus_2_bar_3_bar_45)\n (objectAtLocation CreditCard_bar__minus_02_dot_54_bar__plus_00_dot_74_bar__plus_00_dot_23 loc_bar__minus_6_bar__minus_1_bar_3_bar_45)\n (objectAtLocation Bread_bar__minus_02_dot_80_bar__plus_01_dot_53_bar__plus_00_dot_69 loc_bar__minus_7_bar_3_bar_3_bar_60)\n (objectAtLocation Plate_bar__minus_00_dot_04_bar__plus_01_dot_11_bar__plus_01_dot_61 loc_bar__minus_2_bar_6_bar_1_bar_15)\n (objectAtLocation SoapBottle_bar__plus_01_dot_14_bar__plus_01_dot_11_bar__plus_01_dot_04 loc_bar__minus_2_bar_6_bar_1_bar_15)\n (objectAtLocation Window_bar__plus_00_dot_32_bar__plus_01_dot_45_bar__plus_03_dot_09 loc_bar_1_bar_10_bar_0_bar_15)\n (objectAtLocation Spatula_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__plus_00_dot_01 loc_bar__minus_8_bar_0_bar_3_bar_45)\n (objectAtLocation Lettuce_bar__plus_00_dot_47_bar__plus_01_dot_19_bar__plus_01_dot_40 loc_bar__minus_2_bar_6_bar_1_bar_15)\n (objectAtLocation SaltShaker_bar__minus_02_dot_85_bar__plus_01_dot_66_bar__plus_00_dot_17 loc_bar__minus_8_bar_0_bar_3_bar__minus_30)\n (objectAtLocation Tomato_bar__minus_02_dot_52_bar__plus_00_dot_96_bar__plus_00_dot_19 loc_bar__minus_8_bar_0_bar_3_bar_45)\n (objectAtLocation PepperShaker_bar__minus_02_dot_58_bar__plus_01_dot_66_bar__minus_01_dot_47 loc_bar__minus_8_bar__minus_1_bar_2_bar__minus_15)\n (objectAtLocation ButterKnife_bar__minus_00_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_03 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Pot_bar__minus_02_dot_82_bar__plus_00_dot_93_bar__minus_00_dot_40 loc_bar__minus_8_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_12 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation DishSponge_bar__minus_01_dot_22_bar__plus_00_dot_84_bar__minus_01_dot_13 loc_bar__minus_5_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Egg_bar__plus_00_dot_14_bar__plus_01_dot_14_bar__plus_01_dot_27 loc_bar__minus_2_bar_6_bar_1_bar_15)\n (objectAtLocation Spoon_bar__minus_00_dot_16_bar__plus_00_dot_90_bar__minus_01_dot_02 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Knife_bar__minus_02_dot_54_bar__plus_00_dot_77_bar__plus_00_dot_10 loc_bar__minus_6_bar__minus_1_bar_3_bar_45)\n (objectAtLocation Cup_bar__minus_01_dot_59_bar__plus_00_dot_85_bar__minus_01_dot_19 loc_bar__minus_5_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Mug_bar__plus_00_dot_37_bar__plus_01_dot_65_bar__minus_01_dot_35 loc_bar_2_bar__minus_2_bar_2_bar__minus_30)\n (objectAtLocation Bowl_bar__minus_02_dot_68_bar__plus_01_dot_67_bar__plus_00_dot_77 loc_bar__minus_7_bar_3_bar_3_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 CupType)\n (receptacleType ?r MicrowaveType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 CupType)\n (receptacleType ?r MicrowaveType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sinkbasin 1", "take cup 4 from sinkbasin 1", "go to microwave 1", "open microwave 1", "move cup 4 to microwave 1", "go to sinkbasin 1", "take cup 3 from sinkbasin 1", "go to microwave 1", "move cup 3 to microwave 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Cup-None-Microwave-22/trial_T20190907_205445_957867/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Cup-None-Microwave-22/trial_T20190907_205445_957867/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..e4e25c38d9b08c129f76057d823b1f0c3dc6c754 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Cup-None-Microwave-22/trial_T20190907_205445_957867/initial_state.pddl @@ -0,0 +1,1124 @@ + +(define (problem plan_trial_T20190907_205445_957867) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__plus_00_dot_28_bar__plus_01_dot_15_bar__plus_01_dot_58 - object + Bowl_bar__minus_02_dot_68_bar__plus_01_dot_67_bar__plus_00_dot_77 - object + Bowl_bar__minus_02_dot_86_bar__plus_00_dot_38_bar__plus_00_dot_93 - object + Bread_bar__minus_00_dot_40_bar__plus_00_dot_95_bar__minus_01_dot_29 - object + Bread_bar__minus_02_dot_80_bar__plus_01_dot_53_bar__plus_00_dot_69 - object + ButterKnife_bar__plus_00_dot_13_bar__plus_01_dot_11_bar__plus_01_dot_74 - object + ButterKnife_bar__minus_00_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_03 - object + ButterKnife_bar__minus_02_dot_84_bar__plus_00_dot_91_bar__minus_01_dot_03 - object + Chair_bar__plus_01_dot_07_bar__plus_00_dot_01_bar__plus_01_dot_56 - object + Chair_bar__plus_01_dot_56_bar__plus_00_dot_01_bar__plus_01_dot_36 - object + CreditCard_bar__plus_00_dot_07_bar__plus_01_dot_11_bar__plus_01_dot_35 - object + CreditCard_bar__plus_00_dot_77_bar__plus_00_dot_91_bar__minus_01_dot_37 - object + CreditCard_bar__minus_02_dot_54_bar__plus_00_dot_74_bar__plus_00_dot_23 - object + Cup_bar__minus_01_dot_51_bar__plus_00_dot_85_bar__minus_01_dot_36 - object + Cup_bar__minus_01_dot_59_bar__plus_00_dot_85_bar__minus_01_dot_19 - object + Cup_bar__minus_02_dot_68_bar__plus_01_dot_67_bar__plus_01_dot_09 - object + Cup_bar__minus_02_dot_92_bar__plus_00_dot_82_bar__plus_00_dot_77 - object + DishSponge_bar__minus_01_dot_22_bar__plus_00_dot_84_bar__minus_01_dot_13 - object + Egg_bar__plus_00_dot_14_bar__plus_01_dot_14_bar__plus_01_dot_27 - object + Faucet_bar__minus_01_dot_39_bar__plus_01_dot_14_bar__minus_01_dot_40 - object + Fork_bar__plus_00_dot_25_bar__plus_00_dot_75_bar__minus_01_dot_05 - object + Fork_bar__minus_02_dot_03_bar__plus_00_dot_75_bar__minus_00_dot_97 - object + Kettle_bar__minus_02_dot_62_bar__plus_00_dot_92_bar__minus_00_dot_72 - object + Knife_bar__minus_02_dot_44_bar__plus_00_dot_93_bar__minus_00_dot_06 - object + Knife_bar__minus_02_dot_54_bar__plus_00_dot_77_bar__plus_00_dot_10 - object + Knife_bar__minus_02_dot_63_bar__plus_00_dot_77_bar__plus_00_dot_23 - object + Lettuce_bar__plus_00_dot_47_bar__plus_01_dot_19_bar__plus_01_dot_40 - object + Lettuce_bar__minus_02_dot_66_bar__plus_00_dot_87_bar__plus_00_dot_98 - object + LightSwitch_bar__minus_01_dot_17_bar__plus_01_dot_31_bar__plus_03_dot_00 - object + Mug_bar__plus_00_dot_37_bar__plus_01_dot_65_bar__minus_01_dot_35 - object + Pan_bar__minus_02_dot_59_bar__plus_00_dot_90_bar__minus_01_dot_15 - object + PepperShaker_bar__plus_00_dot_76_bar__plus_00_dot_11_bar__minus_01_dot_01 - object + PepperShaker_bar__minus_02_dot_58_bar__plus_01_dot_66_bar__minus_01_dot_47 - object + PepperShaker_bar__minus_02_dot_69_bar__plus_00_dot_91_bar__minus_00_dot_15 - object + Plate_bar__plus_00_dot_92_bar__plus_00_dot_91_bar__minus_01_dot_12 - object + Plate_bar__minus_00_dot_04_bar__plus_01_dot_11_bar__plus_01_dot_61 - object + Potato_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_12 - object + Pot_bar__minus_02_dot_82_bar__plus_00_dot_93_bar__minus_00_dot_40 - object + SaltShaker_bar__minus_00_dot_44_bar__plus_01_dot_66_bar__minus_01_dot_44 - object + SaltShaker_bar__minus_02_dot_60_bar__plus_00_dot_91_bar__minus_00_dot_06 - object + SaltShaker_bar__minus_02_dot_85_bar__plus_01_dot_66_bar__plus_00_dot_17 - object + Sink_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_01_dot_23 - object + SoapBottle_bar__plus_00_dot_99_bar__plus_01_dot_11_bar__plus_00_dot_88 - object + SoapBottle_bar__plus_01_dot_14_bar__plus_01_dot_11_bar__plus_01_dot_04 - object + SoapBottle_bar__minus_02_dot_77_bar__plus_01_dot_80_bar__minus_00_dot_34 - object + Spatula_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__plus_00_dot_01 - object + Spoon_bar__minus_00_dot_16_bar__plus_00_dot_90_bar__minus_01_dot_02 - object + StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_32 - object + StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_48 - object + StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_62 - object + StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_78 - object + Tomato_bar__minus_02_dot_52_bar__plus_00_dot_96_bar__plus_00_dot_19 - object + Tomato_bar__minus_02_dot_73_bar__plus_00_dot_09_bar__plus_01_dot_43 - object + 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Mug_bar__plus_00_dot_37_bar__plus_01_dot_65_bar__minus_01_dot_35) + (heatable Cup_bar__minus_02_dot_92_bar__plus_00_dot_82_bar__plus_00_dot_77) + (heatable Bread_bar__minus_02_dot_80_bar__plus_01_dot_53_bar__plus_00_dot_69) + (heatable Tomato_bar__minus_02_dot_52_bar__plus_00_dot_96_bar__plus_00_dot_19) + (heatable Cup_bar__minus_02_dot_68_bar__plus_01_dot_67_bar__plus_01_dot_09) + (heatable Potato_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_12) + (heatable Tomato_bar__minus_02_dot_73_bar__plus_00_dot_09_bar__plus_01_dot_43) + (heatable Egg_bar__plus_00_dot_14_bar__plus_01_dot_14_bar__plus_01_dot_27) + (heatable Bread_bar__minus_00_dot_40_bar__plus_00_dot_95_bar__minus_01_dot_29) + (heatable Plate_bar__minus_00_dot_04_bar__plus_01_dot_11_bar__plus_01_dot_61) + (coolable Plate_bar__plus_00_dot_92_bar__plus_00_dot_91_bar__minus_01_dot_12) + (coolable Cup_bar__minus_01_dot_59_bar__plus_00_dot_85_bar__minus_01_dot_19) + (coolable Apple_bar__plus_00_dot_28_bar__plus_01_dot_15_bar__plus_01_dot_58) + (coolable Cup_bar__minus_01_dot_51_bar__plus_00_dot_85_bar__minus_01_dot_36) + (coolable Mug_bar__plus_00_dot_37_bar__plus_01_dot_65_bar__minus_01_dot_35) + (coolable Cup_bar__minus_02_dot_92_bar__plus_00_dot_82_bar__plus_00_dot_77) + (coolable Bread_bar__minus_02_dot_80_bar__plus_01_dot_53_bar__plus_00_dot_69) + (coolable Tomato_bar__minus_02_dot_52_bar__plus_00_dot_96_bar__plus_00_dot_19) + (coolable Lettuce_bar__plus_00_dot_47_bar__plus_01_dot_19_bar__plus_01_dot_40) + (coolable Cup_bar__minus_02_dot_68_bar__plus_01_dot_67_bar__plus_01_dot_09) + (coolable Bowl_bar__minus_02_dot_86_bar__plus_00_dot_38_bar__plus_00_dot_93) + (coolable Bowl_bar__minus_02_dot_68_bar__plus_01_dot_67_bar__plus_00_dot_77) + (coolable Lettuce_bar__minus_02_dot_66_bar__plus_00_dot_87_bar__plus_00_dot_98) + (coolable Potato_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_12) + (coolable Pot_bar__minus_02_dot_82_bar__plus_00_dot_93_bar__minus_00_dot_40) + (coolable Tomato_bar__minus_02_dot_73_bar__plus_00_dot_09_bar__plus_01_dot_43) + (coolable Egg_bar__plus_00_dot_14_bar__plus_01_dot_14_bar__plus_01_dot_27) + (coolable Bread_bar__minus_00_dot_40_bar__plus_00_dot_95_bar__minus_01_dot_29) + (coolable Plate_bar__minus_00_dot_04_bar__plus_01_dot_11_bar__plus_01_dot_61) + (coolable Pan_bar__minus_02_dot_59_bar__plus_00_dot_90_bar__minus_01_dot_15) + + (isCool Cup_bar__minus_02_dot_92_bar__plus_00_dot_82_bar__plus_00_dot_77) + (isCool Cup_bar__minus_02_dot_68_bar__plus_01_dot_67_bar__plus_01_dot_09) + + + + (sliceable Apple_bar__plus_00_dot_28_bar__plus_01_dot_15_bar__plus_01_dot_58) + (sliceable Bread_bar__minus_02_dot_80_bar__plus_01_dot_53_bar__plus_00_dot_69) + (sliceable Tomato_bar__minus_02_dot_52_bar__plus_00_dot_96_bar__plus_00_dot_19) + (sliceable Lettuce_bar__plus_00_dot_47_bar__plus_01_dot_19_bar__plus_01_dot_40) + (sliceable Lettuce_bar__minus_02_dot_66_bar__plus_00_dot_87_bar__plus_00_dot_98) + (sliceable Potato_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_12) + (sliceable Tomato_bar__minus_02_dot_73_bar__plus_00_dot_09_bar__plus_01_dot_43) + (sliceable Egg_bar__plus_00_dot_14_bar__plus_01_dot_14_bar__plus_01_dot_27) + (sliceable Bread_bar__minus_00_dot_40_bar__plus_00_dot_95_bar__minus_01_dot_29) + + (inReceptacle SoapBottle_bar__minus_02_dot_77_bar__plus_01_dot_80_bar__minus_00_dot_34 Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_08_bar__minus_00_dot_23) + (inReceptacle Mug_bar__plus_00_dot_37_bar__plus_01_dot_65_bar__minus_01_dot_35 Cabinet_bar__plus_00_dot_24_bar__plus_02_dot_01_bar__minus_01_dot_20) + (inReceptacle PepperShaker_bar__plus_00_dot_76_bar__plus_00_dot_11_bar__minus_01_dot_01 Cabinet_bar__plus_01_dot_13_bar__plus_00_dot_47_bar__minus_00_dot_90) + (inReceptacle PepperShaker_bar__minus_02_dot_58_bar__plus_01_dot_66_bar__minus_01_dot_47 Cabinet_bar__minus_02_dot_63_bar__plus_02_dot_01_bar__minus_01_dot_20) + (inReceptacle SaltShaker_bar__minus_02_dot_85_bar__plus_01_dot_66_bar__plus_00_dot_17 Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_01_bar__plus_00_dot_36) + (inReceptacle SaltShaker_bar__minus_00_dot_44_bar__plus_01_dot_66_bar__minus_01_dot_44 Cabinet_bar__minus_00_dot_77_bar__plus_02_dot_01_bar__minus_01_dot_20) + (inReceptacle Kettle_bar__minus_02_dot_62_bar__plus_00_dot_92_bar__minus_00_dot_72 StoveBurner_bar__minus_02_dot_62_bar__plus_00_dot_89_bar__minus_00_dot_71) + (inReceptacle Spatula_bar__minus_02_dot_55_bar__plus_00_dot_92_bar__plus_00_dot_01 CounterTop_bar__minus_02_dot_70_bar__plus_00_dot_95_bar__plus_00_dot_11) + (inReceptacle PepperShaker_bar__minus_02_dot_69_bar__plus_00_dot_91_bar__minus_00_dot_15 CounterTop_bar__minus_02_dot_70_bar__plus_00_dot_95_bar__plus_00_dot_11) + (inReceptacle Tomato_bar__minus_02_dot_52_bar__plus_00_dot_96_bar__plus_00_dot_19 CounterTop_bar__minus_02_dot_70_bar__plus_00_dot_95_bar__plus_00_dot_11) + (inReceptacle SaltShaker_bar__minus_02_dot_60_bar__plus_00_dot_91_bar__minus_00_dot_06 CounterTop_bar__minus_02_dot_70_bar__plus_00_dot_95_bar__plus_00_dot_11) + (inReceptacle Knife_bar__minus_02_dot_44_bar__plus_00_dot_93_bar__minus_00_dot_06 CounterTop_bar__minus_02_dot_70_bar__plus_00_dot_95_bar__plus_00_dot_11) + (inReceptacle CreditCard_bar__plus_00_dot_07_bar__plus_01_dot_11_bar__plus_01_dot_35 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79) + (inReceptacle ButterKnife_bar__plus_00_dot_13_bar__plus_01_dot_11_bar__plus_01_dot_74 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79) + (inReceptacle Egg_bar__plus_00_dot_14_bar__plus_01_dot_14_bar__plus_01_dot_27 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79) + (inReceptacle Plate_bar__minus_00_dot_04_bar__plus_01_dot_11_bar__plus_01_dot_61 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79) + (inReceptacle SoapBottle_bar__plus_01_dot_14_bar__plus_01_dot_11_bar__plus_01_dot_04 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79) + (inReceptacle Apple_bar__plus_00_dot_28_bar__plus_01_dot_15_bar__plus_01_dot_58 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79) + (inReceptacle Lettuce_bar__plus_00_dot_47_bar__plus_01_dot_19_bar__plus_01_dot_40 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79) + (inReceptacle SoapBottle_bar__plus_00_dot_99_bar__plus_01_dot_11_bar__plus_00_dot_88 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79) + (inReceptacle Pot_bar__minus_02_dot_82_bar__plus_00_dot_93_bar__minus_00_dot_40 StoveBurner_bar__minus_02_dot_62_bar__plus_00_dot_89_bar__minus_00_dot_40) + (inReceptacle Knife_bar__minus_02_dot_54_bar__plus_00_dot_77_bar__plus_00_dot_10 Drawer_bar__minus_02_dot_57_bar__plus_00_dot_78_bar__plus_00_dot_10) + (inReceptacle CreditCard_bar__minus_02_dot_54_bar__plus_00_dot_74_bar__plus_00_dot_23 Drawer_bar__minus_02_dot_57_bar__plus_00_dot_78_bar__plus_00_dot_10) + (inReceptacle Knife_bar__minus_02_dot_63_bar__plus_00_dot_77_bar__plus_00_dot_23 Drawer_bar__minus_02_dot_57_bar__plus_00_dot_78_bar__plus_00_dot_10) + (inReceptacle Pot_bar__minus_02_dot_82_bar__plus_00_dot_93_bar__minus_00_dot_40 StoveBurner_bar__minus_02_dot_82_bar__plus_00_dot_89_bar__minus_00_dot_40) + (inReceptacle ButterKnife_bar__minus_00_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_03 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20) + (inReceptacle CreditCard_bar__plus_00_dot_77_bar__plus_00_dot_91_bar__minus_01_dot_37 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20) + (inReceptacle Plate_bar__plus_00_dot_92_bar__plus_00_dot_91_bar__minus_01_dot_12 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20) + (inReceptacle Spoon_bar__minus_00_dot_16_bar__plus_00_dot_90_bar__minus_01_dot_02 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20) + (inReceptacle Bread_bar__minus_00_dot_40_bar__plus_00_dot_95_bar__minus_01_dot_29 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20) + (inReceptacle ButterKnife_bar__minus_02_dot_84_bar__plus_00_dot_91_bar__minus_01_dot_03 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20) + (inReceptacle Pan_bar__minus_02_dot_59_bar__plus_00_dot_90_bar__minus_01_dot_15 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20) + (inReceptacle Potato_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_12 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20) + (inReceptacle Fork_bar__plus_00_dot_25_bar__plus_00_dot_75_bar__minus_01_dot_05 Drawer_bar__plus_00_dot_26_bar__plus_00_dot_78_bar__minus_01_dot_08) + (inReceptacleObject ButterKnife_bar__minus_02_dot_84_bar__plus_00_dot_91_bar__minus_01_dot_03 Pan_bar__minus_02_dot_59_bar__plus_00_dot_90_bar__minus_01_dot_15) + (inReceptacle Cup_bar__minus_01_dot_51_bar__plus_00_dot_85_bar__minus_01_dot_36 Sink_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_01_dot_23_bar_SinkBasin) + (inReceptacle DishSponge_bar__minus_01_dot_22_bar__plus_00_dot_84_bar__minus_01_dot_13 Sink_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_01_dot_23_bar_SinkBasin) + (inReceptacle Cup_bar__minus_01_dot_59_bar__plus_00_dot_85_bar__minus_01_dot_19 Sink_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_01_dot_23_bar_SinkBasin) + (inReceptacle Tomato_bar__minus_02_dot_73_bar__plus_00_dot_09_bar__plus_01_dot_43 GarbageCan_bar__minus_02_dot_76_bar__plus_00_dot_00_bar__plus_01_dot_47) + (inReceptacle Bowl_bar__minus_02_dot_86_bar__plus_00_dot_38_bar__plus_00_dot_93 Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85) + (inReceptacle Bowl_bar__minus_02_dot_68_bar__plus_01_dot_67_bar__plus_00_dot_77 Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85) + (inReceptacle Cup_bar__minus_02_dot_92_bar__plus_00_dot_82_bar__plus_00_dot_77 Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85) + (inReceptacle Bread_bar__minus_02_dot_80_bar__plus_01_dot_53_bar__plus_00_dot_69 Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85) + (inReceptacle Lettuce_bar__minus_02_dot_66_bar__plus_00_dot_87_bar__plus_00_dot_98 Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85) + (inReceptacle Cup_bar__minus_02_dot_68_bar__plus_01_dot_67_bar__plus_01_dot_09 Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_17_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar_0_bar__minus_2_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_00_dot_24_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar_2_bar__minus_2_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_00_dot_48_bar__plus_00_dot_39_bar__minus_00_dot_90 loc_bar__minus_1_bar_0_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_12_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar_2_bar__minus_2_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_13_bar__plus_00_dot_47_bar__minus_00_dot_90 loc_bar_2_bar_0_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_77_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar__minus_3_bar__minus_2_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_00_dot_91 loc_bar__minus_2_bar_0_bar_2_bar_45) + (receptacleAtLocation Cabinet_bar__minus_00_dot_84_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar__minus_4_bar__minus_2_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_77_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar__minus_6_bar__minus_2_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_80_bar__plus_00_dot_47_bar__minus_00_dot_91 loc_bar__minus_8_bar_0_bar_2_bar_45) + (receptacleAtLocation Cabinet_bar__minus_01_dot_84_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar__minus_8_bar__minus_2_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_85_bar__plus_00_dot_39_bar__minus_00_dot_90 loc_bar__minus_8_bar__minus_1_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_39_bar__plus_00_dot_39_bar__plus_00_dot_38 loc_bar__minus_6_bar_1_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_63_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar__minus_8_bar__minus_1_bar_2_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_01_bar__plus_00_dot_36 loc_bar__minus_8_bar_0_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_01_bar__minus_00_dot_95 loc_bar__minus_6_bar__minus_2_bar_3_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_08_bar__minus_00_dot_23 loc_bar__minus_8_bar__minus_2_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_08_bar__minus_00_dot_88 loc_bar__minus_8_bar__minus_2_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_20_bar__plus_00_dot_43 loc_bar__minus_6_bar_1_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_20_bar__plus_01_dot_67 loc_bar__minus_6_bar_7_bar_3_bar__minus_30) + (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_14_bar__plus_01_dot_10_bar__plus_00_dot_30 loc_bar_2_bar_0_bar_1_bar_45) + (receptacleAtLocation CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20 loc_bar_2_bar__minus_2_bar_2_bar_45) + (receptacleAtLocation 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loc_bar_1_bar__minus_2_bar_2_bar_45) + (receptacleAtLocation Sink_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_01_dot_23_bar_SinkBasin loc_bar__minus_5_bar__minus_2_bar_2_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_02_dot_62_bar__plus_00_dot_89_bar__minus_00_dot_40 loc_bar__minus_8_bar__minus_2_bar_3_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_02_dot_62_bar__plus_00_dot_89_bar__minus_00_dot_71 loc_bar__minus_8_bar__minus_2_bar_3_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_02_dot_82_bar__plus_00_dot_89_bar__minus_00_dot_40 loc_bar__minus_8_bar__minus_2_bar_3_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_02_dot_82_bar__plus_00_dot_89_bar__minus_00_dot_71 loc_bar__minus_8_bar__minus_2_bar_3_bar_45) + (receptacleAtLocation Toaster_bar__minus_02_dot_82_bar__plus_00_dot_90_bar__plus_00_dot_25 loc_bar__minus_8_bar_1_bar_3_bar_45) + (objectAtLocation Bowl_bar__minus_02_dot_86_bar__plus_00_dot_38_bar__plus_00_dot_93 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"objectName": "Kettle_1cf3b23c", + "position": { + "x": -2.62011266, + "y": 0.922509432, + "z": -0.724260747 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_35b71b93", + "position": { + "x": 0.765533566, + "y": 0.9082959, + "z": -1.36589742 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_81a93477", + "position": { + "x": -0.401600331, + "y": 0.9483202, + "z": -1.2914989 + }, + "rotation": { + "x": -4.35961847e-05, + "y": 0.000129801716, + "z": -4.20734141e-05 + } + }, + { + "objectName": "Plate_ad96aa4f", + "position": { + "x": 0.920218468, + "y": 0.913163841, + "z": -1.11555123 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_f346af22", + "position": { + "x": 0.9906562, + "y": 1.11295617, + "z": 0.883432269 + }, + "rotation": { + "x": 0.0, + "y": 315.0001, + "z": 0.0 + } + }, + { + "objectName": "Spatula_3b50a8bf", + "position": { + "x": 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0.0 + } + }, + { + "objectName": "Pot_86f597c8", + "position": { + "x": -2.823, + "y": 0.9287, + "z": -0.3964 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Potato_5ea35e17", + "position": { + "x": -0.598039, + "y": 0.9335, + "z": -1.119659 + }, + "rotation": { + "x": 0.0, + "y": 47.53002, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_9171dd8d", + "position": { + "x": -1.221, + "y": 0.8416841, + "z": -1.1264 + }, + "rotation": { + "x": 0.0, + "y": 41.1644974, + "z": 0.0 + } + }, + { + "objectName": "Egg_e02c5e35", + "position": { + "x": 0.136268735, + "y": 1.13652563, + "z": 1.274665 + }, + "rotation": { + "x": 359.9644, + "y": 2.94516053e-06, + "z": 359.9811 + } + }, + { + "objectName": "Spoon_4b9198b3", + "position": { + "x": -0.157054365, + "y": 0.9, + "z": -1.01503634 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_1fa5d324", + "position": { + "x": -2.438055, + "y": 0.9343805, + "z": -0.0629096553 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_46773746", + "position": { + "x": -2.920977, + "y": 0.8185012, + "z": 0.7712372 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Mug_f88244ed", + "position": { + "x": 0.372600079, + "y": 1.65404749, + "z": -1.35359979 + }, + "rotation": { + "x": 359.6101, + "y": -5.924847e-05, + "z": 0.00736820931 + } + }, + { + "objectName": "Bowl_b7a8ccec", + "position": { + "x": -2.860759, + "y": 0.3774938, + "z": 0.9327627 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3284964977, + "scene_num": 22 + }, + "task_id": "trial_T20190907_205445_957867", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AO33H4GL9KZX9_30IQTZXKANNXGTYNRHVUS5K0O8ZX0S", + "high_descs": [ + "Turn to go around the table and go to the kitchen sink.", + "Take the brown glass on the right inside the sink.", + "Take the brown glass to the microwave on the left.", + "Place the brown glass in the microwave and close the door.", + "Go back to the sink on the right.", + "Take the other brown glass in the sink. ", + "Go back to the microwave on the left.", + "Place the brown glass on the left of the brown glass inside the microwave " + ], + "task_desc": "Microwave the glasses.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3T9K2RY06UO14_3SB4CE2TJYCTH6W5JJSNHBWDXVEAX1", + "high_descs": [ + "Turn around and go to the sink.", + "Take a glass out of the sink.", + "Turn around and go to the microwave.", + "Put the glass in the microwave. ", + "Turn around and go to the sink.", + "Take a glass out of the sink.", + "Turn around and go to the microwave.", + "Put the glass in the microwave. " + ], + "task_desc": "Move two glasses from the sink to the microwave. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A36DK84J5YJ942_3X87C8JFV9SD85HNE5JM83UQMYAQSS", + "high_descs": [ + "Move to the sink to the left of the fridge", + "pick up a cup from the sink", + "move to the microwave to the left of the sink", + "put the cup in the microwave", + "move to the sink to the left of the fridge", + "pick up a cup from the sink", + "move to the microwave to the left of the sink", + "put the cup in the microwave" + ], + "task_desc": "Put two cups in the microwave.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Cup-None-Microwave-22/trial_T20190918_234000_303529/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Cup-None-Microwave-22/trial_T20190918_234000_303529/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..0f7afab6cf927dbe99a080ffdfa698c4fb5166d3 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Cup-None-Microwave-22/trial_T20190918_234000_303529/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 cup in microwave.\"\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_T20190918_234000_303529)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__plus_00_dot_14_bar__plus_01_dot_16_bar__plus_01_dot_42 - object\n Apple_bar__plus_00_dot_29_bar__plus_01_dot_06_bar__minus_01_dot_28 - object\n Bowl_bar__plus_00_dot_59_bar__plus_01_dot_11_bar__plus_00_dot_83 - object\n Bowl_bar__minus_02_dot_68_bar__plus_00_dot_38_bar__plus_01_dot_01 - object\n Bread_bar__plus_00_dot_92_bar__plus_00_dot_97_bar__minus_01_dot_37 - object\n Bread_bar__minus_00_dot_40_bar__plus_00_dot_95_bar__minus_01_dot_29 - object\n ButterKnife_bar__plus_00_dot_16_bar__plus_01_dot_11_bar__plus_01_dot_72 - object\n ButterKnife_bar__minus_02_dot_03_bar__plus_00_dot_75_bar__minus_01_dot_01 - object\n Chair_bar__plus_01_dot_07_bar__plus_00_dot_01_bar__plus_01_dot_56 - object\n Chair_bar__plus_01_dot_56_bar__plus_00_dot_01_bar__plus_01_dot_36 - object\n CreditCard_bar__minus_00_dot_05_bar__plus_01_dot_11_bar__plus_01_dot_86 - object\n CreditCard_bar__minus_02_dot_59_bar__plus_00_dot_74_bar__plus_00_dot_23 - object\n Cup_bar__minus_01_dot_93_bar__plus_00_dot_91_bar__minus_01_dot_12 - object\n Cup_bar__minus_02_dot_94_bar__plus_00_dot_91_bar__minus_00_dot_15 - object\n DishSponge_bar__minus_00_dot_17_bar__plus_01_dot_11_bar__plus_01_dot_44 - object\n DishSponge_bar__minus_02_dot_50_bar__plus_00_dot_75_bar__plus_00_dot_10 - object\n DishSponge_bar__minus_02_dot_77_bar__plus_01_dot_66_bar__minus_01_dot_06 - object\n Egg_bar__plus_00_dot_39_bar__plus_01_dot_15_bar__plus_01_dot_33 - object\n Egg_bar__minus_00_dot_02_bar__plus_01_dot_15_bar__plus_01_dot_59 - object\n Egg_bar__minus_02_dot_62_bar__plus_00_dot_85_bar__plus_00_dot_69 - object\n Faucet_bar__minus_01_dot_39_bar__plus_01_dot_14_bar__minus_01_dot_40 - object\n Fork_bar__minus_01_dot_16_bar__plus_00_dot_85_bar__minus_01_dot_25 - object\n Fork_bar__minus_01_dot_42_bar__plus_00_dot_85_bar__minus_01_dot_31 - object\n Fork_bar__minus_02_dot_60_bar__plus_00_dot_91_bar__minus_00_dot_06 - object\n Kettle_bar__minus_02_dot_59_bar__plus_00_dot_12_bar__plus_00_dot_03 - object\n Kettle_bar__minus_02_dot_82_bar__plus_00_dot_93_bar__minus_00_dot_71 - object\n Knife_bar__plus_00_dot_45_bar__plus_01_dot_13_bar__plus_01_dot_73 - object\n Knife_bar__minus_00_dot_13_bar__plus_00_dot_93_bar__minus_01_dot_28 - object\n 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- receptacle\n CoffeeMachine_bar__plus_01_dot_14_bar__plus_01_dot_10_bar__plus_00_dot_30 - receptacle\n CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20 - receptacle\n CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79 - receptacle\n CounterTop_bar__minus_02_dot_70_bar__plus_00_dot_95_bar__plus_00_dot_11 - receptacle\n Drawer_bar__plus_00_dot_26_bar__plus_00_dot_78_bar__minus_01_dot_08 - receptacle\n Drawer_bar__minus_02_dot_03_bar__plus_00_dot_78_bar__minus_01_dot_08 - receptacle\n Drawer_bar__minus_02_dot_57_bar__plus_00_dot_78_bar__plus_00_dot_10 - receptacle\n Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85 - receptacle\n GarbageCan_bar__minus_02_dot_76_bar__plus_00_dot_00_bar__plus_01_dot_47 - receptacle\n Microwave_bar__plus_00_dot_28_bar__plus_00_dot_90_bar__minus_01_dot_33 - receptacle\n Sink_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_01_dot_23_bar_SinkBasin - receptacle\n 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loc_bar__minus_8_bar__minus_2_bar_3_bar__minus_30 - location\n loc_bar__minus_4_bar__minus_2_bar_2_bar__minus_30 - location\n loc_bar__minus_8_bar__minus_2_bar_2_bar__minus_30 - location\n loc_bar__minus_8_bar_0_bar_3_bar__minus_30 - location\n loc_bar_0_bar__minus_2_bar_2_bar__minus_30 - location\n loc_bar__minus_8_bar_1_bar_3_bar_45 - location\n loc_bar__minus_5_bar__minus_2_bar_2_bar_45 - location\n loc_bar_4_bar_8_bar_2_bar_60 - location\n loc_bar__minus_2_bar_0_bar_2_bar_45 - location\n loc_bar__minus_8_bar__minus_1_bar_2_bar__minus_15 - location\n loc_bar__minus_7_bar_3_bar_3_bar_60 - location\n loc_bar_2_bar_0_bar_2_bar_60 - location\n loc_bar__minus_8_bar__minus_2_bar_3_bar_60 - location\n loc_bar__minus_8_bar__minus_1_bar_3_bar_60 - location\n loc_bar__minus_6_bar_7_bar_3_bar__minus_30 - location\n loc_bar__minus_6_bar__minus_2_bar_3_bar__minus_15 - location\n loc_bar__minus_3_bar__minus_2_bar_2_bar__minus_30 - location\n loc_bar__minus_6_bar_1_bar_3_bar_60 - location\n loc_bar__minus_6_bar_1_bar_3_bar__minus_30 - location\n loc_bar_1_bar__minus_2_bar_2_bar_45 - location\n loc_bar__minus_8_bar_6_bar_3_bar_60 - location\n loc_bar_2_bar_0_bar_1_bar_45 - location\n loc_bar__minus_1_bar_0_bar_2_bar_60 - location\n loc_bar__minus_8_bar__minus_2_bar_2_bar_45 - location\n loc_bar__minus_8_bar__minus_2_bar_3_bar_45 - location\n loc_bar_1_bar_10_bar_0_bar_15 - location\n loc_bar_2_bar__minus_2_bar_2_bar_45 - location\n loc_bar__minus_2_bar_6_bar_1_bar_15 - location\n loc_bar__minus_7_bar_2_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__minus_00_dot_77_bar__plus_02_dot_01_bar__minus_01_dot_20 CabinetType)\n (receptacleType StoveBurner_bar__minus_02_dot_82_bar__plus_00_dot_89_bar__minus_00_dot_40 StoveBurnerType)\n (receptacleType CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79 CounterTopType)\n (receptacleType Cabinet_bar__minus_01_dot_80_bar__plus_00_dot_47_bar__minus_00_dot_91 CabinetType)\n (receptacleType Toaster_bar__minus_02_dot_82_bar__plus_00_dot_90_bar__plus_00_dot_25 ToasterType)\n (receptacleType CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20 CounterTopType)\n (receptacleType Microwave_bar__plus_00_dot_28_bar__plus_00_dot_90_bar__minus_01_dot_33 MicrowaveType)\n (receptacleType Cabinet_bar__minus_02_dot_39_bar__plus_00_dot_39_bar__plus_00_dot_38 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_13_bar__plus_00_dot_47_bar__minus_00_dot_90 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_01_bar__plus_00_dot_36 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_08_bar__minus_00_dot_88 CabinetType)\n (receptacleType Drawer_bar__plus_00_dot_26_bar__plus_00_dot_78_bar__minus_01_dot_08 DrawerType)\n (receptacleType CounterTop_bar__minus_02_dot_70_bar__plus_00_dot_95_bar__plus_00_dot_11 CounterTopType)\n (receptacleType GarbageCan_bar__minus_02_dot_76_bar__plus_00_dot_00_bar__plus_01_dot_47 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SoapBottle_bar__minus_00_dot_94_bar__plus_01_dot_66_bar__minus_01_dot_36 Cabinet_bar__minus_00_dot_84_bar__plus_02_dot_01_bar__minus_01_dot_20)\n (inReceptacle Plate_bar__minus_02_dot_77_bar__plus_02_dot_05_bar__plus_00_dot_79 Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_20_bar__plus_00_dot_43)\n (inReceptacle SoapBottle_bar__minus_02_dot_52_bar__plus_00_dot_91_bar__plus_00_dot_19 CounterTop_bar__minus_02_dot_70_bar__plus_00_dot_95_bar__plus_00_dot_11)\n (inReceptacle SaltShaker_bar__minus_02_dot_70_bar__plus_00_dot_90_bar__minus_00_dot_13 CounterTop_bar__minus_02_dot_70_bar__plus_00_dot_95_bar__plus_00_dot_11)\n (inReceptacle Cup_bar__minus_02_dot_94_bar__plus_00_dot_91_bar__minus_00_dot_15 CounterTop_bar__minus_02_dot_70_bar__plus_00_dot_95_bar__plus_00_dot_11)\n (inReceptacle Fork_bar__minus_02_dot_60_bar__plus_00_dot_91_bar__minus_00_dot_06 CounterTop_bar__minus_02_dot_70_bar__plus_00_dot_95_bar__plus_00_dot_11)\n (inReceptacle PepperShaker_bar__minus_02_dot_83_bar__plus_00_dot_90_bar__minus_00_dot_11 CounterTop_bar__minus_02_dot_70_bar__plus_00_dot_95_bar__plus_00_dot_11)\n (inReceptacle Knife_bar__plus_00_dot_45_bar__plus_01_dot_13_bar__plus_01_dot_73 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79)\n (inReceptacle Spoon_bar__plus_00_dot_30_bar__plus_01_dot_11_bar__plus_01_dot_58 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79)\n (inReceptacle Pot_bar__plus_00_dot_24_bar__plus_01_dot_11_bar__plus_01_dot_17 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79)\n (inReceptacle Lettuce_bar__plus_00_dot_21_bar__plus_01_dot_19_bar__plus_01_dot_81 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79)\n (inReceptacle ButterKnife_bar__plus_00_dot_16_bar__plus_01_dot_11_bar__plus_01_dot_72 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79)\n (inReceptacle CreditCard_bar__minus_00_dot_05_bar__plus_01_dot_11_bar__plus_01_dot_86 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79)\n (inReceptacle Egg_bar__plus_00_dot_39_bar__plus_01_dot_15_bar__plus_01_dot_33 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79)\n (inReceptacle DishSponge_bar__minus_00_dot_17_bar__plus_01_dot_11_bar__plus_01_dot_44 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79)\n (inReceptacle Egg_bar__minus_00_dot_02_bar__plus_01_dot_15_bar__plus_01_dot_59 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79)\n (inReceptacle Bowl_bar__plus_00_dot_59_bar__plus_01_dot_11_bar__plus_00_dot_83 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79)\n (inReceptacle Apple_bar__plus_00_dot_14_bar__plus_01_dot_16_bar__plus_01_dot_42 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79)\n (inReceptacle Pot_bar__minus_02_dot_82_bar__plus_00_dot_93_bar__minus_00_dot_40 StoveBurner_bar__minus_02_dot_62_bar__plus_00_dot_89_bar__minus_00_dot_40)\n (inReceptacle Kettle_bar__minus_02_dot_82_bar__plus_00_dot_93_bar__minus_00_dot_71 StoveBurner_bar__minus_02_dot_82_bar__plus_00_dot_89_bar__minus_00_dot_71)\n (inReceptacle CreditCard_bar__minus_02_dot_59_bar__plus_00_dot_74_bar__plus_00_dot_23 Drawer_bar__minus_02_dot_57_bar__plus_00_dot_78_bar__plus_00_dot_10)\n (inReceptacle DishSponge_bar__minus_02_dot_50_bar__plus_00_dot_75_bar__plus_00_dot_10 Drawer_bar__minus_02_dot_57_bar__plus_00_dot_78_bar__plus_00_dot_10)\n (inReceptacle Spatula_bar__minus_02_dot_63_bar__plus_00_dot_76_bar__plus_00_dot_10 Drawer_bar__minus_02_dot_57_bar__plus_00_dot_78_bar__plus_00_dot_10)\n (inReceptacle Pot_bar__minus_02_dot_82_bar__plus_00_dot_93_bar__minus_00_dot_40 StoveBurner_bar__minus_02_dot_82_bar__plus_00_dot_89_bar__minus_00_dot_40)\n (inReceptacle Plate_bar__plus_00_dot_69_bar__plus_00_dot_91_bar__minus_01_dot_28 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20)\n (inReceptacle Knife_bar__minus_00_dot_13_bar__plus_00_dot_93_bar__minus_01_dot_28 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20)\n (inReceptacle Bread_bar__plus_00_dot_92_bar__plus_00_dot_97_bar__minus_01_dot_37 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20)\n (inReceptacle Bread_bar__minus_00_dot_40_bar__plus_00_dot_95_bar__minus_01_dot_29 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20)\n (inReceptacle Cup_bar__minus_01_dot_93_bar__plus_00_dot_91_bar__minus_01_dot_12 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20)\n (inReceptacle Pan_bar__minus_02_dot_59_bar__plus_00_dot_90_bar__minus_01_dot_15 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20)\n (inReceptacle Potato_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_12 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20)\n (inReceptacle Spatula_bar__plus_01_dot_00_bar__plus_00_dot_93_bar__minus_00_dot_95 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20)\n (inReceptacle Spatula_bar__minus_01_dot_51_bar__plus_00_dot_86_bar__minus_01_dot_14 Sink_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_01_dot_23_bar_SinkBasin)\n (inReceptacle Fork_bar__minus_01_dot_16_bar__plus_00_dot_85_bar__minus_01_dot_25 Sink_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_01_dot_23_bar_SinkBasin)\n (inReceptacle Spoon_bar__minus_01_dot_33_bar__plus_00_dot_85_bar__minus_01_dot_19 Sink_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_01_dot_23_bar_SinkBasin)\n (inReceptacle Fork_bar__minus_01_dot_42_bar__plus_00_dot_85_bar__minus_01_dot_31 Sink_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_01_dot_23_bar_SinkBasin)\n (inReceptacle Tomato_bar__minus_02_dot_76_bar__plus_00_dot_09_bar__plus_01_dot_50 GarbageCan_bar__minus_02_dot_76_bar__plus_00_dot_00_bar__plus_01_dot_47)\n (inReceptacle Bowl_bar__minus_02_dot_68_bar__plus_00_dot_38_bar__plus_01_dot_01 Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85)\n (inReceptacle Egg_bar__minus_02_dot_62_bar__plus_00_dot_85_bar__plus_00_dot_69 Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85)\n (inReceptacle Lettuce_bar__minus_02_dot_86_bar__plus_01_dot_55_bar__plus_00_dot_69 Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85)\n (inReceptacle Tomato_bar__minus_02_dot_68_bar__plus_01_dot_52_bar__plus_01_dot_09 Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85)\n (inReceptacle Apple_bar__plus_00_dot_29_bar__plus_01_dot_06_bar__minus_01_dot_28 Microwave_bar__plus_00_dot_28_bar__plus_00_dot_90_bar__minus_01_dot_33)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_17_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar_0_bar__minus_2_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_24_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar_2_bar__minus_2_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_48_bar__plus_00_dot_39_bar__minus_00_dot_90 loc_bar__minus_1_bar_0_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_12_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar_2_bar__minus_2_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_13_bar__plus_00_dot_47_bar__minus_00_dot_90 loc_bar_2_bar_0_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_77_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar__minus_3_bar__minus_2_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_00_dot_91 loc_bar__minus_2_bar_0_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_84_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar__minus_4_bar__minus_2_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_77_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar__minus_6_bar__minus_2_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_80_bar__plus_00_dot_47_bar__minus_00_dot_91 loc_bar__minus_8_bar_0_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_84_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar__minus_8_bar__minus_2_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_85_bar__plus_00_dot_39_bar__minus_00_dot_90 loc_bar__minus_8_bar__minus_1_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_39_bar__plus_00_dot_39_bar__plus_00_dot_38 loc_bar__minus_6_bar_1_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_63_bar__plus_02_dot_01_bar__minus_01_dot_20 loc_bar__minus_8_bar__minus_1_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_01_bar__plus_00_dot_36 loc_bar__minus_8_bar_0_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_01_bar__minus_00_dot_95 loc_bar__minus_6_bar__minus_2_bar_3_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_08_bar__minus_00_dot_23 loc_bar__minus_8_bar__minus_2_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_08_bar__minus_00_dot_88 loc_bar__minus_8_bar__minus_2_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_20_bar__plus_00_dot_43 loc_bar__minus_6_bar_1_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_65_bar__plus_02_dot_20_bar__plus_01_dot_67 loc_bar__minus_6_bar_7_bar_3_bar__minus_30)\n (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_14_bar__plus_01_dot_10_bar__plus_00_dot_30 loc_bar_2_bar_0_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79 loc_bar__minus_2_bar_6_bar_1_bar_15)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_70_bar__plus_00_dot_95_bar__plus_00_dot_11 loc_bar__minus_8_bar_0_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_26_bar__plus_00_dot_78_bar__minus_01_dot_08 loc_bar_2_bar_0_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_03_bar__plus_00_dot_78_bar__minus_01_dot_08 loc_bar__minus_8_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_02_dot_57_bar__plus_00_dot_78_bar__plus_00_dot_10 loc_bar__minus_6_bar__minus_1_bar_3_bar_45)\n (receptacleAtLocation Fridge_bar__minus_02_dot_86_bar__plus_00_dot_00_bar__plus_00_dot_85 loc_bar__minus_7_bar_3_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_02_dot_76_bar__plus_00_dot_00_bar__plus_01_dot_47 loc_bar__minus_8_bar_6_bar_3_bar_60)\n (receptacleAtLocation Microwave_bar__plus_00_dot_28_bar__plus_00_dot_90_bar__minus_01_dot_33 loc_bar_1_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Sink_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_01_dot_23_bar_SinkBasin loc_bar__minus_5_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_62_bar__plus_00_dot_89_bar__minus_00_dot_40 loc_bar__minus_8_bar__minus_2_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_62_bar__plus_00_dot_89_bar__minus_00_dot_71 loc_bar__minus_8_bar__minus_2_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_82_bar__plus_00_dot_89_bar__minus_00_dot_40 loc_bar__minus_8_bar__minus_2_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_02_dot_82_bar__plus_00_dot_89_bar__minus_00_dot_71 loc_bar__minus_8_bar__minus_2_bar_3_bar_45)\n (receptacleAtLocation Toaster_bar__minus_02_dot_82_bar__plus_00_dot_90_bar__plus_00_dot_25 loc_bar__minus_8_bar_1_bar_3_bar_45)\n (objectAtLocation Bowl_bar__plus_00_dot_59_bar__plus_01_dot_11_bar__plus_00_dot_83 loc_bar__minus_2_bar_6_bar_1_bar_15)\n (objectAtLocation Cup_bar__minus_01_dot_93_bar__plus_00_dot_91_bar__minus_01_dot_12 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Knife_bar__plus_00_dot_45_bar__plus_01_dot_13_bar__plus_01_dot_73 loc_bar__minus_2_bar_6_bar_1_bar_15)\n (objectAtLocation Spoon_bar__minus_01_dot_33_bar__plus_00_dot_85_bar__minus_01_dot_19 loc_bar__minus_5_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_02_bar__plus_01_dot_15_bar__plus_01_dot_59 loc_bar__minus_2_bar_6_bar_1_bar_15)\n (objectAtLocation DishSponge_bar__minus_02_dot_77_bar__plus_01_dot_66_bar__minus_01_dot_06 loc_bar__minus_6_bar__minus_2_bar_3_bar__minus_15)\n (objectAtLocation Potato_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_12 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Pot_bar__minus_02_dot_82_bar__plus_00_dot_93_bar__minus_00_dot_40 loc_bar__minus_8_bar__minus_2_bar_3_bar_45)\n (objectAtLocation ButterKnife_bar__plus_00_dot_16_bar__plus_01_dot_11_bar__plus_01_dot_72 loc_bar__minus_2_bar_6_bar_1_bar_15)\n (objectAtLocation Tomato_bar__minus_02_dot_76_bar__plus_00_dot_09_bar__plus_01_dot_50 loc_bar__minus_8_bar_6_bar_3_bar_60)\n (objectAtLocation Lettuce_bar__minus_02_dot_86_bar__plus_01_dot_55_bar__plus_00_dot_69 loc_bar__minus_7_bar_3_bar_3_bar_60)\n (objectAtLocation Spatula_bar__plus_01_dot_00_bar__plus_00_dot_93_bar__minus_00_dot_95 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_94_bar__plus_01_dot_66_bar__minus_01_dot_36 loc_bar__minus_4_bar__minus_2_bar_2_bar__minus_30)\n (objectAtLocation Plate_bar__plus_00_dot_69_bar__plus_00_dot_91_bar__minus_01_dot_28 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Bread_bar__minus_00_dot_40_bar__plus_00_dot_95_bar__minus_01_dot_29 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation CreditCard_bar__minus_00_dot_05_bar__plus_01_dot_11_bar__plus_01_dot_86 loc_bar__minus_2_bar_6_bar_1_bar_15)\n (objectAtLocation Kettle_bar__minus_02_dot_59_bar__plus_00_dot_12_bar__plus_00_dot_03 loc_bar__minus_6_bar_1_bar_3_bar_60)\n (objectAtLocation Fork_bar__minus_01_dot_16_bar__plus_00_dot_85_bar__minus_01_dot_25 loc_bar__minus_5_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Apple_bar__plus_00_dot_14_bar__plus_01_dot_16_bar__plus_01_dot_42 loc_bar__minus_2_bar_6_bar_1_bar_15)\n (objectAtLocation Pan_bar__minus_02_dot_59_bar__plus_00_dot_90_bar__minus_01_dot_15 loc_bar__minus_8_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Egg_bar__plus_00_dot_39_bar__plus_01_dot_15_bar__plus_01_dot_33 loc_bar__minus_2_bar_6_bar_1_bar_15)\n (objectAtLocation Plate_bar__plus_00_dot_54_bar__plus_01_dot_66_bar__minus_01_dot_36 loc_bar_2_bar__minus_2_bar_2_bar__minus_30)\n (objectAtLocation Spatula_bar__minus_02_dot_63_bar__plus_00_dot_76_bar__plus_00_dot_10 loc_bar__minus_6_bar__minus_1_bar_3_bar_45)\n (objectAtLocation Fork_bar__minus_02_dot_60_bar__plus_00_dot_91_bar__minus_00_dot_06 loc_bar__minus_8_bar_0_bar_3_bar_45)\n (objectAtLocation DishSponge_bar__minus_02_dot_50_bar__plus_00_dot_75_bar__plus_00_dot_10 loc_bar__minus_6_bar__minus_1_bar_3_bar_45)\n (objectAtLocation Pan_bar__minus_02_dot_59_bar__plus_00_dot_90_bar__minus_01_dot_15 loc_bar__minus_8_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Sink_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_01_dot_23 loc_bar__minus_5_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Chair_bar__plus_01_dot_07_bar__plus_00_dot_01_bar__plus_01_dot_56 loc_bar_4_bar_8_bar_2_bar_60)\n (objectAtLocation Chair_bar__plus_01_dot_56_bar__plus_00_dot_01_bar__plus_01_dot_36 loc_bar_6_bar_7_bar_2_bar_60)\n (objectAtLocation Pan_bar__minus_02_dot_59_bar__plus_00_dot_90_bar__minus_01_dot_15 loc_bar__minus_8_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Apple_bar__plus_00_dot_29_bar__plus_01_dot_06_bar__minus_01_dot_28 loc_bar_1_bar__minus_2_bar_2_bar_45)\n (objectAtLocation LightSwitch_bar__minus_01_dot_17_bar__plus_01_dot_31_bar__plus_03_dot_00 loc_bar__minus_5_bar_10_bar_0_bar_30)\n (objectAtLocation StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_62 loc_bar__minus_8_bar__minus_2_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_48 loc_bar__minus_8_bar__minus_2_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_78 loc_bar__minus_8_bar__minus_2_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_02_dot_43_bar__plus_00_dot_86_bar__minus_00_dot_32 loc_bar__minus_8_bar__minus_1_bar_3_bar_60)\n (objectAtLocation Fork_bar__minus_01_dot_42_bar__plus_00_dot_85_bar__minus_01_dot_31 loc_bar__minus_5_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Kettle_bar__minus_02_dot_82_bar__plus_00_dot_93_bar__minus_00_dot_71 loc_bar__minus_8_bar__minus_2_bar_3_bar_45)\n (objectAtLocation CreditCard_bar__minus_02_dot_59_bar__plus_00_dot_74_bar__plus_00_dot_23 loc_bar__minus_6_bar__minus_1_bar_3_bar_45)\n (objectAtLocation Bread_bar__plus_00_dot_92_bar__plus_00_dot_97_bar__minus_01_dot_37 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Plate_bar__minus_02_dot_77_bar__plus_02_dot_05_bar__plus_00_dot_79 loc_bar__minus_6_bar_1_bar_3_bar__minus_30)\n (objectAtLocation SoapBottle_bar__minus_02_dot_52_bar__plus_00_dot_91_bar__plus_00_dot_19 loc_bar__minus_8_bar_0_bar_3_bar_45)\n (objectAtLocation Window_bar__plus_00_dot_32_bar__plus_01_dot_45_bar__plus_03_dot_09 loc_bar_1_bar_10_bar_0_bar_15)\n (objectAtLocation Spatula_bar__minus_01_dot_51_bar__plus_00_dot_86_bar__minus_01_dot_14 loc_bar__minus_5_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__plus_00_dot_21_bar__plus_01_dot_19_bar__plus_01_dot_81 loc_bar__minus_2_bar_6_bar_1_bar_15)\n (objectAtLocation SaltShaker_bar__minus_02_dot_70_bar__plus_00_dot_90_bar__minus_00_dot_13 loc_bar__minus_8_bar_0_bar_3_bar_45)\n (objectAtLocation Tomato_bar__minus_02_dot_68_bar__plus_01_dot_52_bar__plus_01_dot_09 loc_bar__minus_7_bar_3_bar_3_bar_60)\n (objectAtLocation PepperShaker_bar__minus_02_dot_83_bar__plus_00_dot_90_bar__minus_00_dot_11 loc_bar__minus_8_bar_0_bar_3_bar_45)\n (objectAtLocation ButterKnife_bar__minus_02_dot_03_bar__plus_00_dot_75_bar__minus_01_dot_01 loc_bar__minus_8_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Pot_bar__plus_00_dot_24_bar__plus_01_dot_11_bar__plus_01_dot_17 loc_bar__minus_2_bar_6_bar_1_bar_15)\n (objectAtLocation Potato_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_12 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation DishSponge_bar__minus_00_dot_17_bar__plus_01_dot_11_bar__plus_01_dot_44 loc_bar__minus_2_bar_6_bar_1_bar_15)\n (objectAtLocation Egg_bar__minus_02_dot_62_bar__plus_00_dot_85_bar__plus_00_dot_69 loc_bar__minus_7_bar_3_bar_3_bar_60)\n (objectAtLocation Spoon_bar__plus_00_dot_30_bar__plus_01_dot_11_bar__plus_01_dot_58 loc_bar__minus_2_bar_6_bar_1_bar_15)\n (objectAtLocation Knife_bar__minus_00_dot_13_bar__plus_00_dot_93_bar__minus_01_dot_28 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Cup_bar__minus_02_dot_94_bar__plus_00_dot_91_bar__minus_00_dot_15 loc_bar__minus_8_bar_0_bar_3_bar_45)\n (objectAtLocation Mug_bar__plus_00_dot_37_bar__plus_01_dot_65_bar__minus_01_dot_35 loc_bar_2_bar__minus_2_bar_2_bar__minus_30)\n (objectAtLocation Bowl_bar__minus_02_dot_68_bar__plus_00_dot_38_bar__plus_01_dot_01 loc_bar__minus_7_bar_3_bar_3_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 CupType)\n (receptacleType ?r MicrowaveType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 CupType)\n (receptacleType ?r MicrowaveType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 2", "take cup 2 from countertop 2", "go to microwave 1", "open microwave 1", "move cup 2 to microwave 1", "go to countertop 3", "take cup 1 from countertop 3", "go to microwave 1", "move cup 1 to microwave 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Cup-None-Microwave-22/trial_T20190918_234000_303529/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Cup-None-Microwave-22/trial_T20190918_234000_303529/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..30ddfc69c203649e6aabd1e369254c0a02084475 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Cup-None-Microwave-22/trial_T20190918_234000_303529/initial_state.pddl @@ -0,0 +1,1151 @@ + +(define (problem plan_trial_T20190918_234000_303529) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + 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Fork_bar__minus_01_dot_16_bar__plus_00_dot_85_bar__minus_01_dot_25) + (cleanable Spatula_bar__minus_02_dot_63_bar__plus_00_dot_76_bar__plus_00_dot_10) + (cleanable Spoon_bar__minus_01_dot_33_bar__plus_00_dot_85_bar__minus_01_dot_19) + (cleanable Potato_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_12) + (cleanable Fork_bar__minus_02_dot_60_bar__plus_00_dot_91_bar__minus_00_dot_06) + (cleanable Spatula_bar__plus_01_dot_00_bar__plus_00_dot_93_bar__minus_00_dot_95) + (cleanable Pot_bar__minus_02_dot_82_bar__plus_00_dot_93_bar__minus_00_dot_40) + (cleanable Plate_bar__plus_00_dot_54_bar__plus_01_dot_66_bar__minus_01_dot_36) + (cleanable Kettle_bar__minus_02_dot_82_bar__plus_00_dot_93_bar__minus_00_dot_71) + (cleanable DishSponge_bar__minus_00_dot_17_bar__plus_01_dot_11_bar__plus_01_dot_44) + (cleanable Pan_bar__minus_02_dot_59_bar__plus_00_dot_90_bar__minus_01_dot_15) + (cleanable Fork_bar__minus_01_dot_42_bar__plus_00_dot_85_bar__minus_01_dot_31) + (cleanable DishSponge_bar__minus_02_dot_50_bar__plus_00_dot_75_bar__plus_00_dot_10) + + (heatable Plate_bar__minus_02_dot_77_bar__plus_02_dot_05_bar__plus_00_dot_79) + (heatable Egg_bar__plus_00_dot_39_bar__plus_01_dot_15_bar__plus_01_dot_33) + (heatable Tomato_bar__minus_02_dot_68_bar__plus_01_dot_52_bar__plus_01_dot_09) + (heatable Apple_bar__plus_00_dot_29_bar__plus_01_dot_06_bar__minus_01_dot_28) + (heatable Cup_bar__minus_02_dot_94_bar__plus_00_dot_91_bar__minus_00_dot_15) + (heatable Mug_bar__plus_00_dot_37_bar__plus_01_dot_65_bar__minus_01_dot_35) + (heatable Egg_bar__minus_02_dot_62_bar__plus_00_dot_85_bar__plus_00_dot_69) + (heatable Cup_bar__minus_01_dot_93_bar__plus_00_dot_91_bar__minus_01_dot_12) + (heatable Egg_bar__minus_00_dot_02_bar__plus_01_dot_15_bar__plus_01_dot_59) + (heatable Apple_bar__plus_00_dot_14_bar__plus_01_dot_16_bar__plus_01_dot_42) + (heatable Plate_bar__plus_00_dot_69_bar__plus_00_dot_91_bar__minus_01_dot_28) + (heatable 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Fork_bar__minus_02_dot_60_bar__plus_00_dot_91_bar__minus_00_dot_06 CounterTop_bar__minus_02_dot_70_bar__plus_00_dot_95_bar__plus_00_dot_11) + (inReceptacle PepperShaker_bar__minus_02_dot_83_bar__plus_00_dot_90_bar__minus_00_dot_11 CounterTop_bar__minus_02_dot_70_bar__plus_00_dot_95_bar__plus_00_dot_11) + (inReceptacle Knife_bar__plus_00_dot_45_bar__plus_01_dot_13_bar__plus_01_dot_73 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79) + (inReceptacle Spoon_bar__plus_00_dot_30_bar__plus_01_dot_11_bar__plus_01_dot_58 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79) + (inReceptacle Pot_bar__plus_00_dot_24_bar__plus_01_dot_11_bar__plus_01_dot_17 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79) + (inReceptacle Lettuce_bar__plus_00_dot_21_bar__plus_01_dot_19_bar__plus_01_dot_81 CounterTop_bar__plus_00_dot_91_bar__plus_01_dot_15_bar__plus_00_dot_79) + (inReceptacle 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Pot_bar__minus_02_dot_82_bar__plus_00_dot_93_bar__minus_00_dot_40 StoveBurner_bar__minus_02_dot_82_bar__plus_00_dot_89_bar__minus_00_dot_40) + (inReceptacle Plate_bar__plus_00_dot_69_bar__plus_00_dot_91_bar__minus_01_dot_28 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20) + (inReceptacle Knife_bar__minus_00_dot_13_bar__plus_00_dot_93_bar__minus_01_dot_28 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20) + (inReceptacle Bread_bar__plus_00_dot_92_bar__plus_00_dot_97_bar__minus_01_dot_37 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20) + (inReceptacle Bread_bar__minus_00_dot_40_bar__plus_00_dot_95_bar__minus_01_dot_29 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20) + (inReceptacle Cup_bar__minus_01_dot_93_bar__plus_00_dot_91_bar__minus_01_dot_12 CounterTop_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__minus_01_dot_20) + (inReceptacle 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Egg_bar__minus_02_dot_62_bar__plus_00_dot_85_bar__plus_00_dot_69 loc_bar__minus_7_bar_3_bar_3_bar_60) + (objectAtLocation Spoon_bar__plus_00_dot_30_bar__plus_01_dot_11_bar__plus_01_dot_58 loc_bar__minus_2_bar_6_bar_1_bar_15) + (objectAtLocation Knife_bar__minus_00_dot_13_bar__plus_00_dot_93_bar__minus_01_dot_28 loc_bar_2_bar__minus_2_bar_2_bar_45) + (objectAtLocation Cup_bar__minus_02_dot_94_bar__plus_00_dot_91_bar__minus_00_dot_15 loc_bar__minus_8_bar_0_bar_3_bar_45) + (objectAtLocation Mug_bar__plus_00_dot_37_bar__plus_01_dot_65_bar__minus_01_dot_35 loc_bar_2_bar__minus_2_bar_2_bar__minus_30) + (objectAtLocation Bowl_bar__minus_02_dot_68_bar__plus_00_dot_38_bar__plus_01_dot_01 loc_bar__minus_7_bar_3_bar_3_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 CupType) + (receptacleType ?r MicrowaveType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 CupType) + (receptacleType ?r MicrowaveType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Cup-None-Microwave-22/trial_T20190918_234000_303529/traj_data.json b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Cup-None-Microwave-22/trial_T20190918_234000_303529/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..bc121699c8f6a6a317fd48f95997a66a694cd97a --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Cup-None-Microwave-22/trial_T20190918_234000_303529/traj_data.json @@ -0,0 +1,9950 @@ +{ + "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": "000000004.png", + 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"high_descs": [ + "Turn around and walk to the kitchen counter between the stove and refrigerator. ", + "Pick up the gold colored wine glass by the toaster, on the counter. ", + "Turn around and walk to the end of the kitchen, then turn right, facing the microwave. ", + "Place the wine glass in the microwave. ", + "Turn right and walk towards the stove, stopping at the end of the kitchen counter. ", + "Pick up the wine glass on the kitchen counter, between the sink and the fry pan. ", + "Turn to your left and walk back to the end of the kitchen where the microwave is. ", + "Place the wine glass in the microwave with the other one. " + ], + "task_desc": "Put two wine glasses in the microwave. ", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AFU00NU09CFXE_3S96KQ6I9PLKYWQXYJISI9JD50NDTJ", + "high_descs": [ + "Move to stand in front of the stove. ", + "Pick up the wine glass from the counter to the right of the stove. ", + "Carry the wine glass to the microwave, which is left of the sink. ", + "Place the wine glass in the microwave. ", + "Move to stand in front of the counter space between the sink and stove. ", + "Pick up the wine glass from the counter. ", + "Carry the wine glass back over to the microwave again. ", + "Place the wine glass inside the microwave with the other one." + ], + "task_desc": "Move two wine glasses to the microwave. ", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3SFPSMFRSRTB3_3SITXWYCNYQY0G1XPXSJCMGJFDTXBD", + "high_descs": [ + "Turn around towards sink, go to stove and counter on the right.", + "Pick up cup from the back of the counter behind the salt and pepper shakers.", + "Turn around, go along the counter, turn right to face the microwave.", + "Open microwave, put cup in to the left of the apple, close the microwave.", + "Turn around, head toward the stove, turn left towards the counter.", + "Pick up cup from counter.", + "Turn around, walk along the counter, turn right to face the microwave.", + "Open the microwave, put cup to the right and behind the apple in the microwave, close the door." + ], + "task_desc": "Place two cups in the microwave.", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-DishSponge-None-Toilet-403/trial_T20190908_024658_735745/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-DishSponge-None-Toilet-403/trial_T20190908_024658_735745/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..9a9420d5267a5f6395f35c886760e4271eb9bde2 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-DishSponge-None-Toilet-403/trial_T20190908_024658_735745/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 dishsponge 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_T20190908_024658_735745)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72 - object\n Candle_bar__minus_00_dot_49_bar__plus_01_dot_07_bar__plus_00_dot_24 - object\n Candle_bar__minus_01_dot_36_bar__plus_01_dot_10_bar__plus_03_dot_41 - object\n Cloth_bar__minus_02_dot_94_bar__plus_00_dot_11_bar__plus_00_dot_73 - object\n DishSponge_bar__minus_01_dot_28_bar__plus_01_dot_11_bar__plus_03_dot_06 - object\n DishSponge_bar__minus_01_dot_70_bar__plus_00_dot_06_bar__plus_03_dot_16 - object\n Faucet_bar__minus_00_dot_85_bar__plus_01_dot_09_bar__plus_03_dot_37 - object\n Faucet_bar__minus_01_dot_34_bar__plus_00_dot_64_bar__plus_00_dot_63 - object\n Faucet_bar__minus_01_dot_94_bar__plus_01_dot_09_bar__plus_03_dot_37 - object\n Faucet_bar__minus_02_dot_95_bar__plus_02_dot_16_bar__plus_03_dot_43 - object\n HandTowel_bar__minus_00_dot_24_bar__plus_01_dot_76_bar__plus_03_dot_43 - object\n LightSwitch_bar__plus_00_dot_97_bar__plus_01_dot_43_bar__plus_01_dot_13 - object\n Mirror_bar__minus_01_dot_39_bar__plus_01_dot_60_bar__plus_03_dot_46 - object\n PaperTowelRoll_bar__minus_01_dot_39_bar__plus_01_dot_21_bar__plus_03_dot_29 - object\n Plunger_bar__minus_00_dot_22_bar__plus_00_dot_03_bar__plus_00_dot_49 - object\n ScrubBrush_bar__minus_00_dot_35_bar__plus_00_dot_03_bar__plus_00_dot_35 - object\n ShowerDoor_bar__minus_02_dot_48_bar__plus_01_dot_77_bar__plus_02_dot_39 - object\n ShowerGlass_bar__minus_02_dot_90_bar__plus_01_dot_42_bar__plus_02_dot_34 - object\n Sink_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__plus_03_dot_14 - object\n Sink_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_03_dot_14 - object\n SoapBar_bar__minus_01_dot_64_bar__plus_00_dot_11_bar__plus_00_dot_45 - object\n SoapBar_bar__minus_02_dot_30_bar__plus_00_dot_60_bar__plus_01_dot_16 - object\n SoapBottle_bar__minus_00_dot_63_bar__plus_01_dot_07_bar__plus_00_dot_30 - object\n SoapBottle_bar__minus_01_dot_27_bar__plus_00_dot_60_bar__plus_00_dot_35 - object\n SprayBottle_bar__minus_02_dot_92_bar__plus_00_dot_60_bar__plus_01_dot_38 - object\n SprayBottle_bar__minus_03_dot_12_bar__plus_00_dot_60_bar__plus_01_dot_55 - object\n SprayBottle_bar__minus_03_dot_22_bar__plus_00_dot_60_bar__plus_01_dot_43 - object\n ToiletPaper_bar__minus_00_dot_14_bar__plus_00_dot_06_bar__plus_03_dot_30 - object\n ToiletPaper_bar__minus_02_dot_13_bar__plus_00_dot_60_bar__plus_01_dot_13 - object\n Towel_bar__plus_00_dot_40_bar__plus_01_dot_39_bar__plus_03_dot_36 - object\n Window_bar__minus_02_dot_19_bar__plus_01_dot_55_bar__plus_00_dot_09 - object\n Window_bar__minus_03_dot_45_bar__plus_01_dot_59_bar__plus_00_dot_65 - object\n Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72_bar_BathtubBasin - receptacle\n Cabinet_bar__minus_00_dot_34_bar__plus_00_dot_43_bar__plus_02_dot_87 - receptacle\n Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_43_bar__plus_02_dot_87 - receptacle\n Cabinet_bar__minus_01_dot_40_bar__plus_00_dot_43_bar__plus_02_dot_87 - receptacle\n Cabinet_bar__minus_02_dot_42_bar__plus_00_dot_43_bar__plus_02_dot_87 - receptacle\n CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15 - receptacle\n GarbageCan_bar__minus_00_dot_13_bar__plus_00_dot_03_bar__plus_03_dot_25 - receptacle\n HandTowelHolder_bar__minus_00_dot_24_bar__plus_01_dot_86_bar__plus_03_dot_47 - receptacle\n Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43 - receptacle\n Sink_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__plus_03_dot_14_bar_SinkBasin - receptacle\n Sink_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_03_dot_14_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_00_dot_04_bar__plus_00_dot_96_bar__plus_00_dot_20 - receptacle\n Toilet_bar__minus_00_dot_70_bar__plus_00_dot_03_bar__plus_00_dot_66 - receptacle\n TowelHolder_bar__plus_00_dot_40_bar__plus_01_dot_38_bar__plus_03_dot_47 - receptacle\n TowelHolder_bar__plus_00_dot_97_bar__plus_01_dot_34_bar__plus_02_dot_86 - receptacle\n loc_bar_1_bar_11_bar_1_bar_30 - location\n loc_bar__minus_8_bar_10_bar_3_bar__minus_15 - location\n loc_bar__minus_8_bar_10_bar_0_bar_45 - location\n loc_bar__minus_2_bar_10_bar_0_bar_45 - location\n loc_bar__minus_3_bar_10_bar_0_bar_45 - location\n loc_bar__minus_8_bar_6_bar_3_bar_0 - location\n loc_bar__minus_8_bar_6_bar_2_bar_0 - location\n loc_bar__minus_8_bar_6_bar_2_bar_60 - location\n loc_bar_0_bar_3_bar_2_bar_45 - location\n loc_bar_0_bar_11_bar_0_bar_60 - location\n loc_bar__minus_7_bar_8_bar_0_bar_60 - location\n loc_bar__minus_6_bar_8_bar_0_bar_60 - location\n loc_bar_1_bar_3_bar_3_bar_60 - location\n loc_bar_0_bar_11_bar_0_bar__minus_15 - location\n loc_bar__minus_7_bar_10_bar_0_bar_45 - location\n loc_bar_2_bar_5_bar_1_bar_30 - location\n loc_bar__minus_6_bar_10_bar_0_bar_45 - location\n loc_bar__minus_1_bar_3_bar_2_bar_60 - location\n loc_bar__minus_5_bar_8_bar_0_bar_60 - location\n loc_bar__minus_4_bar_8_bar_0_bar_60 - location\n loc_bar_1_bar_11_bar_0_bar_15 - location\n loc_bar__minus_8_bar_6_bar_3_bar_45 - location\n loc_bar__minus_1_bar_9_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Sink_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_03_dot_14_bar_SinkBasin SinkBasinType)\n (receptacleType CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15 CounterTopType)\n (receptacleType Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72_bar_BathtubBasin BathtubBasinType)\n (receptacleType TowelHolder_bar__plus_00_dot_40_bar__plus_01_dot_38_bar__plus_03_dot_47 TowelHolderType)\n (receptacleType Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_43_bar__plus_02_dot_87 CabinetType)\n (receptacleType TowelHolder_bar__plus_00_dot_97_bar__plus_01_dot_34_bar__plus_02_dot_86 TowelHolderType)\n (receptacleType Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43 ShelfType)\n (receptacleType Sink_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__plus_03_dot_14_bar_SinkBasin SinkBasinType)\n (receptacleType Toilet_bar__minus_00_dot_70_bar__plus_00_dot_03_bar__plus_00_dot_66 ToiletType)\n (receptacleType Cabinet_bar__minus_00_dot_34_bar__plus_00_dot_43_bar__plus_02_dot_87 CabinetType)\n (receptacleType GarbageCan_bar__minus_00_dot_13_bar__plus_00_dot_03_bar__plus_03_dot_25 GarbageCanType)\n (receptacleType ToiletPaperHanger_bar__minus_00_dot_04_bar__plus_00_dot_96_bar__plus_00_dot_20 ToiletPaperHangerType)\n (receptacleType Cabinet_bar__minus_02_dot_42_bar__plus_00_dot_43_bar__plus_02_dot_87 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_40_bar__plus_00_dot_43_bar__plus_02_dot_87 CabinetType)\n (receptacleType HandTowelHolder_bar__minus_00_dot_24_bar__plus_01_dot_86_bar__plus_03_dot_47 HandTowelHolderType)\n (objectType Cloth_bar__minus_02_dot_94_bar__plus_00_dot_11_bar__plus_00_dot_73 ClothType)\n (objectType ToiletPaper_bar__minus_02_dot_13_bar__plus_00_dot_60_bar__plus_01_dot_13 ToiletPaperType)\n (objectType SoapBottle_bar__minus_00_dot_63_bar__plus_01_dot_07_bar__plus_00_dot_30 SoapBottleType)\n (objectType DishSponge_bar__minus_01_dot_70_bar__plus_00_dot_06_bar__plus_03_dot_16 DishSpongeType)\n (objectType Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72 BathtubType)\n (objectType ShowerDoor_bar__minus_02_dot_48_bar__plus_01_dot_77_bar__plus_02_dot_39 ShowerDoorType)\n (objectType SprayBottle_bar__minus_02_dot_92_bar__plus_00_dot_60_bar__plus_01_dot_38 SprayBottleType)\n (objectType SprayBottle_bar__minus_03_dot_12_bar__plus_00_dot_60_bar__plus_01_dot_55 SprayBottleType)\n (objectType SoapBottle_bar__minus_01_dot_27_bar__plus_00_dot_60_bar__plus_00_dot_35 SoapBottleType)\n (objectType Plunger_bar__minus_00_dot_22_bar__plus_00_dot_03_bar__plus_00_dot_49 PlungerType)\n (objectType Candle_bar__minus_00_dot_49_bar__plus_01_dot_07_bar__plus_00_dot_24 CandleType)\n (objectType Candle_bar__minus_01_dot_36_bar__plus_01_dot_10_bar__plus_03_dot_41 CandleType)\n (objectType ShowerGlass_bar__minus_02_dot_90_bar__plus_01_dot_42_bar__plus_02_dot_34 ShowerGlassType)\n (objectType SprayBottle_bar__minus_03_dot_22_bar__plus_00_dot_60_bar__plus_01_dot_43 SprayBottleType)\n (objectType Sink_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__plus_03_dot_14 SinkType)\n (objectType Window_bar__minus_02_dot_19_bar__plus_01_dot_55_bar__plus_00_dot_09 WindowType)\n (objectType Mirror_bar__minus_01_dot_39_bar__plus_01_dot_60_bar__plus_03_dot_46 MirrorType)\n (objectType SoapBar_bar__minus_02_dot_30_bar__plus_00_dot_60_bar__plus_01_dot_16 SoapBarType)\n (objectType Window_bar__minus_03_dot_45_bar__plus_01_dot_59_bar__plus_00_dot_65 WindowType)\n (objectType ToiletPaper_bar__minus_00_dot_14_bar__plus_00_dot_06_bar__plus_03_dot_30 ToiletPaperType)\n (objectType HandTowel_bar__minus_00_dot_24_bar__plus_01_dot_76_bar__plus_03_dot_43 HandTowelType)\n (objectType LightSwitch_bar__plus_00_dot_97_bar__plus_01_dot_43_bar__plus_01_dot_13 LightSwitchType)\n (objectType PaperTowelRoll_bar__minus_01_dot_39_bar__plus_01_dot_21_bar__plus_03_dot_29 PaperTowelRollType)\n (objectType DishSponge_bar__minus_01_dot_28_bar__plus_01_dot_11_bar__plus_03_dot_06 DishSpongeType)\n (objectType Towel_bar__plus_00_dot_40_bar__plus_01_dot_39_bar__plus_03_dot_36 TowelType)\n (objectType Sink_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_03_dot_14 SinkType)\n (objectType SoapBar_bar__minus_01_dot_64_bar__plus_00_dot_11_bar__plus_00_dot_45 SoapBarType)\n (objectType ScrubBrush_bar__minus_00_dot_35_bar__plus_00_dot_03_bar__plus_00_dot_35 ScrubBrushType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType DishSpongeType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType DishSpongeType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain BathtubBasinType DishSpongeType)\n (canContain TowelHolderType TowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain TowelHolderType TowelType)\n (canContain ShelfType CandleType)\n (canContain ShelfType SoapBarType)\n (canContain ShelfType DishSpongeType)\n (canContain ShelfType SprayBottleType)\n (canContain ShelfType ToiletPaperType)\n (canContain ShelfType SoapBottleType)\n (canContain ShelfType ClothType)\n (canContain ShelfType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType DishSpongeType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType DishSpongeType)\n (canContain ToiletType SprayBottleType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType DishSpongeType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain HandTowelHolderType HandTowelType)\n (pickupable Cloth_bar__minus_02_dot_94_bar__plus_00_dot_11_bar__plus_00_dot_73)\n (pickupable ToiletPaper_bar__minus_02_dot_13_bar__plus_00_dot_60_bar__plus_01_dot_13)\n (pickupable SoapBottle_bar__minus_00_dot_63_bar__plus_01_dot_07_bar__plus_00_dot_30)\n (pickupable DishSponge_bar__minus_01_dot_70_bar__plus_00_dot_06_bar__plus_03_dot_16)\n (pickupable SprayBottle_bar__minus_02_dot_92_bar__plus_00_dot_60_bar__plus_01_dot_38)\n (pickupable SprayBottle_bar__minus_03_dot_12_bar__plus_00_dot_60_bar__plus_01_dot_55)\n (pickupable SoapBottle_bar__minus_01_dot_27_bar__plus_00_dot_60_bar__plus_00_dot_35)\n (pickupable Plunger_bar__minus_00_dot_22_bar__plus_00_dot_03_bar__plus_00_dot_49)\n (pickupable Candle_bar__minus_00_dot_49_bar__plus_01_dot_07_bar__plus_00_dot_24)\n (pickupable Candle_bar__minus_01_dot_36_bar__plus_01_dot_10_bar__plus_03_dot_41)\n (pickupable SprayBottle_bar__minus_03_dot_22_bar__plus_00_dot_60_bar__plus_01_dot_43)\n (pickupable SoapBar_bar__minus_02_dot_30_bar__plus_00_dot_60_bar__plus_01_dot_16)\n (pickupable ToiletPaper_bar__minus_00_dot_14_bar__plus_00_dot_06_bar__plus_03_dot_30)\n (pickupable HandTowel_bar__minus_00_dot_24_bar__plus_01_dot_76_bar__plus_03_dot_43)\n (pickupable PaperTowelRoll_bar__minus_01_dot_39_bar__plus_01_dot_21_bar__plus_03_dot_29)\n (pickupable DishSponge_bar__minus_01_dot_28_bar__plus_01_dot_11_bar__plus_03_dot_06)\n (pickupable Towel_bar__plus_00_dot_40_bar__plus_01_dot_39_bar__plus_03_dot_36)\n (pickupable SoapBar_bar__minus_01_dot_64_bar__plus_00_dot_11_bar__plus_00_dot_45)\n (pickupable ScrubBrush_bar__minus_00_dot_35_bar__plus_00_dot_03_bar__plus_00_dot_35)\n \n (openable Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_43_bar__plus_02_dot_87)\n (openable Cabinet_bar__minus_00_dot_34_bar__plus_00_dot_43_bar__plus_02_dot_87)\n (openable Cabinet_bar__minus_02_dot_42_bar__plus_00_dot_43_bar__plus_02_dot_87)\n (openable Cabinet_bar__minus_01_dot_40_bar__plus_00_dot_43_bar__plus_02_dot_87)\n \n (atLocation agent1 loc_bar__minus_1_bar_9_bar_3_bar_30)\n \n (cleanable Cloth_bar__minus_02_dot_94_bar__plus_00_dot_11_bar__plus_00_dot_73)\n (cleanable DishSponge_bar__minus_01_dot_70_bar__plus_00_dot_06_bar__plus_03_dot_16)\n (cleanable SoapBar_bar__minus_02_dot_30_bar__plus_00_dot_60_bar__plus_01_dot_16)\n (cleanable DishSponge_bar__minus_01_dot_28_bar__plus_01_dot_11_bar__plus_03_dot_06)\n (cleanable SoapBar_bar__minus_01_dot_64_bar__plus_00_dot_11_bar__plus_00_dot_45)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle ShowerGlass_bar__minus_02_dot_90_bar__plus_01_dot_42_bar__plus_02_dot_34 CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15)\n (inReceptacle PaperTowelRoll_bar__minus_01_dot_39_bar__plus_01_dot_21_bar__plus_03_dot_29 CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15)\n (inReceptacle Mirror_bar__minus_01_dot_39_bar__plus_01_dot_60_bar__plus_03_dot_46 CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15)\n (inReceptacle DishSponge_bar__minus_01_dot_28_bar__plus_01_dot_11_bar__plus_03_dot_06 CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15)\n (inReceptacle Candle_bar__minus_01_dot_36_bar__plus_01_dot_10_bar__plus_03_dot_41 CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15)\n (inReceptacle DishSponge_bar__minus_01_dot_70_bar__plus_00_dot_06_bar__plus_03_dot_16 Cabinet_bar__minus_01_dot_40_bar__plus_00_dot_43_bar__plus_02_dot_87)\n (inReceptacle ToiletPaper_bar__minus_00_dot_14_bar__plus_00_dot_06_bar__plus_03_dot_30 GarbageCan_bar__minus_00_dot_13_bar__plus_00_dot_03_bar__plus_03_dot_25)\n (inReceptacle Towel_bar__plus_00_dot_40_bar__plus_01_dot_39_bar__plus_03_dot_36 TowelHolder_bar__plus_00_dot_40_bar__plus_01_dot_38_bar__plus_03_dot_47)\n (inReceptacle SoapBar_bar__minus_01_dot_64_bar__plus_00_dot_11_bar__plus_00_dot_45 Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72_bar_BathtubBasin)\n (inReceptacle Cloth_bar__minus_02_dot_94_bar__plus_00_dot_11_bar__plus_00_dot_73 Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72_bar_BathtubBasin)\n (inReceptacle SprayBottle_bar__minus_02_dot_92_bar__plus_00_dot_60_bar__plus_01_dot_38 Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43)\n (inReceptacle SprayBottle_bar__minus_03_dot_22_bar__plus_00_dot_60_bar__plus_01_dot_43 Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43)\n (inReceptacle ShowerGlass_bar__minus_02_dot_90_bar__plus_01_dot_42_bar__plus_02_dot_34 Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43)\n (inReceptacle SprayBottle_bar__minus_03_dot_12_bar__plus_00_dot_60_bar__plus_01_dot_55 Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43)\n (inReceptacle HandTowel_bar__minus_00_dot_24_bar__plus_01_dot_76_bar__plus_03_dot_43 HandTowelHolder_bar__minus_00_dot_24_bar__plus_01_dot_86_bar__plus_03_dot_47)\n (inReceptacle Candle_bar__minus_00_dot_49_bar__plus_01_dot_07_bar__plus_00_dot_24 Toilet_bar__minus_00_dot_70_bar__plus_00_dot_03_bar__plus_00_dot_66)\n (inReceptacle SoapBottle_bar__minus_00_dot_63_bar__plus_01_dot_07_bar__plus_00_dot_30 Toilet_bar__minus_00_dot_70_bar__plus_00_dot_03_bar__plus_00_dot_66)\n \n \n (receptacleAtLocation Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72_bar_BathtubBasin loc_bar__minus_8_bar_6_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_34_bar__plus_00_dot_43_bar__plus_02_dot_87 loc_bar__minus_4_bar_8_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_43_bar__plus_02_dot_87 loc_bar__minus_6_bar_8_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_40_bar__plus_00_dot_43_bar__plus_02_dot_87 loc_bar__minus_5_bar_8_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_42_bar__plus_00_dot_43_bar__plus_02_dot_87 loc_bar__minus_7_bar_8_bar_0_bar_60)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15 loc_bar__minus_6_bar_10_bar_0_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_13_bar__plus_00_dot_03_bar__plus_03_dot_25 loc_bar_0_bar_11_bar_0_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_00_dot_24_bar__plus_01_dot_86_bar__plus_03_dot_47 loc_bar_0_bar_11_bar_0_bar__minus_15)\n (receptacleAtLocation Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43 loc_bar__minus_8_bar_6_bar_3_bar_45)\n (receptacleAtLocation Sink_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__plus_03_dot_14_bar_SinkBasin loc_bar__minus_2_bar_10_bar_0_bar_45)\n (receptacleAtLocation Sink_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_03_dot_14_bar_SinkBasin loc_bar__minus_7_bar_10_bar_0_bar_45)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_00_dot_04_bar__plus_00_dot_96_bar__plus_00_dot_20 loc_bar_0_bar_3_bar_2_bar_45)\n (receptacleAtLocation Toilet_bar__minus_00_dot_70_bar__plus_00_dot_03_bar__plus_00_dot_66 loc_bar_1_bar_3_bar_3_bar_60)\n (receptacleAtLocation TowelHolder_bar__plus_00_dot_40_bar__plus_01_dot_38_bar__plus_03_dot_47 loc_bar_1_bar_11_bar_0_bar_15)\n (receptacleAtLocation TowelHolder_bar__plus_00_dot_97_bar__plus_01_dot_34_bar__plus_02_dot_86 loc_bar_1_bar_11_bar_1_bar_30)\n (objectAtLocation SprayBottle_bar__minus_03_dot_12_bar__plus_00_dot_60_bar__plus_01_dot_55 loc_bar__minus_8_bar_6_bar_3_bar_45)\n (objectAtLocation DishSponge_bar__minus_01_dot_70_bar__plus_00_dot_06_bar__plus_03_dot_16 loc_bar__minus_5_bar_8_bar_0_bar_60)\n (objectAtLocation Candle_bar__minus_01_dot_36_bar__plus_01_dot_10_bar__plus_03_dot_41 loc_bar__minus_6_bar_10_bar_0_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_63_bar__plus_01_dot_07_bar__plus_00_dot_30 loc_bar_1_bar_3_bar_3_bar_60)\n (objectAtLocation SoapBar_bar__minus_02_dot_30_bar__plus_00_dot_60_bar__plus_01_dot_16 loc_bar__minus_8_bar_6_bar_2_bar_60)\n (objectAtLocation SprayBottle_bar__minus_02_dot_92_bar__plus_00_dot_60_bar__plus_01_dot_38 loc_bar__minus_8_bar_6_bar_3_bar_45)\n (objectAtLocation Window_bar__minus_03_dot_45_bar__plus_01_dot_59_bar__plus_00_dot_65 loc_bar__minus_8_bar_6_bar_3_bar_0)\n (objectAtLocation Mirror_bar__minus_01_dot_39_bar__plus_01_dot_60_bar__plus_03_dot_46 loc_bar__minus_6_bar_10_bar_0_bar_45)\n (objectAtLocation ShowerDoor_bar__minus_02_dot_48_bar__plus_01_dot_77_bar__plus_02_dot_39 loc_bar__minus_8_bar_10_bar_3_bar__minus_15)\n (objectAtLocation Sink_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__plus_03_dot_14 loc_bar__minus_3_bar_10_bar_0_bar_45)\n (objectAtLocation Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72 loc_bar__minus_8_bar_6_bar_2_bar_60)\n (objectAtLocation Sink_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_03_dot_14 loc_bar__minus_8_bar_10_bar_0_bar_45)\n (objectAtLocation ShowerGlass_bar__minus_02_dot_90_bar__plus_01_dot_42_bar__plus_02_dot_34 loc_bar__minus_8_bar_6_bar_3_bar_45)\n (objectAtLocation Window_bar__minus_02_dot_19_bar__plus_01_dot_55_bar__plus_00_dot_09 loc_bar__minus_8_bar_6_bar_2_bar_0)\n (objectAtLocation HandTowel_bar__minus_00_dot_24_bar__plus_01_dot_76_bar__plus_03_dot_43 loc_bar_0_bar_11_bar_0_bar__minus_15)\n (objectAtLocation Plunger_bar__minus_00_dot_22_bar__plus_00_dot_03_bar__plus_00_dot_49 loc_bar__minus_1_bar_3_bar_2_bar_60)\n (objectAtLocation SoapBar_bar__minus_01_dot_64_bar__plus_00_dot_11_bar__plus_00_dot_45 loc_bar__minus_8_bar_6_bar_2_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_02_dot_13_bar__plus_00_dot_60_bar__plus_01_dot_13 loc_bar__minus_8_bar_6_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__minus_01_dot_27_bar__plus_00_dot_60_bar__plus_00_dot_35 loc_bar__minus_8_bar_6_bar_2_bar_60)\n (objectAtLocation LightSwitch_bar__plus_00_dot_97_bar__plus_01_dot_43_bar__plus_01_dot_13 loc_bar_2_bar_5_bar_1_bar_30)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_14_bar__plus_00_dot_06_bar__plus_03_dot_30 loc_bar_0_bar_11_bar_0_bar_60)\n (objectAtLocation Towel_bar__plus_00_dot_40_bar__plus_01_dot_39_bar__plus_03_dot_36 loc_bar_1_bar_11_bar_0_bar_15)\n (objectAtLocation PaperTowelRoll_bar__minus_01_dot_39_bar__plus_01_dot_21_bar__plus_03_dot_29 loc_bar__minus_6_bar_10_bar_0_bar_45)\n (objectAtLocation ScrubBrush_bar__minus_00_dot_35_bar__plus_00_dot_03_bar__plus_00_dot_35 loc_bar__minus_1_bar_3_bar_2_bar_60)\n (objectAtLocation Cloth_bar__minus_02_dot_94_bar__plus_00_dot_11_bar__plus_00_dot_73 loc_bar__minus_8_bar_6_bar_2_bar_60)\n (objectAtLocation Candle_bar__minus_00_dot_49_bar__plus_01_dot_07_bar__plus_00_dot_24 loc_bar_1_bar_3_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__minus_01_dot_28_bar__plus_01_dot_11_bar__plus_03_dot_06 loc_bar__minus_6_bar_10_bar_0_bar_45)\n (objectAtLocation SprayBottle_bar__minus_03_dot_22_bar__plus_00_dot_60_bar__plus_01_dot_43 loc_bar__minus_8_bar_6_bar_3_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 DishSpongeType)\n (receptacleType ?r ToiletType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 DishSpongeType)\n (receptacleType ?r ToiletType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to cabinet 2", "open cabinet 2", "take dishsponge 1 from cabinet 2", "go to toilet 1", "move dishsponge 1 to toilet 1", "go to countertop 1", "take dishsponge 2 from countertop 1", "go to toilet 1", "move dishsponge 2 to toilet 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-DishSponge-None-Toilet-403/trial_T20190908_024658_735745/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-DishSponge-None-Toilet-403/trial_T20190908_024658_735745/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..2ab48a8e77f4087b267ebfef30ec2a9ac87a5f32 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-DishSponge-None-Toilet-403/trial_T20190908_024658_735745/initial_state.pddl @@ -0,0 +1,527 @@ + +(define (problem plan_trial_T20190908_024658_735745) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72 - object + Candle_bar__minus_00_dot_49_bar__plus_01_dot_07_bar__plus_00_dot_24 - object + Candle_bar__minus_01_dot_36_bar__plus_01_dot_10_bar__plus_03_dot_41 - object + Cloth_bar__minus_02_dot_94_bar__plus_00_dot_11_bar__plus_00_dot_73 - object + DishSponge_bar__minus_01_dot_28_bar__plus_01_dot_11_bar__plus_03_dot_06 - object + DishSponge_bar__minus_01_dot_70_bar__plus_00_dot_06_bar__plus_03_dot_16 - object + Faucet_bar__minus_00_dot_85_bar__plus_01_dot_09_bar__plus_03_dot_37 - object + Faucet_bar__minus_01_dot_34_bar__plus_00_dot_64_bar__plus_00_dot_63 - object + Faucet_bar__minus_01_dot_94_bar__plus_01_dot_09_bar__plus_03_dot_37 - object + Faucet_bar__minus_02_dot_95_bar__plus_02_dot_16_bar__plus_03_dot_43 - object + HandTowel_bar__minus_00_dot_24_bar__plus_01_dot_76_bar__plus_03_dot_43 - object + LightSwitch_bar__plus_00_dot_97_bar__plus_01_dot_43_bar__plus_01_dot_13 - object + Mirror_bar__minus_01_dot_39_bar__plus_01_dot_60_bar__plus_03_dot_46 - object + PaperTowelRoll_bar__minus_01_dot_39_bar__plus_01_dot_21_bar__plus_03_dot_29 - object + Plunger_bar__minus_00_dot_22_bar__plus_00_dot_03_bar__plus_00_dot_49 - object + ScrubBrush_bar__minus_00_dot_35_bar__plus_00_dot_03_bar__plus_00_dot_35 - object + ShowerDoor_bar__minus_02_dot_48_bar__plus_01_dot_77_bar__plus_02_dot_39 - object + ShowerGlass_bar__minus_02_dot_90_bar__plus_01_dot_42_bar__plus_02_dot_34 - object + Sink_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__plus_03_dot_14 - object + Sink_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_03_dot_14 - object + SoapBar_bar__minus_01_dot_64_bar__plus_00_dot_11_bar__plus_00_dot_45 - object + SoapBar_bar__minus_02_dot_30_bar__plus_00_dot_60_bar__plus_01_dot_16 - object + SoapBottle_bar__minus_00_dot_63_bar__plus_01_dot_07_bar__plus_00_dot_30 - object + SoapBottle_bar__minus_01_dot_27_bar__plus_00_dot_60_bar__plus_00_dot_35 - object + SprayBottle_bar__minus_02_dot_92_bar__plus_00_dot_60_bar__plus_01_dot_38 - object + SprayBottle_bar__minus_03_dot_12_bar__plus_00_dot_60_bar__plus_01_dot_55 - object + SprayBottle_bar__minus_03_dot_22_bar__plus_00_dot_60_bar__plus_01_dot_43 - object + ToiletPaper_bar__minus_00_dot_14_bar__plus_00_dot_06_bar__plus_03_dot_30 - object + ToiletPaper_bar__minus_02_dot_13_bar__plus_00_dot_60_bar__plus_01_dot_13 - object + Towel_bar__plus_00_dot_40_bar__plus_01_dot_39_bar__plus_03_dot_36 - object + Window_bar__minus_02_dot_19_bar__plus_01_dot_55_bar__plus_00_dot_09 - object + Window_bar__minus_03_dot_45_bar__plus_01_dot_59_bar__plus_00_dot_65 - object + Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72_bar_BathtubBasin - receptacle + Cabinet_bar__minus_00_dot_34_bar__plus_00_dot_43_bar__plus_02_dot_87 - receptacle + Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_43_bar__plus_02_dot_87 - receptacle + Cabinet_bar__minus_01_dot_40_bar__plus_00_dot_43_bar__plus_02_dot_87 - receptacle + Cabinet_bar__minus_02_dot_42_bar__plus_00_dot_43_bar__plus_02_dot_87 - receptacle + CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15 - receptacle + GarbageCan_bar__minus_00_dot_13_bar__plus_00_dot_03_bar__plus_03_dot_25 - receptacle + HandTowelHolder_bar__minus_00_dot_24_bar__plus_01_dot_86_bar__plus_03_dot_47 - receptacle + Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43 - receptacle + Sink_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__plus_03_dot_14_bar_SinkBasin - receptacle + Sink_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_03_dot_14_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__minus_00_dot_04_bar__plus_00_dot_96_bar__plus_00_dot_20 - receptacle + Toilet_bar__minus_00_dot_70_bar__plus_00_dot_03_bar__plus_00_dot_66 - receptacle + TowelHolder_bar__plus_00_dot_40_bar__plus_01_dot_38_bar__plus_03_dot_47 - receptacle + TowelHolder_bar__plus_00_dot_97_bar__plus_01_dot_34_bar__plus_02_dot_86 - receptacle + loc_bar_1_bar_11_bar_1_bar_30 - location + loc_bar__minus_8_bar_10_bar_3_bar__minus_15 - location + loc_bar__minus_8_bar_10_bar_0_bar_45 - location + loc_bar__minus_2_bar_10_bar_0_bar_45 - location + loc_bar__minus_3_bar_10_bar_0_bar_45 - location + loc_bar__minus_8_bar_6_bar_3_bar_0 - location + loc_bar__minus_8_bar_6_bar_2_bar_0 - location + loc_bar__minus_8_bar_6_bar_2_bar_60 - location + loc_bar_0_bar_3_bar_2_bar_45 - location + loc_bar_0_bar_11_bar_0_bar_60 - location + loc_bar__minus_7_bar_8_bar_0_bar_60 - location + loc_bar__minus_6_bar_8_bar_0_bar_60 - location + loc_bar_1_bar_3_bar_3_bar_60 - location + loc_bar_0_bar_11_bar_0_bar__minus_15 - location + loc_bar__minus_7_bar_10_bar_0_bar_45 - location + loc_bar_2_bar_5_bar_1_bar_30 - location + loc_bar__minus_6_bar_10_bar_0_bar_45 - location + loc_bar__minus_1_bar_3_bar_2_bar_60 - location + loc_bar__minus_5_bar_8_bar_0_bar_60 - location + loc_bar__minus_4_bar_8_bar_0_bar_60 - location + loc_bar_1_bar_11_bar_0_bar_15 - location + loc_bar__minus_8_bar_6_bar_3_bar_45 - location + loc_bar__minus_1_bar_9_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Sink_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_03_dot_14_bar_SinkBasin SinkBasinType) + (receptacleType CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15 CounterTopType) + (receptacleType Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72_bar_BathtubBasin BathtubBasinType) + (receptacleType TowelHolder_bar__plus_00_dot_40_bar__plus_01_dot_38_bar__plus_03_dot_47 TowelHolderType) + (receptacleType Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_43_bar__plus_02_dot_87 CabinetType) + (receptacleType TowelHolder_bar__plus_00_dot_97_bar__plus_01_dot_34_bar__plus_02_dot_86 TowelHolderType) + (receptacleType Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43 ShelfType) + (receptacleType Sink_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__plus_03_dot_14_bar_SinkBasin SinkBasinType) + (receptacleType Toilet_bar__minus_00_dot_70_bar__plus_00_dot_03_bar__plus_00_dot_66 ToiletType) + (receptacleType Cabinet_bar__minus_00_dot_34_bar__plus_00_dot_43_bar__plus_02_dot_87 CabinetType) + (receptacleType GarbageCan_bar__minus_00_dot_13_bar__plus_00_dot_03_bar__plus_03_dot_25 GarbageCanType) + (receptacleType ToiletPaperHanger_bar__minus_00_dot_04_bar__plus_00_dot_96_bar__plus_00_dot_20 ToiletPaperHangerType) + (receptacleType Cabinet_bar__minus_02_dot_42_bar__plus_00_dot_43_bar__plus_02_dot_87 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_40_bar__plus_00_dot_43_bar__plus_02_dot_87 CabinetType) + (receptacleType HandTowelHolder_bar__minus_00_dot_24_bar__plus_01_dot_86_bar__plus_03_dot_47 HandTowelHolderType) + (objectType Cloth_bar__minus_02_dot_94_bar__plus_00_dot_11_bar__plus_00_dot_73 ClothType) + (objectType ToiletPaper_bar__minus_02_dot_13_bar__plus_00_dot_60_bar__plus_01_dot_13 ToiletPaperType) + (objectType SoapBottle_bar__minus_00_dot_63_bar__plus_01_dot_07_bar__plus_00_dot_30 SoapBottleType) + (objectType DishSponge_bar__minus_01_dot_70_bar__plus_00_dot_06_bar__plus_03_dot_16 DishSpongeType) + (objectType Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72 BathtubType) + (objectType ShowerDoor_bar__minus_02_dot_48_bar__plus_01_dot_77_bar__plus_02_dot_39 ShowerDoorType) + (objectType SprayBottle_bar__minus_02_dot_92_bar__plus_00_dot_60_bar__plus_01_dot_38 SprayBottleType) + (objectType SprayBottle_bar__minus_03_dot_12_bar__plus_00_dot_60_bar__plus_01_dot_55 SprayBottleType) + (objectType SoapBottle_bar__minus_01_dot_27_bar__plus_00_dot_60_bar__plus_00_dot_35 SoapBottleType) + (objectType Plunger_bar__minus_00_dot_22_bar__plus_00_dot_03_bar__plus_00_dot_49 PlungerType) + (objectType Candle_bar__minus_00_dot_49_bar__plus_01_dot_07_bar__plus_00_dot_24 CandleType) + (objectType Candle_bar__minus_01_dot_36_bar__plus_01_dot_10_bar__plus_03_dot_41 CandleType) + (objectType ShowerGlass_bar__minus_02_dot_90_bar__plus_01_dot_42_bar__plus_02_dot_34 ShowerGlassType) + (objectType SprayBottle_bar__minus_03_dot_22_bar__plus_00_dot_60_bar__plus_01_dot_43 SprayBottleType) + (objectType Sink_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__plus_03_dot_14 SinkType) + (objectType Window_bar__minus_02_dot_19_bar__plus_01_dot_55_bar__plus_00_dot_09 WindowType) + (objectType Mirror_bar__minus_01_dot_39_bar__plus_01_dot_60_bar__plus_03_dot_46 MirrorType) + (objectType SoapBar_bar__minus_02_dot_30_bar__plus_00_dot_60_bar__plus_01_dot_16 SoapBarType) + (objectType Window_bar__minus_03_dot_45_bar__plus_01_dot_59_bar__plus_00_dot_65 WindowType) + (objectType ToiletPaper_bar__minus_00_dot_14_bar__plus_00_dot_06_bar__plus_03_dot_30 ToiletPaperType) + (objectType HandTowel_bar__minus_00_dot_24_bar__plus_01_dot_76_bar__plus_03_dot_43 HandTowelType) + (objectType LightSwitch_bar__plus_00_dot_97_bar__plus_01_dot_43_bar__plus_01_dot_13 LightSwitchType) + (objectType PaperTowelRoll_bar__minus_01_dot_39_bar__plus_01_dot_21_bar__plus_03_dot_29 PaperTowelRollType) + (objectType DishSponge_bar__minus_01_dot_28_bar__plus_01_dot_11_bar__plus_03_dot_06 DishSpongeType) + (objectType Towel_bar__plus_00_dot_40_bar__plus_01_dot_39_bar__plus_03_dot_36 TowelType) + (objectType Sink_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_03_dot_14 SinkType) + (objectType SoapBar_bar__minus_01_dot_64_bar__plus_00_dot_11_bar__plus_00_dot_45 SoapBarType) + (objectType ScrubBrush_bar__minus_00_dot_35_bar__plus_00_dot_03_bar__plus_00_dot_35 ScrubBrushType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType DishSpongeType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain CounterTopType CandleType) + (canContain CounterTopType DishSpongeType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType HandTowelType) + (canContain BathtubBasinType ClothType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain BathtubBasinType DishSpongeType) + (canContain TowelHolderType TowelType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType DishSpongeType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain TowelHolderType TowelType) + (canContain ShelfType CandleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType DishSpongeType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType ClothType) + (canContain ShelfType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType DishSpongeType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType ClothType) + (canContain ToiletType CandleType) + (canContain ToiletType SoapBarType) + (canContain ToiletType DishSpongeType) + (canContain ToiletType SprayBottleType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType DishSpongeType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType DishSpongeType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType HandTowelType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType DishSpongeType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType DishSpongeType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain HandTowelHolderType HandTowelType) + (pickupable Cloth_bar__minus_02_dot_94_bar__plus_00_dot_11_bar__plus_00_dot_73) + (pickupable ToiletPaper_bar__minus_02_dot_13_bar__plus_00_dot_60_bar__plus_01_dot_13) + (pickupable SoapBottle_bar__minus_00_dot_63_bar__plus_01_dot_07_bar__plus_00_dot_30) + (pickupable DishSponge_bar__minus_01_dot_70_bar__plus_00_dot_06_bar__plus_03_dot_16) + (pickupable SprayBottle_bar__minus_02_dot_92_bar__plus_00_dot_60_bar__plus_01_dot_38) + (pickupable SprayBottle_bar__minus_03_dot_12_bar__plus_00_dot_60_bar__plus_01_dot_55) + (pickupable SoapBottle_bar__minus_01_dot_27_bar__plus_00_dot_60_bar__plus_00_dot_35) + (pickupable Plunger_bar__minus_00_dot_22_bar__plus_00_dot_03_bar__plus_00_dot_49) + (pickupable Candle_bar__minus_00_dot_49_bar__plus_01_dot_07_bar__plus_00_dot_24) + (pickupable Candle_bar__minus_01_dot_36_bar__plus_01_dot_10_bar__plus_03_dot_41) + (pickupable SprayBottle_bar__minus_03_dot_22_bar__plus_00_dot_60_bar__plus_01_dot_43) + (pickupable SoapBar_bar__minus_02_dot_30_bar__plus_00_dot_60_bar__plus_01_dot_16) + (pickupable ToiletPaper_bar__minus_00_dot_14_bar__plus_00_dot_06_bar__plus_03_dot_30) + (pickupable HandTowel_bar__minus_00_dot_24_bar__plus_01_dot_76_bar__plus_03_dot_43) + (pickupable PaperTowelRoll_bar__minus_01_dot_39_bar__plus_01_dot_21_bar__plus_03_dot_29) + (pickupable DishSponge_bar__minus_01_dot_28_bar__plus_01_dot_11_bar__plus_03_dot_06) + (pickupable Towel_bar__plus_00_dot_40_bar__plus_01_dot_39_bar__plus_03_dot_36) + (pickupable SoapBar_bar__minus_01_dot_64_bar__plus_00_dot_11_bar__plus_00_dot_45) + (pickupable ScrubBrush_bar__minus_00_dot_35_bar__plus_00_dot_03_bar__plus_00_dot_35) + + (openable Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_43_bar__plus_02_dot_87) + (openable Cabinet_bar__minus_00_dot_34_bar__plus_00_dot_43_bar__plus_02_dot_87) + (openable Cabinet_bar__minus_02_dot_42_bar__plus_00_dot_43_bar__plus_02_dot_87) + (openable Cabinet_bar__minus_01_dot_40_bar__plus_00_dot_43_bar__plus_02_dot_87) + + (atLocation agent1 loc_bar__minus_1_bar_9_bar_3_bar_30) + + (cleanable Cloth_bar__minus_02_dot_94_bar__plus_00_dot_11_bar__plus_00_dot_73) + (cleanable DishSponge_bar__minus_01_dot_70_bar__plus_00_dot_06_bar__plus_03_dot_16) + (cleanable SoapBar_bar__minus_02_dot_30_bar__plus_00_dot_60_bar__plus_01_dot_16) + (cleanable DishSponge_bar__minus_01_dot_28_bar__plus_01_dot_11_bar__plus_03_dot_06) + (cleanable SoapBar_bar__minus_01_dot_64_bar__plus_00_dot_11_bar__plus_00_dot_45) + + + + + + + + + + + (inReceptacle ShowerGlass_bar__minus_02_dot_90_bar__plus_01_dot_42_bar__plus_02_dot_34 CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15) + (inReceptacle PaperTowelRoll_bar__minus_01_dot_39_bar__plus_01_dot_21_bar__plus_03_dot_29 CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15) + (inReceptacle Mirror_bar__minus_01_dot_39_bar__plus_01_dot_60_bar__plus_03_dot_46 CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15) + (inReceptacle DishSponge_bar__minus_01_dot_28_bar__plus_01_dot_11_bar__plus_03_dot_06 CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15) + (inReceptacle Candle_bar__minus_01_dot_36_bar__plus_01_dot_10_bar__plus_03_dot_41 CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15) + (inReceptacle DishSponge_bar__minus_01_dot_70_bar__plus_00_dot_06_bar__plus_03_dot_16 Cabinet_bar__minus_01_dot_40_bar__plus_00_dot_43_bar__plus_02_dot_87) + (inReceptacle ToiletPaper_bar__minus_00_dot_14_bar__plus_00_dot_06_bar__plus_03_dot_30 GarbageCan_bar__minus_00_dot_13_bar__plus_00_dot_03_bar__plus_03_dot_25) + (inReceptacle Towel_bar__plus_00_dot_40_bar__plus_01_dot_39_bar__plus_03_dot_36 TowelHolder_bar__plus_00_dot_40_bar__plus_01_dot_38_bar__plus_03_dot_47) + (inReceptacle SoapBar_bar__minus_01_dot_64_bar__plus_00_dot_11_bar__plus_00_dot_45 Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72_bar_BathtubBasin) + (inReceptacle Cloth_bar__minus_02_dot_94_bar__plus_00_dot_11_bar__plus_00_dot_73 Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72_bar_BathtubBasin) + (inReceptacle SprayBottle_bar__minus_02_dot_92_bar__plus_00_dot_60_bar__plus_01_dot_38 Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43) + (inReceptacle SprayBottle_bar__minus_03_dot_22_bar__plus_00_dot_60_bar__plus_01_dot_43 Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43) + (inReceptacle ShowerGlass_bar__minus_02_dot_90_bar__plus_01_dot_42_bar__plus_02_dot_34 Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43) + (inReceptacle SprayBottle_bar__minus_03_dot_12_bar__plus_00_dot_60_bar__plus_01_dot_55 Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43) + (inReceptacle HandTowel_bar__minus_00_dot_24_bar__plus_01_dot_76_bar__plus_03_dot_43 HandTowelHolder_bar__minus_00_dot_24_bar__plus_01_dot_86_bar__plus_03_dot_47) + (inReceptacle Candle_bar__minus_00_dot_49_bar__plus_01_dot_07_bar__plus_00_dot_24 Toilet_bar__minus_00_dot_70_bar__plus_00_dot_03_bar__plus_00_dot_66) + (inReceptacle SoapBottle_bar__minus_00_dot_63_bar__plus_01_dot_07_bar__plus_00_dot_30 Toilet_bar__minus_00_dot_70_bar__plus_00_dot_03_bar__plus_00_dot_66) + + + (receptacleAtLocation Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72_bar_BathtubBasin loc_bar__minus_8_bar_6_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_34_bar__plus_00_dot_43_bar__plus_02_dot_87 loc_bar__minus_4_bar_8_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_43_bar__plus_02_dot_87 loc_bar__minus_6_bar_8_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_40_bar__plus_00_dot_43_bar__plus_02_dot_87 loc_bar__minus_5_bar_8_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_42_bar__plus_00_dot_43_bar__plus_02_dot_87 loc_bar__minus_7_bar_8_bar_0_bar_60) + (receptacleAtLocation CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15 loc_bar__minus_6_bar_10_bar_0_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_13_bar__plus_00_dot_03_bar__plus_03_dot_25 loc_bar_0_bar_11_bar_0_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_00_dot_24_bar__plus_01_dot_86_bar__plus_03_dot_47 loc_bar_0_bar_11_bar_0_bar__minus_15) + (receptacleAtLocation Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43 loc_bar__minus_8_bar_6_bar_3_bar_45) + (receptacleAtLocation Sink_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__plus_03_dot_14_bar_SinkBasin loc_bar__minus_2_bar_10_bar_0_bar_45) + (receptacleAtLocation Sink_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_03_dot_14_bar_SinkBasin loc_bar__minus_7_bar_10_bar_0_bar_45) + (receptacleAtLocation ToiletPaperHanger_bar__minus_00_dot_04_bar__plus_00_dot_96_bar__plus_00_dot_20 loc_bar_0_bar_3_bar_2_bar_45) + (receptacleAtLocation Toilet_bar__minus_00_dot_70_bar__plus_00_dot_03_bar__plus_00_dot_66 loc_bar_1_bar_3_bar_3_bar_60) + (receptacleAtLocation TowelHolder_bar__plus_00_dot_40_bar__plus_01_dot_38_bar__plus_03_dot_47 loc_bar_1_bar_11_bar_0_bar_15) + (receptacleAtLocation TowelHolder_bar__plus_00_dot_97_bar__plus_01_dot_34_bar__plus_02_dot_86 loc_bar_1_bar_11_bar_1_bar_30) + (objectAtLocation SprayBottle_bar__minus_03_dot_12_bar__plus_00_dot_60_bar__plus_01_dot_55 loc_bar__minus_8_bar_6_bar_3_bar_45) + (objectAtLocation DishSponge_bar__minus_01_dot_70_bar__plus_00_dot_06_bar__plus_03_dot_16 loc_bar__minus_5_bar_8_bar_0_bar_60) + (objectAtLocation Candle_bar__minus_01_dot_36_bar__plus_01_dot_10_bar__plus_03_dot_41 loc_bar__minus_6_bar_10_bar_0_bar_45) + (objectAtLocation SoapBottle_bar__minus_00_dot_63_bar__plus_01_dot_07_bar__plus_00_dot_30 loc_bar_1_bar_3_bar_3_bar_60) + (objectAtLocation SoapBar_bar__minus_02_dot_30_bar__plus_00_dot_60_bar__plus_01_dot_16 loc_bar__minus_8_bar_6_bar_2_bar_60) + (objectAtLocation SprayBottle_bar__minus_02_dot_92_bar__plus_00_dot_60_bar__plus_01_dot_38 loc_bar__minus_8_bar_6_bar_3_bar_45) + (objectAtLocation Window_bar__minus_03_dot_45_bar__plus_01_dot_59_bar__plus_00_dot_65 loc_bar__minus_8_bar_6_bar_3_bar_0) + (objectAtLocation Mirror_bar__minus_01_dot_39_bar__plus_01_dot_60_bar__plus_03_dot_46 loc_bar__minus_6_bar_10_bar_0_bar_45) + (objectAtLocation ShowerDoor_bar__minus_02_dot_48_bar__plus_01_dot_77_bar__plus_02_dot_39 loc_bar__minus_8_bar_10_bar_3_bar__minus_15) + (objectAtLocation Sink_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__plus_03_dot_14 loc_bar__minus_3_bar_10_bar_0_bar_45) + (objectAtLocation Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72 loc_bar__minus_8_bar_6_bar_2_bar_60) + (objectAtLocation Sink_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_03_dot_14 loc_bar__minus_8_bar_10_bar_0_bar_45) + (objectAtLocation ShowerGlass_bar__minus_02_dot_90_bar__plus_01_dot_42_bar__plus_02_dot_34 loc_bar__minus_8_bar_6_bar_3_bar_45) + (objectAtLocation Window_bar__minus_02_dot_19_bar__plus_01_dot_55_bar__plus_00_dot_09 loc_bar__minus_8_bar_6_bar_2_bar_0) + (objectAtLocation HandTowel_bar__minus_00_dot_24_bar__plus_01_dot_76_bar__plus_03_dot_43 loc_bar_0_bar_11_bar_0_bar__minus_15) + (objectAtLocation Plunger_bar__minus_00_dot_22_bar__plus_00_dot_03_bar__plus_00_dot_49 loc_bar__minus_1_bar_3_bar_2_bar_60) + (objectAtLocation SoapBar_bar__minus_01_dot_64_bar__plus_00_dot_11_bar__plus_00_dot_45 loc_bar__minus_8_bar_6_bar_2_bar_60) + (objectAtLocation ToiletPaper_bar__minus_02_dot_13_bar__plus_00_dot_60_bar__plus_01_dot_13 loc_bar__minus_8_bar_6_bar_2_bar_60) + (objectAtLocation SoapBottle_bar__minus_01_dot_27_bar__plus_00_dot_60_bar__plus_00_dot_35 loc_bar__minus_8_bar_6_bar_2_bar_60) + (objectAtLocation LightSwitch_bar__plus_00_dot_97_bar__plus_01_dot_43_bar__plus_01_dot_13 loc_bar_2_bar_5_bar_1_bar_30) + (objectAtLocation ToiletPaper_bar__minus_00_dot_14_bar__plus_00_dot_06_bar__plus_03_dot_30 loc_bar_0_bar_11_bar_0_bar_60) + (objectAtLocation Towel_bar__plus_00_dot_40_bar__plus_01_dot_39_bar__plus_03_dot_36 loc_bar_1_bar_11_bar_0_bar_15) + (objectAtLocation PaperTowelRoll_bar__minus_01_dot_39_bar__plus_01_dot_21_bar__plus_03_dot_29 loc_bar__minus_6_bar_10_bar_0_bar_45) + (objectAtLocation ScrubBrush_bar__minus_00_dot_35_bar__plus_00_dot_03_bar__plus_00_dot_35 loc_bar__minus_1_bar_3_bar_2_bar_60) + (objectAtLocation Cloth_bar__minus_02_dot_94_bar__plus_00_dot_11_bar__plus_00_dot_73 loc_bar__minus_8_bar_6_bar_2_bar_60) + (objectAtLocation Candle_bar__minus_00_dot_49_bar__plus_01_dot_07_bar__plus_00_dot_24 loc_bar_1_bar_3_bar_3_bar_60) + (objectAtLocation DishSponge_bar__minus_01_dot_28_bar__plus_01_dot_11_bar__plus_03_dot_06 loc_bar__minus_6_bar_10_bar_0_bar_45) + (objectAtLocation SprayBottle_bar__minus_03_dot_22_bar__plus_00_dot_60_bar__plus_01_dot_43 loc_bar__minus_8_bar_6_bar_3_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 DishSpongeType) + (receptacleType ?r ToiletType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 DishSpongeType) + (receptacleType ?r ToiletType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-DishSponge-None-Toilet-403/trial_T20190908_024658_735745/traj_data.json 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+ }, + { + "objectName": "Towel_dc838285", + "position": { + "x": 0.4028995, + "y": 1.389, + "z": 3.359185 + }, + "rotation": { + "x": 0.0, + "y": 1.70754731e-06, + "z": 0.0 + } + }, + { + "objectName": "PaperTowelRoll_2e91d540", + "position": { + "x": -1.39135325, + "y": 1.2107681, + "z": 3.292113 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ScrubBrush_72ca769d", + "position": { + "x": -0.351376772, + "y": 0.0262276828, + "z": 0.353597283 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cloth_fb02caf3", + "position": { + "x": -2.94212317, + "y": 0.111971617, + "z": 0.725046635 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Candle_0619d5dc", + "position": { + "x": -1.36194444, + "y": 1.10323822, + "z": 3.41274071 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_22e0124b", + "position": { + "x": -1.70494044, + "y": 0.0561825037, + "z": 3.15629959 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SprayBottle_41ba80d1", + "position": { + "x": -3.12038469, + "y": 0.599911869, + "z": 1.55070341 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3960536725, + "scene_num": 403 + }, + "task_id": "trial_T20190908_024658_735745", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A13OOAT2ORKH6V_3IO1LGZLKCE2F3JULYZJL7DYAB986B", + "high_descs": [ + "Walk to the sink to your right.", + "Grab the sponge from the cabinet below.", + "Turn right and bring the sponge to the toilet to your right.", + "Place the sponge on the toilet.", + "Walk to the sink to your right.", + "Grab the sponge on top of the counter.", + "Turn right and bring the sponge to the toilet to your right.", + "Stand the sponge next the the laying sponge on the toilet." + ], + "task_desc": "Place sponge one and two on the toilet.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2KAGFQU28JY43_3NKQQ8O391MZY95MYO82N55FOOADUA", + "high_descs": [ + "Walk towards the shower, then stop and turn to your right at the second sink. ", + "Pull out a green and yellow sponge from the right cabinet door, under the sink. ", + "Turn around and walk to the toilet. ", + "Place the sponge on the tank of the toilet, to the left of the pump bottle. ", + "Turn around and go back to the counter between the two sinks. ", + "Pick up the green and yellow sponge on the counter, between the two sinks. ", + "Turn around and go back to the toilet across from you. ", + "Place the green and yellow sponge on the tank of the toilet on the right of the other sponge, and in front of the pump bottle. " + ], + "task_desc": "Put two sponges on the back of the toilet. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AO33H4GL9KZX9_3OLQQLKKNV6VCZ8SIKF8MLEP7LWEJT", + "high_descs": [ + "Go to the sink on the right side. ", + "Open the cabinet under the sink and pick up the green sponge.", + "Turn around and go to the left side of the toilet.", + "Place the sponge next to the hand soap on the top of the water tank on the toilet.", + "Go back to the sink on the right. ", + "Pick up the green sponge on the top of the sink.", + "Go back to the left side of the toilet. ", + "Place the sponge standing up to the right of the first sponge. " + ], + "task_desc": "Gather the sponges and put them on the toilet water tank.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-DishSponge-None-Toilet-403/trial_T20190908_024917_909971/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-DishSponge-None-Toilet-403/trial_T20190908_024917_909971/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..b221afd8884b95fb5db755ee6be95e0ad990b60d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-DishSponge-None-Toilet-403/trial_T20190908_024917_909971/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 dishsponge 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_T20190908_024917_909971)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72 - object\n Candle_bar__minus_02_dot_35_bar__plus_00_dot_05_bar__plus_03_dot_22 - object\n Cloth_bar__minus_01_dot_12_bar__plus_00_dot_06_bar__plus_03_dot_22 - object\n Cloth_bar__minus_02_dot_18_bar__plus_00_dot_06_bar__plus_03_dot_09 - object\n DishSponge_bar__minus_00_dot_13_bar__plus_00_dot_07_bar__plus_03_dot_28 - object\n DishSponge_bar__minus_00_dot_70_bar__plus_00_dot_06_bar__plus_03_dot_02 - object\n DishSponge_bar__minus_02_dot_29_bar__plus_00_dot_11_bar__plus_00_dot_36 - object\n DishSponge_bar__minus_02_dot_61_bar__plus_00_dot_60_bar__plus_01_dot_51 - object\n Faucet_bar__minus_00_dot_85_bar__plus_01_dot_09_bar__plus_03_dot_37 - object\n Faucet_bar__minus_01_dot_34_bar__plus_00_dot_64_bar__plus_00_dot_63 - object\n Faucet_bar__minus_01_dot_94_bar__plus_01_dot_09_bar__plus_03_dot_37 - object\n Faucet_bar__minus_02_dot_95_bar__plus_02_dot_16_bar__plus_03_dot_43 - object\n HandTowel_bar__minus_00_dot_24_bar__plus_01_dot_76_bar__plus_03_dot_43 - object\n LightSwitch_bar__plus_00_dot_97_bar__plus_01_dot_43_bar__plus_01_dot_13 - object\n Mirror_bar__minus_01_dot_39_bar__plus_01_dot_60_bar__plus_03_dot_46 - object\n PaperTowelRoll_bar__minus_03_dot_22_bar__plus_00_dot_70_bar__plus_01_dot_55 - object\n Plunger_bar__minus_00_dot_22_bar__plus_00_dot_03_bar__plus_00_dot_49 - object\n ScrubBrush_bar__minus_00_dot_35_bar__plus_00_dot_03_bar__plus_00_dot_35 - object\n ShowerDoor_bar__minus_02_dot_48_bar__plus_01_dot_77_bar__plus_02_dot_39 - object\n ShowerGlass_bar__minus_02_dot_90_bar__plus_01_dot_42_bar__plus_02_dot_34 - object\n Sink_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__plus_03_dot_14 - object\n Sink_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_03_dot_14 - object\n SoapBar_bar__minus_00_dot_45_bar__plus_01_dot_10_bar__plus_03_dot_14 - object\n SoapBar_bar__minus_00_dot_49_bar__plus_01_dot_07_bar__plus_00_dot_39 - object\n SoapBar_bar__minus_02_dot_32_bar__plus_01_dot_10_bar__plus_03_dot_21 - object\n SoapBottle_bar__minus_00_dot_69_bar__plus_01_dot_07_bar__plus_00_dot_36 - object\n SoapBottle_bar__minus_02_dot_71_bar__plus_00_dot_60_bar__plus_01_dot_43 - object\n SprayBottle_bar__minus_00_dot_76_bar__plus_01_dot_07_bar__plus_00_dot_30 - object\n SprayBottle_bar__minus_02_dot_81_bar__plus_00_dot_60_bar__plus_01_dot_34 - object\n ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_87_bar__plus_00_dot_38 - object\n ToiletPaper_bar__minus_00_dot_39_bar__plus_01_dot_10_bar__plus_03_dot_06 - object\n ToiletPaper_bar__minus_01_dot_96_bar__plus_00_dot_60_bar__plus_01_dot_10 - object\n Towel_bar__plus_00_dot_40_bar__plus_01_dot_39_bar__plus_03_dot_36 - object\n Towel_bar__plus_00_dot_86_bar__plus_01_dot_36_bar__plus_02_dot_86 - object\n Window_bar__minus_02_dot_19_bar__plus_01_dot_55_bar__plus_00_dot_09 - object\n Window_bar__minus_03_dot_45_bar__plus_01_dot_59_bar__plus_00_dot_65 - object\n Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72_bar_BathtubBasin - receptacle\n Cabinet_bar__minus_00_dot_34_bar__plus_00_dot_43_bar__plus_02_dot_87 - receptacle\n Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_43_bar__plus_02_dot_87 - receptacle\n Cabinet_bar__minus_01_dot_40_bar__plus_00_dot_43_bar__plus_02_dot_87 - receptacle\n Cabinet_bar__minus_02_dot_42_bar__plus_00_dot_43_bar__plus_02_dot_87 - receptacle\n CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15 - receptacle\n GarbageCan_bar__minus_00_dot_13_bar__plus_00_dot_03_bar__plus_03_dot_25 - receptacle\n HandTowelHolder_bar__minus_00_dot_24_bar__plus_01_dot_86_bar__plus_03_dot_47 - receptacle\n Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43 - receptacle\n Sink_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__plus_03_dot_14_bar_SinkBasin - receptacle\n Sink_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_03_dot_14_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_00_dot_04_bar__plus_00_dot_96_bar__plus_00_dot_20 - receptacle\n Toilet_bar__minus_00_dot_70_bar__plus_00_dot_03_bar__plus_00_dot_66 - receptacle\n TowelHolder_bar__plus_00_dot_40_bar__plus_01_dot_38_bar__plus_03_dot_47 - receptacle\n TowelHolder_bar__plus_00_dot_97_bar__plus_01_dot_34_bar__plus_02_dot_86 - receptacle\n loc_bar_1_bar_11_bar_1_bar_30 - location\n loc_bar__minus_8_bar_10_bar_3_bar__minus_15 - location\n loc_bar__minus_8_bar_10_bar_0_bar_45 - location\n loc_bar__minus_2_bar_10_bar_0_bar_45 - location\n loc_bar__minus_3_bar_10_bar_0_bar_45 - location\n loc_bar__minus_8_bar_6_bar_3_bar_0 - location\n loc_bar__minus_8_bar_6_bar_2_bar_0 - location\n loc_bar__minus_8_bar_6_bar_2_bar_60 - location\n loc_bar_0_bar_3_bar_2_bar_45 - location\n loc_bar_0_bar_11_bar_0_bar_60 - location\n loc_bar__minus_7_bar_8_bar_0_bar_60 - location\n loc_bar__minus_6_bar_8_bar_0_bar_60 - location\n loc_bar_1_bar_3_bar_3_bar_60 - location\n loc_bar_0_bar_11_bar_0_bar__minus_15 - location\n loc_bar__minus_7_bar_10_bar_0_bar_45 - location\n loc_bar_2_bar_5_bar_1_bar_30 - location\n loc_bar__minus_6_bar_10_bar_0_bar_45 - location\n loc_bar__minus_1_bar_3_bar_2_bar_60 - location\n loc_bar__minus_5_bar_8_bar_0_bar_60 - location\n loc_bar__minus_4_bar_8_bar_0_bar_60 - location\n loc_bar_1_bar_11_bar_0_bar_15 - location\n loc_bar__minus_8_bar_6_bar_3_bar_45 - location\n loc_bar_1_bar_3_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Sink_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_03_dot_14_bar_SinkBasin SinkBasinType)\n (receptacleType CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15 CounterTopType)\n (receptacleType Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72_bar_BathtubBasin BathtubBasinType)\n (receptacleType TowelHolder_bar__plus_00_dot_40_bar__plus_01_dot_38_bar__plus_03_dot_47 TowelHolderType)\n (receptacleType Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_43_bar__plus_02_dot_87 CabinetType)\n (receptacleType TowelHolder_bar__plus_00_dot_97_bar__plus_01_dot_34_bar__plus_02_dot_86 TowelHolderType)\n (receptacleType Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43 ShelfType)\n (receptacleType Sink_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__plus_03_dot_14_bar_SinkBasin SinkBasinType)\n (receptacleType Toilet_bar__minus_00_dot_70_bar__plus_00_dot_03_bar__plus_00_dot_66 ToiletType)\n (receptacleType Cabinet_bar__minus_00_dot_34_bar__plus_00_dot_43_bar__plus_02_dot_87 CabinetType)\n (receptacleType GarbageCan_bar__minus_00_dot_13_bar__plus_00_dot_03_bar__plus_03_dot_25 GarbageCanType)\n (receptacleType ToiletPaperHanger_bar__minus_00_dot_04_bar__plus_00_dot_96_bar__plus_00_dot_20 ToiletPaperHangerType)\n (receptacleType Cabinet_bar__minus_02_dot_42_bar__plus_00_dot_43_bar__plus_02_dot_87 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_40_bar__plus_00_dot_43_bar__plus_02_dot_87 CabinetType)\n (receptacleType HandTowelHolder_bar__minus_00_dot_24_bar__plus_01_dot_86_bar__plus_03_dot_47 HandTowelHolderType)\n (objectType DishSponge_bar__minus_02_dot_61_bar__plus_00_dot_60_bar__plus_01_dot_51 DishSpongeType)\n (objectType DishSponge_bar__minus_02_dot_29_bar__plus_00_dot_11_bar__plus_00_dot_36 DishSpongeType)\n (objectType Cloth_bar__minus_01_dot_12_bar__plus_00_dot_06_bar__plus_03_dot_22 ClothType)\n (objectType Candle_bar__minus_02_dot_35_bar__plus_00_dot_05_bar__plus_03_dot_22 CandleType)\n (objectType Cloth_bar__minus_02_dot_18_bar__plus_00_dot_06_bar__plus_03_dot_09 ClothType)\n (objectType SoapBottle_bar__minus_00_dot_69_bar__plus_01_dot_07_bar__plus_00_dot_36 SoapBottleType)\n (objectType SoapBottle_bar__minus_02_dot_71_bar__plus_00_dot_60_bar__plus_01_dot_43 SoapBottleType)\n (objectType Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72 BathtubType)\n (objectType SoapBar_bar__minus_00_dot_45_bar__plus_01_dot_10_bar__plus_03_dot_14 SoapBarType)\n (objectType ShowerDoor_bar__minus_02_dot_48_bar__plus_01_dot_77_bar__plus_02_dot_39 ShowerDoorType)\n (objectType ToiletPaper_bar__minus_01_dot_96_bar__plus_00_dot_60_bar__plus_01_dot_10 ToiletPaperType)\n (objectType SoapBar_bar__minus_00_dot_49_bar__plus_01_dot_07_bar__plus_00_dot_39 SoapBarType)\n (objectType DishSponge_bar__minus_00_dot_13_bar__plus_00_dot_07_bar__plus_03_dot_28 DishSpongeType)\n (objectType PaperTowelRoll_bar__minus_03_dot_22_bar__plus_00_dot_70_bar__plus_01_dot_55 PaperTowelRollType)\n (objectType Plunger_bar__minus_00_dot_22_bar__plus_00_dot_03_bar__plus_00_dot_49 PlungerType)\n (objectType SoapBar_bar__minus_02_dot_32_bar__plus_01_dot_10_bar__plus_03_dot_21 SoapBarType)\n (objectType ShowerGlass_bar__minus_02_dot_90_bar__plus_01_dot_42_bar__plus_02_dot_34 ShowerGlassType)\n (objectType Sink_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__plus_03_dot_14 SinkType)\n (objectType SprayBottle_bar__minus_00_dot_76_bar__plus_01_dot_07_bar__plus_00_dot_30 SprayBottleType)\n (objectType Window_bar__minus_02_dot_19_bar__plus_01_dot_55_bar__plus_00_dot_09 WindowType)\n (objectType Towel_bar__plus_00_dot_86_bar__plus_01_dot_36_bar__plus_02_dot_86 TowelType)\n (objectType DishSponge_bar__minus_00_dot_70_bar__plus_00_dot_06_bar__plus_03_dot_02 DishSpongeType)\n (objectType Mirror_bar__minus_01_dot_39_bar__plus_01_dot_60_bar__plus_03_dot_46 MirrorType)\n (objectType ToiletPaper_bar__minus_00_dot_39_bar__plus_01_dot_10_bar__plus_03_dot_06 ToiletPaperType)\n (objectType Window_bar__minus_03_dot_45_bar__plus_01_dot_59_bar__plus_00_dot_65 WindowType)\n (objectType SprayBottle_bar__minus_02_dot_81_bar__plus_00_dot_60_bar__plus_01_dot_34 SprayBottleType)\n (objectType HandTowel_bar__minus_00_dot_24_bar__plus_01_dot_76_bar__plus_03_dot_43 HandTowelType)\n (objectType LightSwitch_bar__plus_00_dot_97_bar__plus_01_dot_43_bar__plus_01_dot_13 LightSwitchType)\n (objectType ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_87_bar__plus_00_dot_38 ToiletPaperType)\n (objectType Towel_bar__plus_00_dot_40_bar__plus_01_dot_39_bar__plus_03_dot_36 TowelType)\n (objectType Sink_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_03_dot_14 SinkType)\n (objectType ScrubBrush_bar__minus_00_dot_35_bar__plus_00_dot_03_bar__plus_00_dot_35 ScrubBrushType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType DishSpongeType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType DishSpongeType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain BathtubBasinType DishSpongeType)\n (canContain TowelHolderType TowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain TowelHolderType TowelType)\n (canContain ShelfType CandleType)\n (canContain ShelfType SoapBarType)\n (canContain ShelfType DishSpongeType)\n (canContain ShelfType SprayBottleType)\n (canContain ShelfType ToiletPaperType)\n (canContain ShelfType SoapBottleType)\n (canContain ShelfType ClothType)\n (canContain ShelfType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType DishSpongeType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType DishSpongeType)\n (canContain ToiletType SprayBottleType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType DishSpongeType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain HandTowelHolderType HandTowelType)\n (pickupable DishSponge_bar__minus_02_dot_61_bar__plus_00_dot_60_bar__plus_01_dot_51)\n (pickupable DishSponge_bar__minus_02_dot_29_bar__plus_00_dot_11_bar__plus_00_dot_36)\n (pickupable Cloth_bar__minus_01_dot_12_bar__plus_00_dot_06_bar__plus_03_dot_22)\n (pickupable Candle_bar__minus_02_dot_35_bar__plus_00_dot_05_bar__plus_03_dot_22)\n (pickupable Cloth_bar__minus_02_dot_18_bar__plus_00_dot_06_bar__plus_03_dot_09)\n (pickupable SoapBottle_bar__minus_00_dot_69_bar__plus_01_dot_07_bar__plus_00_dot_36)\n (pickupable SoapBottle_bar__minus_02_dot_71_bar__plus_00_dot_60_bar__plus_01_dot_43)\n (pickupable SoapBar_bar__minus_00_dot_45_bar__plus_01_dot_10_bar__plus_03_dot_14)\n (pickupable ToiletPaper_bar__minus_01_dot_96_bar__plus_00_dot_60_bar__plus_01_dot_10)\n (pickupable SoapBar_bar__minus_00_dot_49_bar__plus_01_dot_07_bar__plus_00_dot_39)\n (pickupable DishSponge_bar__minus_00_dot_13_bar__plus_00_dot_07_bar__plus_03_dot_28)\n (pickupable PaperTowelRoll_bar__minus_03_dot_22_bar__plus_00_dot_70_bar__plus_01_dot_55)\n (pickupable Plunger_bar__minus_00_dot_22_bar__plus_00_dot_03_bar__plus_00_dot_49)\n (pickupable SoapBar_bar__minus_02_dot_32_bar__plus_01_dot_10_bar__plus_03_dot_21)\n (pickupable SprayBottle_bar__minus_00_dot_76_bar__plus_01_dot_07_bar__plus_00_dot_30)\n (pickupable Towel_bar__plus_00_dot_86_bar__plus_01_dot_36_bar__plus_02_dot_86)\n (pickupable DishSponge_bar__minus_00_dot_70_bar__plus_00_dot_06_bar__plus_03_dot_02)\n (pickupable ToiletPaper_bar__minus_00_dot_39_bar__plus_01_dot_10_bar__plus_03_dot_06)\n (pickupable SprayBottle_bar__minus_02_dot_81_bar__plus_00_dot_60_bar__plus_01_dot_34)\n (pickupable HandTowel_bar__minus_00_dot_24_bar__plus_01_dot_76_bar__plus_03_dot_43)\n (pickupable ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_87_bar__plus_00_dot_38)\n (pickupable Towel_bar__plus_00_dot_40_bar__plus_01_dot_39_bar__plus_03_dot_36)\n (pickupable ScrubBrush_bar__minus_00_dot_35_bar__plus_00_dot_03_bar__plus_00_dot_35)\n \n (openable Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_43_bar__plus_02_dot_87)\n (openable Cabinet_bar__minus_00_dot_34_bar__plus_00_dot_43_bar__plus_02_dot_87)\n (openable Cabinet_bar__minus_02_dot_42_bar__plus_00_dot_43_bar__plus_02_dot_87)\n (openable Cabinet_bar__minus_01_dot_40_bar__plus_00_dot_43_bar__plus_02_dot_87)\n \n (atLocation agent1 loc_bar_1_bar_3_bar_0_bar_30)\n \n (cleanable DishSponge_bar__minus_02_dot_61_bar__plus_00_dot_60_bar__plus_01_dot_51)\n (cleanable DishSponge_bar__minus_02_dot_29_bar__plus_00_dot_11_bar__plus_00_dot_36)\n (cleanable Cloth_bar__minus_01_dot_12_bar__plus_00_dot_06_bar__plus_03_dot_22)\n (cleanable Cloth_bar__minus_02_dot_18_bar__plus_00_dot_06_bar__plus_03_dot_09)\n (cleanable SoapBar_bar__minus_00_dot_45_bar__plus_01_dot_10_bar__plus_03_dot_14)\n (cleanable SoapBar_bar__minus_00_dot_49_bar__plus_01_dot_07_bar__plus_00_dot_39)\n (cleanable DishSponge_bar__minus_00_dot_13_bar__plus_00_dot_07_bar__plus_03_dot_28)\n (cleanable SoapBar_bar__minus_02_dot_32_bar__plus_01_dot_10_bar__plus_03_dot_21)\n (cleanable DishSponge_bar__minus_00_dot_70_bar__plus_00_dot_06_bar__plus_03_dot_02)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle ShowerGlass_bar__minus_02_dot_90_bar__plus_01_dot_42_bar__plus_02_dot_34 CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15)\n (inReceptacle SoapBar_bar__minus_00_dot_45_bar__plus_01_dot_10_bar__plus_03_dot_14 CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15)\n (inReceptacle Mirror_bar__minus_01_dot_39_bar__plus_01_dot_60_bar__plus_03_dot_46 CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15)\n (inReceptacle ToiletPaper_bar__minus_00_dot_39_bar__plus_01_dot_10_bar__plus_03_dot_06 CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15)\n (inReceptacle SoapBar_bar__minus_02_dot_32_bar__plus_01_dot_10_bar__plus_03_dot_21 CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15)\n (inReceptacle DishSponge_bar__minus_00_dot_70_bar__plus_00_dot_06_bar__plus_03_dot_02 Cabinet_bar__minus_00_dot_34_bar__plus_00_dot_43_bar__plus_02_dot_87)\n (inReceptacle Cloth_bar__minus_01_dot_12_bar__plus_00_dot_06_bar__plus_03_dot_22 Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_43_bar__plus_02_dot_87)\n (inReceptacle Candle_bar__minus_02_dot_35_bar__plus_00_dot_05_bar__plus_03_dot_22 Cabinet_bar__minus_02_dot_42_bar__plus_00_dot_43_bar__plus_02_dot_87)\n (inReceptacle Cloth_bar__minus_02_dot_18_bar__plus_00_dot_06_bar__plus_03_dot_09 Cabinet_bar__minus_02_dot_42_bar__plus_00_dot_43_bar__plus_02_dot_87)\n (inReceptacle DishSponge_bar__minus_00_dot_13_bar__plus_00_dot_07_bar__plus_03_dot_28 GarbageCan_bar__minus_00_dot_13_bar__plus_00_dot_03_bar__plus_03_dot_25)\n (inReceptacle Towel_bar__plus_00_dot_86_bar__plus_01_dot_36_bar__plus_02_dot_86 TowelHolder_bar__plus_00_dot_97_bar__plus_01_dot_34_bar__plus_02_dot_86)\n (inReceptacle Towel_bar__plus_00_dot_40_bar__plus_01_dot_39_bar__plus_03_dot_36 TowelHolder_bar__plus_00_dot_40_bar__plus_01_dot_38_bar__plus_03_dot_47)\n (inReceptacle DishSponge_bar__minus_02_dot_29_bar__plus_00_dot_11_bar__plus_00_dot_36 Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72_bar_BathtubBasin)\n (inReceptacle ShowerGlass_bar__minus_02_dot_90_bar__plus_01_dot_42_bar__plus_02_dot_34 Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43)\n (inReceptacle DishSponge_bar__minus_02_dot_61_bar__plus_00_dot_60_bar__plus_01_dot_51 Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43)\n (inReceptacle PaperTowelRoll_bar__minus_03_dot_22_bar__plus_00_dot_70_bar__plus_01_dot_55 Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43)\n (inReceptacle SprayBottle_bar__minus_02_dot_81_bar__plus_00_dot_60_bar__plus_01_dot_34 Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43)\n (inReceptacle SoapBottle_bar__minus_02_dot_71_bar__plus_00_dot_60_bar__plus_01_dot_43 Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43)\n (inReceptacle HandTowel_bar__minus_00_dot_24_bar__plus_01_dot_76_bar__plus_03_dot_43 HandTowelHolder_bar__minus_00_dot_24_bar__plus_01_dot_86_bar__plus_03_dot_47)\n (inReceptacle ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_87_bar__plus_00_dot_38 ToiletPaperHanger_bar__minus_00_dot_04_bar__plus_00_dot_96_bar__plus_00_dot_20)\n (inReceptacle SoapBar_bar__minus_00_dot_49_bar__plus_01_dot_07_bar__plus_00_dot_39 Toilet_bar__minus_00_dot_70_bar__plus_00_dot_03_bar__plus_00_dot_66)\n (inReceptacle SoapBottle_bar__minus_00_dot_69_bar__plus_01_dot_07_bar__plus_00_dot_36 Toilet_bar__minus_00_dot_70_bar__plus_00_dot_03_bar__plus_00_dot_66)\n (inReceptacle SprayBottle_bar__minus_00_dot_76_bar__plus_01_dot_07_bar__plus_00_dot_30 Toilet_bar__minus_00_dot_70_bar__plus_00_dot_03_bar__plus_00_dot_66)\n \n \n (receptacleAtLocation Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72_bar_BathtubBasin loc_bar__minus_8_bar_6_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_34_bar__plus_00_dot_43_bar__plus_02_dot_87 loc_bar__minus_4_bar_8_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_43_bar__plus_02_dot_87 loc_bar__minus_6_bar_8_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_40_bar__plus_00_dot_43_bar__plus_02_dot_87 loc_bar__minus_5_bar_8_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_42_bar__plus_00_dot_43_bar__plus_02_dot_87 loc_bar__minus_7_bar_8_bar_0_bar_60)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15 loc_bar__minus_6_bar_10_bar_0_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_13_bar__plus_00_dot_03_bar__plus_03_dot_25 loc_bar_0_bar_11_bar_0_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_00_dot_24_bar__plus_01_dot_86_bar__plus_03_dot_47 loc_bar_0_bar_11_bar_0_bar__minus_15)\n (receptacleAtLocation Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43 loc_bar__minus_8_bar_6_bar_3_bar_45)\n (receptacleAtLocation Sink_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__plus_03_dot_14_bar_SinkBasin loc_bar__minus_2_bar_10_bar_0_bar_45)\n (receptacleAtLocation Sink_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_03_dot_14_bar_SinkBasin loc_bar__minus_7_bar_10_bar_0_bar_45)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_00_dot_04_bar__plus_00_dot_96_bar__plus_00_dot_20 loc_bar_0_bar_3_bar_2_bar_45)\n (receptacleAtLocation Toilet_bar__minus_00_dot_70_bar__plus_00_dot_03_bar__plus_00_dot_66 loc_bar_1_bar_3_bar_3_bar_60)\n (receptacleAtLocation TowelHolder_bar__plus_00_dot_40_bar__plus_01_dot_38_bar__plus_03_dot_47 loc_bar_1_bar_11_bar_0_bar_15)\n (receptacleAtLocation TowelHolder_bar__plus_00_dot_97_bar__plus_01_dot_34_bar__plus_02_dot_86 loc_bar_1_bar_11_bar_1_bar_30)\n (objectAtLocation SprayBottle_bar__minus_00_dot_76_bar__plus_01_dot_07_bar__plus_00_dot_30 loc_bar_1_bar_3_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__minus_02_dot_61_bar__plus_00_dot_60_bar__plus_01_dot_51 loc_bar__minus_8_bar_6_bar_3_bar_45)\n (objectAtLocation Cloth_bar__minus_01_dot_12_bar__plus_00_dot_06_bar__plus_03_dot_22 loc_bar__minus_6_bar_8_bar_0_bar_60)\n (objectAtLocation Towel_bar__plus_00_dot_86_bar__plus_01_dot_36_bar__plus_02_dot_86 loc_bar_1_bar_11_bar_1_bar_30)\n (objectAtLocation SoapBottle_bar__minus_02_dot_71_bar__plus_00_dot_60_bar__plus_01_dot_43 loc_bar__minus_8_bar_6_bar_3_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_87_bar__plus_00_dot_38 loc_bar_0_bar_3_bar_2_bar_45)\n (objectAtLocation SoapBar_bar__minus_00_dot_49_bar__plus_01_dot_07_bar__plus_00_dot_39 loc_bar_1_bar_3_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__minus_00_dot_13_bar__plus_00_dot_07_bar__plus_03_dot_28 loc_bar_0_bar_11_bar_0_bar_60)\n (objectAtLocation DishSponge_bar__minus_02_dot_29_bar__plus_00_dot_11_bar__plus_00_dot_36 loc_bar__minus_8_bar_6_bar_2_bar_60)\n (objectAtLocation SoapBar_bar__minus_02_dot_32_bar__plus_01_dot_10_bar__plus_03_dot_21 loc_bar__minus_6_bar_10_bar_0_bar_45)\n (objectAtLocation Window_bar__minus_03_dot_45_bar__plus_01_dot_59_bar__plus_00_dot_65 loc_bar__minus_8_bar_6_bar_3_bar_0)\n (objectAtLocation Mirror_bar__minus_01_dot_39_bar__plus_01_dot_60_bar__plus_03_dot_46 loc_bar__minus_6_bar_10_bar_0_bar_45)\n (objectAtLocation ShowerDoor_bar__minus_02_dot_48_bar__plus_01_dot_77_bar__plus_02_dot_39 loc_bar__minus_8_bar_10_bar_3_bar__minus_15)\n (objectAtLocation Sink_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__plus_03_dot_14 loc_bar__minus_3_bar_10_bar_0_bar_45)\n (objectAtLocation Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72 loc_bar__minus_8_bar_6_bar_2_bar_60)\n (objectAtLocation Sink_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_03_dot_14 loc_bar__minus_8_bar_10_bar_0_bar_45)\n (objectAtLocation ShowerGlass_bar__minus_02_dot_90_bar__plus_01_dot_42_bar__plus_02_dot_34 loc_bar__minus_8_bar_6_bar_3_bar_45)\n (objectAtLocation Window_bar__minus_02_dot_19_bar__plus_01_dot_55_bar__plus_00_dot_09 loc_bar__minus_8_bar_6_bar_2_bar_0)\n (objectAtLocation HandTowel_bar__minus_00_dot_24_bar__plus_01_dot_76_bar__plus_03_dot_43 loc_bar_0_bar_11_bar_0_bar__minus_15)\n (objectAtLocation Plunger_bar__minus_00_dot_22_bar__plus_00_dot_03_bar__plus_00_dot_49 loc_bar__minus_1_bar_3_bar_2_bar_60)\n (objectAtLocation SoapBar_bar__minus_00_dot_45_bar__plus_01_dot_10_bar__plus_03_dot_14 loc_bar__minus_6_bar_10_bar_0_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_39_bar__plus_01_dot_10_bar__plus_03_dot_06 loc_bar__minus_6_bar_10_bar_0_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_69_bar__plus_01_dot_07_bar__plus_00_dot_36 loc_bar_1_bar_3_bar_3_bar_60)\n (objectAtLocation LightSwitch_bar__plus_00_dot_97_bar__plus_01_dot_43_bar__plus_01_dot_13 loc_bar_2_bar_5_bar_1_bar_30)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_96_bar__plus_00_dot_60_bar__plus_01_dot_10 loc_bar__minus_8_bar_6_bar_2_bar_60)\n (objectAtLocation Towel_bar__plus_00_dot_40_bar__plus_01_dot_39_bar__plus_03_dot_36 loc_bar_1_bar_11_bar_0_bar_15)\n (objectAtLocation PaperTowelRoll_bar__minus_03_dot_22_bar__plus_00_dot_70_bar__plus_01_dot_55 loc_bar__minus_8_bar_6_bar_3_bar_45)\n (objectAtLocation ScrubBrush_bar__minus_00_dot_35_bar__plus_00_dot_03_bar__plus_00_dot_35 loc_bar__minus_1_bar_3_bar_2_bar_60)\n (objectAtLocation Cloth_bar__minus_02_dot_18_bar__plus_00_dot_06_bar__plus_03_dot_09 loc_bar__minus_7_bar_8_bar_0_bar_60)\n (objectAtLocation Candle_bar__minus_02_dot_35_bar__plus_00_dot_05_bar__plus_03_dot_22 loc_bar__minus_7_bar_8_bar_0_bar_60)\n (objectAtLocation DishSponge_bar__minus_00_dot_70_bar__plus_00_dot_06_bar__plus_03_dot_02 loc_bar__minus_4_bar_8_bar_0_bar_60)\n (objectAtLocation SprayBottle_bar__minus_02_dot_81_bar__plus_00_dot_60_bar__plus_01_dot_34 loc_bar__minus_8_bar_6_bar_3_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 DishSpongeType)\n (receptacleType ?r ToiletType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 DishSpongeType)\n (receptacleType ?r ToiletType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to garbagecan 1", "take dishsponge 4 from garbagecan 1", "go to toilet 1", "move dishsponge 4 to toilet 1", "go to bathtubbasin 1", "take dishsponge 2 from bathtubbasin 1", "go to toilet 1", "move dishsponge 2 to toilet 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-DishSponge-None-Toilet-403/trial_T20190908_024917_909971/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-DishSponge-None-Toilet-403/trial_T20190908_024917_909971/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..ffc6155af9ac907ae25daeb3cac39409d77f619f --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-DishSponge-None-Toilet-403/trial_T20190908_024917_909971/initial_state.pddl @@ -0,0 +1,553 @@ + +(define (problem plan_trial_T20190908_024917_909971) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72 - object + Candle_bar__minus_02_dot_35_bar__plus_00_dot_05_bar__plus_03_dot_22 - object + Cloth_bar__minus_01_dot_12_bar__plus_00_dot_06_bar__plus_03_dot_22 - object + Cloth_bar__minus_02_dot_18_bar__plus_00_dot_06_bar__plus_03_dot_09 - object + DishSponge_bar__minus_00_dot_13_bar__plus_00_dot_07_bar__plus_03_dot_28 - object + DishSponge_bar__minus_00_dot_70_bar__plus_00_dot_06_bar__plus_03_dot_02 - object + DishSponge_bar__minus_02_dot_29_bar__plus_00_dot_11_bar__plus_00_dot_36 - object + DishSponge_bar__minus_02_dot_61_bar__plus_00_dot_60_bar__plus_01_dot_51 - object + Faucet_bar__minus_00_dot_85_bar__plus_01_dot_09_bar__plus_03_dot_37 - object + Faucet_bar__minus_01_dot_34_bar__plus_00_dot_64_bar__plus_00_dot_63 - object + Faucet_bar__minus_01_dot_94_bar__plus_01_dot_09_bar__plus_03_dot_37 - object + Faucet_bar__minus_02_dot_95_bar__plus_02_dot_16_bar__plus_03_dot_43 - object + HandTowel_bar__minus_00_dot_24_bar__plus_01_dot_76_bar__plus_03_dot_43 - object + LightSwitch_bar__plus_00_dot_97_bar__plus_01_dot_43_bar__plus_01_dot_13 - object + Mirror_bar__minus_01_dot_39_bar__plus_01_dot_60_bar__plus_03_dot_46 - object + PaperTowelRoll_bar__minus_03_dot_22_bar__plus_00_dot_70_bar__plus_01_dot_55 - object + Plunger_bar__minus_00_dot_22_bar__plus_00_dot_03_bar__plus_00_dot_49 - object + ScrubBrush_bar__minus_00_dot_35_bar__plus_00_dot_03_bar__plus_00_dot_35 - object + ShowerDoor_bar__minus_02_dot_48_bar__plus_01_dot_77_bar__plus_02_dot_39 - object + ShowerGlass_bar__minus_02_dot_90_bar__plus_01_dot_42_bar__plus_02_dot_34 - object + Sink_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__plus_03_dot_14 - object + Sink_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_03_dot_14 - object + SoapBar_bar__minus_00_dot_45_bar__plus_01_dot_10_bar__plus_03_dot_14 - object + SoapBar_bar__minus_00_dot_49_bar__plus_01_dot_07_bar__plus_00_dot_39 - object + SoapBar_bar__minus_02_dot_32_bar__plus_01_dot_10_bar__plus_03_dot_21 - object + SoapBottle_bar__minus_00_dot_69_bar__plus_01_dot_07_bar__plus_00_dot_36 - object + SoapBottle_bar__minus_02_dot_71_bar__plus_00_dot_60_bar__plus_01_dot_43 - object + SprayBottle_bar__minus_00_dot_76_bar__plus_01_dot_07_bar__plus_00_dot_30 - object + SprayBottle_bar__minus_02_dot_81_bar__plus_00_dot_60_bar__plus_01_dot_34 - object + ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_87_bar__plus_00_dot_38 - object + ToiletPaper_bar__minus_00_dot_39_bar__plus_01_dot_10_bar__plus_03_dot_06 - object + ToiletPaper_bar__minus_01_dot_96_bar__plus_00_dot_60_bar__plus_01_dot_10 - object + Towel_bar__plus_00_dot_40_bar__plus_01_dot_39_bar__plus_03_dot_36 - object + Towel_bar__plus_00_dot_86_bar__plus_01_dot_36_bar__plus_02_dot_86 - object + Window_bar__minus_02_dot_19_bar__plus_01_dot_55_bar__plus_00_dot_09 - object + Window_bar__minus_03_dot_45_bar__plus_01_dot_59_bar__plus_00_dot_65 - object + Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72_bar_BathtubBasin - receptacle + Cabinet_bar__minus_00_dot_34_bar__plus_00_dot_43_bar__plus_02_dot_87 - receptacle + Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_43_bar__plus_02_dot_87 - receptacle + Cabinet_bar__minus_01_dot_40_bar__plus_00_dot_43_bar__plus_02_dot_87 - receptacle + Cabinet_bar__minus_02_dot_42_bar__plus_00_dot_43_bar__plus_02_dot_87 - receptacle + CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15 - receptacle + GarbageCan_bar__minus_00_dot_13_bar__plus_00_dot_03_bar__plus_03_dot_25 - receptacle + HandTowelHolder_bar__minus_00_dot_24_bar__plus_01_dot_86_bar__plus_03_dot_47 - receptacle + Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43 - receptacle + Sink_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__plus_03_dot_14_bar_SinkBasin - receptacle + Sink_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_03_dot_14_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__minus_00_dot_04_bar__plus_00_dot_96_bar__plus_00_dot_20 - receptacle + Toilet_bar__minus_00_dot_70_bar__plus_00_dot_03_bar__plus_00_dot_66 - receptacle + TowelHolder_bar__plus_00_dot_40_bar__plus_01_dot_38_bar__plus_03_dot_47 - receptacle + TowelHolder_bar__plus_00_dot_97_bar__plus_01_dot_34_bar__plus_02_dot_86 - receptacle + loc_bar_1_bar_11_bar_1_bar_30 - location + loc_bar__minus_8_bar_10_bar_3_bar__minus_15 - location + loc_bar__minus_8_bar_10_bar_0_bar_45 - location + loc_bar__minus_2_bar_10_bar_0_bar_45 - location + loc_bar__minus_3_bar_10_bar_0_bar_45 - location + loc_bar__minus_8_bar_6_bar_3_bar_0 - location + loc_bar__minus_8_bar_6_bar_2_bar_0 - location + loc_bar__minus_8_bar_6_bar_2_bar_60 - location + loc_bar_0_bar_3_bar_2_bar_45 - location + loc_bar_0_bar_11_bar_0_bar_60 - location + loc_bar__minus_7_bar_8_bar_0_bar_60 - location + loc_bar__minus_6_bar_8_bar_0_bar_60 - location + loc_bar_1_bar_3_bar_3_bar_60 - location + loc_bar_0_bar_11_bar_0_bar__minus_15 - location + loc_bar__minus_7_bar_10_bar_0_bar_45 - location + loc_bar_2_bar_5_bar_1_bar_30 - location + loc_bar__minus_6_bar_10_bar_0_bar_45 - location + loc_bar__minus_1_bar_3_bar_2_bar_60 - location + loc_bar__minus_5_bar_8_bar_0_bar_60 - location + loc_bar__minus_4_bar_8_bar_0_bar_60 - location + loc_bar_1_bar_11_bar_0_bar_15 - location + loc_bar__minus_8_bar_6_bar_3_bar_45 - location + loc_bar_1_bar_3_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Sink_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_03_dot_14_bar_SinkBasin SinkBasinType) + (receptacleType CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15 CounterTopType) + (receptacleType Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72_bar_BathtubBasin BathtubBasinType) + (receptacleType TowelHolder_bar__plus_00_dot_40_bar__plus_01_dot_38_bar__plus_03_dot_47 TowelHolderType) + (receptacleType Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_43_bar__plus_02_dot_87 CabinetType) + (receptacleType TowelHolder_bar__plus_00_dot_97_bar__plus_01_dot_34_bar__plus_02_dot_86 TowelHolderType) + (receptacleType Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43 ShelfType) + (receptacleType Sink_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__plus_03_dot_14_bar_SinkBasin SinkBasinType) + (receptacleType Toilet_bar__minus_00_dot_70_bar__plus_00_dot_03_bar__plus_00_dot_66 ToiletType) + (receptacleType Cabinet_bar__minus_00_dot_34_bar__plus_00_dot_43_bar__plus_02_dot_87 CabinetType) + (receptacleType GarbageCan_bar__minus_00_dot_13_bar__plus_00_dot_03_bar__plus_03_dot_25 GarbageCanType) + (receptacleType ToiletPaperHanger_bar__minus_00_dot_04_bar__plus_00_dot_96_bar__plus_00_dot_20 ToiletPaperHangerType) + (receptacleType Cabinet_bar__minus_02_dot_42_bar__plus_00_dot_43_bar__plus_02_dot_87 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_40_bar__plus_00_dot_43_bar__plus_02_dot_87 CabinetType) + (receptacleType HandTowelHolder_bar__minus_00_dot_24_bar__plus_01_dot_86_bar__plus_03_dot_47 HandTowelHolderType) + (objectType DishSponge_bar__minus_02_dot_61_bar__plus_00_dot_60_bar__plus_01_dot_51 DishSpongeType) + (objectType DishSponge_bar__minus_02_dot_29_bar__plus_00_dot_11_bar__plus_00_dot_36 DishSpongeType) + (objectType Cloth_bar__minus_01_dot_12_bar__plus_00_dot_06_bar__plus_03_dot_22 ClothType) + (objectType Candle_bar__minus_02_dot_35_bar__plus_00_dot_05_bar__plus_03_dot_22 CandleType) + (objectType Cloth_bar__minus_02_dot_18_bar__plus_00_dot_06_bar__plus_03_dot_09 ClothType) + (objectType SoapBottle_bar__minus_00_dot_69_bar__plus_01_dot_07_bar__plus_00_dot_36 SoapBottleType) + (objectType SoapBottle_bar__minus_02_dot_71_bar__plus_00_dot_60_bar__plus_01_dot_43 SoapBottleType) + (objectType Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72 BathtubType) + (objectType SoapBar_bar__minus_00_dot_45_bar__plus_01_dot_10_bar__plus_03_dot_14 SoapBarType) + (objectType ShowerDoor_bar__minus_02_dot_48_bar__plus_01_dot_77_bar__plus_02_dot_39 ShowerDoorType) + (objectType ToiletPaper_bar__minus_01_dot_96_bar__plus_00_dot_60_bar__plus_01_dot_10 ToiletPaperType) + (objectType SoapBar_bar__minus_00_dot_49_bar__plus_01_dot_07_bar__plus_00_dot_39 SoapBarType) + (objectType DishSponge_bar__minus_00_dot_13_bar__plus_00_dot_07_bar__plus_03_dot_28 DishSpongeType) + (objectType PaperTowelRoll_bar__minus_03_dot_22_bar__plus_00_dot_70_bar__plus_01_dot_55 PaperTowelRollType) + (objectType Plunger_bar__minus_00_dot_22_bar__plus_00_dot_03_bar__plus_00_dot_49 PlungerType) + (objectType SoapBar_bar__minus_02_dot_32_bar__plus_01_dot_10_bar__plus_03_dot_21 SoapBarType) + (objectType ShowerGlass_bar__minus_02_dot_90_bar__plus_01_dot_42_bar__plus_02_dot_34 ShowerGlassType) + (objectType Sink_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__plus_03_dot_14 SinkType) + (objectType SprayBottle_bar__minus_00_dot_76_bar__plus_01_dot_07_bar__plus_00_dot_30 SprayBottleType) + (objectType Window_bar__minus_02_dot_19_bar__plus_01_dot_55_bar__plus_00_dot_09 WindowType) + (objectType Towel_bar__plus_00_dot_86_bar__plus_01_dot_36_bar__plus_02_dot_86 TowelType) + (objectType DishSponge_bar__minus_00_dot_70_bar__plus_00_dot_06_bar__plus_03_dot_02 DishSpongeType) + (objectType Mirror_bar__minus_01_dot_39_bar__plus_01_dot_60_bar__plus_03_dot_46 MirrorType) + (objectType ToiletPaper_bar__minus_00_dot_39_bar__plus_01_dot_10_bar__plus_03_dot_06 ToiletPaperType) + (objectType Window_bar__minus_03_dot_45_bar__plus_01_dot_59_bar__plus_00_dot_65 WindowType) + (objectType SprayBottle_bar__minus_02_dot_81_bar__plus_00_dot_60_bar__plus_01_dot_34 SprayBottleType) + (objectType HandTowel_bar__minus_00_dot_24_bar__plus_01_dot_76_bar__plus_03_dot_43 HandTowelType) + (objectType LightSwitch_bar__plus_00_dot_97_bar__plus_01_dot_43_bar__plus_01_dot_13 LightSwitchType) + (objectType ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_87_bar__plus_00_dot_38 ToiletPaperType) + (objectType Towel_bar__plus_00_dot_40_bar__plus_01_dot_39_bar__plus_03_dot_36 TowelType) + (objectType Sink_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_03_dot_14 SinkType) + (objectType ScrubBrush_bar__minus_00_dot_35_bar__plus_00_dot_03_bar__plus_00_dot_35 ScrubBrushType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType DishSpongeType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain CounterTopType CandleType) + (canContain CounterTopType DishSpongeType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType HandTowelType) + (canContain BathtubBasinType ClothType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain BathtubBasinType DishSpongeType) + (canContain TowelHolderType TowelType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType DishSpongeType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain TowelHolderType TowelType) + (canContain ShelfType CandleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType DishSpongeType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType ClothType) + (canContain ShelfType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType DishSpongeType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType ClothType) + (canContain ToiletType CandleType) + (canContain ToiletType SoapBarType) + (canContain ToiletType DishSpongeType) + (canContain ToiletType SprayBottleType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType DishSpongeType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType DishSpongeType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType HandTowelType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType DishSpongeType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType DishSpongeType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain HandTowelHolderType HandTowelType) + (pickupable DishSponge_bar__minus_02_dot_61_bar__plus_00_dot_60_bar__plus_01_dot_51) + (pickupable DishSponge_bar__minus_02_dot_29_bar__plus_00_dot_11_bar__plus_00_dot_36) + (pickupable Cloth_bar__minus_01_dot_12_bar__plus_00_dot_06_bar__plus_03_dot_22) + (pickupable Candle_bar__minus_02_dot_35_bar__plus_00_dot_05_bar__plus_03_dot_22) + (pickupable Cloth_bar__minus_02_dot_18_bar__plus_00_dot_06_bar__plus_03_dot_09) + (pickupable SoapBottle_bar__minus_00_dot_69_bar__plus_01_dot_07_bar__plus_00_dot_36) + (pickupable SoapBottle_bar__minus_02_dot_71_bar__plus_00_dot_60_bar__plus_01_dot_43) + (pickupable SoapBar_bar__minus_00_dot_45_bar__plus_01_dot_10_bar__plus_03_dot_14) + (pickupable ToiletPaper_bar__minus_01_dot_96_bar__plus_00_dot_60_bar__plus_01_dot_10) + (pickupable SoapBar_bar__minus_00_dot_49_bar__plus_01_dot_07_bar__plus_00_dot_39) + (pickupable DishSponge_bar__minus_00_dot_13_bar__plus_00_dot_07_bar__plus_03_dot_28) + (pickupable PaperTowelRoll_bar__minus_03_dot_22_bar__plus_00_dot_70_bar__plus_01_dot_55) + (pickupable Plunger_bar__minus_00_dot_22_bar__plus_00_dot_03_bar__plus_00_dot_49) + (pickupable SoapBar_bar__minus_02_dot_32_bar__plus_01_dot_10_bar__plus_03_dot_21) + (pickupable SprayBottle_bar__minus_00_dot_76_bar__plus_01_dot_07_bar__plus_00_dot_30) + (pickupable Towel_bar__plus_00_dot_86_bar__plus_01_dot_36_bar__plus_02_dot_86) + (pickupable DishSponge_bar__minus_00_dot_70_bar__plus_00_dot_06_bar__plus_03_dot_02) + (pickupable ToiletPaper_bar__minus_00_dot_39_bar__plus_01_dot_10_bar__plus_03_dot_06) + (pickupable SprayBottle_bar__minus_02_dot_81_bar__plus_00_dot_60_bar__plus_01_dot_34) + (pickupable HandTowel_bar__minus_00_dot_24_bar__plus_01_dot_76_bar__plus_03_dot_43) + (pickupable ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_87_bar__plus_00_dot_38) + (pickupable Towel_bar__plus_00_dot_40_bar__plus_01_dot_39_bar__plus_03_dot_36) + (pickupable ScrubBrush_bar__minus_00_dot_35_bar__plus_00_dot_03_bar__plus_00_dot_35) + + (openable Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_43_bar__plus_02_dot_87) + (openable Cabinet_bar__minus_00_dot_34_bar__plus_00_dot_43_bar__plus_02_dot_87) + (openable Cabinet_bar__minus_02_dot_42_bar__plus_00_dot_43_bar__plus_02_dot_87) + (openable Cabinet_bar__minus_01_dot_40_bar__plus_00_dot_43_bar__plus_02_dot_87) + + (atLocation agent1 loc_bar_1_bar_3_bar_0_bar_30) + + (cleanable DishSponge_bar__minus_02_dot_61_bar__plus_00_dot_60_bar__plus_01_dot_51) + (cleanable DishSponge_bar__minus_02_dot_29_bar__plus_00_dot_11_bar__plus_00_dot_36) + (cleanable Cloth_bar__minus_01_dot_12_bar__plus_00_dot_06_bar__plus_03_dot_22) + (cleanable Cloth_bar__minus_02_dot_18_bar__plus_00_dot_06_bar__plus_03_dot_09) + (cleanable SoapBar_bar__minus_00_dot_45_bar__plus_01_dot_10_bar__plus_03_dot_14) + (cleanable SoapBar_bar__minus_00_dot_49_bar__plus_01_dot_07_bar__plus_00_dot_39) + (cleanable DishSponge_bar__minus_00_dot_13_bar__plus_00_dot_07_bar__plus_03_dot_28) + (cleanable SoapBar_bar__minus_02_dot_32_bar__plus_01_dot_10_bar__plus_03_dot_21) + (cleanable DishSponge_bar__minus_00_dot_70_bar__plus_00_dot_06_bar__plus_03_dot_02) + + + + + + + + + + + (inReceptacle ShowerGlass_bar__minus_02_dot_90_bar__plus_01_dot_42_bar__plus_02_dot_34 CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15) + (inReceptacle SoapBar_bar__minus_00_dot_45_bar__plus_01_dot_10_bar__plus_03_dot_14 CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15) + (inReceptacle Mirror_bar__minus_01_dot_39_bar__plus_01_dot_60_bar__plus_03_dot_46 CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15) + (inReceptacle ToiletPaper_bar__minus_00_dot_39_bar__plus_01_dot_10_bar__plus_03_dot_06 CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15) + (inReceptacle SoapBar_bar__minus_02_dot_32_bar__plus_01_dot_10_bar__plus_03_dot_21 CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15) + (inReceptacle DishSponge_bar__minus_00_dot_70_bar__plus_00_dot_06_bar__plus_03_dot_02 Cabinet_bar__minus_00_dot_34_bar__plus_00_dot_43_bar__plus_02_dot_87) + (inReceptacle Cloth_bar__minus_01_dot_12_bar__plus_00_dot_06_bar__plus_03_dot_22 Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_43_bar__plus_02_dot_87) + (inReceptacle Candle_bar__minus_02_dot_35_bar__plus_00_dot_05_bar__plus_03_dot_22 Cabinet_bar__minus_02_dot_42_bar__plus_00_dot_43_bar__plus_02_dot_87) + (inReceptacle Cloth_bar__minus_02_dot_18_bar__plus_00_dot_06_bar__plus_03_dot_09 Cabinet_bar__minus_02_dot_42_bar__plus_00_dot_43_bar__plus_02_dot_87) + (inReceptacle DishSponge_bar__minus_00_dot_13_bar__plus_00_dot_07_bar__plus_03_dot_28 GarbageCan_bar__minus_00_dot_13_bar__plus_00_dot_03_bar__plus_03_dot_25) + (inReceptacle Towel_bar__plus_00_dot_86_bar__plus_01_dot_36_bar__plus_02_dot_86 TowelHolder_bar__plus_00_dot_97_bar__plus_01_dot_34_bar__plus_02_dot_86) + (inReceptacle Towel_bar__plus_00_dot_40_bar__plus_01_dot_39_bar__plus_03_dot_36 TowelHolder_bar__plus_00_dot_40_bar__plus_01_dot_38_bar__plus_03_dot_47) + (inReceptacle DishSponge_bar__minus_02_dot_29_bar__plus_00_dot_11_bar__plus_00_dot_36 Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72_bar_BathtubBasin) + (inReceptacle ShowerGlass_bar__minus_02_dot_90_bar__plus_01_dot_42_bar__plus_02_dot_34 Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43) + (inReceptacle DishSponge_bar__minus_02_dot_61_bar__plus_00_dot_60_bar__plus_01_dot_51 Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43) + (inReceptacle PaperTowelRoll_bar__minus_03_dot_22_bar__plus_00_dot_70_bar__plus_01_dot_55 Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43) + (inReceptacle SprayBottle_bar__minus_02_dot_81_bar__plus_00_dot_60_bar__plus_01_dot_34 Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43) + (inReceptacle SoapBottle_bar__minus_02_dot_71_bar__plus_00_dot_60_bar__plus_01_dot_43 Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43) + (inReceptacle HandTowel_bar__minus_00_dot_24_bar__plus_01_dot_76_bar__plus_03_dot_43 HandTowelHolder_bar__minus_00_dot_24_bar__plus_01_dot_86_bar__plus_03_dot_47) + (inReceptacle ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_87_bar__plus_00_dot_38 ToiletPaperHanger_bar__minus_00_dot_04_bar__plus_00_dot_96_bar__plus_00_dot_20) + (inReceptacle SoapBar_bar__minus_00_dot_49_bar__plus_01_dot_07_bar__plus_00_dot_39 Toilet_bar__minus_00_dot_70_bar__plus_00_dot_03_bar__plus_00_dot_66) + (inReceptacle SoapBottle_bar__minus_00_dot_69_bar__plus_01_dot_07_bar__plus_00_dot_36 Toilet_bar__minus_00_dot_70_bar__plus_00_dot_03_bar__plus_00_dot_66) + (inReceptacle SprayBottle_bar__minus_00_dot_76_bar__plus_01_dot_07_bar__plus_00_dot_30 Toilet_bar__minus_00_dot_70_bar__plus_00_dot_03_bar__plus_00_dot_66) + + + (receptacleAtLocation Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72_bar_BathtubBasin loc_bar__minus_8_bar_6_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_34_bar__plus_00_dot_43_bar__plus_02_dot_87 loc_bar__minus_4_bar_8_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_43_bar__plus_02_dot_87 loc_bar__minus_6_bar_8_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_40_bar__plus_00_dot_43_bar__plus_02_dot_87 loc_bar__minus_5_bar_8_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_42_bar__plus_00_dot_43_bar__plus_02_dot_87 loc_bar__minus_7_bar_8_bar_0_bar_60) + (receptacleAtLocation CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15 loc_bar__minus_6_bar_10_bar_0_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_13_bar__plus_00_dot_03_bar__plus_03_dot_25 loc_bar_0_bar_11_bar_0_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_00_dot_24_bar__plus_01_dot_86_bar__plus_03_dot_47 loc_bar_0_bar_11_bar_0_bar__minus_15) + (receptacleAtLocation Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43 loc_bar__minus_8_bar_6_bar_3_bar_45) + (receptacleAtLocation Sink_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__plus_03_dot_14_bar_SinkBasin loc_bar__minus_2_bar_10_bar_0_bar_45) + (receptacleAtLocation Sink_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_03_dot_14_bar_SinkBasin loc_bar__minus_7_bar_10_bar_0_bar_45) + (receptacleAtLocation ToiletPaperHanger_bar__minus_00_dot_04_bar__plus_00_dot_96_bar__plus_00_dot_20 loc_bar_0_bar_3_bar_2_bar_45) + (receptacleAtLocation Toilet_bar__minus_00_dot_70_bar__plus_00_dot_03_bar__plus_00_dot_66 loc_bar_1_bar_3_bar_3_bar_60) + (receptacleAtLocation TowelHolder_bar__plus_00_dot_40_bar__plus_01_dot_38_bar__plus_03_dot_47 loc_bar_1_bar_11_bar_0_bar_15) + (receptacleAtLocation TowelHolder_bar__plus_00_dot_97_bar__plus_01_dot_34_bar__plus_02_dot_86 loc_bar_1_bar_11_bar_1_bar_30) + (objectAtLocation SprayBottle_bar__minus_00_dot_76_bar__plus_01_dot_07_bar__plus_00_dot_30 loc_bar_1_bar_3_bar_3_bar_60) + (objectAtLocation DishSponge_bar__minus_02_dot_61_bar__plus_00_dot_60_bar__plus_01_dot_51 loc_bar__minus_8_bar_6_bar_3_bar_45) + (objectAtLocation Cloth_bar__minus_01_dot_12_bar__plus_00_dot_06_bar__plus_03_dot_22 loc_bar__minus_6_bar_8_bar_0_bar_60) + (objectAtLocation Towel_bar__plus_00_dot_86_bar__plus_01_dot_36_bar__plus_02_dot_86 loc_bar_1_bar_11_bar_1_bar_30) + (objectAtLocation SoapBottle_bar__minus_02_dot_71_bar__plus_00_dot_60_bar__plus_01_dot_43 loc_bar__minus_8_bar_6_bar_3_bar_45) + (objectAtLocation ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_87_bar__plus_00_dot_38 loc_bar_0_bar_3_bar_2_bar_45) + (objectAtLocation SoapBar_bar__minus_00_dot_49_bar__plus_01_dot_07_bar__plus_00_dot_39 loc_bar_1_bar_3_bar_3_bar_60) + (objectAtLocation DishSponge_bar__minus_00_dot_13_bar__plus_00_dot_07_bar__plus_03_dot_28 loc_bar_0_bar_11_bar_0_bar_60) + (objectAtLocation DishSponge_bar__minus_02_dot_29_bar__plus_00_dot_11_bar__plus_00_dot_36 loc_bar__minus_8_bar_6_bar_2_bar_60) + (objectAtLocation SoapBar_bar__minus_02_dot_32_bar__plus_01_dot_10_bar__plus_03_dot_21 loc_bar__minus_6_bar_10_bar_0_bar_45) + (objectAtLocation Window_bar__minus_03_dot_45_bar__plus_01_dot_59_bar__plus_00_dot_65 loc_bar__minus_8_bar_6_bar_3_bar_0) + (objectAtLocation Mirror_bar__minus_01_dot_39_bar__plus_01_dot_60_bar__plus_03_dot_46 loc_bar__minus_6_bar_10_bar_0_bar_45) + (objectAtLocation ShowerDoor_bar__minus_02_dot_48_bar__plus_01_dot_77_bar__plus_02_dot_39 loc_bar__minus_8_bar_10_bar_3_bar__minus_15) + (objectAtLocation Sink_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__plus_03_dot_14 loc_bar__minus_3_bar_10_bar_0_bar_45) + (objectAtLocation Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72 loc_bar__minus_8_bar_6_bar_2_bar_60) + (objectAtLocation Sink_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_03_dot_14 loc_bar__minus_8_bar_10_bar_0_bar_45) + (objectAtLocation ShowerGlass_bar__minus_02_dot_90_bar__plus_01_dot_42_bar__plus_02_dot_34 loc_bar__minus_8_bar_6_bar_3_bar_45) + (objectAtLocation Window_bar__minus_02_dot_19_bar__plus_01_dot_55_bar__plus_00_dot_09 loc_bar__minus_8_bar_6_bar_2_bar_0) + (objectAtLocation HandTowel_bar__minus_00_dot_24_bar__plus_01_dot_76_bar__plus_03_dot_43 loc_bar_0_bar_11_bar_0_bar__minus_15) + (objectAtLocation Plunger_bar__minus_00_dot_22_bar__plus_00_dot_03_bar__plus_00_dot_49 loc_bar__minus_1_bar_3_bar_2_bar_60) + (objectAtLocation SoapBar_bar__minus_00_dot_45_bar__plus_01_dot_10_bar__plus_03_dot_14 loc_bar__minus_6_bar_10_bar_0_bar_45) + (objectAtLocation ToiletPaper_bar__minus_00_dot_39_bar__plus_01_dot_10_bar__plus_03_dot_06 loc_bar__minus_6_bar_10_bar_0_bar_45) + (objectAtLocation SoapBottle_bar__minus_00_dot_69_bar__plus_01_dot_07_bar__plus_00_dot_36 loc_bar_1_bar_3_bar_3_bar_60) + (objectAtLocation LightSwitch_bar__plus_00_dot_97_bar__plus_01_dot_43_bar__plus_01_dot_13 loc_bar_2_bar_5_bar_1_bar_30) + (objectAtLocation ToiletPaper_bar__minus_01_dot_96_bar__plus_00_dot_60_bar__plus_01_dot_10 loc_bar__minus_8_bar_6_bar_2_bar_60) + (objectAtLocation Towel_bar__plus_00_dot_40_bar__plus_01_dot_39_bar__plus_03_dot_36 loc_bar_1_bar_11_bar_0_bar_15) + (objectAtLocation PaperTowelRoll_bar__minus_03_dot_22_bar__plus_00_dot_70_bar__plus_01_dot_55 loc_bar__minus_8_bar_6_bar_3_bar_45) + (objectAtLocation ScrubBrush_bar__minus_00_dot_35_bar__plus_00_dot_03_bar__plus_00_dot_35 loc_bar__minus_1_bar_3_bar_2_bar_60) + (objectAtLocation Cloth_bar__minus_02_dot_18_bar__plus_00_dot_06_bar__plus_03_dot_09 loc_bar__minus_7_bar_8_bar_0_bar_60) + (objectAtLocation Candle_bar__minus_02_dot_35_bar__plus_00_dot_05_bar__plus_03_dot_22 loc_bar__minus_7_bar_8_bar_0_bar_60) + (objectAtLocation DishSponge_bar__minus_00_dot_70_bar__plus_00_dot_06_bar__plus_03_dot_02 loc_bar__minus_4_bar_8_bar_0_bar_60) + (objectAtLocation SprayBottle_bar__minus_02_dot_81_bar__plus_00_dot_60_bar__plus_01_dot_34 loc_bar__minus_8_bar_6_bar_3_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 DishSpongeType) + (receptacleType ?r ToiletType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 DishSpongeType) + (receptacleType ?r ToiletType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-DishSponge-None-Toilet-403/trial_T20190908_024917_909971/traj_data.json b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-DishSponge-None-Toilet-403/trial_T20190908_024917_909971/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..8ed66278216b3d76e6b03b6af7b9b87d5d68842a --- 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"y": 0.871, + "z": 0.377000034 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 90.0 + } + }, + { + "objectName": "SoapBottle_8d2ec860", + "position": { + "x": -2.710073, + "y": 0.6006996, + "z": 1.426 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ToiletPaper_e91facde", + "position": { + "x": -1.96439409, + "y": 0.596282, + "z": 1.10026073 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Towel_dc838285", + "position": { + "x": 0.861099958, + "y": 1.358, + "z": 2.8550005 + }, + "rotation": { + "x": 0.0, + "y": 270.000275, + "z": 0.0 + } + }, + { + "objectName": "PaperTowelRoll_2e91d540", + "position": { + "x": -3.22296262, + "y": 0.7047931, + "z": 1.55070341 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ScrubBrush_72ca769d", + "position": { + "x": -0.351376772, + "y": 0.0262276828, + "z": 0.353597283 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cloth_fb02caf3", + "position": { + "x": -1.11703753, + "y": 0.059574604, + "z": 3.223224 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Candle_0619d5dc", + "position": { + "x": -2.34851885, + "y": 0.05311811, + "z": 3.223224 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_22e0124b", + "position": { + "x": -2.607495, + "y": 0.6000721, + "z": 1.5091356 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SprayBottle_41ba80d1", + "position": { + "x": -0.757128656, + "y": 1.07232916, + "z": 0.302366585 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 920128278, + "scene_num": 403 + }, + "task_id": "trial_T20190908_024917_909971", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A98E8M4QLI9RS_32SCWG5HIKLNLVIB7F1U7T8OZKUP6V", + "high_descs": [ + "move forward across the bathroom to the green trash can", + "remove the sponge from the trash can ", + "turn around and move across the bathroom to the left side of the toilet", + "put the sponge on the back lid of the toilet behind the pink bar of soap", + "move across the room towards the bath tub on the left side, turn to face the tub", + "pick up the sponge out of the bath tub", + "turn left and move across the room back to the left side of the toilet and turn to face the left side of the toilet", + "put the sponge on the back lid of the toilet to the right of the pink bar of soap" + ], + "task_desc": "Put two sponges on the back of the toilet", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2ALWT2BUSXD83_3KV0LJBBH52AMBJI7NC01K5PQ3QRMU", + "high_descs": [ + "Walk forwards to the trash bin.", + "Pick up the sponge from the trash bin.", + "Turn around and walk to the toilet.", + "place the sponge on the toilet.", + "Turn right and walk to the bath tub.", + "Pick up the sponge in the bath tub.", + "turn left and walk to the toilet.", + "Place the sponge on the toilet." + ], + "task_desc": "Place two sponges on the toilet.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A36DK84J5YJ942_3NVC2EB65TGIXQNUF0ZFDHPGTZMY3L", + "high_descs": [ + "move to the bin to the right of the sink", + "pick up a sponge from the bin", + "move to the toilet behind you", + "put the sponge on the toilet", + "move to the tub ahead of you", + "pick up a sponge from the tub", + "move to the toilet to the left of you", + "put the sponge on the toilet" + ], + "task_desc": "Put two sponges on a toilet.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-DishSponge-None-Toilet-403/trial_T20190908_025001_182302/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-DishSponge-None-Toilet-403/trial_T20190908_025001_182302/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..b7b1a93ee7bd595e4db03e87ec73e1eb23f5a4d7 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-DishSponge-None-Toilet-403/trial_T20190908_025001_182302/initial_state.pddl @@ -0,0 +1,554 @@ + +(define (problem plan_trial_T20190908_025001_182302) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72 - object + Candle_bar__minus_01_dot_19_bar__plus_00_dot_60_bar__plus_00_dot_73 - object + Candle_bar__minus_01_dot_96_bar__plus_00_dot_60_bar__plus_01_dot_13 - object + Candle_bar__minus_02_dot_61_bar__plus_00_dot_60_bar__plus_01_dot_34 - object + Cloth_bar__minus_00_dot_63_bar__plus_01_dot_08_bar__plus_00_dot_33 - object + Cloth_bar__minus_01_dot_65_bar__plus_00_dot_06_bar__plus_03_dot_22 - object + Cloth_bar__minus_02_dot_51_bar__plus_00_dot_11_bar__plus_00_dot_45 - object + DishSponge_bar__minus_02_dot_29_bar__plus_00_dot_11_bar__plus_00_dot_45 - object + DishSponge_bar__minus_02_dot_32_bar__plus_01_dot_11_bar__plus_03_dot_37 - object + DishSponge_bar__minus_02_dot_73_bar__plus_00_dot_11_bar__plus_00_dot_73 - object + Faucet_bar__minus_00_dot_85_bar__plus_01_dot_09_bar__plus_03_dot_37 - object + Faucet_bar__minus_01_dot_34_bar__plus_00_dot_64_bar__plus_00_dot_63 - object + Faucet_bar__minus_01_dot_94_bar__plus_01_dot_09_bar__plus_03_dot_37 - object + Faucet_bar__minus_02_dot_95_bar__plus_02_dot_16_bar__plus_03_dot_43 - object + HandTowel_bar__minus_00_dot_24_bar__plus_01_dot_76_bar__plus_03_dot_43 - object + LightSwitch_bar__plus_00_dot_97_bar__plus_01_dot_43_bar__plus_01_dot_13 - object + Mirror_bar__minus_01_dot_39_bar__plus_01_dot_60_bar__plus_03_dot_46 - object + PaperTowelRoll_bar__minus_01_dot_24_bar__plus_00_dot_71_bar__plus_00_dot_98 - object + Plunger_bar__minus_00_dot_22_bar__plus_00_dot_03_bar__plus_00_dot_49 - object + ScrubBrush_bar__minus_00_dot_35_bar__plus_00_dot_03_bar__plus_00_dot_35 - object + ShowerDoor_bar__minus_02_dot_48_bar__plus_01_dot_77_bar__plus_02_dot_39 - object + ShowerGlass_bar__minus_02_dot_90_bar__plus_01_dot_42_bar__plus_02_dot_34 - object + Sink_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__plus_03_dot_14 - object + Sink_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_03_dot_14 - object + SoapBar_bar__minus_00_dot_76_bar__plus_00_dot_97_bar__plus_03_dot_09 - object + SoapBar_bar__minus_01_dot_24_bar__plus_00_dot_60_bar__plus_01_dot_11 - object + SoapBar_bar__minus_02_dot_07_bar__plus_00_dot_11_bar__plus_00_dot_36 - object + SoapBottle_bar__minus_00_dot_36_bar__plus_01_dot_11_bar__plus_02_dot_98 - object + SoapBottle_bar__minus_01_dot_27_bar__plus_00_dot_60_bar__plus_00_dot_35 - object + SoapBottle_bar__minus_02_dot_71_bar__plus_00_dot_60_bar__plus_01_dot_34 - object + SprayBottle_bar__minus_01_dot_17_bar__plus_00_dot_06_bar__plus_02_dot_95 - object + SprayBottle_bar__minus_02_dot_18_bar__plus_00_dot_06_bar__plus_03_dot_29 - object + ToiletPaper_bar__minus_00_dot_89_bar__plus_01_dot_07_bar__plus_00_dot_27 - object + ToiletPaper_bar__minus_01_dot_82_bar__plus_00_dot_05_bar__plus_03_dot_29 - object + Towel_bar__plus_00_dot_86_bar__plus_01_dot_36_bar__plus_02_dot_86 - object + Window_bar__minus_02_dot_19_bar__plus_01_dot_55_bar__plus_00_dot_09 - object + Window_bar__minus_03_dot_45_bar__plus_01_dot_59_bar__plus_00_dot_65 - object + Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72_bar_BathtubBasin - receptacle + Cabinet_bar__minus_00_dot_34_bar__plus_00_dot_43_bar__plus_02_dot_87 - receptacle + Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_43_bar__plus_02_dot_87 - receptacle + Cabinet_bar__minus_01_dot_40_bar__plus_00_dot_43_bar__plus_02_dot_87 - receptacle + Cabinet_bar__minus_02_dot_42_bar__plus_00_dot_43_bar__plus_02_dot_87 - receptacle + CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15 - receptacle + GarbageCan_bar__minus_00_dot_13_bar__plus_00_dot_03_bar__plus_03_dot_25 - receptacle + HandTowelHolder_bar__minus_00_dot_24_bar__plus_01_dot_86_bar__plus_03_dot_47 - receptacle + Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43 - receptacle + Sink_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__plus_03_dot_14_bar_SinkBasin - receptacle + Sink_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_03_dot_14_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__minus_00_dot_04_bar__plus_00_dot_96_bar__plus_00_dot_20 - receptacle + Toilet_bar__minus_00_dot_70_bar__plus_00_dot_03_bar__plus_00_dot_66 - receptacle + TowelHolder_bar__plus_00_dot_40_bar__plus_01_dot_38_bar__plus_03_dot_47 - receptacle + TowelHolder_bar__plus_00_dot_97_bar__plus_01_dot_34_bar__plus_02_dot_86 - receptacle + loc_bar_1_bar_11_bar_1_bar_30 - location + loc_bar__minus_8_bar_10_bar_3_bar__minus_15 - location + loc_bar__minus_8_bar_10_bar_0_bar_45 - location + loc_bar__minus_2_bar_10_bar_0_bar_45 - location + loc_bar__minus_3_bar_10_bar_0_bar_45 - location + loc_bar__minus_8_bar_6_bar_3_bar_0 - location + loc_bar__minus_8_bar_6_bar_2_bar_0 - location + loc_bar__minus_8_bar_6_bar_2_bar_60 - location + loc_bar_0_bar_3_bar_2_bar_45 - location + loc_bar_0_bar_11_bar_0_bar_60 - location + loc_bar__minus_7_bar_8_bar_0_bar_60 - location + loc_bar__minus_6_bar_8_bar_0_bar_60 - location + loc_bar_1_bar_3_bar_3_bar_60 - location + loc_bar_0_bar_11_bar_0_bar__minus_15 - location + loc_bar__minus_7_bar_10_bar_0_bar_45 - location + loc_bar_2_bar_5_bar_1_bar_30 - location + loc_bar__minus_6_bar_10_bar_0_bar_45 - location + loc_bar__minus_1_bar_3_bar_2_bar_60 - location + loc_bar__minus_5_bar_8_bar_0_bar_60 - location + loc_bar__minus_4_bar_8_bar_0_bar_60 - location + loc_bar_1_bar_11_bar_0_bar_15 - location + loc_bar__minus_8_bar_6_bar_3_bar_45 - location + loc_bar__minus_5_bar_10_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Sink_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_03_dot_14_bar_SinkBasin SinkBasinType) + (receptacleType CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15 CounterTopType) + (receptacleType Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72_bar_BathtubBasin BathtubBasinType) + (receptacleType TowelHolder_bar__plus_00_dot_40_bar__plus_01_dot_38_bar__plus_03_dot_47 TowelHolderType) + (receptacleType Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_43_bar__plus_02_dot_87 CabinetType) + (receptacleType TowelHolder_bar__plus_00_dot_97_bar__plus_01_dot_34_bar__plus_02_dot_86 TowelHolderType) + (receptacleType Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43 ShelfType) + (receptacleType Sink_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__plus_03_dot_14_bar_SinkBasin SinkBasinType) + (receptacleType Toilet_bar__minus_00_dot_70_bar__plus_00_dot_03_bar__plus_00_dot_66 ToiletType) + (receptacleType Cabinet_bar__minus_00_dot_34_bar__plus_00_dot_43_bar__plus_02_dot_87 CabinetType) + (receptacleType GarbageCan_bar__minus_00_dot_13_bar__plus_00_dot_03_bar__plus_03_dot_25 GarbageCanType) + (receptacleType ToiletPaperHanger_bar__minus_00_dot_04_bar__plus_00_dot_96_bar__plus_00_dot_20 ToiletPaperHangerType) + (receptacleType Cabinet_bar__minus_02_dot_42_bar__plus_00_dot_43_bar__plus_02_dot_87 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_40_bar__plus_00_dot_43_bar__plus_02_dot_87 CabinetType) + (receptacleType HandTowelHolder_bar__minus_00_dot_24_bar__plus_01_dot_86_bar__plus_03_dot_47 HandTowelHolderType) + (objectType Candle_bar__minus_01_dot_96_bar__plus_00_dot_60_bar__plus_01_dot_13 CandleType) + (objectType SprayBottle_bar__minus_02_dot_18_bar__plus_00_dot_06_bar__plus_03_dot_29 SprayBottleType) + (objectType Candle_bar__minus_02_dot_61_bar__plus_00_dot_60_bar__plus_01_dot_34 CandleType) + (objectType DishSponge_bar__minus_02_dot_32_bar__plus_01_dot_11_bar__plus_03_dot_37 DishSpongeType) + (objectType Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72 BathtubType) + (objectType Candle_bar__minus_01_dot_19_bar__plus_00_dot_60_bar__plus_00_dot_73 CandleType) + (objectType Cloth_bar__minus_00_dot_63_bar__plus_01_dot_08_bar__plus_00_dot_33 ClothType) + (objectType SoapBottle_bar__minus_00_dot_36_bar__plus_01_dot_11_bar__plus_02_dot_98 SoapBottleType) + (objectType ShowerDoor_bar__minus_02_dot_48_bar__plus_01_dot_77_bar__plus_02_dot_39 ShowerDoorType) + (objectType Cloth_bar__minus_01_dot_65_bar__plus_00_dot_06_bar__plus_03_dot_22 ClothType) + (objectType SoapBottle_bar__minus_01_dot_27_bar__plus_00_dot_60_bar__plus_00_dot_35 SoapBottleType) + (objectType SoapBar_bar__minus_02_dot_07_bar__plus_00_dot_11_bar__plus_00_dot_36 SoapBarType) + (objectType Plunger_bar__minus_00_dot_22_bar__plus_00_dot_03_bar__plus_00_dot_49 PlungerType) + (objectType ShowerGlass_bar__minus_02_dot_90_bar__plus_01_dot_42_bar__plus_02_dot_34 ShowerGlassType) + (objectType Sink_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__plus_03_dot_14 SinkType) + (objectType Window_bar__minus_02_dot_19_bar__plus_01_dot_55_bar__plus_00_dot_09 WindowType) + (objectType SoapBar_bar__minus_00_dot_76_bar__plus_00_dot_97_bar__plus_03_dot_09 SoapBarType) + (objectType Towel_bar__plus_00_dot_86_bar__plus_01_dot_36_bar__plus_02_dot_86 TowelType) + (objectType PaperTowelRoll_bar__minus_01_dot_24_bar__plus_00_dot_71_bar__plus_00_dot_98 PaperTowelRollType) + (objectType SoapBar_bar__minus_01_dot_24_bar__plus_00_dot_60_bar__plus_01_dot_11 SoapBarType) + (objectType Mirror_bar__minus_01_dot_39_bar__plus_01_dot_60_bar__plus_03_dot_46 MirrorType) + (objectType Window_bar__minus_03_dot_45_bar__plus_01_dot_59_bar__plus_00_dot_65 WindowType) + (objectType ToiletPaper_bar__minus_00_dot_89_bar__plus_01_dot_07_bar__plus_00_dot_27 ToiletPaperType) + (objectType SprayBottle_bar__minus_01_dot_17_bar__plus_00_dot_06_bar__plus_02_dot_95 SprayBottleType) + (objectType DishSponge_bar__minus_02_dot_29_bar__plus_00_dot_11_bar__plus_00_dot_45 DishSpongeType) + (objectType DishSponge_bar__minus_02_dot_73_bar__plus_00_dot_11_bar__plus_00_dot_73 DishSpongeType) + (objectType HandTowel_bar__minus_00_dot_24_bar__plus_01_dot_76_bar__plus_03_dot_43 HandTowelType) + (objectType LightSwitch_bar__plus_00_dot_97_bar__plus_01_dot_43_bar__plus_01_dot_13 LightSwitchType) + (objectType SoapBottle_bar__minus_02_dot_71_bar__plus_00_dot_60_bar__plus_01_dot_34 SoapBottleType) + (objectType Cloth_bar__minus_02_dot_51_bar__plus_00_dot_11_bar__plus_00_dot_45 ClothType) + (objectType ToiletPaper_bar__minus_01_dot_82_bar__plus_00_dot_05_bar__plus_03_dot_29 ToiletPaperType) + (objectType Sink_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_03_dot_14 SinkType) + (objectType ScrubBrush_bar__minus_00_dot_35_bar__plus_00_dot_03_bar__plus_00_dot_35 ScrubBrushType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType DishSpongeType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain CounterTopType CandleType) + (canContain CounterTopType DishSpongeType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType HandTowelType) + (canContain BathtubBasinType ClothType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain BathtubBasinType DishSpongeType) + (canContain TowelHolderType TowelType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType DishSpongeType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain TowelHolderType TowelType) + (canContain ShelfType CandleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType DishSpongeType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType ClothType) + (canContain ShelfType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType DishSpongeType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType ClothType) + (canContain ToiletType CandleType) + (canContain ToiletType SoapBarType) + (canContain ToiletType DishSpongeType) + (canContain ToiletType SprayBottleType) + (canContain CabinetType CandleType) + (canContain CabinetType 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CabinetType PlungerType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType DishSpongeType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain HandTowelHolderType HandTowelType) + (pickupable Candle_bar__minus_01_dot_96_bar__plus_00_dot_60_bar__plus_01_dot_13) + (pickupable SprayBottle_bar__minus_02_dot_18_bar__plus_00_dot_06_bar__plus_03_dot_29) + (pickupable Candle_bar__minus_02_dot_61_bar__plus_00_dot_60_bar__plus_01_dot_34) + (pickupable DishSponge_bar__minus_02_dot_32_bar__plus_01_dot_11_bar__plus_03_dot_37) + (pickupable Candle_bar__minus_01_dot_19_bar__plus_00_dot_60_bar__plus_00_dot_73) + (pickupable Cloth_bar__minus_00_dot_63_bar__plus_01_dot_08_bar__plus_00_dot_33) + (pickupable SoapBottle_bar__minus_00_dot_36_bar__plus_01_dot_11_bar__plus_02_dot_98) + (pickupable Cloth_bar__minus_01_dot_65_bar__plus_00_dot_06_bar__plus_03_dot_22) + (pickupable SoapBottle_bar__minus_01_dot_27_bar__plus_00_dot_60_bar__plus_00_dot_35) + (pickupable SoapBar_bar__minus_02_dot_07_bar__plus_00_dot_11_bar__plus_00_dot_36) + (pickupable Plunger_bar__minus_00_dot_22_bar__plus_00_dot_03_bar__plus_00_dot_49) + (pickupable SoapBar_bar__minus_00_dot_76_bar__plus_00_dot_97_bar__plus_03_dot_09) + (pickupable Towel_bar__plus_00_dot_86_bar__plus_01_dot_36_bar__plus_02_dot_86) + (pickupable PaperTowelRoll_bar__minus_01_dot_24_bar__plus_00_dot_71_bar__plus_00_dot_98) + (pickupable SoapBar_bar__minus_01_dot_24_bar__plus_00_dot_60_bar__plus_01_dot_11) + (pickupable ToiletPaper_bar__minus_00_dot_89_bar__plus_01_dot_07_bar__plus_00_dot_27) + (pickupable SprayBottle_bar__minus_01_dot_17_bar__plus_00_dot_06_bar__plus_02_dot_95) + (pickupable 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SprayBottle_bar__minus_01_dot_17_bar__plus_00_dot_06_bar__plus_02_dot_95 Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_43_bar__plus_02_dot_87) + (inReceptacle SprayBottle_bar__minus_02_dot_18_bar__plus_00_dot_06_bar__plus_03_dot_29 Cabinet_bar__minus_02_dot_42_bar__plus_00_dot_43_bar__plus_02_dot_87) + (inReceptacle Towel_bar__plus_00_dot_86_bar__plus_01_dot_36_bar__plus_02_dot_86 TowelHolder_bar__plus_00_dot_97_bar__plus_01_dot_34_bar__plus_02_dot_86) + (inReceptacle SoapBar_bar__minus_02_dot_07_bar__plus_00_dot_11_bar__plus_00_dot_36 Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72_bar_BathtubBasin) + (inReceptacle DishSponge_bar__minus_02_dot_29_bar__plus_00_dot_11_bar__plus_00_dot_45 Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72_bar_BathtubBasin) + (inReceptacle DishSponge_bar__minus_02_dot_73_bar__plus_00_dot_11_bar__plus_00_dot_73 Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72_bar_BathtubBasin) + (inReceptacle 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loc_bar__minus_8_bar_10_bar_3_bar__minus_15) + (objectAtLocation Sink_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__plus_03_dot_14 loc_bar__minus_3_bar_10_bar_0_bar_45) + (objectAtLocation Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72 loc_bar__minus_8_bar_6_bar_2_bar_60) + (objectAtLocation Sink_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_03_dot_14 loc_bar__minus_8_bar_10_bar_0_bar_45) + (objectAtLocation ShowerGlass_bar__minus_02_dot_90_bar__plus_01_dot_42_bar__plus_02_dot_34 loc_bar__minus_8_bar_6_bar_3_bar_45) + (objectAtLocation Window_bar__minus_02_dot_19_bar__plus_01_dot_55_bar__plus_00_dot_09 loc_bar__minus_8_bar_6_bar_2_bar_0) + (objectAtLocation HandTowel_bar__minus_00_dot_24_bar__plus_01_dot_76_bar__plus_03_dot_43 loc_bar_0_bar_11_bar_0_bar__minus_15) + (objectAtLocation Plunger_bar__minus_00_dot_22_bar__plus_00_dot_03_bar__plus_00_dot_49 loc_bar__minus_1_bar_3_bar_2_bar_60) + (objectAtLocation SoapBar_bar__minus_00_dot_76_bar__plus_00_dot_97_bar__plus_03_dot_09 loc_bar__minus_2_bar_10_bar_0_bar_45) + (objectAtLocation ToiletPaper_bar__minus_01_dot_82_bar__plus_00_dot_05_bar__plus_03_dot_29 loc_bar__minus_5_bar_8_bar_0_bar_60) + (objectAtLocation SoapBottle_bar__minus_01_dot_27_bar__plus_00_dot_60_bar__plus_00_dot_35 loc_bar__minus_8_bar_6_bar_2_bar_60) + (objectAtLocation LightSwitch_bar__plus_00_dot_97_bar__plus_01_dot_43_bar__plus_01_dot_13 loc_bar_2_bar_5_bar_1_bar_30) + (objectAtLocation ToiletPaper_bar__minus_00_dot_89_bar__plus_01_dot_07_bar__plus_00_dot_27 loc_bar_1_bar_3_bar_3_bar_60) + (objectAtLocation Towel_bar__plus_00_dot_86_bar__plus_01_dot_36_bar__plus_02_dot_86 loc_bar_1_bar_11_bar_1_bar_30) + (objectAtLocation PaperTowelRoll_bar__minus_01_dot_24_bar__plus_00_dot_71_bar__plus_00_dot_98 loc_bar__minus_8_bar_6_bar_2_bar_60) + (objectAtLocation ScrubBrush_bar__minus_00_dot_35_bar__plus_00_dot_03_bar__plus_00_dot_35 loc_bar__minus_1_bar_3_bar_2_bar_60) + (objectAtLocation Cloth_bar__minus_02_dot_51_bar__plus_00_dot_11_bar__plus_00_dot_45 loc_bar__minus_8_bar_6_bar_2_bar_60) + (objectAtLocation Candle_bar__minus_01_dot_19_bar__plus_00_dot_60_bar__plus_00_dot_73 loc_bar__minus_8_bar_6_bar_2_bar_60) + (objectAtLocation DishSponge_bar__minus_02_dot_29_bar__plus_00_dot_11_bar__plus_00_dot_45 loc_bar__minus_8_bar_6_bar_2_bar_60) + (objectAtLocation SprayBottle_bar__minus_01_dot_17_bar__plus_00_dot_06_bar__plus_02_dot_95 loc_bar__minus_6_bar_8_bar_0_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 DishSpongeType) + (receptacleType ?r ToiletType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 DishSpongeType) + (receptacleType ?r ToiletType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git 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"AFU00NU09CFXE_39LOEL67OVM3IKWC2W1LE41E0J183X", + "high_descs": [ + "Turn and move to stand in front of the tub.", + "Pick up the green sponge closest to the faucet.", + "Turn left and move to the other side of the toilet, so you're facing the toilet and tub.", + "Place the sponge in front of the wash cloth on the lid to the tank.", + "Move back around the toilet to go stand in front of the tub again.", + "Pick up the other green sponge from the tub.", + "Turn left and carry the sponge to the other side of the toilet, which puts you standing next to the toilet paper holder.", + "Place the sponge behind the other sponge on the lid to the tank of the toilet." + ], + "task_desc": "Move two sponges to the lid of the toilet's tank.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2ALWT2BUSXD83_3EFVCAY5L6QE3YY15HT8UBI3WF88JS", + "high_descs": [ + "Turn around and walk to the bath tub.", + "Grab a sponge out of the bath tub", + "Walk to the toilet on your left.", + "Place the sponge on the toilet", + "walk to the bath tub on your right.", + "Grab the sponge out of the bath tub", + "Walk to the toilet on your left.", + "Place the sponge on the toilet next to the first sponge." + ], + "task_desc": "Place two sponges on top of the toilet.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Glassbottle-None-Fridge-1/trial_T20190906_210352_897478/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Glassbottle-None-Fridge-1/trial_T20190906_210352_897478/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..034ef2108a42325a1d0bad43fb75a80712f6027a --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Glassbottle-None-Fridge-1/trial_T20190906_210352_897478/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 glassbottle in fridge.\"\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_210352_897478)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__plus_00_dot_45_bar__plus_00_dot_96_bar__minus_02_dot_56 - object\n Apple_bar__minus_00_dot_12_bar__plus_01_dot_84_bar__minus_02_dot_48 - object\n Apple_bar__minus_02_dot_10_bar__plus_00_dot_96_bar__minus_02_dot_37 - object\n Book_bar__plus_00_dot_16_bar__plus_01_dot_10_bar__plus_00_dot_62 - object\n Book_bar__minus_00_dot_34_bar__plus_01_dot_11_bar__plus_00_dot_25 - object\n Bowl_bar__plus_01_dot_48_bar__plus_00_dot_55_bar__minus_02_dot_61 - object\n Bowl_bar__minus_02_dot_11_bar__plus_01_dot_30_bar__plus_01_dot_18 - object\n Bread_bar__plus_00_dot_36_bar__plus_01_dot_18_bar__minus_00_dot_51 - object\n Bread_bar__minus_00_dot_06_bar__plus_01_dot_18_bar__minus_00_dot_25 - object\n Bread_bar__minus_00_dot_06_bar__plus_01_dot_18_bar__minus_00_dot_51 - object\n ButterKnife_bar__plus_00_dot_22_bar__plus_01_dot_11_bar__minus_00_dot_76 - object\n ButterKnife_bar__minus_01_dot_96_bar__plus_00_dot_77_bar__minus_01_dot_59 - object\n Chair_bar__plus_00_dot_62_bar__plus_00_dot_73_bar__minus_00_dot_51 - object\n Chair_bar__plus_00_dot_67_bar__plus_00_dot_73_bar__plus_00_dot_57 - object\n CreditCard_bar__plus_00_dot_08_bar__plus_01_dot_11_bar__minus_00_dot_25 - object\n CreditCard_bar__plus_01_dot_69_bar__plus_00_dot_88_bar__minus_02_dot_59 - object\n CreditCard_bar__plus_01_dot_89_bar__plus_00_dot_55_bar__minus_02_dot_72 - object\n Cup_bar__plus_02_dot_10_bar__plus_00_dot_88_bar__minus_02_dot_56 - object\n Cup_bar__minus_02_dot_12_bar__plus_00_dot_80_bar__plus_01_dot_17 - object\n DishSponge_bar__minus_01_dot_96_bar__plus_00_dot_05_bar__plus_02_dot_08 - object\n Egg_bar__minus_01_dot_74_bar__plus_00_dot_80_bar__minus_01_dot_59 - object\n Egg_bar__minus_02_dot_04_bar__plus_00_dot_58_bar__plus_01_dot_25 - object\n Faucet_bar__minus_02_dot_07_bar__plus_01_dot_13_bar__minus_01_dot_51 - object\n Fork_bar__plus_01_dot_01_bar__plus_00_dot_14_bar__minus_02_dot_43 - object\n Glassbottle_bar__plus_00_dot_08_bar__plus_01_dot_11_bar__plus_00_dot_25 - object\n Glassbottle_bar__plus_01_dot_89_bar__plus_00_dot_88_bar__minus_02_dot_54 - object\n Glassbottle_bar__minus_01_dot_80_bar__plus_00_dot_77_bar__minus_01_dot_33 - object\n HousePlant_bar__minus_01_dot_95_bar__plus_00_dot_90_bar__minus_02_dot_52 - object\n Kettle_bar__plus_00_dot_84_bar__plus_01_dot_66_bar__minus_02_dot_64 - object\n Knife_bar__plus_00_dot_97_bar__plus_00_dot_94_bar__minus_02_dot_25 - object\n Knife_bar__minus_00_dot_20_bar__plus_01_dot_14_bar__plus_00_dot_76 - object\n Knife_bar__minus_01_dot_14_bar__plus_00_dot_94_bar__minus_02_dot_41 - object\n Lettuce_bar__minus_00_dot_47_bar__plus_01_dot_19_bar__minus_00_dot_51 - object\n Lettuce_bar__minus_00_dot_85_bar__plus_00_dot_99_bar__minus_02_dot_56 - object\n LightSwitch_bar__plus_02_dot_33_bar__plus_01_dot_31_bar__minus_00_dot_16 - object\n Mug_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_02_dot_41 - object\n Mug_bar__minus_00_dot_28_bar__plus_01_dot_79_bar__minus_02_dot_55 - object\n Pan_bar__plus_00_dot_72_bar__plus_00_dot_90_bar__minus_02_dot_42 - object\n PaperTowelRoll_bar__plus_00_dot_58_bar__plus_01_dot_01_bar__minus_02_dot_56 - object\n PepperShaker_bar__plus_02_dot_10_bar__plus_00_dot_55_bar__minus_02_dot_72 - object\n Plate_bar__minus_01_dot_51_bar__plus_01_dot_66_bar__minus_02_dot_60 - object\n Potato_bar__plus_00_dot_08_bar__plus_01_dot_14_bar_00_dot_00 - object\n Potato_bar__minus_01_dot_91_bar__plus_00_dot_08_bar__plus_01_dot_93 - object\n Potato_bar__minus_02_dot_02_bar__plus_00_dot_80_bar__minus_01_dot_76 - object\n Pot_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_02_dot_58 - object\n Pot_bar__minus_00_dot_06_bar__plus_01_dot_12_bar__minus_00_dot_76 - object\n Pot_bar__minus_01_dot_30_bar__plus_00_dot_14_bar__minus_02_dot_40 - object\n SaltShaker_bar__minus_01_dot_29_bar__plus_00_dot_91_bar__minus_02_dot_33 - object\n Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50 - object\n SoapBottle_bar__plus_01_dot_89_bar__plus_00_dot_55_bar__minus_02_dot_61 - object\n SoapBottle_bar__minus_01_dot_67_bar__plus_00_dot_13_bar__plus_00_dot_11 - object\n Spatula_bar__plus_00_dot_45_bar__plus_00_dot_93_bar__minus_02_dot_41 - object\n Spatula_bar__minus_01_dot_65_bar__plus_00_dot_81_bar__minus_00_dot_05 - object\n Spatula_bar__minus_01_dot_83_bar__plus_00_dot_81_bar__plus_00_dot_24 - object\n Spoon_bar__plus_00_dot_95_bar__plus_00_dot_65_bar__minus_02_dot_38 - object\n Spoon_bar__minus_00_dot_47_bar__plus_01_dot_11_bar__plus_00_dot_76 - object\n Statue_bar__plus_00_dot_22_bar__plus_01_dot_11_bar__minus_00_dot_51 - object\n Statue_bar__minus_01_dot_86_bar__plus_00_dot_91_bar__minus_00_dot_88 - object\n StoveKnob_bar__minus_00_dot_02_bar__plus_00_dot_88_bar__minus_02_dot_19 - object\n StoveKnob_bar__minus_00_dot_18_bar__plus_00_dot_88_bar__minus_02_dot_19 - object\n StoveKnob_bar__minus_00_dot_33_bar__plus_00_dot_88_bar__minus_02_dot_19 - object\n StoveKnob_bar__minus_00_dot_48_bar__plus_00_dot_88_bar__minus_02_dot_19 - object\n Tomato_bar__minus_01_dot_80_bar__plus_00_dot_81_bar__minus_01_dot_50 - object\n Vase_bar__plus_00_dot_45_bar__plus_01_dot_66_bar__minus_02_dot_56 - object\n Vase_bar__minus_00_dot_47_bar__plus_01_dot_11_bar__minus_00_dot_76 - object\n Window_bar__minus_02_dot_23_bar__plus_01_dot_43_bar__minus_01_dot_20 - object\n WineBottle_bar__plus_01_dot_79_bar__plus_00_dot_88_bar__minus_02_dot_62 - object\n Cabinet_bar__plus_00_dot_68_bar__plus_00_dot_50_bar__minus_02_dot_20 - receptacle\n Cabinet_bar__plus_00_dot_68_bar__plus_02_dot_02_bar__minus_02_dot_46 - receptacle\n Cabinet_bar__plus_00_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_46 - receptacle\n Cabinet_bar__minus_00_dot_73_bar__plus_02_dot_02_bar__minus_02_dot_46 - receptacle\n Cabinet_bar__minus_01_dot_18_bar__plus_00_dot_50_bar__minus_02_dot_20 - receptacle\n Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__plus_00_dot_38 - receptacle\n Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__minus_01_dot_97 - receptacle\n Cabinet_bar__minus_01_dot_69_bar__plus_02_dot_02_bar__minus_02_dot_46 - receptacle\n Cabinet_bar__minus_01_dot_85_bar__plus_02_dot_02_bar__plus_00_dot_38 - receptacle\n CoffeeMachine_bar__minus_02_dot_00_bar__plus_00_dot_90_bar__minus_00_dot_17 - receptacle\n CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48 - receptacle\n CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00 - receptacle\n CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_00_dot_95_bar__plus_00_dot_22_bar__minus_02_dot_20 - receptacle\n Drawer_bar__plus_00_dot_95_bar__plus_00_dot_39_bar__minus_02_dot_20 - receptacle\n Drawer_bar__plus_00_dot_95_bar__plus_00_dot_56_bar__minus_02_dot_20 - receptacle\n Drawer_bar__plus_00_dot_95_bar__plus_00_dot_71_bar__minus_02_dot_20 - receptacle\n Drawer_bar__plus_00_dot_95_bar__plus_00_dot_83_bar__minus_02_dot_20 - receptacle\n Drawer_bar__minus_01_dot_56_bar__plus_00_dot_33_bar__minus_00_dot_20 - receptacle\n Drawer_bar__minus_01_dot_56_bar__plus_00_dot_66_bar__minus_00_dot_20 - receptacle\n Drawer_bar__minus_01_dot_56_bar__plus_00_dot_84_bar__plus_00_dot_20 - receptacle\n Drawer_bar__minus_01_dot_56_bar__plus_00_dot_84_bar__minus_00_dot_20 - receptacle\n Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09 - receptacle\n GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__plus_02_dot_03 - receptacle\n Microwave_bar__minus_00_dot_24_bar__plus_01_dot_69_bar__minus_02_dot_53 - receptacle\n Shelf_bar__plus_01_dot_80_bar__plus_00_dot_16_bar__minus_02_dot_56 - receptacle\n Shelf_bar__plus_01_dot_80_bar__plus_00_dot_54_bar__minus_02_dot_56 - receptacle\n Shelf_bar__plus_01_dot_80_bar__plus_00_dot_87_bar__minus_02_dot_56 - receptacle\n Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_00_dot_04_bar__plus_00_dot_92_bar__minus_02_dot_37 - receptacle\n StoveBurner_bar__minus_00_dot_04_bar__plus_00_dot_92_bar__minus_02_dot_58 - receptacle\n StoveBurner_bar__minus_00_dot_47_bar__plus_00_dot_92_bar__minus_02_dot_37 - receptacle\n StoveBurner_bar__minus_00_dot_47_bar__plus_00_dot_92_bar__minus_02_dot_58 - receptacle\n Toaster_bar__minus_01_dot_84_bar__plus_00_dot_90_bar__plus_00_dot_13 - receptacle\n loc_bar_1_bar__minus_7_bar_1_bar_45 - location\n loc_bar__minus_5_bar_2_bar_3_bar__minus_30 - location\n loc_bar_7_bar__minus_5_bar_2_bar_30 - location\n loc_bar_7_bar__minus_7_bar_3_bar_45 - location\n loc_bar__minus_5_bar__minus_5_bar_3_bar_15 - location\n loc_bar__minus_4_bar_2_bar_3_bar_60 - location\n loc_bar__minus_1_bar__minus_7_bar_2_bar_0 - location\n loc_bar_3_bar__minus_7_bar_2_bar_45 - location\n loc_bar_2_bar__minus_5_bar_2_bar_45 - location\n loc_bar__minus_4_bar_4_bar_3_bar_60 - location\n loc_bar_0_bar__minus_7_bar_2_bar_45 - location\n loc_bar__minus_5_bar__minus_7_bar_3_bar_45 - location\n loc_bar_3_bar_0_bar_0_bar_60 - location\n loc_bar__minus_5_bar__minus_1_bar_3_bar_45 - location\n loc_bar_5_bar__minus_6_bar_2_bar_45 - location\n loc_bar__minus_4_bar_3_bar_2_bar_60 - location\n loc_bar__minus_5_bar__minus_6_bar_3_bar_60 - location\n loc_bar__minus_2_bar__minus_7_bar_2_bar_45 - location\n loc_bar__minus_5_bar__minus_7_bar_2_bar__minus_30 - location\n loc_bar__minus_4_bar__minus_7_bar_2_bar__minus_30 - location\n loc_bar_2_bar__minus_7_bar_2_bar__minus_30 - location\n loc_bar_4_bar__minus_7_bar_2_bar__minus_30 - location\n loc_bar__minus_5_bar__minus_1_bar_3_bar_60 - location\n loc_bar_3_bar_0_bar_3_bar_30 - location\n loc_bar_5_bar__minus_2_bar_3_bar_60 - location\n loc_bar__minus_5_bar_7_bar_3_bar_60 - location\n loc_bar__minus_4_bar_4_bar_2_bar_45 - location\n loc_bar__minus_4_bar__minus_4_bar_0_bar_45 - location\n loc_bar__minus_5_bar__minus_5_bar_2_bar_45 - location\n loc_bar_7_bar__minus_1_bar_1_bar_30 - location\n loc_bar_0_bar__minus_7_bar_2_bar_60 - location\n loc_bar__minus_3_bar__minus_6_bar_3_bar_60 - location\n loc_bar_7_bar__minus_8_bar_2_bar_60 - location\n loc_bar__minus_2_bar__minus_7_bar_2_bar_60 - location\n loc_bar__minus_1_bar__minus_7_bar_2_bar_60 - location\n loc_bar__minus_5_bar__minus_6_bar_3_bar_45 - location\n loc_bar__minus_5_bar_1_bar_3_bar_45 - location\n loc_bar_6_bar__minus_4_bar_2_bar_45 - location\n loc_bar_0_bar__minus_5_bar_2_bar_45 - location\n loc_bar_7_bar_0_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__plus_00_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_46 CabinetType)\n (receptacleType Shelf_bar__plus_01_dot_80_bar__plus_00_dot_54_bar__minus_02_dot_56 ShelfType)\n (receptacleType Cabinet_bar__minus_01_dot_85_bar__plus_02_dot_02_bar__plus_00_dot_38 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_68_bar__plus_02_dot_02_bar__minus_02_dot_46 CabinetType)\n (receptacleType StoveBurner_bar__minus_00_dot_47_bar__plus_00_dot_92_bar__minus_02_dot_58 StoveBurnerType)\n (receptacleType GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__plus_02_dot_03 GarbageCanType)\n 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Potato_bar__minus_01_dot_91_bar__plus_00_dot_08_bar__plus_01_dot_93)\n (sliceable Apple_bar__minus_00_dot_12_bar__plus_01_dot_84_bar__minus_02_dot_48)\n (sliceable Apple_bar__minus_02_dot_10_bar__plus_00_dot_96_bar__minus_02_dot_37)\n (sliceable Lettuce_bar__minus_00_dot_47_bar__plus_01_dot_19_bar__minus_00_dot_51)\n (sliceable Egg_bar__minus_02_dot_04_bar__plus_00_dot_58_bar__plus_01_dot_25)\n \n (inReceptacle Spatula_bar__minus_01_dot_83_bar__plus_00_dot_81_bar__plus_00_dot_24 Drawer_bar__minus_01_dot_56_bar__plus_00_dot_84_bar__plus_00_dot_20)\n (inReceptacle Spatula_bar__minus_01_dot_65_bar__plus_00_dot_81_bar__minus_00_dot_05 Drawer_bar__minus_01_dot_56_bar__plus_00_dot_84_bar__minus_00_dot_20)\n (inReceptacle Lettuce_bar__minus_00_dot_47_bar__plus_01_dot_19_bar__minus_00_dot_51 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Pot_bar__minus_00_dot_06_bar__plus_01_dot_12_bar__minus_00_dot_76 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Bread_bar__plus_00_dot_36_bar__plus_01_dot_18_bar__minus_00_dot_51 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle ButterKnife_bar__plus_00_dot_22_bar__plus_01_dot_11_bar__minus_00_dot_76 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Bread_bar__minus_00_dot_06_bar__plus_01_dot_18_bar__minus_00_dot_51 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Bread_bar__minus_00_dot_06_bar__plus_01_dot_18_bar__minus_00_dot_25 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Book_bar__minus_00_dot_34_bar__plus_01_dot_11_bar__plus_00_dot_25 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Knife_bar__minus_00_dot_20_bar__plus_01_dot_14_bar__plus_00_dot_76 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Potato_bar__plus_00_dot_08_bar__plus_01_dot_14_bar_00_dot_00 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle CreditCard_bar__plus_00_dot_08_bar__plus_01_dot_11_bar__minus_00_dot_25 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Vase_bar__minus_00_dot_47_bar__plus_01_dot_11_bar__minus_00_dot_76 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Spoon_bar__minus_00_dot_47_bar__plus_01_dot_11_bar__plus_00_dot_76 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Statue_bar__plus_00_dot_22_bar__plus_01_dot_11_bar__minus_00_dot_51 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Book_bar__plus_00_dot_16_bar__plus_01_dot_10_bar__plus_00_dot_62 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Glassbottle_bar__plus_00_dot_08_bar__plus_01_dot_11_bar__plus_00_dot_25 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Spatula_bar__plus_00_dot_45_bar__plus_00_dot_93_bar__minus_02_dot_41 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48)\n (inReceptacle Apple_bar__plus_00_dot_45_bar__plus_00_dot_96_bar__minus_02_dot_56 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48)\n (inReceptacle Mug_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_02_dot_41 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48)\n (inReceptacle Knife_bar__plus_00_dot_97_bar__plus_00_dot_94_bar__minus_02_dot_25 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48)\n (inReceptacle Pan_bar__plus_00_dot_72_bar__plus_00_dot_90_bar__minus_02_dot_42 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48)\n (inReceptacle PaperTowelRoll_bar__plus_00_dot_58_bar__plus_01_dot_01_bar__minus_02_dot_56 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48)\n (inReceptacle Pot_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_02_dot_58 StoveBurner_bar__minus_00_dot_04_bar__plus_00_dot_92_bar__minus_02_dot_58)\n (inReceptacle Spoon_bar__plus_00_dot_95_bar__plus_00_dot_65_bar__minus_02_dot_38 Drawer_bar__plus_00_dot_95_bar__plus_00_dot_71_bar__minus_02_dot_20)\n (inReceptacle SoapBottle_bar__minus_01_dot_67_bar__plus_00_dot_13_bar__plus_00_dot_11 Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__plus_00_dot_38)\n (inReceptacle Plate_bar__minus_01_dot_51_bar__plus_01_dot_66_bar__minus_02_dot_60 Cabinet_bar__minus_01_dot_69_bar__plus_02_dot_02_bar__minus_02_dot_46)\n (inReceptacle Pot_bar__minus_01_dot_30_bar__plus_00_dot_14_bar__minus_02_dot_40 Cabinet_bar__minus_01_dot_18_bar__plus_00_dot_50_bar__minus_02_dot_20)\n (inReceptacle Fork_bar__plus_01_dot_01_bar__plus_00_dot_14_bar__minus_02_dot_43 Drawer_bar__plus_00_dot_95_bar__plus_00_dot_22_bar__minus_02_dot_20)\n (inReceptacle Kettle_bar__plus_00_dot_84_bar__plus_01_dot_66_bar__minus_02_dot_64 Cabinet_bar__plus_00_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_46)\n (inReceptacle Vase_bar__plus_00_dot_45_bar__plus_01_dot_66_bar__minus_02_dot_56 Cabinet_bar__plus_00_dot_68_bar__plus_02_dot_02_bar__minus_02_dot_46)\n (inReceptacle Lettuce_bar__minus_00_dot_85_bar__plus_00_dot_99_bar__minus_02_dot_56 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Knife_bar__minus_01_dot_14_bar__plus_00_dot_94_bar__minus_02_dot_41 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Apple_bar__minus_02_dot_10_bar__plus_00_dot_96_bar__minus_02_dot_37 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle HousePlant_bar__minus_01_dot_95_bar__plus_00_dot_90_bar__minus_02_dot_52 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle SaltShaker_bar__minus_01_dot_29_bar__plus_00_dot_91_bar__minus_02_dot_33 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Statue_bar__minus_01_dot_86_bar__plus_00_dot_91_bar__minus_00_dot_88 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Apple_bar__minus_00_dot_12_bar__plus_01_dot_84_bar__minus_02_dot_48 Microwave_bar__minus_00_dot_24_bar__plus_01_dot_69_bar__minus_02_dot_53)\n (inReceptacle Mug_bar__minus_00_dot_28_bar__plus_01_dot_79_bar__minus_02_dot_55 Microwave_bar__minus_00_dot_24_bar__plus_01_dot_69_bar__minus_02_dot_53)\n (inReceptacle Cup_bar__plus_02_dot_10_bar__plus_00_dot_88_bar__minus_02_dot_56 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_87_bar__minus_02_dot_56)\n (inReceptacle Glassbottle_bar__plus_01_dot_89_bar__plus_00_dot_88_bar__minus_02_dot_54 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_87_bar__minus_02_dot_56)\n (inReceptacle WineBottle_bar__plus_01_dot_79_bar__plus_00_dot_88_bar__minus_02_dot_62 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_87_bar__minus_02_dot_56)\n (inReceptacle CreditCard_bar__plus_01_dot_69_bar__plus_00_dot_88_bar__minus_02_dot_59 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_87_bar__minus_02_dot_56)\n (inReceptacle CreditCard_bar__plus_01_dot_89_bar__plus_00_dot_55_bar__minus_02_dot_72 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_54_bar__minus_02_dot_56)\n (inReceptacle SoapBottle_bar__plus_01_dot_89_bar__plus_00_dot_55_bar__minus_02_dot_61 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_54_bar__minus_02_dot_56)\n (inReceptacle Bowl_bar__plus_01_dot_48_bar__plus_00_dot_55_bar__minus_02_dot_61 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_54_bar__minus_02_dot_56)\n (inReceptacle PepperShaker_bar__plus_02_dot_10_bar__plus_00_dot_55_bar__minus_02_dot_72 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_54_bar__minus_02_dot_56)\n (inReceptacle Potato_bar__minus_01_dot_91_bar__plus_00_dot_08_bar__plus_01_dot_93 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__plus_02_dot_03)\n (inReceptacle DishSponge_bar__minus_01_dot_96_bar__plus_00_dot_05_bar__plus_02_dot_08 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__plus_02_dot_03)\n (inReceptacle Egg_bar__minus_02_dot_04_bar__plus_00_dot_58_bar__plus_01_dot_25 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09)\n (inReceptacle Cup_bar__minus_02_dot_12_bar__plus_00_dot_80_bar__plus_01_dot_17 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09)\n (inReceptacle Bowl_bar__minus_02_dot_11_bar__plus_01_dot_30_bar__plus_01_dot_18 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09)\n (inReceptacle Egg_bar__minus_01_dot_74_bar__plus_00_dot_80_bar__minus_01_dot_59 Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin)\n (inReceptacle Tomato_bar__minus_01_dot_80_bar__plus_00_dot_81_bar__minus_01_dot_50 Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin)\n (inReceptacle ButterKnife_bar__minus_01_dot_96_bar__plus_00_dot_77_bar__minus_01_dot_59 Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin)\n (inReceptacle Potato_bar__minus_02_dot_02_bar__plus_00_dot_80_bar__minus_01_dot_76 Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin)\n (inReceptacle Glassbottle_bar__minus_01_dot_80_bar__plus_00_dot_77_bar__minus_01_dot_33 Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_68_bar__plus_00_dot_50_bar__minus_02_dot_20 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_68_bar__plus_02_dot_02_bar__minus_02_dot_46 loc_bar_2_bar__minus_7_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_46 loc_bar_4_bar__minus_7_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_73_bar__plus_02_dot_02_bar__minus_02_dot_46 loc_bar__minus_4_bar__minus_7_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_18_bar__plus_00_dot_50_bar__minus_02_dot_20 loc_bar__minus_5_bar__minus_5_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__plus_00_dot_38 loc_bar__minus_4_bar_2_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__minus_01_dot_97 loc_bar__minus_3_bar__minus_6_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_69_bar__plus_02_dot_02_bar__minus_02_dot_46 loc_bar__minus_5_bar__minus_7_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_85_bar__plus_02_dot_02_bar__plus_00_dot_38 loc_bar__minus_5_bar_2_bar_3_bar__minus_30)\n (receptacleAtLocation CoffeeMachine_bar__minus_02_dot_00_bar__plus_00_dot_90_bar__minus_00_dot_17 loc_bar__minus_5_bar__minus_1_bar_3_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00 loc_bar_3_bar_0_bar_3_bar_30)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_95_bar__plus_00_dot_22_bar__minus_02_dot_20 loc_bar_6_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_95_bar__plus_00_dot_39_bar__minus_02_dot_20 loc_bar_6_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_95_bar__plus_00_dot_56_bar__minus_02_dot_20 loc_bar_2_bar__minus_5_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_95_bar__plus_00_dot_71_bar__minus_02_dot_20 loc_bar_7_bar__minus_7_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_95_bar__plus_00_dot_83_bar__minus_02_dot_20 loc_bar_1_bar__minus_7_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_56_bar__plus_00_dot_33_bar__minus_00_dot_20 loc_bar__minus_4_bar_3_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_56_bar__plus_00_dot_66_bar__minus_00_dot_20 loc_bar__minus_5_bar__minus_1_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_56_bar__plus_00_dot_84_bar__plus_00_dot_20 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_56_bar__plus_00_dot_84_bar__minus_00_dot_20 loc_bar__minus_4_bar__minus_4_bar_0_bar_45)\n (receptacleAtLocation Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__plus_02_dot_03 loc_bar__minus_5_bar_7_bar_3_bar_60)\n (receptacleAtLocation Microwave_bar__minus_00_dot_24_bar__plus_01_dot_69_bar__minus_02_dot_53 loc_bar__minus_1_bar__minus_7_bar_2_bar_0)\n (receptacleAtLocation Shelf_bar__plus_01_dot_80_bar__plus_00_dot_16_bar__minus_02_dot_56 loc_bar_7_bar__minus_8_bar_2_bar_60)\n (receptacleAtLocation Shelf_bar__plus_01_dot_80_bar__plus_00_dot_54_bar__minus_02_dot_56 loc_bar_5_bar__minus_6_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_01_dot_80_bar__plus_00_dot_87_bar__minus_02_dot_56 loc_bar_7_bar__minus_5_bar_2_bar_30)\n (receptacleAtLocation Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_04_bar__plus_00_dot_92_bar__minus_02_dot_37 loc_bar_0_bar__minus_7_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_04_bar__plus_00_dot_92_bar__minus_02_dot_58 loc_bar_0_bar__minus_7_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_47_bar__plus_00_dot_92_bar__minus_02_dot_37 loc_bar__minus_2_bar__minus_7_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_47_bar__plus_00_dot_92_bar__minus_02_dot_58 loc_bar__minus_2_bar__minus_7_bar_2_bar_45)\n (receptacleAtLocation Toaster_bar__minus_01_dot_84_bar__plus_00_dot_90_bar__plus_00_dot_13 loc_bar__minus_5_bar_1_bar_3_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_28_bar__plus_01_dot_79_bar__minus_02_dot_55 loc_bar__minus_1_bar__minus_7_bar_2_bar_0)\n (objectAtLocation Spoon_bar__minus_00_dot_47_bar__plus_01_dot_11_bar__plus_00_dot_76 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Apple_bar__plus_00_dot_45_bar__plus_00_dot_96_bar__minus_02_dot_56 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation ButterKnife_bar__minus_01_dot_96_bar__plus_00_dot_77_bar__minus_01_dot_59 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Lettuce_bar__minus_00_dot_85_bar__plus_00_dot_99_bar__minus_02_dot_56 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Bowl_bar__minus_02_dot_11_bar__plus_01_dot_30_bar__plus_01_dot_18 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation Cup_bar__minus_02_dot_12_bar__plus_00_dot_80_bar__plus_01_dot_17 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation Spatula_bar__plus_00_dot_45_bar__plus_00_dot_93_bar__minus_02_dot_41 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Pot_bar__minus_01_dot_30_bar__plus_00_dot_14_bar__minus_02_dot_40 loc_bar__minus_5_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Statue_bar__minus_01_dot_86_bar__plus_00_dot_91_bar__minus_00_dot_88 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation CreditCard_bar__plus_00_dot_08_bar__plus_01_dot_11_bar__minus_00_dot_25 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Egg_bar__minus_01_dot_74_bar__plus_00_dot_80_bar__minus_01_dot_59 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__minus_01_dot_67_bar__plus_00_dot_13_bar__plus_00_dot_11 loc_bar__minus_4_bar_2_bar_3_bar_60)\n (objectAtLocation Potato_bar__plus_00_dot_08_bar__plus_01_dot_14_bar_00_dot_00 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Bread_bar__minus_00_dot_06_bar__plus_01_dot_18_bar__minus_00_dot_51 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Knife_bar__minus_00_dot_20_bar__plus_01_dot_14_bar__plus_00_dot_76 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Glassbottle_bar__plus_00_dot_08_bar__plus_01_dot_11_bar__plus_00_dot_25 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Book_bar__plus_00_dot_16_bar__plus_01_dot_10_bar__plus_00_dot_62 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Glassbottle_bar__plus_01_dot_89_bar__plus_00_dot_88_bar__minus_02_dot_54 loc_bar_7_bar__minus_5_bar_2_bar_30)\n (objectAtLocation Pot_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_02_dot_58 loc_bar_0_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Spatula_bar__minus_01_dot_83_bar__plus_00_dot_81_bar__plus_00_dot_24 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Knife_bar__plus_00_dot_97_bar__plus_00_dot_94_bar__minus_02_dot_25 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Apple_bar__minus_02_dot_10_bar__plus_00_dot_96_bar__minus_02_dot_37 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Bread_bar__plus_00_dot_36_bar__plus_01_dot_18_bar__minus_00_dot_51 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation CreditCard_bar__plus_01_dot_69_bar__plus_00_dot_88_bar__minus_02_dot_59 loc_bar_7_bar__minus_5_bar_2_bar_30)\n (objectAtLocation Potato_bar__minus_02_dot_02_bar__plus_00_dot_80_bar__minus_01_dot_76 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_02_bar__plus_00_dot_88_bar__minus_02_dot_19 loc_bar_0_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_02_dot_23_bar__plus_01_dot_43_bar__minus_01_dot_20 loc_bar__minus_5_bar__minus_5_bar_3_bar_15)\n (objectAtLocation StoveKnob_bar__minus_00_dot_48_bar__plus_00_dot_88_bar__minus_02_dot_19 loc_bar__minus_2_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50 loc_bar__minus_5_bar__minus_6_bar_3_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_33_bar__plus_00_dot_88_bar__minus_02_dot_19 loc_bar__minus_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_18_bar__plus_00_dot_88_bar__minus_02_dot_19 loc_bar__minus_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_34_bar__plus_01_dot_11_bar__plus_00_dot_25 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Chair_bar__plus_00_dot_67_bar__plus_00_dot_73_bar__plus_00_dot_57 loc_bar_3_bar_0_bar_0_bar_60)\n (objectAtLocation Glassbottle_bar__minus_01_dot_80_bar__plus_00_dot_77_bar__minus_01_dot_33 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Knife_bar__minus_01_dot_14_bar__plus_00_dot_94_bar__minus_02_dot_41 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Bread_bar__minus_00_dot_06_bar__plus_01_dot_18_bar__minus_00_dot_25 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Fork_bar__plus_01_dot_01_bar__plus_00_dot_14_bar__minus_02_dot_43 loc_bar_6_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Potato_bar__minus_01_dot_91_bar__plus_00_dot_08_bar__plus_01_dot_93 loc_bar__minus_5_bar_7_bar_3_bar_60)\n (objectAtLocation HousePlant_bar__minus_01_dot_95_bar__plus_00_dot_90_bar__minus_02_dot_52 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__plus_01_dot_89_bar__plus_00_dot_55_bar__minus_02_dot_61 loc_bar_5_bar__minus_6_bar_2_bar_45)\n (objectAtLocation Kettle_bar__plus_00_dot_84_bar__plus_01_dot_66_bar__minus_02_dot_64 loc_bar_4_bar__minus_7_bar_2_bar__minus_30)\n (objectAtLocation Pan_bar__plus_00_dot_72_bar__plus_00_dot_90_bar__minus_02_dot_42 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Plate_bar__minus_01_dot_51_bar__plus_01_dot_66_bar__minus_02_dot_60 loc_bar__minus_5_bar__minus_7_bar_2_bar__minus_30)\n (objectAtLocation Tomato_bar__minus_01_dot_80_bar__plus_00_dot_81_bar__minus_01_dot_50 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Vase_bar__minus_00_dot_47_bar__plus_01_dot_11_bar__minus_00_dot_76 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Egg_bar__minus_02_dot_04_bar__plus_00_dot_58_bar__plus_01_dot_25 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__plus_01_dot_89_bar__plus_00_dot_55_bar__minus_02_dot_72 loc_bar_5_bar__minus_6_bar_2_bar_45)\n (objectAtLocation Statue_bar__plus_00_dot_22_bar__plus_01_dot_11_bar__minus_00_dot_51 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Chair_bar__plus_00_dot_62_bar__plus_00_dot_73_bar__minus_00_dot_51 loc_bar_5_bar__minus_2_bar_3_bar_60)\n (objectAtLocation WineBottle_bar__plus_01_dot_79_bar__plus_00_dot_88_bar__minus_02_dot_62 loc_bar_7_bar__minus_5_bar_2_bar_30)\n (objectAtLocation Pot_bar__minus_00_dot_06_bar__plus_01_dot_12_bar__minus_00_dot_76 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Spatula_bar__minus_01_dot_65_bar__plus_00_dot_81_bar__minus_00_dot_05 loc_bar__minus_4_bar__minus_4_bar_0_bar_45)\n (objectAtLocation PaperTowelRoll_bar__plus_00_dot_58_bar__plus_01_dot_01_bar__minus_02_dot_56 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Cup_bar__plus_02_dot_10_bar__plus_00_dot_88_bar__minus_02_dot_56 loc_bar_7_bar__minus_5_bar_2_bar_30)\n (objectAtLocation Vase_bar__plus_00_dot_45_bar__plus_01_dot_66_bar__minus_02_dot_56 loc_bar_2_bar__minus_7_bar_2_bar__minus_30)\n (objectAtLocation Bowl_bar__plus_01_dot_48_bar__plus_00_dot_55_bar__minus_02_dot_61 loc_bar_5_bar__minus_6_bar_2_bar_45)\n (objectAtLocation SaltShaker_bar__minus_01_dot_29_bar__plus_00_dot_91_bar__minus_02_dot_33 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation PepperShaker_bar__plus_02_dot_10_bar__plus_00_dot_55_bar__minus_02_dot_72 loc_bar_5_bar__minus_6_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__minus_00_dot_47_bar__plus_01_dot_19_bar__minus_00_dot_51 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation ButterKnife_bar__plus_00_dot_22_bar__plus_01_dot_11_bar__minus_00_dot_76 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Apple_bar__minus_00_dot_12_bar__plus_01_dot_84_bar__minus_02_dot_48 loc_bar__minus_1_bar__minus_7_bar_2_bar_0)\n (objectAtLocation DishSponge_bar__minus_01_dot_96_bar__plus_00_dot_05_bar__plus_02_dot_08 loc_bar__minus_5_bar_7_bar_3_bar_60)\n (objectAtLocation Spoon_bar__plus_00_dot_95_bar__plus_00_dot_65_bar__minus_02_dot_38 loc_bar_7_bar__minus_7_bar_3_bar_45)\n (objectAtLocation LightSwitch_bar__plus_02_dot_33_bar__plus_01_dot_31_bar__minus_00_dot_16 loc_bar_7_bar__minus_1_bar_1_bar_30)\n (objectAtLocation Mug_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_02_dot_41 loc_bar_3_bar__minus_7_bar_2_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 GlassbottleType)\n (receptacleType ?r FridgeType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 GlassbottleType)\n (receptacleType ?r FridgeType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 3", "take glassbottle 2 from countertop 3", "go to fridge 1", "open fridge 1", "move glassbottle 2 to fridge 1", "go to shelf 1", "take glassbottle 1 from shelf 1", "go to fridge 1", "move glassbottle 1 to fridge 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Glassbottle-None-Fridge-1/trial_T20190906_210352_897478/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Glassbottle-None-Fridge-1/trial_T20190906_210352_897478/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..fba59fcc51105ed4bc8670f4bbbbf4ff3eb60b3b --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Glassbottle-None-Fridge-1/trial_T20190906_210352_897478/initial_state.pddl @@ -0,0 +1,1245 @@ + +(define (problem plan_trial_T20190906_210352_897478) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__plus_00_dot_45_bar__plus_00_dot_96_bar__minus_02_dot_56 - object + Apple_bar__minus_00_dot_12_bar__plus_01_dot_84_bar__minus_02_dot_48 - object + Apple_bar__minus_02_dot_10_bar__plus_00_dot_96_bar__minus_02_dot_37 - object + Book_bar__plus_00_dot_16_bar__plus_01_dot_10_bar__plus_00_dot_62 - object + Book_bar__minus_00_dot_34_bar__plus_01_dot_11_bar__plus_00_dot_25 - object + Bowl_bar__plus_01_dot_48_bar__plus_00_dot_55_bar__minus_02_dot_61 - object + Bowl_bar__minus_02_dot_11_bar__plus_01_dot_30_bar__plus_01_dot_18 - object + Bread_bar__plus_00_dot_36_bar__plus_01_dot_18_bar__minus_00_dot_51 - object + Bread_bar__minus_00_dot_06_bar__plus_01_dot_18_bar__minus_00_dot_25 - object + Bread_bar__minus_00_dot_06_bar__plus_01_dot_18_bar__minus_00_dot_51 - object + ButterKnife_bar__plus_00_dot_22_bar__plus_01_dot_11_bar__minus_00_dot_76 - object + ButterKnife_bar__minus_01_dot_96_bar__plus_00_dot_77_bar__minus_01_dot_59 - object + Chair_bar__plus_00_dot_62_bar__plus_00_dot_73_bar__minus_00_dot_51 - object + Chair_bar__plus_00_dot_67_bar__plus_00_dot_73_bar__plus_00_dot_57 - object + CreditCard_bar__plus_00_dot_08_bar__plus_01_dot_11_bar__minus_00_dot_25 - object + CreditCard_bar__plus_01_dot_69_bar__plus_00_dot_88_bar__minus_02_dot_59 - object + CreditCard_bar__plus_01_dot_89_bar__plus_00_dot_55_bar__minus_02_dot_72 - object + Cup_bar__plus_02_dot_10_bar__plus_00_dot_88_bar__minus_02_dot_56 - object + Cup_bar__minus_02_dot_12_bar__plus_00_dot_80_bar__plus_01_dot_17 - object + DishSponge_bar__minus_01_dot_96_bar__plus_00_dot_05_bar__plus_02_dot_08 - object + Egg_bar__minus_01_dot_74_bar__plus_00_dot_80_bar__minus_01_dot_59 - object + Egg_bar__minus_02_dot_04_bar__plus_00_dot_58_bar__plus_01_dot_25 - object + Faucet_bar__minus_02_dot_07_bar__plus_01_dot_13_bar__minus_01_dot_51 - object + Fork_bar__plus_01_dot_01_bar__plus_00_dot_14_bar__minus_02_dot_43 - object + Glassbottle_bar__plus_00_dot_08_bar__plus_01_dot_11_bar__plus_00_dot_25 - object + Glassbottle_bar__plus_01_dot_89_bar__plus_00_dot_88_bar__minus_02_dot_54 - object + Glassbottle_bar__minus_01_dot_80_bar__plus_00_dot_77_bar__minus_01_dot_33 - object + HousePlant_bar__minus_01_dot_95_bar__plus_00_dot_90_bar__minus_02_dot_52 - object + Kettle_bar__plus_00_dot_84_bar__plus_01_dot_66_bar__minus_02_dot_64 - object + Knife_bar__plus_00_dot_97_bar__plus_00_dot_94_bar__minus_02_dot_25 - object + Knife_bar__minus_00_dot_20_bar__plus_01_dot_14_bar__plus_00_dot_76 - object + Knife_bar__minus_01_dot_14_bar__plus_00_dot_94_bar__minus_02_dot_41 - object + Lettuce_bar__minus_00_dot_47_bar__plus_01_dot_19_bar__minus_00_dot_51 - object + Lettuce_bar__minus_00_dot_85_bar__plus_00_dot_99_bar__minus_02_dot_56 - object + LightSwitch_bar__plus_02_dot_33_bar__plus_01_dot_31_bar__minus_00_dot_16 - object + Mug_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_02_dot_41 - object + Mug_bar__minus_00_dot_28_bar__plus_01_dot_79_bar__minus_02_dot_55 - object + Pan_bar__plus_00_dot_72_bar__plus_00_dot_90_bar__minus_02_dot_42 - object + PaperTowelRoll_bar__plus_00_dot_58_bar__plus_01_dot_01_bar__minus_02_dot_56 - object + PepperShaker_bar__plus_02_dot_10_bar__plus_00_dot_55_bar__minus_02_dot_72 - object + Plate_bar__minus_01_dot_51_bar__plus_01_dot_66_bar__minus_02_dot_60 - object + Potato_bar__plus_00_dot_08_bar__plus_01_dot_14_bar_00_dot_00 - object + Potato_bar__minus_01_dot_91_bar__plus_00_dot_08_bar__plus_01_dot_93 - object + Potato_bar__minus_02_dot_02_bar__plus_00_dot_80_bar__minus_01_dot_76 - object + Pot_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_02_dot_58 - object + Pot_bar__minus_00_dot_06_bar__plus_01_dot_12_bar__minus_00_dot_76 - object + Pot_bar__minus_01_dot_30_bar__plus_00_dot_14_bar__minus_02_dot_40 - object + SaltShaker_bar__minus_01_dot_29_bar__plus_00_dot_91_bar__minus_02_dot_33 - object + Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50 - object + SoapBottle_bar__plus_01_dot_89_bar__plus_00_dot_55_bar__minus_02_dot_61 - object + SoapBottle_bar__minus_01_dot_67_bar__plus_00_dot_13_bar__plus_00_dot_11 - object + Spatula_bar__plus_00_dot_45_bar__plus_00_dot_93_bar__minus_02_dot_41 - object + Spatula_bar__minus_01_dot_65_bar__plus_00_dot_81_bar__minus_00_dot_05 - object + Spatula_bar__minus_01_dot_83_bar__plus_00_dot_81_bar__plus_00_dot_24 - object + Spoon_bar__plus_00_dot_95_bar__plus_00_dot_65_bar__minus_02_dot_38 - object + Spoon_bar__minus_00_dot_47_bar__plus_01_dot_11_bar__plus_00_dot_76 - object + Statue_bar__plus_00_dot_22_bar__plus_01_dot_11_bar__minus_00_dot_51 - object + Statue_bar__minus_01_dot_86_bar__plus_00_dot_91_bar__minus_00_dot_88 - object + StoveKnob_bar__minus_00_dot_02_bar__plus_00_dot_88_bar__minus_02_dot_19 - object + StoveKnob_bar__minus_00_dot_18_bar__plus_00_dot_88_bar__minus_02_dot_19 - object + StoveKnob_bar__minus_00_dot_33_bar__plus_00_dot_88_bar__minus_02_dot_19 - object + StoveKnob_bar__minus_00_dot_48_bar__plus_00_dot_88_bar__minus_02_dot_19 - object + Tomato_bar__minus_01_dot_80_bar__plus_00_dot_81_bar__minus_01_dot_50 - object + Vase_bar__plus_00_dot_45_bar__plus_01_dot_66_bar__minus_02_dot_56 - object + Vase_bar__minus_00_dot_47_bar__plus_01_dot_11_bar__minus_00_dot_76 - object + Window_bar__minus_02_dot_23_bar__plus_01_dot_43_bar__minus_01_dot_20 - object + WineBottle_bar__plus_01_dot_79_bar__plus_00_dot_88_bar__minus_02_dot_62 - object + Cabinet_bar__plus_00_dot_68_bar__plus_00_dot_50_bar__minus_02_dot_20 - receptacle + Cabinet_bar__plus_00_dot_68_bar__plus_02_dot_02_bar__minus_02_dot_46 - receptacle + 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loc_bar__minus_5_bar__minus_5_bar_3_bar_15 - location + loc_bar__minus_4_bar_2_bar_3_bar_60 - location + loc_bar__minus_1_bar__minus_7_bar_2_bar_0 - location + loc_bar_3_bar__minus_7_bar_2_bar_45 - location + loc_bar_2_bar__minus_5_bar_2_bar_45 - location + loc_bar__minus_4_bar_4_bar_3_bar_60 - location + loc_bar_0_bar__minus_7_bar_2_bar_45 - location + loc_bar__minus_5_bar__minus_7_bar_3_bar_45 - location + loc_bar_3_bar_0_bar_0_bar_60 - location + loc_bar__minus_5_bar__minus_1_bar_3_bar_45 - location + loc_bar_5_bar__minus_6_bar_2_bar_45 - location + loc_bar__minus_4_bar_3_bar_2_bar_60 - location + loc_bar__minus_5_bar__minus_6_bar_3_bar_60 - location + loc_bar__minus_2_bar__minus_7_bar_2_bar_45 - location + loc_bar__minus_5_bar__minus_7_bar_2_bar__minus_30 - location + loc_bar__minus_4_bar__minus_7_bar_2_bar__minus_30 - location + loc_bar_2_bar__minus_7_bar_2_bar__minus_30 - location + loc_bar_4_bar__minus_7_bar_2_bar__minus_30 - location + loc_bar__minus_5_bar__minus_1_bar_3_bar_60 - location + loc_bar_3_bar_0_bar_3_bar_30 - location + loc_bar_5_bar__minus_2_bar_3_bar_60 - location + loc_bar__minus_5_bar_7_bar_3_bar_60 - location + loc_bar__minus_4_bar_4_bar_2_bar_45 - location + loc_bar__minus_4_bar__minus_4_bar_0_bar_45 - location + loc_bar__minus_5_bar__minus_5_bar_2_bar_45 - location + loc_bar_7_bar__minus_1_bar_1_bar_30 - location + loc_bar_0_bar__minus_7_bar_2_bar_60 - location + loc_bar__minus_3_bar__minus_6_bar_3_bar_60 - location + loc_bar_7_bar__minus_8_bar_2_bar_60 - location + loc_bar__minus_2_bar__minus_7_bar_2_bar_60 - location + loc_bar__minus_1_bar__minus_7_bar_2_bar_60 - location + loc_bar__minus_5_bar__minus_6_bar_3_bar_45 - location + loc_bar__minus_5_bar_1_bar_3_bar_45 - location + loc_bar_6_bar__minus_4_bar_2_bar_45 - location + loc_bar_0_bar__minus_5_bar_2_bar_45 - location + loc_bar_7_bar_0_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__plus_00_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_46 CabinetType) + 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(objectAtLocation LightSwitch_bar__plus_02_dot_33_bar__plus_01_dot_31_bar__minus_00_dot_16 loc_bar_7_bar__minus_1_bar_1_bar_30) + (objectAtLocation Mug_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_02_dot_41 loc_bar_3_bar__minus_7_bar_2_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 GlassbottleType) + (receptacleType ?r FridgeType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 GlassbottleType) + (receptacleType ?r FridgeType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Glassbottle-None-Fridge-1/trial_T20190906_210352_897478/traj_data.json b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Glassbottle-None-Fridge-1/trial_T20190906_210352_897478/traj_data.json new file mode 100644 index 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}, + { + "objectName": "Knife_c9d70d0f", + "position": { + "x": -0.197294831, + "y": 1.13694966, + "z": 0.7573219 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_35d530e8", + "position": { + "x": -0.059099853, + "y": 1.18406522, + "z": -0.5065479 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Fork_89238ee6", + "position": { + "x": 1.00710142, + "y": 0.143089473, + "z": -2.43111968 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Potato_dc7b7f7e", + "position": { + "x": 0.0790954158, + "y": 1.14208543, + "z": -0.00100004673 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_0fe5b61f", + "position": { + "x": -1.66536272, + "y": 0.130878448, + "z": 0.112564981 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Kettle_7ed44c70", + "position": { + "x": 0.839882135, + "y": 1.66204143, + "z": 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"position": { + "x": 0.0790954158, + "y": 1.10859609, + "z": -0.253773928 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_1a4cbefa", + "position": { + "x": -1.85627437, + "y": 0.9101971, + "z": -0.8849293 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "WineBottle_c21bc5e7", + "position": { + "x": 1.789261, + "y": 0.8817599, + "z": -2.61793637 + }, + "rotation": { + "x": -3.41504619e-06, + "y": 180.00032, + "z": -1.70754829e-05 + } + }, + { + "objectName": "Pot_9e34d9fc", + "position": { + "x": -1.29622293, + "y": 0.14126575, + "z": -2.40271449 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spatula_1e920a81", + "position": { + "x": 0.453817844, + "y": 0.9256999, + "z": -2.40718341 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "PaperTowelRoll_2c38299b", + "position": { + "x": 0.582687557, + "y": 1.01498532, + "z": -2.56081653 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_77fad61b", + "position": { + "x": -2.12060976, + "y": 0.796394765, + "z": 1.16860032 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Vase_5ffb3206", + "position": { + "x": 0.451126277, + "y": 1.657699, + "z": -2.56098056 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_9960ee75", + "position": { + "x": -2.11400819, + "y": 1.30265641, + "z": 1.17630422 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_b714915a", + "position": { + "x": -1.290839, + "y": 0.907706141, + "z": -2.32982731 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_816f44ce", + "position": { + "x": 2.10056615, + "y": 0.5493649, + "z": -2.718223 + }, + "rotation": { + "x": -3.41504619e-06, + "y": 180.00032, + "z": -1.70754829e-05 + } + }, + { + "objectName": "Lettuce_e166a32f", + "position": { + "x": -0.84807694, + "y": 0.991022468, + "z": -2.5602715 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_f63cc56c", + "position": { + "x": -1.96338, + "y": 0.7697982, + "z": -1.58758128 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_a0b666be", + "position": { + "x": 0.453817844, + "y": 0.961277664, + "z": -2.56081653 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_56e11318", + "position": { + "x": -1.96227539, + "y": 0.0475771464, + "z": 2.07684183 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_cd066502", + "position": { + "x": -0.473685682, + "y": 1.11272943, + "z": 0.757321835 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_b5db8038", + "position": { + "x": -0.277025, + "y": 1.78549993, + "z": -2.5463 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 473610701, + "scene_num": 1 + }, + "task_id": "trial_T20190906_210352_897478", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1GVTH5YS3WOK0_3D4CH1LGEDA4Q1RA23EJXULYNP0G93", + "high_descs": [ + "Turn right, head towards the wooden shelves, turn right and head towards the sink.", + "Pick up the glass vase from the sink.", + "Turn right towards the fridge on your left.", + "Place the vase on the bottom shelf and close the fridge.", + "Turn around, head towards the wall, then turn right towards the the kitchen island on your right.", + "Pick up the vase from the table", + "Turn right, head towards the end of the kitchen island, and then turn left towards the fridge.", + "Open the fridge and place the vase to the right of the other vase." + ], + "task_desc": "Place the two glass vases in the fridge.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "ARB80JPV0HQ5O_3KYQYYSHYYO4L4LP22WTOZDQ5ZADOE", + "high_descs": [ + "Turn right, turn right and walk towards the sink.", + "Pick up the glass jar from inside the sink", + "Turn right, walk straight, turn left to the white fridge", + "Open the fridge, place the glass jar in the bottom shelf, close the fridge", + "Turn right, turn right, walk straight, turn right to the marble counter top", + "Pick up the glass jar from on top of the table", + "Turn left, turn left, turn left, turn right towards the white fridge", + "Open the fridge, place the glass jar on the bottom shelf next to the other glass jar" + ], + "task_desc": "Place two glass jars inside a fridge", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1HKHM4NVAO98H_3Z7VU45IP1YMSDJKOINF3VJL0611Z5", + "high_descs": [ + "turn right and walk nearly to the end of the room, then hang a right and walk to the end of the room with the sink", + "grab the vase out of the sink", + "turn right and walk until you reach the fridge on your left", + "put the vase inside of the fridge", + "turn around and walk to the end of the room, then turn right and walk to the center of the kitchen island on your right", + "grab the vase off of the kitchen island there", + "turn right and move to the end of the room, then hang a left and move to the fridge at the end of the room", + "place the second vase inside of the fridge and close the door" + ], + "task_desc": "place two vases inside of the fridge", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Glassbottle-None-Fridge-1/trial_T20190906_210518_664798/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Glassbottle-None-Fridge-1/trial_T20190906_210518_664798/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..0edad1dbcec6dc38f632789994f9602b9db5ff02 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Glassbottle-None-Fridge-1/trial_T20190906_210518_664798/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: find two glassbottle and put them in fridge.\"\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_210518_664798)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__plus_00_dot_32_bar__plus_00_dot_96_bar__minus_02_dot_71 - object\n Apple_bar__minus_02_dot_00_bar__plus_00_dot_59_bar__plus_01_dot_00 - object\n Apple_bar__minus_02_dot_04_bar__plus_01_dot_55_bar__plus_01_dot_09 - object\n Book_bar__plus_00_dot_16_bar__plus_01_dot_10_bar__plus_00_dot_62 - object\n Bowl_bar__minus_00_dot_06_bar__plus_01_dot_11_bar__minus_00_dot_51 - object\n Bowl_bar__minus_01_dot_91_bar__plus_00_dot_77_bar__minus_01_dot_50 - object\n Bread_bar__plus_00_dot_08_bar__plus_01_dot_18_bar__minus_00_dot_25 - object\n ButterKnife_bar__plus_00_dot_22_bar__plus_01_dot_11_bar__minus_00_dot_76 - object\n ButterKnife_bar__plus_00_dot_22_bar__plus_01_dot_11_bar_00_dot_00 - object\n Chair_bar__plus_00_dot_62_bar__plus_00_dot_73_bar__minus_00_dot_51 - object\n Chair_bar__plus_00_dot_67_bar__plus_00_dot_73_bar__plus_00_dot_56 - object\n CreditCard_bar__minus_01_dot_61_bar__plus_00_dot_15_bar__minus_00_dot_29 - object\n Cup_bar__minus_00_dot_33_bar__plus_01_dot_79_bar__minus_02_dot_55 - object\n Cup_bar__minus_01_dot_74_bar__plus_00_dot_77_bar__minus_01_dot_41 - object\n DishSponge_bar__minus_01_dot_46_bar__plus_01_dot_66_bar__minus_02_dot_68 - object\n 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loc_bar__minus_5_bar__minus_7_bar_3_bar_45 - location\n loc_bar_3_bar_0_bar_0_bar_60 - location\n loc_bar__minus_5_bar__minus_1_bar_3_bar_45 - location\n loc_bar_5_bar__minus_6_bar_2_bar_45 - location\n loc_bar__minus_4_bar_3_bar_2_bar_60 - location\n loc_bar__minus_5_bar__minus_6_bar_3_bar_60 - location\n loc_bar__minus_2_bar__minus_7_bar_2_bar_45 - location\n loc_bar__minus_5_bar__minus_7_bar_2_bar__minus_30 - location\n loc_bar__minus_4_bar__minus_7_bar_2_bar__minus_30 - location\n loc_bar_2_bar__minus_7_bar_2_bar__minus_30 - location\n loc_bar_4_bar__minus_7_bar_2_bar__minus_30 - location\n loc_bar__minus_5_bar__minus_1_bar_3_bar_60 - location\n loc_bar_3_bar_0_bar_3_bar_30 - location\n loc_bar_5_bar__minus_2_bar_3_bar_60 - location\n loc_bar__minus_5_bar_7_bar_3_bar_60 - location\n loc_bar__minus_4_bar_4_bar_2_bar_45 - location\n loc_bar__minus_4_bar__minus_4_bar_0_bar_45 - location\n loc_bar__minus_5_bar__minus_5_bar_2_bar_45 - location\n loc_bar_7_bar__minus_1_bar_1_bar_30 - 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Statue_bar__minus_00_dot_47_bar__plus_01_dot_11_bar__minus_00_dot_76 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Lettuce_bar__minus_00_dot_47_bar__plus_01_dot_19_bar__plus_00_dot_76 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Plate_bar__plus_00_dot_36_bar__plus_01_dot_11_bar__minus_00_dot_25 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle ButterKnife_bar__plus_00_dot_22_bar__plus_01_dot_11_bar_00_dot_00 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Tomato_bar__plus_00_dot_08_bar__plus_01_dot_15_bar__plus_00_dot_25 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Bowl_bar__minus_00_dot_06_bar__plus_01_dot_11_bar__minus_00_dot_51 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Spatula_bar__minus_00_dot_34_bar__plus_01_dot_13_bar__plus_00_dot_50 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Vase_bar__plus_00_dot_22_bar__plus_01_dot_11_bar__plus_00_dot_25 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle PepperShaker_bar__minus_01_dot_81_bar__plus_00_dot_13_bar__minus_01_dot_86 Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__minus_01_dot_97)\n (inReceptacle Glassbottle_bar__minus_01_dot_76_bar__plus_00_dot_14_bar__minus_01_dot_16 Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__minus_01_dot_97)\n (inReceptacle SoapBottle_bar__minus_01_dot_91_bar__plus_00_dot_14_bar__minus_01_dot_62 Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__minus_01_dot_97)\n (inReceptacle WineBottle_bar__minus_01_dot_66_bar__plus_00_dot_14_bar__minus_01_dot_74 Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__minus_01_dot_97)\n (inReceptacle Glassbottle_bar__plus_00_dot_58_bar__plus_00_dot_91_bar__minus_02_dot_71 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48)\n (inReceptacle Apple_bar__plus_00_dot_32_bar__plus_00_dot_96_bar__minus_02_dot_71 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48)\n (inReceptacle Tomato_bar__plus_00_dot_97_bar__plus_00_dot_95_bar__minus_02_dot_33 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48)\n (inReceptacle Vase_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_02_dot_64 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48)\n (inReceptacle PepperShaker_bar__plus_00_dot_45_bar__plus_00_dot_91_bar__minus_02_dot_64 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48)\n (inReceptacle Glassbottle_bar__plus_00_dot_58_bar__plus_00_dot_91_bar__minus_02_dot_25 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48)\n (inReceptacle Kettle_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_02_dot_58 StoveBurner_bar__minus_00_dot_04_bar__plus_00_dot_92_bar__minus_02_dot_58)\n (inReceptacle Kettle_bar__minus_01_dot_77_bar__plus_00_dot_13_bar__plus_00_dot_25 Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__plus_00_dot_38)\n (inReceptacle Fork_bar__plus_01_dot_12_bar__plus_00_dot_48_bar__minus_02_dot_43 Drawer_bar__plus_00_dot_95_bar__plus_00_dot_56_bar__minus_02_dot_20)\n (inReceptacle DishSponge_bar__minus_01_dot_78_bar__plus_00_dot_48_bar__minus_00_dot_20 Drawer_bar__minus_01_dot_56_bar__plus_00_dot_66_bar__minus_00_dot_20)\n (inReceptacle DishSponge_bar__minus_01_dot_46_bar__plus_01_dot_66_bar__minus_02_dot_68 Cabinet_bar__minus_01_dot_69_bar__plus_02_dot_02_bar__minus_02_dot_46)\n (inReceptacle SaltShaker_bar__minus_01_dot_62_bar__plus_01_dot_65_bar__minus_02_dot_68 Cabinet_bar__minus_01_dot_69_bar__plus_02_dot_02_bar__minus_02_dot_46)\n (inReceptacle Glassbottle_bar__minus_01_dot_35_bar__plus_01_dot_66_bar__minus_02_dot_57 Cabinet_bar__minus_01_dot_69_bar__plus_02_dot_02_bar__minus_02_dot_46)\n (inReceptacle SaltShaker_bar__minus_01_dot_62_bar__plus_01_dot_65_bar__minus_02_dot_60 Cabinet_bar__minus_01_dot_69_bar__plus_02_dot_02_bar__minus_02_dot_46)\n (inReceptacle Spoon_bar__minus_01_dot_74_bar__plus_00_dot_16_bar__minus_00_dot_25 Drawer_bar__minus_01_dot_56_bar__plus_00_dot_33_bar__minus_00_dot_20)\n (inReceptacle CreditCard_bar__minus_01_dot_61_bar__plus_00_dot_15_bar__minus_00_dot_29 Drawer_bar__minus_01_dot_56_bar__plus_00_dot_33_bar__minus_00_dot_20)\n (inReceptacle Egg_bar__minus_01_dot_56_bar__plus_00_dot_95_bar__minus_01_dot_68 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Knife_bar__minus_01_dot_86_bar__plus_00_dot_94_bar__minus_00_dot_51 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Pan_bar__minus_01_dot_44_bar__plus_00_dot_91_bar__minus_02_dot_64 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle HousePlant_bar__minus_01_dot_95_bar__plus_00_dot_90_bar__minus_02_dot_52 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Potato_bar__minus_00_dot_07_bar__plus_01_dot_82_bar__minus_02_dot_51 Microwave_bar__minus_00_dot_24_bar__plus_01_dot_69_bar__minus_02_dot_53)\n (inReceptacle Cup_bar__minus_00_dot_33_bar__plus_01_dot_79_bar__minus_02_dot_55 Microwave_bar__minus_00_dot_24_bar__plus_01_dot_69_bar__minus_02_dot_53)\n (inReceptacle Mug_bar__minus_00_dot_23_bar__plus_01_dot_79_bar__minus_02_dot_51 Microwave_bar__minus_00_dot_24_bar__plus_01_dot_69_bar__minus_02_dot_53)\n (inReceptacle Egg_bar__minus_00_dot_07_bar__plus_01_dot_83_bar__minus_02_dot_58 Microwave_bar__minus_00_dot_24_bar__plus_01_dot_69_bar__minus_02_dot_53)\n (inReceptacle WineBottle_bar__plus_01_dot_99_bar__plus_00_dot_88_bar__minus_02_dot_54 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_87_bar__minus_02_dot_56)\n (inReceptacle PaperTowelRoll_bar__plus_01_dot_79_bar__plus_00_dot_99_bar__minus_02_dot_62 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_87_bar__minus_02_dot_56)\n (inReceptacle SaltShaker_bar__plus_01_dot_69_bar__plus_00_dot_55_bar__minus_02_dot_72 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_54_bar__minus_02_dot_56)\n (inReceptacle WineBottle_bar__minus_01_dot_94_bar__plus_00_dot_05_bar__plus_01_dot_93 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__plus_02_dot_03)\n (inReceptacle SoapBottle_bar__minus_01_dot_99_bar__plus_00_dot_05_bar__plus_02_dot_17 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__plus_02_dot_03)\n (inReceptacle DishSponge_bar__minus_01_dot_94_bar__plus_00_dot_05_bar__plus_02_dot_08 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__plus_02_dot_03)\n (inReceptacle Tomato_bar__minus_02_dot_12_bar__plus_01_dot_54_bar__plus_00_dot_93 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09)\n (inReceptacle Lettuce_bar__minus_02_dot_08_bar__plus_00_dot_88_bar__plus_00_dot_92 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09)\n (inReceptacle Apple_bar__minus_02_dot_00_bar__plus_00_dot_59_bar__plus_01_dot_00 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09)\n (inReceptacle Plate_bar__minus_02_dot_07_bar__plus_01_dot_31_bar__plus_00_dot_93 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09)\n (inReceptacle Apple_bar__minus_02_dot_04_bar__plus_01_dot_55_bar__plus_01_dot_09 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09)\n (inReceptacleObject Fork_bar__minus_01_dot_91_bar__plus_00_dot_77_bar__minus_01_dot_41 Bowl_bar__minus_01_dot_91_bar__plus_00_dot_77_bar__minus_01_dot_50)\n (inReceptacle Cup_bar__minus_01_dot_74_bar__plus_00_dot_77_bar__minus_01_dot_41 Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin)\n (inReceptacle Potato_bar__minus_01_dot_96_bar__plus_00_dot_80_bar__minus_01_dot_33 Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin)\n (inReceptacle Bowl_bar__minus_01_dot_91_bar__plus_00_dot_77_bar__minus_01_dot_50 Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin)\n (inReceptacle Spoon_bar__minus_01_dot_96_bar__plus_00_dot_77_bar__minus_01_dot_67 Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin)\n (inReceptacle Fork_bar__minus_01_dot_91_bar__plus_00_dot_77_bar__minus_01_dot_41 Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_68_bar__plus_00_dot_50_bar__minus_02_dot_20 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_68_bar__plus_02_dot_02_bar__minus_02_dot_46 loc_bar_2_bar__minus_7_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_46 loc_bar_4_bar__minus_7_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_73_bar__plus_02_dot_02_bar__minus_02_dot_46 loc_bar__minus_4_bar__minus_7_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_18_bar__plus_00_dot_50_bar__minus_02_dot_20 loc_bar__minus_5_bar__minus_5_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__plus_00_dot_38 loc_bar__minus_4_bar_2_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__minus_01_dot_97 loc_bar__minus_3_bar__minus_6_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_69_bar__plus_02_dot_02_bar__minus_02_dot_46 loc_bar__minus_5_bar__minus_7_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_85_bar__plus_02_dot_02_bar__plus_00_dot_38 loc_bar__minus_5_bar_2_bar_3_bar__minus_30)\n (receptacleAtLocation CoffeeMachine_bar__minus_02_dot_00_bar__plus_00_dot_90_bar__minus_00_dot_17 loc_bar__minus_5_bar__minus_1_bar_3_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00 loc_bar_3_bar_0_bar_3_bar_30)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_95_bar__plus_00_dot_22_bar__minus_02_dot_20 loc_bar_6_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_95_bar__plus_00_dot_39_bar__minus_02_dot_20 loc_bar_6_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_95_bar__plus_00_dot_56_bar__minus_02_dot_20 loc_bar_2_bar__minus_5_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_95_bar__plus_00_dot_71_bar__minus_02_dot_20 loc_bar_7_bar__minus_7_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_95_bar__plus_00_dot_83_bar__minus_02_dot_20 loc_bar_1_bar__minus_7_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_56_bar__plus_00_dot_33_bar__minus_00_dot_20 loc_bar__minus_4_bar_3_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_56_bar__plus_00_dot_66_bar__minus_00_dot_20 loc_bar__minus_5_bar__minus_1_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_56_bar__plus_00_dot_84_bar__plus_00_dot_20 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_56_bar__plus_00_dot_84_bar__minus_00_dot_20 loc_bar__minus_4_bar__minus_4_bar_0_bar_45)\n (receptacleAtLocation Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__plus_02_dot_03 loc_bar__minus_5_bar_7_bar_3_bar_60)\n (receptacleAtLocation Microwave_bar__minus_00_dot_24_bar__plus_01_dot_69_bar__minus_02_dot_53 loc_bar__minus_1_bar__minus_7_bar_2_bar_0)\n (receptacleAtLocation Shelf_bar__plus_01_dot_80_bar__plus_00_dot_16_bar__minus_02_dot_56 loc_bar_7_bar__minus_8_bar_2_bar_60)\n (receptacleAtLocation Shelf_bar__plus_01_dot_80_bar__plus_00_dot_54_bar__minus_02_dot_56 loc_bar_5_bar__minus_6_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_01_dot_80_bar__plus_00_dot_87_bar__minus_02_dot_56 loc_bar_7_bar__minus_5_bar_2_bar_30)\n (receptacleAtLocation Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_04_bar__plus_00_dot_92_bar__minus_02_dot_37 loc_bar_0_bar__minus_7_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_04_bar__plus_00_dot_92_bar__minus_02_dot_58 loc_bar_0_bar__minus_7_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_47_bar__plus_00_dot_92_bar__minus_02_dot_37 loc_bar__minus_2_bar__minus_7_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_47_bar__plus_00_dot_92_bar__minus_02_dot_58 loc_bar__minus_2_bar__minus_7_bar_2_bar_45)\n (receptacleAtLocation Toaster_bar__minus_01_dot_84_bar__plus_00_dot_90_bar__plus_00_dot_13 loc_bar__minus_5_bar_1_bar_3_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_47_bar__plus_01_dot_11_bar__minus_00_dot_51 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation DishSponge_bar__minus_01_dot_78_bar__plus_00_dot_48_bar__minus_00_dot_20 loc_bar__minus_5_bar__minus_1_bar_3_bar_60)\n (objectAtLocation Apple_bar__minus_02_dot_04_bar__plus_01_dot_55_bar__plus_01_dot_09 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation ButterKnife_bar__plus_00_dot_22_bar__plus_01_dot_11_bar_00_dot_00 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Lettuce_bar__minus_00_dot_47_bar__plus_01_dot_19_bar__plus_00_dot_76 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation PepperShaker_bar__plus_00_dot_45_bar__plus_00_dot_91_bar__minus_02_dot_64 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation SaltShaker_bar__minus_01_dot_62_bar__plus_01_dot_65_bar__minus_02_dot_68 loc_bar__minus_5_bar__minus_7_bar_2_bar__minus_30)\n (objectAtLocation Bowl_bar__minus_00_dot_06_bar__plus_01_dot_11_bar__minus_00_dot_51 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Cup_bar__minus_01_dot_74_bar__plus_00_dot_77_bar__minus_01_dot_41 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation WineBottle_bar__minus_01_dot_66_bar__plus_00_dot_14_bar__minus_01_dot_74 loc_bar__minus_3_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Statue_bar__minus_00_dot_47_bar__plus_01_dot_11_bar__minus_00_dot_76 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Egg_bar__minus_00_dot_07_bar__plus_01_dot_83_bar__minus_02_dot_58 loc_bar__minus_1_bar__minus_7_bar_2_bar_0)\n (objectAtLocation Tomato_bar__plus_00_dot_97_bar__plus_00_dot_95_bar__minus_02_dot_33 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Plate_bar__minus_02_dot_07_bar__plus_01_dot_31_bar__plus_00_dot_93 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation Kettle_bar__minus_01_dot_77_bar__plus_00_dot_13_bar__plus_00_dot_25 loc_bar__minus_4_bar_2_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__minus_01_dot_91_bar__plus_00_dot_14_bar__minus_01_dot_62 loc_bar__minus_3_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Potato_bar__minus_01_dot_96_bar__plus_00_dot_80_bar__minus_01_dot_33 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Fork_bar__minus_01_dot_91_bar__plus_00_dot_77_bar__minus_01_dot_41 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Glassbottle_bar__plus_00_dot_58_bar__plus_00_dot_91_bar__minus_02_dot_25 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation DishSponge_bar__minus_01_dot_46_bar__plus_01_dot_66_bar__minus_02_dot_68 loc_bar__minus_5_bar__minus_7_bar_2_bar__minus_30)\n (objectAtLocation WineBottle_bar__minus_01_dot_94_bar__plus_00_dot_05_bar__plus_01_dot_93 loc_bar__minus_5_bar_7_bar_3_bar_60)\n (objectAtLocation Glassbottle_bar__minus_01_dot_35_bar__plus_01_dot_66_bar__minus_02_dot_57 loc_bar__minus_5_bar__minus_7_bar_2_bar__minus_30)\n (objectAtLocation Glassbottle_bar__plus_00_dot_58_bar__plus_00_dot_91_bar__minus_02_dot_71 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Kettle_bar__minus_00_dot_47_bar__plus_00_dot_95_bar__minus_02_dot_37 loc_bar__minus_2_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Spoon_bar__minus_01_dot_96_bar__plus_00_dot_77_bar__minus_01_dot_67 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Apple_bar__minus_02_dot_00_bar__plus_00_dot_59_bar__plus_01_dot_00 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation SaltShaker_bar__plus_01_dot_69_bar__plus_00_dot_55_bar__minus_02_dot_72 loc_bar_5_bar__minus_6_bar_2_bar_45)\n (objectAtLocation Tomato_bar__minus_02_dot_12_bar__plus_01_dot_54_bar__plus_00_dot_93 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_02_bar__plus_00_dot_88_bar__minus_02_dot_19 loc_bar_0_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_02_dot_23_bar__plus_01_dot_43_bar__minus_01_dot_20 loc_bar__minus_5_bar__minus_5_bar_3_bar_15)\n (objectAtLocation StoveKnob_bar__minus_00_dot_48_bar__plus_00_dot_88_bar__minus_02_dot_19 loc_bar__minus_2_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50 loc_bar__minus_5_bar__minus_6_bar_3_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_33_bar__plus_00_dot_88_bar__minus_02_dot_19 loc_bar__minus_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_18_bar__plus_00_dot_88_bar__minus_02_dot_19 loc_bar__minus_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Book_bar__plus_00_dot_16_bar__plus_01_dot_10_bar__plus_00_dot_62 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Chair_bar__plus_00_dot_67_bar__plus_00_dot_73_bar__plus_00_dot_56 loc_bar_3_bar_0_bar_0_bar_60)\n (objectAtLocation Glassbottle_bar__minus_01_dot_76_bar__plus_00_dot_14_bar__minus_01_dot_16 loc_bar__minus_3_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Knife_bar__minus_01_dot_86_bar__plus_00_dot_94_bar__minus_00_dot_51 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Bread_bar__plus_00_dot_08_bar__plus_01_dot_18_bar__minus_00_dot_25 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Fork_bar__plus_01_dot_12_bar__plus_00_dot_48_bar__minus_02_dot_43 loc_bar_2_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_07_bar__plus_01_dot_82_bar__minus_02_dot_51 loc_bar__minus_1_bar__minus_7_bar_2_bar_0)\n (objectAtLocation HousePlant_bar__minus_01_dot_95_bar__plus_00_dot_90_bar__minus_02_dot_52 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_99_bar__plus_00_dot_05_bar__plus_02_dot_17 loc_bar__minus_5_bar_7_bar_3_bar_60)\n (objectAtLocation Kettle_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_02_dot_58 loc_bar_0_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Pan_bar__minus_01_dot_44_bar__plus_00_dot_91_bar__minus_02_dot_64 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Plate_bar__plus_00_dot_36_bar__plus_01_dot_11_bar__minus_00_dot_25 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Tomato_bar__plus_00_dot_08_bar__plus_01_dot_15_bar__plus_00_dot_25 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Vase_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_02_dot_64 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Egg_bar__minus_01_dot_56_bar__plus_00_dot_95_bar__minus_01_dot_68 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation CreditCard_bar__minus_01_dot_61_bar__plus_00_dot_15_bar__minus_00_dot_29 loc_bar__minus_4_bar_3_bar_2_bar_60)\n (objectAtLocation Statue_bar__minus_00_dot_06_bar__plus_01_dot_11_bar__minus_00_dot_76 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Chair_bar__plus_00_dot_62_bar__plus_00_dot_73_bar__minus_00_dot_51 loc_bar_5_bar__minus_2_bar_3_bar_60)\n (objectAtLocation WineBottle_bar__plus_01_dot_99_bar__plus_00_dot_88_bar__minus_02_dot_54 loc_bar_7_bar__minus_5_bar_2_bar_30)\n (objectAtLocation Pot_bar__minus_00_dot_06_bar__plus_01_dot_12_bar_00_dot_00 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Spatula_bar__minus_00_dot_34_bar__plus_01_dot_13_bar__plus_00_dot_50 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation PaperTowelRoll_bar__plus_01_dot_79_bar__plus_00_dot_99_bar__minus_02_dot_62 loc_bar_7_bar__minus_5_bar_2_bar_30)\n (objectAtLocation Cup_bar__minus_00_dot_33_bar__plus_01_dot_79_bar__minus_02_dot_55 loc_bar__minus_1_bar__minus_7_bar_2_bar_0)\n (objectAtLocation Vase_bar__plus_00_dot_22_bar__plus_01_dot_11_bar__plus_00_dot_25 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Bowl_bar__minus_01_dot_91_bar__plus_00_dot_77_bar__minus_01_dot_50 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation SaltShaker_bar__minus_01_dot_62_bar__plus_01_dot_65_bar__minus_02_dot_60 loc_bar__minus_5_bar__minus_7_bar_2_bar__minus_30)\n (objectAtLocation PepperShaker_bar__minus_01_dot_81_bar__plus_00_dot_13_bar__minus_01_dot_86 loc_bar__minus_3_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Lettuce_bar__minus_02_dot_08_bar__plus_00_dot_88_bar__plus_00_dot_92 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation ButterKnife_bar__plus_00_dot_22_bar__plus_01_dot_11_bar__minus_00_dot_76 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Apple_bar__plus_00_dot_32_bar__plus_00_dot_96_bar__minus_02_dot_71 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation DishSponge_bar__minus_01_dot_94_bar__plus_00_dot_05_bar__plus_02_dot_08 loc_bar__minus_5_bar_7_bar_3_bar_60)\n (objectAtLocation Spoon_bar__minus_01_dot_74_bar__plus_00_dot_16_bar__minus_00_dot_25 loc_bar__minus_4_bar_3_bar_2_bar_60)\n (objectAtLocation LightSwitch_bar__plus_02_dot_33_bar__plus_01_dot_31_bar__minus_00_dot_16 loc_bar_7_bar__minus_1_bar_1_bar_30)\n (objectAtLocation Mug_bar__minus_00_dot_23_bar__plus_01_dot_79_bar__minus_02_dot_51 loc_bar__minus_1_bar__minus_7_bar_2_bar_0)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 GlassbottleType)\n (receptacleType ?r FridgeType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 GlassbottleType)\n (receptacleType ?r FridgeType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take glassbottle 2 from countertop 1", "go to fridge 1", "open fridge 1", "move glassbottle 2 to fridge 1", "go to countertop 1", "take glassbottle 1 from countertop 1", "go to fridge 1", "move glassbottle 1 to fridge 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Glassbottle-None-Fridge-1/trial_T20190906_210518_664798/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Glassbottle-None-Fridge-1/trial_T20190906_210518_664798/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..e673eed057faa6eb61c7c519a3db805440271dda --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Glassbottle-None-Fridge-1/trial_T20190906_210518_664798/initial_state.pddl @@ -0,0 +1,1252 @@ + +(define (problem plan_trial_T20190906_210518_664798) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__plus_00_dot_32_bar__plus_00_dot_96_bar__minus_02_dot_71 - object + Apple_bar__minus_02_dot_00_bar__plus_00_dot_59_bar__plus_01_dot_00 - object + Apple_bar__minus_02_dot_04_bar__plus_01_dot_55_bar__plus_01_dot_09 - object + Book_bar__plus_00_dot_16_bar__plus_01_dot_10_bar__plus_00_dot_62 - object + Bowl_bar__minus_00_dot_06_bar__plus_01_dot_11_bar__minus_00_dot_51 - object + Bowl_bar__minus_01_dot_91_bar__plus_00_dot_77_bar__minus_01_dot_50 - object + Bread_bar__plus_00_dot_08_bar__plus_01_dot_18_bar__minus_00_dot_25 - object + ButterKnife_bar__plus_00_dot_22_bar__plus_01_dot_11_bar__minus_00_dot_76 - object + ButterKnife_bar__plus_00_dot_22_bar__plus_01_dot_11_bar_00_dot_00 - object + Chair_bar__plus_00_dot_62_bar__plus_00_dot_73_bar__minus_00_dot_51 - object + Chair_bar__plus_00_dot_67_bar__plus_00_dot_73_bar__plus_00_dot_56 - object + CreditCard_bar__minus_01_dot_61_bar__plus_00_dot_15_bar__minus_00_dot_29 - object + Cup_bar__minus_00_dot_33_bar__plus_01_dot_79_bar__minus_02_dot_55 - object + Cup_bar__minus_01_dot_74_bar__plus_00_dot_77_bar__minus_01_dot_41 - object + DishSponge_bar__minus_01_dot_46_bar__plus_01_dot_66_bar__minus_02_dot_68 - object + DishSponge_bar__minus_01_dot_78_bar__plus_00_dot_48_bar__minus_00_dot_20 - object + DishSponge_bar__minus_01_dot_94_bar__plus_00_dot_05_bar__plus_02_dot_08 - object + Egg_bar__minus_00_dot_07_bar__plus_01_dot_83_bar__minus_02_dot_58 - object + Egg_bar__minus_01_dot_56_bar__plus_00_dot_95_bar__minus_01_dot_68 - object + Faucet_bar__minus_02_dot_07_bar__plus_01_dot_13_bar__minus_01_dot_51 - object + Fork_bar__plus_01_dot_12_bar__plus_00_dot_48_bar__minus_02_dot_43 - object + Fork_bar__minus_01_dot_91_bar__plus_00_dot_77_bar__minus_01_dot_41 - object + Glassbottle_bar__plus_00_dot_58_bar__plus_00_dot_91_bar__minus_02_dot_25 - object + Glassbottle_bar__plus_00_dot_58_bar__plus_00_dot_91_bar__minus_02_dot_71 - object + Glassbottle_bar__minus_01_dot_35_bar__plus_01_dot_66_bar__minus_02_dot_57 - object + Glassbottle_bar__minus_01_dot_76_bar__plus_00_dot_14_bar__minus_01_dot_16 - object + HousePlant_bar__minus_01_dot_95_bar__plus_00_dot_90_bar__minus_02_dot_52 - object + Kettle_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_02_dot_58 - object + Kettle_bar__minus_00_dot_47_bar__plus_00_dot_95_bar__minus_02_dot_37 - object + Kettle_bar__minus_01_dot_77_bar__plus_00_dot_13_bar__plus_00_dot_25 - object + Knife_bar__minus_01_dot_86_bar__plus_00_dot_94_bar__minus_00_dot_51 - object + Lettuce_bar__minus_00_dot_47_bar__plus_01_dot_19_bar__plus_00_dot_76 - object + Lettuce_bar__minus_02_dot_08_bar__plus_00_dot_88_bar__plus_00_dot_92 - object + LightSwitch_bar__plus_02_dot_33_bar__plus_01_dot_31_bar__minus_00_dot_16 - object + Mug_bar__minus_00_dot_23_bar__plus_01_dot_79_bar__minus_02_dot_51 - object + Pan_bar__minus_01_dot_44_bar__plus_00_dot_91_bar__minus_02_dot_64 - object + PaperTowelRoll_bar__plus_01_dot_79_bar__plus_00_dot_99_bar__minus_02_dot_62 - object + PepperShaker_bar__plus_00_dot_45_bar__plus_00_dot_91_bar__minus_02_dot_64 - object + PepperShaker_bar__minus_01_dot_81_bar__plus_00_dot_13_bar__minus_01_dot_86 - object + Plate_bar__plus_00_dot_36_bar__plus_01_dot_11_bar__minus_00_dot_25 - object + Plate_bar__minus_02_dot_07_bar__plus_01_dot_31_bar__plus_00_dot_93 - object + Potato_bar__minus_00_dot_07_bar__plus_01_dot_82_bar__minus_02_dot_51 - object + Potato_bar__minus_01_dot_96_bar__plus_00_dot_80_bar__minus_01_dot_33 - object + Pot_bar__minus_00_dot_06_bar__plus_01_dot_12_bar_00_dot_00 - object + SaltShaker_bar__plus_01_dot_69_bar__plus_00_dot_55_bar__minus_02_dot_72 - object + SaltShaker_bar__minus_01_dot_62_bar__plus_01_dot_65_bar__minus_02_dot_60 - object + SaltShaker_bar__minus_01_dot_62_bar__plus_01_dot_65_bar__minus_02_dot_68 - object + Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50 - object + SoapBottle_bar__minus_01_dot_91_bar__plus_00_dot_14_bar__minus_01_dot_62 - object + SoapBottle_bar__minus_01_dot_99_bar__plus_00_dot_05_bar__plus_02_dot_17 - object + Spatula_bar__minus_00_dot_34_bar__plus_01_dot_13_bar__plus_00_dot_50 - object + Spoon_bar__minus_00_dot_47_bar__plus_01_dot_11_bar__minus_00_dot_51 - object + Spoon_bar__minus_01_dot_74_bar__plus_00_dot_16_bar__minus_00_dot_25 - object + Spoon_bar__minus_01_dot_96_bar__plus_00_dot_77_bar__minus_01_dot_67 - object + Statue_bar__minus_00_dot_06_bar__plus_01_dot_11_bar__minus_00_dot_76 - object + Statue_bar__minus_00_dot_47_bar__plus_01_dot_11_bar__minus_00_dot_76 - object + StoveKnob_bar__minus_00_dot_02_bar__plus_00_dot_88_bar__minus_02_dot_19 - object + StoveKnob_bar__minus_00_dot_18_bar__plus_00_dot_88_bar__minus_02_dot_19 - object + StoveKnob_bar__minus_00_dot_33_bar__plus_00_dot_88_bar__minus_02_dot_19 - object + StoveKnob_bar__minus_00_dot_48_bar__plus_00_dot_88_bar__minus_02_dot_19 - object + Tomato_bar__plus_00_dot_08_bar__plus_01_dot_15_bar__plus_00_dot_25 - object + Tomato_bar__plus_00_dot_97_bar__plus_00_dot_95_bar__minus_02_dot_33 - object + Tomato_bar__minus_02_dot_12_bar__plus_01_dot_54_bar__plus_00_dot_93 - object + Vase_bar__plus_00_dot_22_bar__plus_01_dot_11_bar__plus_00_dot_25 - object + Vase_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_02_dot_64 - object + Window_bar__minus_02_dot_23_bar__plus_01_dot_43_bar__minus_01_dot_20 - object + WineBottle_bar__plus_01_dot_99_bar__plus_00_dot_88_bar__minus_02_dot_54 - object + WineBottle_bar__minus_01_dot_66_bar__plus_00_dot_14_bar__minus_01_dot_74 - object + WineBottle_bar__minus_01_dot_94_bar__plus_00_dot_05_bar__plus_01_dot_93 - object + Cabinet_bar__plus_00_dot_68_bar__plus_00_dot_50_bar__minus_02_dot_20 - receptacle + Cabinet_bar__plus_00_dot_68_bar__plus_02_dot_02_bar__minus_02_dot_46 - receptacle + Cabinet_bar__plus_00_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_46 - receptacle + Cabinet_bar__minus_00_dot_73_bar__plus_02_dot_02_bar__minus_02_dot_46 - receptacle + Cabinet_bar__minus_01_dot_18_bar__plus_00_dot_50_bar__minus_02_dot_20 - receptacle + Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__plus_00_dot_38 - receptacle + Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__minus_01_dot_97 - receptacle + Cabinet_bar__minus_01_dot_69_bar__plus_02_dot_02_bar__minus_02_dot_46 - receptacle + Cabinet_bar__minus_01_dot_85_bar__plus_02_dot_02_bar__plus_00_dot_38 - receptacle + CoffeeMachine_bar__minus_02_dot_00_bar__plus_00_dot_90_bar__minus_00_dot_17 - receptacle + CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48 - receptacle + CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00 - receptacle + CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21 - receptacle + Drawer_bar__plus_00_dot_95_bar__plus_00_dot_22_bar__minus_02_dot_20 - receptacle + Drawer_bar__plus_00_dot_95_bar__plus_00_dot_39_bar__minus_02_dot_20 - receptacle + Drawer_bar__plus_00_dot_95_bar__plus_00_dot_56_bar__minus_02_dot_20 - receptacle + Drawer_bar__plus_00_dot_95_bar__plus_00_dot_71_bar__minus_02_dot_20 - receptacle + Drawer_bar__plus_00_dot_95_bar__plus_00_dot_83_bar__minus_02_dot_20 - receptacle + Drawer_bar__minus_01_dot_56_bar__plus_00_dot_33_bar__minus_00_dot_20 - receptacle + 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location + loc_bar__minus_5_bar__minus_1_bar_3_bar_45 - location + loc_bar_5_bar__minus_6_bar_2_bar_45 - location + loc_bar__minus_4_bar_3_bar_2_bar_60 - location + loc_bar__minus_5_bar__minus_6_bar_3_bar_60 - location + loc_bar__minus_2_bar__minus_7_bar_2_bar_45 - location + loc_bar__minus_5_bar__minus_7_bar_2_bar__minus_30 - location + loc_bar__minus_4_bar__minus_7_bar_2_bar__minus_30 - location + loc_bar_2_bar__minus_7_bar_2_bar__minus_30 - location + loc_bar_4_bar__minus_7_bar_2_bar__minus_30 - location + loc_bar__minus_5_bar__minus_1_bar_3_bar_60 - location + loc_bar_3_bar_0_bar_3_bar_30 - location + loc_bar_5_bar__minus_2_bar_3_bar_60 - location + loc_bar__minus_5_bar_7_bar_3_bar_60 - location + loc_bar__minus_4_bar_4_bar_2_bar_45 - location + loc_bar__minus_4_bar__minus_4_bar_0_bar_45 - location + loc_bar__minus_5_bar__minus_5_bar_2_bar_45 - location + loc_bar_7_bar__minus_1_bar_1_bar_30 - location + loc_bar_0_bar__minus_7_bar_2_bar_60 - location + loc_bar__minus_3_bar__minus_6_bar_3_bar_60 - location + loc_bar_7_bar__minus_8_bar_2_bar_60 - location + loc_bar__minus_2_bar__minus_7_bar_2_bar_60 - location + loc_bar__minus_1_bar__minus_7_bar_2_bar_60 - location + loc_bar__minus_5_bar__minus_6_bar_3_bar_45 - location + loc_bar__minus_5_bar_1_bar_3_bar_45 - location + loc_bar_6_bar__minus_4_bar_2_bar_45 - location + loc_bar_0_bar__minus_5_bar_2_bar_45 - location + loc_bar_5_bar_3_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__plus_00_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_46 CabinetType) + (receptacleType Shelf_bar__plus_01_dot_80_bar__plus_00_dot_54_bar__minus_02_dot_56 ShelfType) + (receptacleType Cabinet_bar__minus_01_dot_85_bar__plus_02_dot_02_bar__plus_00_dot_38 CabinetType) + (receptacleType Cabinet_bar__plus_00_dot_68_bar__plus_02_dot_02_bar__minus_02_dot_46 CabinetType) + (receptacleType StoveBurner_bar__minus_00_dot_47_bar__plus_00_dot_92_bar__minus_02_dot_58 StoveBurnerType) + 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Cup_bar__minus_01_dot_74_bar__plus_00_dot_77_bar__minus_01_dot_41) + (cleanable ButterKnife_bar__plus_00_dot_22_bar__plus_01_dot_11_bar__minus_00_dot_76) + (cleanable Apple_bar__minus_02_dot_00_bar__plus_00_dot_59_bar__plus_01_dot_00) + (cleanable Kettle_bar__minus_01_dot_77_bar__plus_00_dot_13_bar__plus_00_dot_25) + + (heatable Apple_bar__plus_00_dot_32_bar__plus_00_dot_96_bar__minus_02_dot_71) + (heatable Mug_bar__minus_00_dot_23_bar__plus_01_dot_79_bar__minus_02_dot_51) + (heatable Egg_bar__minus_01_dot_56_bar__plus_00_dot_95_bar__minus_01_dot_68) + (heatable Tomato_bar__plus_00_dot_08_bar__plus_01_dot_15_bar__plus_00_dot_25) + (heatable Tomato_bar__plus_00_dot_97_bar__plus_00_dot_95_bar__minus_02_dot_33) + (heatable Bread_bar__plus_00_dot_08_bar__plus_01_dot_18_bar__minus_00_dot_25) + (heatable Potato_bar__minus_01_dot_96_bar__plus_00_dot_80_bar__minus_01_dot_33) + (heatable Plate_bar__plus_00_dot_36_bar__plus_01_dot_11_bar__minus_00_dot_25) + (heatable 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Statue_bar__minus_00_dot_47_bar__plus_01_dot_11_bar__minus_00_dot_76 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00) + (inReceptacle Lettuce_bar__minus_00_dot_47_bar__plus_01_dot_19_bar__plus_00_dot_76 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00) + (inReceptacle Plate_bar__plus_00_dot_36_bar__plus_01_dot_11_bar__minus_00_dot_25 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00) + (inReceptacle ButterKnife_bar__plus_00_dot_22_bar__plus_01_dot_11_bar_00_dot_00 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00) + (inReceptacle Tomato_bar__plus_00_dot_08_bar__plus_01_dot_15_bar__plus_00_dot_25 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00) + (inReceptacle Bowl_bar__minus_00_dot_06_bar__plus_01_dot_11_bar__minus_00_dot_51 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00) + (inReceptacle Spatula_bar__minus_00_dot_34_bar__plus_01_dot_13_bar__plus_00_dot_50 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00) + (inReceptacle Statue_bar__minus_00_dot_06_bar__plus_01_dot_11_bar__minus_00_dot_76 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00) + (inReceptacle ButterKnife_bar__plus_00_dot_22_bar__plus_01_dot_11_bar__minus_00_dot_76 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00) + (inReceptacle Book_bar__plus_00_dot_16_bar__plus_01_dot_10_bar__plus_00_dot_62 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00) + (inReceptacle Pot_bar__minus_00_dot_06_bar__plus_01_dot_12_bar_00_dot_00 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00) + (inReceptacle Spoon_bar__minus_00_dot_47_bar__plus_01_dot_11_bar__minus_00_dot_51 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00) + (inReceptacle Bread_bar__plus_00_dot_08_bar__plus_01_dot_18_bar__minus_00_dot_25 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00) + (inReceptacle 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SaltShaker_bar__minus_01_dot_62_bar__plus_01_dot_65_bar__minus_02_dot_60 Cabinet_bar__minus_01_dot_69_bar__plus_02_dot_02_bar__minus_02_dot_46) + (inReceptacle Spoon_bar__minus_01_dot_74_bar__plus_00_dot_16_bar__minus_00_dot_25 Drawer_bar__minus_01_dot_56_bar__plus_00_dot_33_bar__minus_00_dot_20) + (inReceptacle CreditCard_bar__minus_01_dot_61_bar__plus_00_dot_15_bar__minus_00_dot_29 Drawer_bar__minus_01_dot_56_bar__plus_00_dot_33_bar__minus_00_dot_20) + (inReceptacle Egg_bar__minus_01_dot_56_bar__plus_00_dot_95_bar__minus_01_dot_68 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21) + (inReceptacle Knife_bar__minus_01_dot_86_bar__plus_00_dot_94_bar__minus_00_dot_51 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21) + (inReceptacle Pan_bar__minus_01_dot_44_bar__plus_00_dot_91_bar__minus_02_dot_64 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21) + (inReceptacle HousePlant_bar__minus_01_dot_95_bar__plus_00_dot_90_bar__minus_02_dot_52 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21) + (inReceptacle Potato_bar__minus_00_dot_07_bar__plus_01_dot_82_bar__minus_02_dot_51 Microwave_bar__minus_00_dot_24_bar__plus_01_dot_69_bar__minus_02_dot_53) + (inReceptacle Cup_bar__minus_00_dot_33_bar__plus_01_dot_79_bar__minus_02_dot_55 Microwave_bar__minus_00_dot_24_bar__plus_01_dot_69_bar__minus_02_dot_53) + (inReceptacle Mug_bar__minus_00_dot_23_bar__plus_01_dot_79_bar__minus_02_dot_51 Microwave_bar__minus_00_dot_24_bar__plus_01_dot_69_bar__minus_02_dot_53) + (inReceptacle Egg_bar__minus_00_dot_07_bar__plus_01_dot_83_bar__minus_02_dot_58 Microwave_bar__minus_00_dot_24_bar__plus_01_dot_69_bar__minus_02_dot_53) + (inReceptacle WineBottle_bar__plus_01_dot_99_bar__plus_00_dot_88_bar__minus_02_dot_54 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_87_bar__minus_02_dot_56) + (inReceptacle 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+ "z": 0.0 + } + }, + { + "objectName": "Book_f5814e4b", + "position": { + "x": 0.155, + "y": 1.1, + "z": 0.617 + }, + "rotation": { + "x": 0.0, + "y": 315.826447, + "z": 0.0 + } + }, + { + "objectName": "Glassbottle_c5dfb511", + "position": { + "x": 0.582687557, + "y": 0.9114167, + "z": -2.25355029 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_c9d70d0f", + "position": { + "x": -1.85627449, + "y": 0.936749637, + "z": -0.513001 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_35d530e8", + "position": { + "x": 0.0790954158, + "y": 1.18406522, + "z": -0.253773928 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Fork_89238ee6", + "position": { + "x": -1.90809989, + "y": 0.7703047, + "z": -1.41488659 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Potato_dc7b7f7e", + "position": { + "x": -1.96337986, + "y": 0.80024153, + "z": -1.32853913 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_0fe5b61f", + "position": { + "x": -1.90508628, + "y": 0.1372807, + "z": -1.62344623 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Kettle_7ed44c70", + "position": { + "x": -1.76507258, + "y": 0.130939, + "z": 0.24887304 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Pan_e8d2711b", + "position": { + "x": -1.43842626, + "y": 0.911009431, + "z": -2.63708615 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_ba789e3c", + "position": { + "x": -2.070006, + "y": 1.30615294, + "z": 0.925078 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_811f3b02", + "position": { + "x": 0.969296634, + "y": 0.949768364, + "z": -2.33036685 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Vase_d1ae33eb", + "position": { + "x": 1.09816635, + "y": 0.9128595, + "z": -2.637633 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Egg_30762d8a", + "position": { + "x": -0.07077502, + "y": 1.82566321, + "z": -2.578435 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_01a9d33b", + "position": { + "x": -1.6098721, + "y": 0.150835246, + "z": -0.2939815 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_1a4cbefa", + "position": { + "x": -0.473685682, + "y": 1.1103971, + "z": -0.7593218 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "WineBottle_c21bc5e7", + "position": { + "x": -1.65551674, + "y": 0.137228727, + "z": -1.74019217 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Pot_9e34d9fc", + "position": { + "x": -0.059099853, + "y": 1.11586511, + "z": -0.00100004673 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spatula_1e920a81", + "position": { + "x": -0.3354904, + "y": 1.12659991, + "z": 0.5045478 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PaperTowelRoll_2c38299b", + "position": { + "x": 1.789261, + "y": 0.9851164, + "z": -2.61793637 + }, + "rotation": { + "x": -3.41504619e-06, + "y": 180.00032, + "z": -1.70754829e-05 + } + }, + { + "objectName": "Cup_77fad61b", + "position": { + "x": -1.74226022, + "y": 0.7676379, + "z": -1.41488659 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Vase_5ffb3206", + "position": { + "x": 0.2172907, + "y": 1.109299, + "z": 0.251773834 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_9960ee75", + "position": { + "x": -0.059099853, + "y": 1.10822046, + "z": -0.5065479 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_b714915a", + "position": { + "x": -1.62290847, + "y": 1.65462375, + "z": -2.67787266 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_816f44ce", + "position": { + "x": 0.453817844, + "y": 0.9070062, + "z": -2.637633 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_e166a32f", + "position": { + "x": -0.473685682, + "y": 1.19122255, + "z": 0.7573217 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_f63cc56c", + "position": { + "x": 0.2172907, + "y": 1.11164212, + "z": -0.00100004673 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_a0b666be", + "position": { + "x": -2.0404954, + "y": 1.55355263, + "z": 1.09256268 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_56e11318", + "position": { + "x": -1.78141, + "y": 0.478245646, + "z": -0.196888119 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_cd066502", + "position": { + "x": -0.473685682, + "y": 1.11272943, + "z": -0.5065479 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_b5db8038", + "position": { + "x": -0.225462511, + "y": 1.78549993, + "z": -2.514165 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2530272410, + "scene_num": 1 + }, + "task_id": "trial_T20190906_210518_664798", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A320QA9HJFUOZO_3TXMY6UCAH5X1OSRHJTMTYQ8Z1UQCF", + "high_descs": [ + "Turn right and walk into the kitchen and up to the counter just right of the stove", + "Open the top right cabinet above the counter and retrieve the vase", + "Turn right and walk over to the fridge", + "Put the vase into the fridge and close it", + "Turn left and walk over to the kitchen sink", + "Open the cabinet below the sink and remove the vase", + "Turn right and walk back over to the fridge", + "Put the vase in the fridge next to the other one" + ], + "task_desc": "Put the vases into the fridge", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1HKHM4NVAO98H_3TXWC2NHN277G601X380M841BZ5S98", + "high_descs": [ + "turn right and walk over to the end of the kitchen island, then turn right again and walk over to the sink, turn and face the left kitchen counter", + "grab a vase out of the cabinet above the kitchen counter on the right", + "turn around and walk to the end of the kitchen island, and turn left to face the fridge", + "put the vase inside of the fridge", + "turn left and walk to the end of the kitchen island, then turn right to face the kitchen sink", + "grab the vase out from underneath the kitchen sink", + "turn right and walk over to the fridge again", + "place the second vase inside the fridge" + ], + "task_desc": "place two vases inside of the fridge", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "ACSS93E03ZUGX_3MAOD8E57TR01PQUSNXS3HGDV8XXN3", + "high_descs": [ + "Turn around, walk towards the sink then turn left and face the cabinets above the countertop.", + "Open the door and pick up the glass bottle in the cabinet.", + "Go to the right and face the refrigerator.", + "Open the refrigerator and place the glass bottle inside.", + "Close the refrigerator and move to the left to face the sink.", + "Open the cabinet below the sink and remove the glass bottle.", + "Go to the right to face the refrigerator.", + "Place the glass jar inside of the refrigerator next to the other glass jar." + ], + "task_desc": "Place both glass jars inside of the refrigerator.", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Glassbottle-None-Fridge-1/trial_T20190906_210645_277965/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Glassbottle-None-Fridge-1/trial_T20190906_210645_277965/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..ad9e310271543fd6a6a170d072a6671ad39f2325 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Glassbottle-None-Fridge-1/trial_T20190906_210645_277965/initial_state.pddl @@ -0,0 +1,1236 @@ + +(define (problem plan_trial_T20190906_210645_277965) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__minus_02_dot_00_bar__plus_00_dot_28_bar__plus_00_dot_84 - object + Apple_bar__minus_02_dot_16_bar__plus_00_dot_59_bar__plus_01_dot_25 - object + Apple_bar__minus_02_dot_16_bar__plus_00_dot_85_bar__plus_01_dot_00 - object + Book_bar__plus_00_dot_16_bar__plus_01_dot_10_bar__plus_00_dot_62 - object + Bowl_bar__plus_01_dot_48_bar__plus_00_dot_55_bar__minus_02_dot_56 - object + Bowl_bar__minus_01_dot_94_bar__plus_00_dot_91_bar__minus_02_dot_26 - object + Bowl_bar__minus_02_dot_04_bar__plus_01_dot_50_bar__plus_01_dot_09 - object + Bread_bar__plus_00_dot_08_bar__plus_01_dot_18_bar__minus_00_dot_51 - object + Bread_bar__plus_00_dot_22_bar__plus_01_dot_18_bar__minus_00_dot_76 - object + ButterKnife_bar__plus_01_dot_01_bar__plus_00_dot_65_bar__minus_02_dot_38 - object + Chair_bar__plus_00_dot_62_bar__plus_00_dot_73_bar__minus_00_dot_51 - object + Chair_bar__plus_00_dot_67_bar__plus_00_dot_73_bar__plus_00_dot_56 - object + CreditCard_bar__plus_01_dot_12_bar__plus_00_dot_77_bar__minus_02_dot_46 - object + Cup_bar__minus_01_dot_81_bar__plus_00_dot_13_bar__plus_00_dot_29 - object + Cup_bar__minus_01_dot_98_bar__plus_01_dot_30_bar__plus_01_dot_34 - object + DishSponge_bar__plus_01_dot_06_bar__plus_00_dot_14_bar__minus_02_dot_48 - object + DishSponge_bar__minus_01_dot_77_bar__plus_00_dot_91_bar__minus_02_dot_26 - object + Egg_bar__minus_00_dot_07_bar__plus_01_dot_83_bar__minus_02_dot_61 - object + Egg_bar__minus_01_dot_96_bar__plus_00_dot_80_bar__minus_01_dot_50 - object + Faucet_bar__minus_02_dot_07_bar__plus_01_dot_13_bar__minus_01_dot_51 - object + Fork_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_02_dot_25 - object + Fork_bar__minus_01_dot_77_bar__plus_00_dot_91_bar__minus_02_dot_48 - object + Fork_bar__minus_01_dot_78_bar__plus_00_dot_79_bar__plus_00_dot_33 - object + Glassbottle_bar__minus_00_dot_20_bar__plus_01_dot_11_bar__minus_00_dot_51 - object + Glassbottle_bar__minus_01_dot_80_bar__plus_00_dot_77_bar__minus_01_dot_33 - object + Glassbottle_bar__minus_01_dot_94_bar__plus_00_dot_05_bar__plus_02_dot_08 - object + Glassbottle_bar__minus_01_dot_96_bar__plus_00_dot_77_bar__minus_01_dot_59 - object + HousePlant_bar__minus_01_dot_95_bar__plus_00_dot_90_bar__minus_02_dot_52 - object + Kettle_bar__plus_00_dot_39_bar__plus_00_dot_14_bar__minus_02_dot_44 - object + Kettle_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_02_dot_58 - object + Knife_bar__minus_00_dot_20_bar__plus_01_dot_14_bar__plus_00_dot_76 - object + Knife_bar__minus_01_dot_96_bar__plus_00_dot_80_bar__minus_01_dot_24 - object + Lettuce_bar__minus_00_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_25 - object + Lettuce_bar__minus_00_dot_85_bar__plus_00_dot_99_bar__minus_02_dot_33 - object + Lettuce_bar__minus_02_dot_07_bar__plus_01_dot_39_bar__plus_00_dot_93 - object + LightSwitch_bar__plus_02_dot_33_bar__plus_01_dot_31_bar__minus_00_dot_16 - object + Mug_bar__plus_00_dot_71_bar__plus_00_dot_91_bar__minus_02_dot_25 - object + Pan_bar__minus_00_dot_47_bar__plus_00_dot_95_bar__minus_02_dot_58 - object + PaperTowelRoll_bar__plus_01_dot_89_bar__plus_00_dot_66_bar__minus_02_dot_61 - object + PepperShaker_bar__plus_00_dot_84_bar__plus_00_dot_31_bar__minus_02_dot_29 - object + Plate_bar__plus_00_dot_34_bar__plus_01_dot_66_bar__minus_02_dot_60 - object + Potato_bar__minus_00_dot_47_bar__plus_01_dot_14_bar__plus_00_dot_76 - object + Potato_bar__minus_02_dot_08_bar__plus_01_dot_53_bar__plus_01_dot_34 - object + Pot_bar__minus_01_dot_22_bar__plus_00_dot_90_bar__minus_02_dot_36 - object + SaltShaker_bar__minus_01_dot_61_bar__plus_00_dot_91_bar__minus_02_dot_04 - object + Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50 - object + SoapBottle_bar__plus_00_dot_78_bar__plus_01_dot_66_bar__minus_02_dot_60 - object + SoapBottle_bar__plus_01_dot_69_bar__plus_00_dot_55_bar__minus_02_dot_61 - object + SoapBottle_bar__minus_01_dot_44_bar__plus_00_dot_91_bar__minus_02_dot_56 - object + Spatula_bar__minus_00_dot_20_bar__plus_01_dot_13_bar__minus_00_dot_76 - object + Spatula_bar__minus_01_dot_96_bar__plus_00_dot_78_bar__minus_01_dot_76 - object + Spatula_bar__minus_02_dot_02_bar__plus_00_dot_93_bar__minus_00_dot_70 - object + Spoon_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_02_dot_56 - object + 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(canContain CounterTopType SaltShakerType) + (canContain CounterTopType BookType) + (canContain CounterTopType BreadType) + (canContain CounterTopType DishSpongeType) + (canContain CounterTopType BowlType) + (canContain CounterTopType KettleType) + (canContain CounterTopType PotType) + (canContain CounterTopType VaseType) + (canContain CounterTopType WineBottleType) + (canContain CounterTopType MugType) + (canContain CounterTopType EggType) + (canContain CounterTopType ForkType) + (canContain CounterTopType GlassbottleType) + (canContain CounterTopType CreditCardType) + (canContain CounterTopType SpoonType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType LettuceType) + (canContain CounterTopType PotatoType) + (canContain CounterTopType ButterKnifeType) + (canContain CounterTopType CupType) + (canContain CounterTopType PlateType) + (canContain CounterTopType PepperShakerType) + (canContain CounterTopType TomatoType) + (canContain CounterTopType StatueType) + 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Bowl_bar__minus_01_dot_94_bar__plus_00_dot_91_bar__minus_02_dot_26) + (cleanable Bowl_bar__minus_02_dot_04_bar__plus_01_dot_50_bar__plus_01_dot_09) + (cleanable Pot_bar__minus_01_dot_22_bar__plus_00_dot_90_bar__minus_02_dot_36) + (cleanable Potato_bar__minus_00_dot_47_bar__plus_01_dot_14_bar__plus_00_dot_76) + + (heatable Egg_bar__minus_00_dot_07_bar__plus_01_dot_83_bar__minus_02_dot_61) + (heatable Bread_bar__plus_00_dot_08_bar__plus_01_dot_18_bar__minus_00_dot_51) + (heatable Apple_bar__minus_02_dot_16_bar__plus_00_dot_59_bar__plus_01_dot_25) + (heatable Mug_bar__plus_00_dot_71_bar__plus_00_dot_91_bar__minus_02_dot_25) + (heatable Tomato_bar__plus_00_dot_22_bar__plus_01_dot_15_bar_00_dot_00) + (heatable Cup_bar__minus_01_dot_98_bar__plus_01_dot_30_bar__plus_01_dot_34) + (heatable Plate_bar__plus_00_dot_34_bar__plus_01_dot_66_bar__minus_02_dot_60) + (heatable Egg_bar__minus_01_dot_96_bar__plus_00_dot_80_bar__minus_01_dot_50) + (heatable 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Cabinet_bar__plus_00_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_46) + (inReceptacle Plate_bar__plus_00_dot_34_bar__plus_01_dot_66_bar__minus_02_dot_60 Cabinet_bar__plus_00_dot_68_bar__plus_02_dot_02_bar__minus_02_dot_46) + (inReceptacle Fork_bar__minus_01_dot_77_bar__plus_00_dot_91_bar__minus_02_dot_48 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21) + (inReceptacle HousePlant_bar__minus_01_dot_95_bar__plus_00_dot_90_bar__minus_02_dot_52 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21) + (inReceptacle Spatula_bar__minus_02_dot_02_bar__plus_00_dot_93_bar__minus_00_dot_70 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21) + (inReceptacle Tomato_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_02_dot_33 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21) + (inReceptacle DishSponge_bar__minus_01_dot_77_bar__plus_00_dot_91_bar__minus_02_dot_26 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loc_bar_6_bar__minus_4_bar_2_bar_45) + (objectAtLocation Lettuce_bar__minus_02_dot_07_bar__plus_01_dot_39_bar__plus_00_dot_93 loc_bar__minus_4_bar_4_bar_3_bar_60) + (objectAtLocation ButterKnife_bar__plus_01_dot_01_bar__plus_00_dot_65_bar__minus_02_dot_38 loc_bar_7_bar__minus_7_bar_3_bar_45) + (objectAtLocation Apple_bar__minus_02_dot_16_bar__plus_00_dot_59_bar__plus_01_dot_25 loc_bar__minus_4_bar_4_bar_3_bar_60) + (objectAtLocation DishSponge_bar__minus_01_dot_77_bar__plus_00_dot_91_bar__minus_02_dot_26 loc_bar__minus_5_bar__minus_7_bar_3_bar_45) + (objectAtLocation Spoon_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_02_dot_56 loc_bar_3_bar__minus_7_bar_2_bar_45) + (objectAtLocation LightSwitch_bar__plus_02_dot_33_bar__plus_01_dot_31_bar__minus_00_dot_16 loc_bar_7_bar__minus_1_bar_1_bar_30) + (objectAtLocation Mug_bar__plus_00_dot_71_bar__plus_00_dot_91_bar__minus_02_dot_25 loc_bar_3_bar__minus_7_bar_2_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 GlassbottleType) + (receptacleType ?r FridgeType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 GlassbottleType) + (receptacleType ?r FridgeType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Glassbottle-None-Fridge-1/trial_T20190906_210645_277965/traj_data.json b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Glassbottle-None-Fridge-1/trial_T20190906_210645_277965/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..0734f7f0bc94ec5883c54a73e580927c4a455309 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Glassbottle-None-Fridge-1/trial_T20190906_210645_277965/traj_data.json @@ -0,0 +1,11259 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000001.png", + 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facing the fridge.", + "Put the glass in the fridge to the right of the tomato on the bottom shelf.", + "Turn left and walk over to the sink so you are facing the right side of it.", + "Pick up the wine glass you see in the sink.", + "Walk back over to the fridge where you put the first glass.", + "Put this glass to the right of the other wine glass then close the fridge." + ], + "task_desc": "Put two wine glasses in the fridge.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1VAL7L9L79IN0_3C8HJ7UOPABJO259H46DNN7OY6EMZU", + "high_descs": [ + "Turn around, walk to the wall, make a left, and walk to the black waste bin.", + "Grab the glass bottle in the black waste bin.", + "Turn left and walk to the fridge on your left", + "Place the bottle in the fridge", + "Turn left and walk to the sink", + "Grab the glass bottle next to the knife that's in the sink", + "Turn right and walk back to the fridge", + "Put the glass bottle in the fridge" + ], + "task_desc": "Put two glass bottles in the fridge", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AJQGWGESKQT4Y_3QL2OFSM99ZCYRFZ1R15P4V3UNPCNQ", + "high_descs": [ + "Turn around, head towards the wall with the brown door and take a left and walk over to the garbage can.", + "Take the trash out of the can.", + "Go left to the refrigerator.", + "Open the door and set the items on the bottom shelf of the refrigerator next to the apple.", + "Close the refrigerator door and go left and turn to face the sink.", + "Take the bottle nearest the knife out of the sink.", + "Go right right and turn to face the refrigerator and open the door.", + "Put the bottle on the bottom shelf of the refrigerator next to the other bottle and shut the door." + ], + "task_desc": "Place two bottles, one from the trash can, one from the sink, in the refrigerator.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pencil-None-Drawer-327/trial_T20190908_103651_185255/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pencil-None-Drawer-327/trial_T20190908_103651_185255/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..918ab57923327ef9373880680a17376c68054c17 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pencil-None-Drawer-327/trial_T20190908_103651_185255/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: find two pencil and put them 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_T20190908_103651_185255)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n AlarmClock_bar__plus_01_dot_17_bar__plus_00_dot_51_bar__minus_01_dot_93 - object\n AlarmClock_bar__plus_01_dot_23_bar__plus_00_dot_91_bar__minus_00_dot_68 - object\n AlarmClock_bar__plus_01_dot_23_bar__plus_01_dot_41_bar__minus_00_dot_53 - object\n BaseballBat_bar__plus_01_dot_44_bar__plus_00_dot_64_bar__plus_01_dot_99 - object\n BasketBall_bar__plus_01_dot_27_bar__plus_00_dot_12_bar__minus_01_dot_29 - object\n Blinds_bar__plus_00_dot_25_bar__plus_02_dot_19_bar__minus_02_dot_69 - object\n Blinds_bar__minus_00_dot_35_bar__plus_02_dot_19_bar__minus_02_dot_69 - object\n Blinds_bar__minus_00_dot_95_bar__plus_02_dot_19_bar__minus_02_dot_69 - object\n Book_bar__plus_00_dot_62_bar__plus_00_dot_57_bar__minus_02_dot_47 - object\n Boots_bar__plus_01_dot_29_bar__plus_00_dot_00_bar__minus_00_dot_96 - object\n Bowl_bar__plus_01_dot_26_bar__plus_00_dot_91_bar__plus_00_dot_04 - object\n Bowl_bar__minus_01_dot_39_bar__plus_00_dot_70_bar__minus_02_dot_19 - object\n Bowl_bar__minus_01_dot_54_bar__plus_01_dot_52_bar__minus_01_dot_72 - object\n CD_bar__plus_01_dot_23_bar__plus_00_dot_38_bar__minus_00_dot_10 - object\n CellPhone_bar__plus_01_dot_12_bar__plus_00_dot_37_bar__minus_01_dot_61 - object\n CellPhone_bar__plus_01_dot_26_bar__plus_00_dot_38_bar__minus_00_dot_68 - object\n CellPhone_bar__plus_01_dot_28_bar__plus_00_dot_37_bar__minus_01_dot_64 - object\n Chair_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__minus_02_dot_26 - object\n CreditCard_bar__plus_01_dot_33_bar__plus_00_dot_91_bar__minus_00_dot_54 - object\n DeskLamp_bar__minus_01_dot_49_bar__plus_00_dot_69_bar__minus_02_dot_42 - object\n KeyChain_bar__plus_01_dot_07_bar__plus_00_dot_24_bar__minus_01_dot_67 - object\n Laptop_bar__minus_01_dot_08_bar__plus_00_dot_61_bar__plus_00_dot_62 - object\n LightSwitch_bar__minus_00_dot_76_bar__plus_01_dot_18_bar__plus_02_dot_10 - object\n Mirror_bar__plus_00_dot_74_bar__plus_01_dot_49_bar__plus_02_dot_10 - object\n Pencil_bar__plus_00_dot_31_bar__plus_00_dot_58_bar__minus_02_dot_32 - object\n Pencil_bar__plus_00_dot_78_bar__plus_00_dot_58_bar__minus_02_dot_32 - object\n Pen_bar__plus_01_dot_19_bar__plus_01_dot_42_bar__minus_00_dot_38 - object\n Pen_bar__plus_01_dot_29_bar__plus_01_dot_42_bar__minus_00_dot_09 - object\n Pen_bar__minus_01_dot_39_bar__plus_00_dot_71_bar__minus_02_dot_05 - object\n Pillow_bar__minus_01_dot_17_bar__plus_00_dot_68_bar__minus_00_dot_99 - object\n Window_bar__plus_00_dot_24_bar__plus_00_dot_96_bar__minus_02_dot_68 - object\n Window_bar__minus_00_dot_36_bar__plus_00_dot_96_bar__minus_02_dot_68 - object\n Window_bar__minus_00_dot_96_bar__plus_00_dot_96_bar__minus_02_dot_68 - object\n Bed_bar__minus_01_dot_21_bar__plus_00_dot_02_bar__minus_00_dot_27 - receptacle\n Desk_bar__plus_00_dot_45_bar_00_dot_00_bar__minus_02_dot_53 - receptacle\n Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_64 - receptacle\n Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_96 - receptacle\n Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_64 - receptacle\n Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_96 - receptacle\n Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_64 - receptacle\n Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_96 - receptacle\n Drawer_bar__minus_01_dot_35_bar__plus_00_dot_19_bar__minus_02_dot_05 - receptacle\n Drawer_bar__minus_01_dot_35_bar__plus_00_dot_48_bar__minus_02_dot_05 - receptacle\n Dresser_bar__minus_01_dot_47_bar__plus_00_dot_03_bar__minus_02_dot_05 - receptacle\n GarbageCan_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_94 - receptacle\n Shelf_bar__plus_01_dot_22_bar__plus_00_dot_86_bar__minus_01_dot_80 - receptacle\n Shelf_bar__plus_01_dot_26_bar__plus_00_dot_38_bar__minus_00_dot_26 - receptacle\n Shelf_bar__plus_01_dot_26_bar__plus_00_dot_90_bar__minus_00_dot_27 - receptacle\n Shelf_bar__plus_01_dot_26_bar__plus_01_dot_40_bar__minus_00_dot_26 - receptacle\n Shelf_bar__minus_01_dot_58_bar__plus_01_dot_51_bar__minus_02_dot_03 - receptacle\n loc_bar_0_bar_0_bar_3_bar_60 - location\n loc_bar_0_bar__minus_6_bar_1_bar_60 - location\n loc_bar__minus_2_bar__minus_9_bar_2_bar__minus_30 - location\n loc_bar__minus_2_bar__minus_9_bar_2_bar_60 - location\n loc_bar_1_bar__minus_6_bar_1_bar_60 - location\n loc_bar_2_bar__minus_1_bar_1_bar_45 - location\n loc_bar_1_bar__minus_5_bar_1_bar_60 - location\n loc_bar__minus_2_bar_5_bar_3_bar_60 - location\n loc_bar_3_bar_6_bar_0_bar_15 - location\n loc_bar_2_bar__minus_6_bar_2_bar_60 - location\n loc_bar_2_bar__minus_6_bar_1_bar_45 - location\n loc_bar_4_bar_6_bar_0_bar_60 - location\n loc_bar__minus_2_bar__minus_9_bar_1_bar_45 - location\n loc_bar__minus_3_bar__minus_8_bar_3_bar_60 - location\n loc_bar__minus_1_bar__minus_7_bar_3_bar_60 - location\n loc_bar__minus_3_bar__minus_9_bar_2_bar__minus_30 - location\n loc_bar__minus_3_bar_6_bar_0_bar_45 - location\n loc_bar_2_bar_0_bar_1_bar_60 - location\n loc_bar__minus_3_bar__minus_9_bar_2_bar_60 - location\n loc_bar_2_bar__minus_1_bar_1_bar_60 - location\n loc_bar_2_bar__minus_5_bar_1_bar_60 - location\n loc_bar_2_bar__minus_1_bar_1_bar_15 - location\n loc_bar__minus_1_bar__minus_5_bar_1_bar_45 - location\n loc_bar__minus_2_bar__minus_9_bar_1_bar_60 - location\n loc_bar_0_bar__minus_5_bar_1_bar_60 - location\n loc_bar__minus_2_bar__minus_9_bar_1_bar__minus_30 - location\n loc_bar__minus_3_bar__minus_8_bar_3_bar_15 - location\n loc_bar_3_bar__minus_4_bar_1_bar_60 - location\n loc_bar_2_bar_7_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_64 DrawerType)\n (receptacleType Shelf_bar__minus_01_dot_58_bar__plus_01_dot_51_bar__minus_02_dot_03 ShelfType)\n (receptacleType Dresser_bar__minus_01_dot_47_bar__plus_00_dot_03_bar__minus_02_dot_05 DresserType)\n (receptacleType Drawer_bar__minus_01_dot_35_bar__plus_00_dot_19_bar__minus_02_dot_05 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_64 DrawerType)\n (receptacleType Shelf_bar__plus_01_dot_26_bar__plus_01_dot_40_bar__minus_00_dot_26 ShelfType)\n (receptacleType Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_96 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_64 DrawerType)\n (receptacleType Shelf_bar__plus_01_dot_26_bar__plus_00_dot_38_bar__minus_00_dot_26 ShelfType)\n (receptacleType GarbageCan_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_94 GarbageCanType)\n (receptacleType Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_96 DrawerType)\n (receptacleType Shelf_bar__plus_01_dot_22_bar__plus_00_dot_86_bar__minus_01_dot_80 ShelfType)\n (receptacleType Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_96 DrawerType)\n (receptacleType Shelf_bar__plus_01_dot_26_bar__plus_00_dot_90_bar__minus_00_dot_27 ShelfType)\n (receptacleType Desk_bar__plus_00_dot_45_bar_00_dot_00_bar__minus_02_dot_53 DeskType)\n (receptacleType Bed_bar__minus_01_dot_21_bar__plus_00_dot_02_bar__minus_00_dot_27 BedType)\n (receptacleType Drawer_bar__minus_01_dot_35_bar__plus_00_dot_48_bar__minus_02_dot_05 DrawerType)\n (objectType Bowl_bar__plus_01_dot_26_bar__plus_00_dot_91_bar__plus_00_dot_04 BowlType)\n (objectType Window_bar__minus_00_dot_96_bar__plus_00_dot_96_bar__minus_02_dot_68 WindowType)\n (objectType Bowl_bar__minus_01_dot_39_bar__plus_00_dot_70_bar__minus_02_dot_19 BowlType)\n (objectType Blinds_bar__minus_00_dot_35_bar__plus_02_dot_19_bar__minus_02_dot_69 BlindsType)\n (objectType CellPhone_bar__plus_01_dot_28_bar__plus_00_dot_37_bar__minus_01_dot_64 CellPhoneType)\n (objectType Pen_bar__plus_01_dot_19_bar__plus_01_dot_42_bar__minus_00_dot_38 PenType)\n (objectType CellPhone_bar__plus_01_dot_26_bar__plus_00_dot_38_bar__minus_00_dot_68 CellPhoneType)\n (objectType Boots_bar__plus_01_dot_29_bar__plus_00_dot_00_bar__minus_00_dot_96 BootsType)\n (objectType CellPhone_bar__plus_01_dot_12_bar__plus_00_dot_37_bar__minus_01_dot_61 CellPhoneType)\n (objectType Blinds_bar__plus_00_dot_25_bar__plus_02_dot_19_bar__minus_02_dot_69 BlindsType)\n (objectType Blinds_bar__minus_00_dot_95_bar__plus_02_dot_19_bar__minus_02_dot_69 BlindsType)\n (objectType CD_bar__plus_01_dot_23_bar__plus_00_dot_38_bar__minus_00_dot_10 CDType)\n (objectType DeskLamp_bar__minus_01_dot_49_bar__plus_00_dot_69_bar__minus_02_dot_42 DeskLampType)\n (objectType Chair_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__minus_02_dot_26 ChairType)\n (objectType CreditCard_bar__plus_01_dot_33_bar__plus_00_dot_91_bar__minus_00_dot_54 CreditCardType)\n (objectType Laptop_bar__minus_01_dot_08_bar__plus_00_dot_61_bar__plus_00_dot_62 LaptopType)\n (objectType AlarmClock_bar__plus_01_dot_23_bar__plus_01_dot_41_bar__minus_00_dot_53 AlarmClockType)\n (objectType Book_bar__plus_00_dot_62_bar__plus_00_dot_57_bar__minus_02_dot_47 BookType)\n (objectType Pen_bar__minus_01_dot_39_bar__plus_00_dot_71_bar__minus_02_dot_05 PenType)\n (objectType AlarmClock_bar__plus_01_dot_17_bar__plus_00_dot_51_bar__minus_01_dot_93 AlarmClockType)\n (objectType Window_bar__plus_00_dot_24_bar__plus_00_dot_96_bar__minus_02_dot_68 WindowType)\n (objectType BasketBall_bar__plus_01_dot_27_bar__plus_00_dot_12_bar__minus_01_dot_29 BasketBallType)\n (objectType Bowl_bar__minus_01_dot_54_bar__plus_01_dot_52_bar__minus_01_dot_72 BowlType)\n (objectType Pen_bar__plus_01_dot_29_bar__plus_01_dot_42_bar__minus_00_dot_09 PenType)\n (objectType Pillow_bar__minus_01_dot_17_bar__plus_00_dot_68_bar__minus_00_dot_99 PillowType)\n (objectType AlarmClock_bar__plus_01_dot_23_bar__plus_00_dot_91_bar__minus_00_dot_68 AlarmClockType)\n (objectType Pencil_bar__plus_00_dot_31_bar__plus_00_dot_58_bar__minus_02_dot_32 PencilType)\n (objectType BaseballBat_bar__plus_01_dot_44_bar__plus_00_dot_64_bar__plus_01_dot_99 BaseballBatType)\n (objectType 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(canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain DeskType PenType)\n (canContain DeskType BookType)\n (canContain DeskType BowlType)\n (canContain DeskType CDType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType BasketBallType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType AlarmClockType)\n (canContain BedType BasketBallType)\n (canContain BedType BaseballBatType)\n (canContain BedType LaptopType)\n (canContain 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(pickupable Pencil_bar__plus_00_dot_31_bar__plus_00_dot_58_bar__minus_02_dot_32)\n (pickupable BaseballBat_bar__plus_01_dot_44_bar__plus_00_dot_64_bar__plus_01_dot_99)\n (pickupable KeyChain_bar__plus_01_dot_07_bar__plus_00_dot_24_bar__minus_01_dot_67)\n (pickupable Pencil_bar__plus_00_dot_78_bar__plus_00_dot_58_bar__minus_02_dot_32)\n (isReceptacleObject Bowl_bar__plus_01_dot_26_bar__plus_00_dot_91_bar__plus_00_dot_04)\n (isReceptacleObject Bowl_bar__minus_01_dot_39_bar__plus_00_dot_70_bar__minus_02_dot_19)\n (isReceptacleObject Bowl_bar__minus_01_dot_54_bar__plus_01_dot_52_bar__minus_01_dot_72)\n (openable Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_64)\n (openable Drawer_bar__minus_01_dot_35_bar__plus_00_dot_19_bar__minus_02_dot_05)\n (openable Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_64)\n (openable Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_96)\n (openable 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Pillow_bar__minus_01_dot_17_bar__plus_00_dot_68_bar__minus_00_dot_99 Bed_bar__minus_01_dot_21_bar__plus_00_dot_02_bar__minus_00_dot_27)\n (inReceptacle AlarmClock_bar__plus_01_dot_17_bar__plus_00_dot_51_bar__minus_01_dot_93 Shelf_bar__plus_01_dot_22_bar__plus_00_dot_86_bar__minus_01_dot_80)\n (inReceptacle KeyChain_bar__plus_01_dot_07_bar__plus_00_dot_24_bar__minus_01_dot_67 Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_64)\n (inReceptacle CellPhone_bar__plus_01_dot_12_bar__plus_00_dot_37_bar__minus_01_dot_61 Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_64)\n (inReceptacle CellPhone_bar__plus_01_dot_28_bar__plus_00_dot_37_bar__minus_01_dot_64 Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_64)\n (inReceptacle AlarmClock_bar__plus_01_dot_23_bar__plus_00_dot_91_bar__minus_00_dot_68 Shelf_bar__plus_01_dot_26_bar__plus_00_dot_90_bar__minus_00_dot_27)\n (inReceptacle Bowl_bar__plus_01_dot_26_bar__plus_00_dot_91_bar__plus_00_dot_04 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(receptacleAtLocation Bed_bar__minus_01_dot_21_bar__plus_00_dot_02_bar__minus_00_dot_27 loc_bar_0_bar_0_bar_3_bar_60)\n (receptacleAtLocation Desk_bar__plus_00_dot_45_bar_00_dot_00_bar__minus_02_dot_53 loc_bar_2_bar__minus_6_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_64 loc_bar_0_bar__minus_5_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_96 loc_bar_0_bar__minus_6_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_64 loc_bar__minus_1_bar__minus_5_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_96 loc_bar_0_bar__minus_6_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_64 loc_bar_1_bar__minus_5_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_96 loc_bar_1_bar__minus_6_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_35_bar__plus_00_dot_19_bar__minus_02_dot_05 loc_bar__minus_1_bar__minus_7_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_35_bar__plus_00_dot_48_bar__minus_02_dot_05 loc_bar__minus_3_bar__minus_8_bar_3_bar_60)\n (receptacleAtLocation Dresser_bar__minus_01_dot_47_bar__plus_00_dot_03_bar__minus_02_dot_05 loc_bar__minus_3_bar__minus_8_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_94 loc_bar__minus_2_bar_5_bar_3_bar_60)\n (receptacleAtLocation Shelf_bar__plus_01_dot_22_bar__plus_00_dot_86_bar__minus_01_dot_80 loc_bar_2_bar__minus_6_bar_1_bar_45)\n (receptacleAtLocation Shelf_bar__plus_01_dot_26_bar__plus_00_dot_38_bar__minus_00_dot_26 loc_bar_2_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__plus_01_dot_26_bar__plus_00_dot_90_bar__minus_00_dot_27 loc_bar_2_bar__minus_1_bar_1_bar_45)\n (receptacleAtLocation 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loc_bar_2_bar__minus_1_bar_1_bar_45)\n (objectAtLocation CellPhone_bar__plus_01_dot_28_bar__plus_00_dot_37_bar__minus_01_dot_64 loc_bar_1_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Pen_bar__plus_01_dot_19_bar__plus_01_dot_42_bar__minus_00_dot_38 loc_bar_2_bar__minus_1_bar_1_bar_15)\n (objectAtLocation Bowl_bar__minus_01_dot_54_bar__plus_01_dot_52_bar__minus_01_dot_72 loc_bar__minus_3_bar__minus_8_bar_3_bar_15)\n (objectAtLocation Book_bar__plus_00_dot_62_bar__plus_00_dot_57_bar__minus_02_dot_47 loc_bar_2_bar__minus_6_bar_2_bar_60)\n (objectAtLocation Mirror_bar__plus_00_dot_74_bar__plus_01_dot_49_bar__plus_02_dot_10 loc_bar_3_bar_6_bar_0_bar_15)\n (objectAtLocation Chair_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__minus_02_dot_26 loc_bar__minus_2_bar__minus_9_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__plus_01_dot_07_bar__plus_00_dot_24_bar__minus_01_dot_67 loc_bar__minus_1_bar__minus_5_bar_1_bar_45)\n (objectAtLocation BaseballBat_bar__plus_01_dot_44_bar__plus_00_dot_64_bar__plus_01_dot_99 loc_bar_4_bar_6_bar_0_bar_60)\n (objectAtLocation BasketBall_bar__plus_01_dot_27_bar__plus_00_dot_12_bar__minus_01_dot_29 loc_bar_2_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Pencil_bar__plus_00_dot_78_bar__plus_00_dot_58_bar__minus_02_dot_32 loc_bar_2_bar__minus_6_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__plus_01_dot_26_bar__plus_00_dot_38_bar__minus_00_dot_68 loc_bar_2_bar__minus_1_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__plus_01_dot_33_bar__plus_00_dot_91_bar__minus_00_dot_54 loc_bar_2_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Laptop_bar__minus_01_dot_08_bar__plus_00_dot_61_bar__plus_00_dot_62 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation Pillow_bar__minus_01_dot_17_bar__plus_00_dot_68_bar__minus_00_dot_99 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation LightSwitch_bar__minus_00_dot_76_bar__plus_01_dot_18_bar__plus_02_dot_10 loc_bar__minus_3_bar_6_bar_0_bar_45)\n (objectAtLocation Boots_bar__plus_01_dot_29_bar__plus_00_dot_00_bar__minus_00_dot_96 loc_bar_3_bar__minus_4_bar_1_bar_60)\n (objectAtLocation Pen_bar__minus_01_dot_39_bar__plus_00_dot_71_bar__minus_02_dot_05 loc_bar__minus_3_bar__minus_8_bar_3_bar_60)\n (objectAtLocation DeskLamp_bar__minus_01_dot_49_bar__plus_00_dot_69_bar__minus_02_dot_42 loc_bar__minus_3_bar__minus_8_bar_3_bar_60)\n (objectAtLocation AlarmClock_bar__plus_01_dot_17_bar__plus_00_dot_51_bar__minus_01_dot_93 loc_bar_2_bar__minus_6_bar_1_bar_45)\n (objectAtLocation CD_bar__plus_01_dot_23_bar__plus_00_dot_38_bar__minus_00_dot_10 loc_bar_2_bar_0_bar_1_bar_60)\n (objectAtLocation Window_bar__plus_00_dot_24_bar__plus_00_dot_96_bar__minus_02_dot_68 loc_bar__minus_2_bar__minus_9_bar_1_bar_45)\n (objectAtLocation Window_bar__minus_00_dot_36_bar__plus_00_dot_96_bar__minus_02_dot_68 loc_bar__minus_2_bar__minus_9_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_00_dot_96_bar__plus_00_dot_96_bar__minus_02_dot_68 loc_bar__minus_3_bar__minus_9_bar_2_bar_60)\n (objectAtLocation Bowl_bar__plus_01_dot_26_bar__plus_00_dot_91_bar__plus_00_dot_04 loc_bar_2_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Blinds_bar__minus_00_dot_35_bar__plus_02_dot_19_bar__minus_02_dot_69 loc_bar__minus_2_bar__minus_9_bar_2_bar__minus_30)\n (objectAtLocation Blinds_bar__plus_00_dot_25_bar__plus_02_dot_19_bar__minus_02_dot_69 loc_bar__minus_2_bar__minus_9_bar_1_bar__minus_30)\n (objectAtLocation Blinds_bar__minus_00_dot_95_bar__plus_02_dot_19_bar__minus_02_dot_69 loc_bar__minus_3_bar__minus_9_bar_2_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 PencilType)\n (receptacleType ?r DrawerType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 PencilType)\n (receptacleType ?r DrawerType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to desk 1", "take pencil 2 from desk 1", "go to drawer 7", "move pencil 2 to drawer 7", "go to desk 1", "take pencil 1 from desk 1", "go to drawer 7", "move pencil 1 to drawer 7"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pencil-None-Drawer-327/trial_T20190908_103651_185255/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pencil-None-Drawer-327/trial_T20190908_103651_185255/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..7292942c3f05d4282dc38f66ac5c21b944a0f1c8 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pencil-None-Drawer-327/trial_T20190908_103651_185255/initial_state.pddl @@ -0,0 +1,611 @@ + +(define (problem plan_trial_T20190908_103651_185255) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + AlarmClock_bar__plus_01_dot_17_bar__plus_00_dot_51_bar__minus_01_dot_93 - object + AlarmClock_bar__plus_01_dot_23_bar__plus_00_dot_91_bar__minus_00_dot_68 - object + AlarmClock_bar__plus_01_dot_23_bar__plus_01_dot_41_bar__minus_00_dot_53 - object + BaseballBat_bar__plus_01_dot_44_bar__plus_00_dot_64_bar__plus_01_dot_99 - object + BasketBall_bar__plus_01_dot_27_bar__plus_00_dot_12_bar__minus_01_dot_29 - object + Blinds_bar__plus_00_dot_25_bar__plus_02_dot_19_bar__minus_02_dot_69 - object + Blinds_bar__minus_00_dot_35_bar__plus_02_dot_19_bar__minus_02_dot_69 - object + Blinds_bar__minus_00_dot_95_bar__plus_02_dot_19_bar__minus_02_dot_69 - object + Book_bar__plus_00_dot_62_bar__plus_00_dot_57_bar__minus_02_dot_47 - object + Boots_bar__plus_01_dot_29_bar__plus_00_dot_00_bar__minus_00_dot_96 - object + Bowl_bar__plus_01_dot_26_bar__plus_00_dot_91_bar__plus_00_dot_04 - object + Bowl_bar__minus_01_dot_39_bar__plus_00_dot_70_bar__minus_02_dot_19 - object + Bowl_bar__minus_01_dot_54_bar__plus_01_dot_52_bar__minus_01_dot_72 - object + CD_bar__plus_01_dot_23_bar__plus_00_dot_38_bar__minus_00_dot_10 - object + CellPhone_bar__plus_01_dot_12_bar__plus_00_dot_37_bar__minus_01_dot_61 - object + CellPhone_bar__plus_01_dot_26_bar__plus_00_dot_38_bar__minus_00_dot_68 - object + CellPhone_bar__plus_01_dot_28_bar__plus_00_dot_37_bar__minus_01_dot_64 - object + Chair_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__minus_02_dot_26 - object + CreditCard_bar__plus_01_dot_33_bar__plus_00_dot_91_bar__minus_00_dot_54 - object + DeskLamp_bar__minus_01_dot_49_bar__plus_00_dot_69_bar__minus_02_dot_42 - object + KeyChain_bar__plus_01_dot_07_bar__plus_00_dot_24_bar__minus_01_dot_67 - object + Laptop_bar__minus_01_dot_08_bar__plus_00_dot_61_bar__plus_00_dot_62 - object + LightSwitch_bar__minus_00_dot_76_bar__plus_01_dot_18_bar__plus_02_dot_10 - object + Mirror_bar__plus_00_dot_74_bar__plus_01_dot_49_bar__plus_02_dot_10 - object + Pencil_bar__plus_00_dot_31_bar__plus_00_dot_58_bar__minus_02_dot_32 - object + Pencil_bar__plus_00_dot_78_bar__plus_00_dot_58_bar__minus_02_dot_32 - object + Pen_bar__plus_01_dot_19_bar__plus_01_dot_42_bar__minus_00_dot_38 - object + Pen_bar__plus_01_dot_29_bar__plus_01_dot_42_bar__minus_00_dot_09 - object + Pen_bar__minus_01_dot_39_bar__plus_00_dot_71_bar__minus_02_dot_05 - object + Pillow_bar__minus_01_dot_17_bar__plus_00_dot_68_bar__minus_00_dot_99 - object + Window_bar__plus_00_dot_24_bar__plus_00_dot_96_bar__minus_02_dot_68 - object + Window_bar__minus_00_dot_36_bar__plus_00_dot_96_bar__minus_02_dot_68 - object + Window_bar__minus_00_dot_96_bar__plus_00_dot_96_bar__minus_02_dot_68 - object + Bed_bar__minus_01_dot_21_bar__plus_00_dot_02_bar__minus_00_dot_27 - receptacle + Desk_bar__plus_00_dot_45_bar_00_dot_00_bar__minus_02_dot_53 - receptacle + Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_64 - receptacle + Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_96 - receptacle + Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_64 - receptacle + Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_96 - receptacle + Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_64 - receptacle + Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_96 - receptacle + Drawer_bar__minus_01_dot_35_bar__plus_00_dot_19_bar__minus_02_dot_05 - receptacle + Drawer_bar__minus_01_dot_35_bar__plus_00_dot_48_bar__minus_02_dot_05 - receptacle + Dresser_bar__minus_01_dot_47_bar__plus_00_dot_03_bar__minus_02_dot_05 - receptacle + GarbageCan_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_94 - receptacle + Shelf_bar__plus_01_dot_22_bar__plus_00_dot_86_bar__minus_01_dot_80 - receptacle + Shelf_bar__plus_01_dot_26_bar__plus_00_dot_38_bar__minus_00_dot_26 - receptacle + Shelf_bar__plus_01_dot_26_bar__plus_00_dot_90_bar__minus_00_dot_27 - receptacle + Shelf_bar__plus_01_dot_26_bar__plus_01_dot_40_bar__minus_00_dot_26 - receptacle + Shelf_bar__minus_01_dot_58_bar__plus_01_dot_51_bar__minus_02_dot_03 - receptacle + loc_bar_0_bar_0_bar_3_bar_60 - location + loc_bar_0_bar__minus_6_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_9_bar_2_bar__minus_30 - location + loc_bar__minus_2_bar__minus_9_bar_2_bar_60 - location + loc_bar_1_bar__minus_6_bar_1_bar_60 - location + loc_bar_2_bar__minus_1_bar_1_bar_45 - location + loc_bar_1_bar__minus_5_bar_1_bar_60 - location + loc_bar__minus_2_bar_5_bar_3_bar_60 - location + loc_bar_3_bar_6_bar_0_bar_15 - location + loc_bar_2_bar__minus_6_bar_2_bar_60 - location + loc_bar_2_bar__minus_6_bar_1_bar_45 - location + loc_bar_4_bar_6_bar_0_bar_60 - location + loc_bar__minus_2_bar__minus_9_bar_1_bar_45 - location + loc_bar__minus_3_bar__minus_8_bar_3_bar_60 - location + loc_bar__minus_1_bar__minus_7_bar_3_bar_60 - location + loc_bar__minus_3_bar__minus_9_bar_2_bar__minus_30 - location + loc_bar__minus_3_bar_6_bar_0_bar_45 - location + loc_bar_2_bar_0_bar_1_bar_60 - location + loc_bar__minus_3_bar__minus_9_bar_2_bar_60 - location + loc_bar_2_bar__minus_1_bar_1_bar_60 - location + loc_bar_2_bar__minus_5_bar_1_bar_60 - location + loc_bar_2_bar__minus_1_bar_1_bar_15 - location + loc_bar__minus_1_bar__minus_5_bar_1_bar_45 - location + loc_bar__minus_2_bar__minus_9_bar_1_bar_60 - location + loc_bar_0_bar__minus_5_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_9_bar_1_bar__minus_30 - location + loc_bar__minus_3_bar__minus_8_bar_3_bar_15 - location + loc_bar_3_bar__minus_4_bar_1_bar_60 - location + loc_bar_2_bar_7_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_64 DrawerType) + (receptacleType Shelf_bar__minus_01_dot_58_bar__plus_01_dot_51_bar__minus_02_dot_03 ShelfType) + (receptacleType Dresser_bar__minus_01_dot_47_bar__plus_00_dot_03_bar__minus_02_dot_05 DresserType) + (receptacleType Drawer_bar__minus_01_dot_35_bar__plus_00_dot_19_bar__minus_02_dot_05 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_64 DrawerType) + (receptacleType Shelf_bar__plus_01_dot_26_bar__plus_01_dot_40_bar__minus_00_dot_26 ShelfType) + (receptacleType Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_96 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_64 DrawerType) + (receptacleType Shelf_bar__plus_01_dot_26_bar__plus_00_dot_38_bar__minus_00_dot_26 ShelfType) + (receptacleType GarbageCan_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_94 GarbageCanType) + (receptacleType Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_96 DrawerType) + (receptacleType Shelf_bar__plus_01_dot_22_bar__plus_00_dot_86_bar__minus_01_dot_80 ShelfType) + (receptacleType Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_96 DrawerType) + (receptacleType Shelf_bar__plus_01_dot_26_bar__plus_00_dot_90_bar__minus_00_dot_27 ShelfType) + (receptacleType Desk_bar__plus_00_dot_45_bar_00_dot_00_bar__minus_02_dot_53 DeskType) + (receptacleType Bed_bar__minus_01_dot_21_bar__plus_00_dot_02_bar__minus_00_dot_27 BedType) + (receptacleType Drawer_bar__minus_01_dot_35_bar__plus_00_dot_48_bar__minus_02_dot_05 DrawerType) + (objectType Bowl_bar__plus_01_dot_26_bar__plus_00_dot_91_bar__plus_00_dot_04 BowlType) + (objectType Window_bar__minus_00_dot_96_bar__plus_00_dot_96_bar__minus_02_dot_68 WindowType) + (objectType Bowl_bar__minus_01_dot_39_bar__plus_00_dot_70_bar__minus_02_dot_19 BowlType) + (objectType Blinds_bar__minus_00_dot_35_bar__plus_02_dot_19_bar__minus_02_dot_69 BlindsType) + (objectType CellPhone_bar__plus_01_dot_28_bar__plus_00_dot_37_bar__minus_01_dot_64 CellPhoneType) + (objectType Pen_bar__plus_01_dot_19_bar__plus_01_dot_42_bar__minus_00_dot_38 PenType) + (objectType CellPhone_bar__plus_01_dot_26_bar__plus_00_dot_38_bar__minus_00_dot_68 CellPhoneType) + (objectType Boots_bar__plus_01_dot_29_bar__plus_00_dot_00_bar__minus_00_dot_96 BootsType) + (objectType CellPhone_bar__plus_01_dot_12_bar__plus_00_dot_37_bar__minus_01_dot_61 CellPhoneType) + (objectType Blinds_bar__plus_00_dot_25_bar__plus_02_dot_19_bar__minus_02_dot_69 BlindsType) + (objectType Blinds_bar__minus_00_dot_95_bar__plus_02_dot_19_bar__minus_02_dot_69 BlindsType) + (objectType CD_bar__plus_01_dot_23_bar__plus_00_dot_38_bar__minus_00_dot_10 CDType) + (objectType DeskLamp_bar__minus_01_dot_49_bar__plus_00_dot_69_bar__minus_02_dot_42 DeskLampType) + (objectType Chair_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__minus_02_dot_26 ChairType) + (objectType CreditCard_bar__plus_01_dot_33_bar__plus_00_dot_91_bar__minus_00_dot_54 CreditCardType) + (objectType Laptop_bar__minus_01_dot_08_bar__plus_00_dot_61_bar__plus_00_dot_62 LaptopType) + (objectType AlarmClock_bar__plus_01_dot_23_bar__plus_01_dot_41_bar__minus_00_dot_53 AlarmClockType) + (objectType Book_bar__plus_00_dot_62_bar__plus_00_dot_57_bar__minus_02_dot_47 BookType) + (objectType Pen_bar__minus_01_dot_39_bar__plus_00_dot_71_bar__minus_02_dot_05 PenType) + (objectType AlarmClock_bar__plus_01_dot_17_bar__plus_00_dot_51_bar__minus_01_dot_93 AlarmClockType) + (objectType Window_bar__plus_00_dot_24_bar__plus_00_dot_96_bar__minus_02_dot_68 WindowType) + (objectType BasketBall_bar__plus_01_dot_27_bar__plus_00_dot_12_bar__minus_01_dot_29 BasketBallType) + (objectType Bowl_bar__minus_01_dot_54_bar__plus_01_dot_52_bar__minus_01_dot_72 BowlType) + (objectType Pen_bar__plus_01_dot_29_bar__plus_01_dot_42_bar__minus_00_dot_09 PenType) + (objectType Pillow_bar__minus_01_dot_17_bar__plus_00_dot_68_bar__minus_00_dot_99 PillowType) + (objectType AlarmClock_bar__plus_01_dot_23_bar__plus_00_dot_91_bar__minus_00_dot_68 AlarmClockType) + (objectType Pencil_bar__plus_00_dot_31_bar__plus_00_dot_58_bar__minus_02_dot_32 PencilType) + (objectType BaseballBat_bar__plus_01_dot_44_bar__plus_00_dot_64_bar__plus_01_dot_99 BaseballBatType) + (objectType Window_bar__minus_00_dot_36_bar__plus_00_dot_96_bar__minus_02_dot_68 WindowType) + (objectType Mirror_bar__plus_00_dot_74_bar__plus_01_dot_49_bar__plus_02_dot_10 MirrorType) + (objectType KeyChain_bar__plus_01_dot_07_bar__plus_00_dot_24_bar__minus_01_dot_67 KeyChainType) + (objectType LightSwitch_bar__minus_00_dot_76_bar__plus_01_dot_18_bar__plus_02_dot_10 LightSwitchType) + (objectType Pencil_bar__plus_00_dot_78_bar__plus_00_dot_58_bar__minus_02_dot_32 PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType BowlType) + (canContain ShelfType CDType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType AlarmClockType) + (canContain DresserType PenType) + (canContain DresserType BookType) + (canContain DresserType BowlType) + (canContain DresserType CDType) + (canContain DresserType CellPhoneType) + (canContain DresserType KeyChainType) + (canContain DresserType CreditCardType) + (canContain DresserType BasketBallType) + (canContain DresserType LaptopType) + (canContain DresserType PencilType) + (canContain DresserType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType BowlType) + (canContain ShelfType CDType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType BowlType) + (canContain ShelfType CDType) + 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(pickupable Pencil_bar__plus_00_dot_31_bar__plus_00_dot_58_bar__minus_02_dot_32) + (pickupable BaseballBat_bar__plus_01_dot_44_bar__plus_00_dot_64_bar__plus_01_dot_99) + (pickupable KeyChain_bar__plus_01_dot_07_bar__plus_00_dot_24_bar__minus_01_dot_67) + (pickupable Pencil_bar__plus_00_dot_78_bar__plus_00_dot_58_bar__minus_02_dot_32) + (isReceptacleObject Bowl_bar__plus_01_dot_26_bar__plus_00_dot_91_bar__plus_00_dot_04) + (isReceptacleObject Bowl_bar__minus_01_dot_39_bar__plus_00_dot_70_bar__minus_02_dot_19) + (isReceptacleObject Bowl_bar__minus_01_dot_54_bar__plus_01_dot_52_bar__minus_01_dot_72) + (openable Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_64) + (openable Drawer_bar__minus_01_dot_35_bar__plus_00_dot_19_bar__minus_02_dot_05) + (openable Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_64) + (openable Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_96) + (openable 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(receptacleAtLocation Bed_bar__minus_01_dot_21_bar__plus_00_dot_02_bar__minus_00_dot_27 loc_bar_0_bar_0_bar_3_bar_60) + (receptacleAtLocation Desk_bar__plus_00_dot_45_bar_00_dot_00_bar__minus_02_dot_53 loc_bar_2_bar__minus_6_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_64 loc_bar_0_bar__minus_5_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_96 loc_bar_0_bar__minus_6_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_64 loc_bar__minus_1_bar__minus_5_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_96 loc_bar_0_bar__minus_6_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_64 loc_bar_1_bar__minus_5_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_96 loc_bar_1_bar__minus_6_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_35_bar__plus_00_dot_19_bar__minus_02_dot_05 loc_bar__minus_1_bar__minus_7_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_35_bar__plus_00_dot_48_bar__minus_02_dot_05 loc_bar__minus_3_bar__minus_8_bar_3_bar_60) + (receptacleAtLocation Dresser_bar__minus_01_dot_47_bar__plus_00_dot_03_bar__minus_02_dot_05 loc_bar__minus_3_bar__minus_8_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_94 loc_bar__minus_2_bar_5_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__plus_01_dot_22_bar__plus_00_dot_86_bar__minus_01_dot_80 loc_bar_2_bar__minus_6_bar_1_bar_45) + (receptacleAtLocation Shelf_bar__plus_01_dot_26_bar__plus_00_dot_38_bar__minus_00_dot_26 loc_bar_2_bar__minus_1_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__plus_01_dot_26_bar__plus_00_dot_90_bar__minus_00_dot_27 loc_bar_2_bar__minus_1_bar_1_bar_45) + (receptacleAtLocation 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loc_bar_2_bar__minus_1_bar_1_bar_45) + (objectAtLocation CellPhone_bar__plus_01_dot_28_bar__plus_00_dot_37_bar__minus_01_dot_64 loc_bar_1_bar__minus_5_bar_1_bar_60) + (objectAtLocation Pen_bar__plus_01_dot_19_bar__plus_01_dot_42_bar__minus_00_dot_38 loc_bar_2_bar__minus_1_bar_1_bar_15) + (objectAtLocation Bowl_bar__minus_01_dot_54_bar__plus_01_dot_52_bar__minus_01_dot_72 loc_bar__minus_3_bar__minus_8_bar_3_bar_15) + (objectAtLocation Book_bar__plus_00_dot_62_bar__plus_00_dot_57_bar__minus_02_dot_47 loc_bar_2_bar__minus_6_bar_2_bar_60) + (objectAtLocation Mirror_bar__plus_00_dot_74_bar__plus_01_dot_49_bar__plus_02_dot_10 loc_bar_3_bar_6_bar_0_bar_15) + (objectAtLocation Chair_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__minus_02_dot_26 loc_bar__minus_2_bar__minus_9_bar_1_bar_60) + (objectAtLocation KeyChain_bar__plus_01_dot_07_bar__plus_00_dot_24_bar__minus_01_dot_67 loc_bar__minus_1_bar__minus_5_bar_1_bar_45) + (objectAtLocation BaseballBat_bar__plus_01_dot_44_bar__plus_00_dot_64_bar__plus_01_dot_99 loc_bar_4_bar_6_bar_0_bar_60) + (objectAtLocation BasketBall_bar__plus_01_dot_27_bar__plus_00_dot_12_bar__minus_01_dot_29 loc_bar_2_bar__minus_5_bar_1_bar_60) + (objectAtLocation Pencil_bar__plus_00_dot_78_bar__plus_00_dot_58_bar__minus_02_dot_32 loc_bar_2_bar__minus_6_bar_2_bar_60) + (objectAtLocation CellPhone_bar__plus_01_dot_26_bar__plus_00_dot_38_bar__minus_00_dot_68 loc_bar_2_bar__minus_1_bar_1_bar_60) + (objectAtLocation CreditCard_bar__plus_01_dot_33_bar__plus_00_dot_91_bar__minus_00_dot_54 loc_bar_2_bar__minus_1_bar_1_bar_45) + (objectAtLocation Laptop_bar__minus_01_dot_08_bar__plus_00_dot_61_bar__plus_00_dot_62 loc_bar_0_bar_0_bar_3_bar_60) + (objectAtLocation Pillow_bar__minus_01_dot_17_bar__plus_00_dot_68_bar__minus_00_dot_99 loc_bar_0_bar_0_bar_3_bar_60) + (objectAtLocation LightSwitch_bar__minus_00_dot_76_bar__plus_01_dot_18_bar__plus_02_dot_10 loc_bar__minus_3_bar_6_bar_0_bar_45) + (objectAtLocation Boots_bar__plus_01_dot_29_bar__plus_00_dot_00_bar__minus_00_dot_96 loc_bar_3_bar__minus_4_bar_1_bar_60) + (objectAtLocation Pen_bar__minus_01_dot_39_bar__plus_00_dot_71_bar__minus_02_dot_05 loc_bar__minus_3_bar__minus_8_bar_3_bar_60) + (objectAtLocation DeskLamp_bar__minus_01_dot_49_bar__plus_00_dot_69_bar__minus_02_dot_42 loc_bar__minus_3_bar__minus_8_bar_3_bar_60) + (objectAtLocation AlarmClock_bar__plus_01_dot_17_bar__plus_00_dot_51_bar__minus_01_dot_93 loc_bar_2_bar__minus_6_bar_1_bar_45) + (objectAtLocation CD_bar__plus_01_dot_23_bar__plus_00_dot_38_bar__minus_00_dot_10 loc_bar_2_bar_0_bar_1_bar_60) + (objectAtLocation Window_bar__plus_00_dot_24_bar__plus_00_dot_96_bar__minus_02_dot_68 loc_bar__minus_2_bar__minus_9_bar_1_bar_45) + (objectAtLocation Window_bar__minus_00_dot_36_bar__plus_00_dot_96_bar__minus_02_dot_68 loc_bar__minus_2_bar__minus_9_bar_2_bar_60) + (objectAtLocation Window_bar__minus_00_dot_96_bar__plus_00_dot_96_bar__minus_02_dot_68 loc_bar__minus_3_bar__minus_9_bar_2_bar_60) + (objectAtLocation Bowl_bar__plus_01_dot_26_bar__plus_00_dot_91_bar__plus_00_dot_04 loc_bar_2_bar__minus_1_bar_1_bar_45) + (objectAtLocation Blinds_bar__minus_00_dot_35_bar__plus_02_dot_19_bar__minus_02_dot_69 loc_bar__minus_2_bar__minus_9_bar_2_bar__minus_30) + (objectAtLocation Blinds_bar__plus_00_dot_25_bar__plus_02_dot_19_bar__minus_02_dot_69 loc_bar__minus_2_bar__minus_9_bar_1_bar__minus_30) + (objectAtLocation Blinds_bar__minus_00_dot_95_bar__plus_02_dot_19_bar__minus_02_dot_69 loc_bar__minus_3_bar__minus_9_bar_2_bar__minus_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 PencilType) + (receptacleType ?r DrawerType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 PencilType) + (receptacleType ?r DrawerType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git 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"position": { + "x": 1.22644663, + "y": 1.410973, + "z": -0.5270624 + }, + "rotation": { + "x": 0.0, + "y": 270.000153, + "z": 0.0 + } + }, + { + "objectName": "CD_20bef21f", + "position": { + "x": 1.22644794, + "y": 0.382902771, + "z": -0.09777187 + }, + "rotation": { + "x": 0.0, + "y": 270.000153, + "z": 0.0 + } + }, + { + "objectName": "Bowl_a179d6ba", + "position": { + "x": -1.3946625, + "y": 0.6991794, + "z": -2.19111466 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2741158287, + "scene_num": 327 + }, + "task_id": "trial_T20190908_103651_185255", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3PPLDHC3CG0YN_3EFE17QCRFW8G14IRNL90BMRP1SHSE", + "high_descs": [ + "Walk over to the white desk facing the window on the other side of the room. ", + "Pick up the pencil closest to you on the desk. ", + "Walk over to the drawers to the right of the basketball. ", + "Open the bottom drawer on the right, place the pencil inside, close the drawer. ", + "Turn right to face the white desk. ", + "Pick up the pencil to the left of the book. ", + "Turn left and face the drawers. ", + "Open the drawer on the bottom right hand side, put the pencil in the drawer and close the drawer. " + ], + "task_desc": "To move two pencils to a drawer. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_3ON104KXQNN7B6XWWLBR3BG8Q8TW4B", + "high_descs": [ + "Walk over to the right side of the white desk on the other side of the room.", + "Pick up the closest pencil off of the desk.", + "Walk over to the drawers below the alarm clock in front of you.", + "Open the middle right drawer and put the pencil in the back left corner of the drawer, then close the drawer.", + "Walk forward, then turn right and walk up to the desk.", + "Pick up the pencil off of the desk.", + "Turn around and walk forward, then turn left and walk towards the bed, after that turn around to face the drawers.", + "Open the middle right drawer and place the pencil inside, then close the drawer." + ], + "task_desc": "Move two pencils into a drawer.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AOPI4DCPSO8H4_3UWN2HHPU1W0QXQTULGM5VJNBBKSND", + "high_descs": [ + "Turn around and go toward the desk in front of the windows. ", + "Pick up the pencil on the right. ", + "Turn left and go toward the cabinet with the clock on top. ", + "Open the middle drawer on the right side and put the pencil in and shut the drawer. ", + "Go to the desk to the right. ", + "Pick up the pencil to the left of the book on the desk. ", + "Go to the cabinet to the left. ", + "Open the middle drawer on the right side and put the pencil in and shut the drawer. " + ], + "task_desc": "Place two pencils into a drawer. ", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pencil-None-Drawer-327/trial_T20190918_171204_045094/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pencil-None-Drawer-327/trial_T20190918_171204_045094/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..5daa29474bb9089142a32751d2d63612f0cbf839 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pencil-None-Drawer-327/trial_T20190918_171204_045094/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: find two pencil and put them 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_T20190918_171204_045094)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n AlarmClock_bar__plus_01_dot_23_bar__plus_01_dot_41_bar__plus_00_dot_05 - object\n AlarmClock_bar__plus_01_dot_26_bar__plus_00_dot_91_bar__minus_00_dot_25 - object\n BaseballBat_bar__plus_01_dot_44_bar__plus_00_dot_64_bar__plus_01_dot_99 - object\n BasketBall_bar__plus_01_dot_27_bar__plus_00_dot_12_bar__minus_01_dot_29 - object\n Blinds_bar__plus_00_dot_25_bar__plus_02_dot_19_bar__minus_02_dot_69 - object\n Blinds_bar__minus_00_dot_35_bar__plus_02_dot_19_bar__minus_02_dot_69 - object\n Blinds_bar__minus_00_dot_95_bar__plus_02_dot_19_bar__minus_02_dot_69 - object\n Book_bar__minus_00_dot_96_bar__plus_00_dot_61_bar__plus_00_dot_06 - object\n Book_bar_00_dot_00_bar__plus_00_dot_58_bar__minus_02_dot_48 - object\n Boots_bar__plus_01_dot_29_bar__plus_00_dot_00_bar__minus_00_dot_96 - object\n Bowl_bar__plus_01_dot_17_bar__plus_00_dot_50_bar__minus_02_dot_04 - object\n CD_bar__plus_00_dot_94_bar__plus_00_dot_58_bar__minus_02_dot_43 - object\n CD_bar__plus_01_dot_29_bar__plus_00_dot_38_bar__minus_00_dot_24 - object\n CellPhone_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_00_dot_68 - object\n CellPhone_bar__plus_01_dot_33_bar__plus_00_dot_37_bar__minus_01_dot_93 - object\n CellPhone_bar__minus_00_dot_84_bar__plus_00_dot_61_bar__minus_00_dot_78 - object\n Chair_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__minus_02_dot_26 - object\n CreditCard_bar__plus_00_dot_31_bar__plus_00_dot_58_bar__minus_02_dot_48 - object\n CreditCard_bar__plus_01_dot_38_bar__plus_00_dot_37_bar__minus_01_dot_61 - object\n CreditCard_bar__minus_01_dot_27_bar__plus_00_dot_70_bar__minus_02_dot_19 - object\n DeskLamp_bar__minus_01_dot_49_bar__plus_00_dot_69_bar__minus_02_dot_42 - object\n KeyChain_bar__minus_01_dot_33_bar__plus_00_dot_70_bar__minus_01_dot_76 - object\n KeyChain_bar__minus_01_dot_58_bar__plus_00_dot_70_bar__minus_01_dot_61 - object\n Laptop_bar__minus_00_dot_96_bar__plus_00_dot_61_bar__plus_00_dot_62 - object\n Laptop_bar__minus_01_dot_20_bar__plus_00_dot_61_bar__minus_00_dot_50 - object\n LightSwitch_bar__minus_00_dot_76_bar__plus_01_dot_18_bar__plus_02_dot_10 - object\n Mirror_bar__plus_00_dot_74_bar__plus_01_dot_49_bar__plus_02_dot_10 - object\n Pencil_bar__plus_00_dot_62_bar__plus_00_dot_58_bar__minus_02_dot_59 - object\n Pencil_bar__plus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_05 - object\n Pencil_bar__minus_01_dot_33_bar__plus_00_dot_70_bar__minus_02_dot_19 - object\n Pen_bar__plus_01_dot_12_bar__plus_00_dot_24_bar__minus_01_dot_93 - object\n Pen_bar__plus_01_dot_16_bar__plus_00_dot_39_bar__minus_00_dot_53 - object\n Pen_bar__plus_01_dot_17_bar__plus_00_dot_11_bar__minus_01_dot_93 - object\n Pillow_bar__minus_01_dot_17_bar__plus_00_dot_68_bar__minus_00_dot_99 - object\n Window_bar__plus_00_dot_24_bar__plus_00_dot_96_bar__minus_02_dot_68 - object\n Window_bar__minus_00_dot_36_bar__plus_00_dot_96_bar__minus_02_dot_68 - object\n Window_bar__minus_00_dot_96_bar__plus_00_dot_96_bar__minus_02_dot_68 - object\n Bed_bar__minus_01_dot_21_bar__plus_00_dot_02_bar__minus_00_dot_27 - receptacle\n Desk_bar__plus_00_dot_45_bar_00_dot_00_bar__minus_02_dot_53 - receptacle\n Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_64 - receptacle\n Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_96 - receptacle\n Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_64 - receptacle\n Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_96 - receptacle\n Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_64 - receptacle\n Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_96 - receptacle\n Drawer_bar__minus_01_dot_35_bar__plus_00_dot_19_bar__minus_02_dot_05 - receptacle\n Drawer_bar__minus_01_dot_35_bar__plus_00_dot_48_bar__minus_02_dot_05 - receptacle\n Dresser_bar__minus_01_dot_47_bar__plus_00_dot_03_bar__minus_02_dot_05 - receptacle\n GarbageCan_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_94 - receptacle\n Shelf_bar__plus_01_dot_22_bar__plus_00_dot_86_bar__minus_01_dot_80 - receptacle\n Shelf_bar__plus_01_dot_26_bar__plus_00_dot_38_bar__minus_00_dot_26 - receptacle\n Shelf_bar__plus_01_dot_26_bar__plus_00_dot_90_bar__minus_00_dot_27 - receptacle\n Shelf_bar__plus_01_dot_26_bar__plus_01_dot_40_bar__minus_00_dot_26 - receptacle\n Shelf_bar__minus_01_dot_58_bar__plus_01_dot_51_bar__minus_02_dot_03 - receptacle\n loc_bar_0_bar_0_bar_3_bar_60 - location\n loc_bar_0_bar__minus_6_bar_1_bar_60 - location\n loc_bar__minus_2_bar__minus_9_bar_2_bar__minus_30 - location\n loc_bar__minus_2_bar__minus_9_bar_2_bar_60 - location\n loc_bar_1_bar__minus_6_bar_1_bar_60 - location\n loc_bar_2_bar__minus_1_bar_1_bar_45 - location\n loc_bar_1_bar__minus_5_bar_1_bar_60 - location\n loc_bar__minus_2_bar_5_bar_3_bar_60 - location\n loc_bar_3_bar_6_bar_0_bar_15 - location\n loc_bar_2_bar__minus_6_bar_2_bar_60 - location\n loc_bar_2_bar__minus_6_bar_1_bar_45 - location\n loc_bar_4_bar_6_bar_0_bar_60 - location\n loc_bar__minus_2_bar__minus_9_bar_1_bar_45 - location\n loc_bar__minus_3_bar__minus_8_bar_3_bar_60 - location\n loc_bar__minus_1_bar__minus_7_bar_3_bar_60 - location\n loc_bar__minus_3_bar__minus_9_bar_2_bar__minus_30 - location\n loc_bar__minus_3_bar_6_bar_0_bar_45 - location\n loc_bar__minus_3_bar__minus_9_bar_2_bar_60 - location\n loc_bar_2_bar__minus_1_bar_1_bar_60 - location\n loc_bar_2_bar__minus_5_bar_1_bar_60 - location\n loc_bar_2_bar__minus_1_bar_1_bar_15 - location\n loc_bar__minus_1_bar__minus_5_bar_1_bar_45 - location\n loc_bar__minus_2_bar__minus_9_bar_1_bar_60 - location\n loc_bar_0_bar__minus_5_bar_1_bar_60 - location\n loc_bar__minus_2_bar__minus_9_bar_1_bar__minus_30 - location\n loc_bar__minus_3_bar__minus_8_bar_3_bar_15 - location\n loc_bar_3_bar__minus_4_bar_1_bar_60 - location\n loc_bar__minus_2_bar_5_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_64 DrawerType)\n (receptacleType Shelf_bar__minus_01_dot_58_bar__plus_01_dot_51_bar__minus_02_dot_03 ShelfType)\n (receptacleType Dresser_bar__minus_01_dot_47_bar__plus_00_dot_03_bar__minus_02_dot_05 DresserType)\n (receptacleType Drawer_bar__minus_01_dot_35_bar__plus_00_dot_19_bar__minus_02_dot_05 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_64 DrawerType)\n (receptacleType Shelf_bar__plus_01_dot_26_bar__plus_01_dot_40_bar__minus_00_dot_26 ShelfType)\n (receptacleType Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_96 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_64 DrawerType)\n (receptacleType Shelf_bar__plus_01_dot_26_bar__plus_00_dot_38_bar__minus_00_dot_26 ShelfType)\n (receptacleType GarbageCan_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_94 GarbageCanType)\n (receptacleType Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_96 DrawerType)\n (receptacleType Shelf_bar__plus_01_dot_22_bar__plus_00_dot_86_bar__minus_01_dot_80 ShelfType)\n (receptacleType Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_96 DrawerType)\n (receptacleType Shelf_bar__plus_01_dot_26_bar__plus_00_dot_90_bar__minus_00_dot_27 ShelfType)\n (receptacleType Desk_bar__plus_00_dot_45_bar_00_dot_00_bar__minus_02_dot_53 DeskType)\n (receptacleType Bed_bar__minus_01_dot_21_bar__plus_00_dot_02_bar__minus_00_dot_27 BedType)\n (receptacleType Drawer_bar__minus_01_dot_35_bar__plus_00_dot_48_bar__minus_02_dot_05 DrawerType)\n (objectType CellPhone_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_00_dot_68 CellPhoneType)\n (objectType Pencil_bar__plus_00_dot_62_bar__plus_00_dot_58_bar__minus_02_dot_59 PencilType)\n (objectType KeyChain_bar__minus_01_dot_33_bar__plus_00_dot_70_bar__minus_01_dot_76 KeyChainType)\n (objectType CreditCard_bar__plus_00_dot_31_bar__plus_00_dot_58_bar__minus_02_dot_48 CreditCardType)\n (objectType Window_bar__minus_00_dot_96_bar__plus_00_dot_96_bar__minus_02_dot_68 WindowType)\n (objectType Blinds_bar__minus_00_dot_35_bar__plus_02_dot_19_bar__minus_02_dot_69 BlindsType)\n (objectType CellPhone_bar__minus_00_dot_84_bar__plus_00_dot_61_bar__minus_00_dot_78 CellPhoneType)\n (objectType CreditCard_bar__minus_01_dot_27_bar__plus_00_dot_70_bar__minus_02_dot_19 CreditCardType)\n (objectType Pencil_bar__plus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_05 PencilType)\n (objectType Book_bar__minus_00_dot_96_bar__plus_00_dot_61_bar__plus_00_dot_06 BookType)\n (objectType CreditCard_bar__plus_01_dot_38_bar__plus_00_dot_37_bar__minus_01_dot_61 CreditCardType)\n (objectType Boots_bar__plus_01_dot_29_bar__plus_00_dot_00_bar__minus_00_dot_96 BootsType)\n (objectType Blinds_bar__plus_00_dot_25_bar__plus_02_dot_19_bar__minus_02_dot_69 BlindsType)\n (objectType Blinds_bar__minus_00_dot_95_bar__plus_02_dot_19_bar__minus_02_dot_69 BlindsType)\n (objectType Laptop_bar__minus_01_dot_20_bar__plus_00_dot_61_bar__minus_00_dot_50 LaptopType)\n (objectType Pencil_bar__minus_01_dot_33_bar__plus_00_dot_70_bar__minus_02_dot_19 PencilType)\n (objectType Laptop_bar__minus_00_dot_96_bar__plus_00_dot_61_bar__plus_00_dot_62 LaptopType)\n (objectType Chair_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__minus_02_dot_26 ChairType)\n (objectType DeskLamp_bar__minus_01_dot_49_bar__plus_00_dot_69_bar__minus_02_dot_42 DeskLampType)\n (objectType CD_bar__plus_00_dot_94_bar__plus_00_dot_58_bar__minus_02_dot_43 CDType)\n (objectType Pen_bar__plus_01_dot_16_bar__plus_00_dot_39_bar__minus_00_dot_53 PenType)\n (objectType Pen_bar__plus_01_dot_12_bar__plus_00_dot_24_bar__minus_01_dot_93 PenType)\n (objectType Bowl_bar__plus_01_dot_17_bar__plus_00_dot_50_bar__minus_02_dot_04 BowlType)\n (objectType CD_bar__plus_01_dot_29_bar__plus_00_dot_38_bar__minus_00_dot_24 CDType)\n (objectType CellPhone_bar__plus_01_dot_33_bar__plus_00_dot_37_bar__minus_01_dot_93 CellPhoneType)\n (objectType Window_bar__plus_00_dot_24_bar__plus_00_dot_96_bar__minus_02_dot_68 WindowType)\n (objectType BasketBall_bar__plus_01_dot_27_bar__plus_00_dot_12_bar__minus_01_dot_29 BasketBallType)\n (objectType KeyChain_bar__minus_01_dot_58_bar__plus_00_dot_70_bar__minus_01_dot_61 KeyChainType)\n (objectType Pillow_bar__minus_01_dot_17_bar__plus_00_dot_68_bar__minus_00_dot_99 PillowType)\n (objectType BaseballBat_bar__plus_01_dot_44_bar__plus_00_dot_64_bar__plus_01_dot_99 BaseballBatType)\n (objectType Window_bar__minus_00_dot_36_bar__plus_00_dot_96_bar__minus_02_dot_68 WindowType)\n (objectType AlarmClock_bar__plus_01_dot_23_bar__plus_01_dot_41_bar__plus_00_dot_05 AlarmClockType)\n (objectType Mirror_bar__plus_00_dot_74_bar__plus_01_dot_49_bar__plus_02_dot_10 MirrorType)\n (objectType Pen_bar__plus_01_dot_17_bar__plus_00_dot_11_bar__minus_01_dot_93 PenType)\n (objectType Book_bar_00_dot_00_bar__plus_00_dot_58_bar__minus_02_dot_48 BookType)\n (objectType LightSwitch_bar__minus_00_dot_76_bar__plus_01_dot_18_bar__plus_02_dot_10 LightSwitchType)\n (objectType AlarmClock_bar__plus_01_dot_26_bar__plus_00_dot_91_bar__minus_00_dot_25 AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain DresserType PenType)\n (canContain DresserType BookType)\n (canContain DresserType BowlType)\n (canContain DresserType CDType)\n (canContain DresserType CellPhoneType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType BasketBallType)\n (canContain DresserType LaptopType)\n (canContain DresserType PencilType)\n (canContain DresserType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain DeskType PenType)\n (canContain DeskType BookType)\n (canContain DeskType BowlType)\n (canContain DeskType CDType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType BasketBallType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType AlarmClockType)\n (canContain BedType BasketBallType)\n (canContain BedType BaseballBatType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (pickupable CellPhone_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_00_dot_68)\n (pickupable Pencil_bar__plus_00_dot_62_bar__plus_00_dot_58_bar__minus_02_dot_59)\n (pickupable KeyChain_bar__minus_01_dot_33_bar__plus_00_dot_70_bar__minus_01_dot_76)\n (pickupable CreditCard_bar__plus_00_dot_31_bar__plus_00_dot_58_bar__minus_02_dot_48)\n (pickupable CellPhone_bar__minus_00_dot_84_bar__plus_00_dot_61_bar__minus_00_dot_78)\n (pickupable CreditCard_bar__minus_01_dot_27_bar__plus_00_dot_70_bar__minus_02_dot_19)\n (pickupable Pencil_bar__plus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_05)\n (pickupable Book_bar__minus_00_dot_96_bar__plus_00_dot_61_bar__plus_00_dot_06)\n (pickupable CreditCard_bar__plus_01_dot_38_bar__plus_00_dot_37_bar__minus_01_dot_61)\n (pickupable Boots_bar__plus_01_dot_29_bar__plus_00_dot_00_bar__minus_00_dot_96)\n (pickupable Laptop_bar__minus_01_dot_20_bar__plus_00_dot_61_bar__minus_00_dot_50)\n (pickupable Pencil_bar__minus_01_dot_33_bar__plus_00_dot_70_bar__minus_02_dot_19)\n (pickupable Laptop_bar__minus_00_dot_96_bar__plus_00_dot_61_bar__plus_00_dot_62)\n (pickupable CD_bar__plus_00_dot_94_bar__plus_00_dot_58_bar__minus_02_dot_43)\n (pickupable Pen_bar__plus_01_dot_16_bar__plus_00_dot_39_bar__minus_00_dot_53)\n (pickupable Pen_bar__plus_01_dot_12_bar__plus_00_dot_24_bar__minus_01_dot_93)\n (pickupable Bowl_bar__plus_01_dot_17_bar__plus_00_dot_50_bar__minus_02_dot_04)\n (pickupable CD_bar__plus_01_dot_29_bar__plus_00_dot_38_bar__minus_00_dot_24)\n (pickupable CellPhone_bar__plus_01_dot_33_bar__plus_00_dot_37_bar__minus_01_dot_93)\n (pickupable BasketBall_bar__plus_01_dot_27_bar__plus_00_dot_12_bar__minus_01_dot_29)\n (pickupable KeyChain_bar__minus_01_dot_58_bar__plus_00_dot_70_bar__minus_01_dot_61)\n (pickupable Pillow_bar__minus_01_dot_17_bar__plus_00_dot_68_bar__minus_00_dot_99)\n (pickupable BaseballBat_bar__plus_01_dot_44_bar__plus_00_dot_64_bar__plus_01_dot_99)\n (pickupable AlarmClock_bar__plus_01_dot_23_bar__plus_01_dot_41_bar__plus_00_dot_05)\n (pickupable Pen_bar__plus_01_dot_17_bar__plus_00_dot_11_bar__minus_01_dot_93)\n (pickupable Book_bar_00_dot_00_bar__plus_00_dot_58_bar__minus_02_dot_48)\n (pickupable AlarmClock_bar__plus_01_dot_26_bar__plus_00_dot_91_bar__minus_00_dot_25)\n (isReceptacleObject Bowl_bar__plus_01_dot_17_bar__plus_00_dot_50_bar__minus_02_dot_04)\n (openable Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_64)\n (openable Drawer_bar__minus_01_dot_35_bar__plus_00_dot_19_bar__minus_02_dot_05)\n (openable Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_64)\n (openable Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_96)\n (openable Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_64)\n (openable Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_96)\n (openable Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_96)\n \n (atLocation agent1 loc_bar__minus_2_bar_5_bar_3_bar_30)\n \n (cleanable Bowl_bar__plus_01_dot_17_bar__plus_00_dot_50_bar__minus_02_dot_04)\n \n \n (coolable Bowl_bar__plus_01_dot_17_bar__plus_00_dot_50_bar__minus_02_dot_04)\n \n \n (toggleable DeskLamp_bar__minus_01_dot_49_bar__plus_00_dot_69_bar__minus_02_dot_42)\n \n \n \n \n (inReceptacle Pen_bar__plus_01_dot_12_bar__plus_00_dot_24_bar__minus_01_dot_93 Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_96)\n (inReceptacle Book_bar_00_dot_00_bar__plus_00_dot_58_bar__minus_02_dot_48 Desk_bar__plus_00_dot_45_bar_00_dot_00_bar__minus_02_dot_53)\n (inReceptacle CreditCard_bar__plus_00_dot_31_bar__plus_00_dot_58_bar__minus_02_dot_48 Desk_bar__plus_00_dot_45_bar_00_dot_00_bar__minus_02_dot_53)\n (inReceptacle CD_bar__plus_00_dot_94_bar__plus_00_dot_58_bar__minus_02_dot_43 Desk_bar__plus_00_dot_45_bar_00_dot_00_bar__minus_02_dot_53)\n (inReceptacle Pencil_bar__plus_00_dot_62_bar__plus_00_dot_58_bar__minus_02_dot_59 Desk_bar__plus_00_dot_45_bar_00_dot_00_bar__minus_02_dot_53)\n (inReceptacle CreditCard_bar__minus_01_dot_27_bar__plus_00_dot_70_bar__minus_02_dot_19 Dresser_bar__minus_01_dot_47_bar__plus_00_dot_03_bar__minus_02_dot_05)\n (inReceptacle KeyChain_bar__minus_01_dot_33_bar__plus_00_dot_70_bar__minus_01_dot_76 Dresser_bar__minus_01_dot_47_bar__plus_00_dot_03_bar__minus_02_dot_05)\n (inReceptacle Pencil_bar__minus_01_dot_33_bar__plus_00_dot_70_bar__minus_02_dot_19 Dresser_bar__minus_01_dot_47_bar__plus_00_dot_03_bar__minus_02_dot_05)\n (inReceptacle DeskLamp_bar__minus_01_dot_49_bar__plus_00_dot_69_bar__minus_02_dot_42 Dresser_bar__minus_01_dot_47_bar__plus_00_dot_03_bar__minus_02_dot_05)\n (inReceptacle KeyChain_bar__minus_01_dot_58_bar__plus_00_dot_70_bar__minus_01_dot_61 Dresser_bar__minus_01_dot_47_bar__plus_00_dot_03_bar__minus_02_dot_05)\n (inReceptacle Pen_bar__plus_01_dot_17_bar__plus_00_dot_11_bar__minus_01_dot_93 Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_96)\n (inReceptacle Book_bar__minus_00_dot_96_bar__plus_00_dot_61_bar__plus_00_dot_06 Bed_bar__minus_01_dot_21_bar__plus_00_dot_02_bar__minus_00_dot_27)\n (inReceptacle Laptop_bar__minus_01_dot_20_bar__plus_00_dot_61_bar__minus_00_dot_50 Bed_bar__minus_01_dot_21_bar__plus_00_dot_02_bar__minus_00_dot_27)\n (inReceptacle Laptop_bar__minus_00_dot_96_bar__plus_00_dot_61_bar__plus_00_dot_62 Bed_bar__minus_01_dot_21_bar__plus_00_dot_02_bar__minus_00_dot_27)\n (inReceptacle Pillow_bar__minus_01_dot_17_bar__plus_00_dot_68_bar__minus_00_dot_99 Bed_bar__minus_01_dot_21_bar__plus_00_dot_02_bar__minus_00_dot_27)\n (inReceptacle CellPhone_bar__minus_00_dot_84_bar__plus_00_dot_61_bar__minus_00_dot_78 Bed_bar__minus_01_dot_21_bar__plus_00_dot_02_bar__minus_00_dot_27)\n (inReceptacle Bowl_bar__plus_01_dot_17_bar__plus_00_dot_50_bar__minus_02_dot_04 Shelf_bar__plus_01_dot_22_bar__plus_00_dot_86_bar__minus_01_dot_80)\n (inReceptacle CellPhone_bar__plus_01_dot_33_bar__plus_00_dot_37_bar__minus_01_dot_93 Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_96)\n (inReceptacle CreditCard_bar__plus_01_dot_38_bar__plus_00_dot_37_bar__minus_01_dot_61 Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_64)\n (inReceptacle AlarmClock_bar__plus_01_dot_26_bar__plus_00_dot_91_bar__minus_00_dot_25 Shelf_bar__plus_01_dot_26_bar__plus_00_dot_90_bar__minus_00_dot_27)\n (inReceptacle CellPhone_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_00_dot_68 Shelf_bar__plus_01_dot_26_bar__plus_00_dot_90_bar__minus_00_dot_27)\n (inReceptacle Pen_bar__plus_01_dot_16_bar__plus_00_dot_39_bar__minus_00_dot_53 Shelf_bar__plus_01_dot_26_bar__plus_00_dot_38_bar__minus_00_dot_26)\n (inReceptacle Pencil_bar__plus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_05 Shelf_bar__plus_01_dot_26_bar__plus_00_dot_38_bar__minus_00_dot_26)\n (inReceptacle AlarmClock_bar__plus_01_dot_23_bar__plus_01_dot_41_bar__plus_00_dot_05 Shelf_bar__plus_01_dot_26_bar__plus_01_dot_40_bar__minus_00_dot_26)\n \n \n (receptacleAtLocation Bed_bar__minus_01_dot_21_bar__plus_00_dot_02_bar__minus_00_dot_27 loc_bar_0_bar_0_bar_3_bar_60)\n (receptacleAtLocation Desk_bar__plus_00_dot_45_bar_00_dot_00_bar__minus_02_dot_53 loc_bar_2_bar__minus_6_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_64 loc_bar_0_bar__minus_5_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_96 loc_bar_0_bar__minus_6_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_64 loc_bar__minus_1_bar__minus_5_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_96 loc_bar_0_bar__minus_6_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_64 loc_bar_1_bar__minus_5_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_96 loc_bar_1_bar__minus_6_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_35_bar__plus_00_dot_19_bar__minus_02_dot_05 loc_bar__minus_1_bar__minus_7_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_35_bar__plus_00_dot_48_bar__minus_02_dot_05 loc_bar__minus_3_bar__minus_8_bar_3_bar_60)\n (receptacleAtLocation Dresser_bar__minus_01_dot_47_bar__plus_00_dot_03_bar__minus_02_dot_05 loc_bar__minus_3_bar__minus_8_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_94 loc_bar__minus_2_bar_5_bar_3_bar_60)\n (receptacleAtLocation Shelf_bar__plus_01_dot_22_bar__plus_00_dot_86_bar__minus_01_dot_80 loc_bar_2_bar__minus_6_bar_1_bar_45)\n (receptacleAtLocation Shelf_bar__plus_01_dot_26_bar__plus_00_dot_38_bar__minus_00_dot_26 loc_bar_2_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__plus_01_dot_26_bar__plus_00_dot_90_bar__minus_00_dot_27 loc_bar_2_bar__minus_1_bar_1_bar_45)\n (receptacleAtLocation Shelf_bar__plus_01_dot_26_bar__plus_01_dot_40_bar__minus_00_dot_26 loc_bar_2_bar__minus_1_bar_1_bar_15)\n (receptacleAtLocation Shelf_bar__minus_01_dot_58_bar__plus_01_dot_51_bar__minus_02_dot_03 loc_bar__minus_3_bar__minus_8_bar_3_bar_15)\n (objectAtLocation CD_bar__plus_00_dot_94_bar__plus_00_dot_58_bar__minus_02_dot_43 loc_bar_2_bar__minus_6_bar_2_bar_60)\n (objectAtLocation AlarmClock_bar__plus_01_dot_26_bar__plus_00_dot_91_bar__minus_00_dot_25 loc_bar_2_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Pen_bar__plus_01_dot_17_bar__plus_00_dot_11_bar__minus_01_dot_93 loc_bar_0_bar__minus_6_bar_1_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_96_bar__plus_00_dot_61_bar__plus_00_dot_62 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_27_bar__plus_00_dot_70_bar__minus_02_dot_19 loc_bar__minus_3_bar__minus_8_bar_3_bar_60)\n (objectAtLocation CellPhone_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_00_dot_68 loc_bar_2_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Pencil_bar__plus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_05 loc_bar_2_bar__minus_1_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__minus_01_dot_33_bar__plus_00_dot_70_bar__minus_01_dot_76 loc_bar__minus_3_bar__minus_8_bar_3_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_96_bar__plus_00_dot_61_bar__plus_00_dot_06 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__plus_01_dot_38_bar__plus_00_dot_37_bar__minus_01_dot_61 loc_bar_1_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Pencil_bar__plus_00_dot_62_bar__plus_00_dot_58_bar__minus_02_dot_59 loc_bar_2_bar__minus_6_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__minus_00_dot_84_bar__plus_00_dot_61_bar__minus_00_dot_78 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation Pen_bar__plus_01_dot_12_bar__plus_00_dot_24_bar__minus_01_dot_93 loc_bar_0_bar__minus_6_bar_1_bar_60)\n (objectAtLocation Book_bar_00_dot_00_bar__plus_00_dot_58_bar__minus_02_dot_48 loc_bar_2_bar__minus_6_bar_2_bar_60)\n (objectAtLocation Mirror_bar__plus_00_dot_74_bar__plus_01_dot_49_bar__plus_02_dot_10 loc_bar_3_bar_6_bar_0_bar_15)\n (objectAtLocation Chair_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__minus_02_dot_26 loc_bar__minus_2_bar__minus_9_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__minus_01_dot_58_bar__plus_00_dot_70_bar__minus_01_dot_61 loc_bar__minus_3_bar__minus_8_bar_3_bar_60)\n (objectAtLocation BaseballBat_bar__plus_01_dot_44_bar__plus_00_dot_64_bar__plus_01_dot_99 loc_bar_4_bar_6_bar_0_bar_60)\n (objectAtLocation BasketBall_bar__plus_01_dot_27_bar__plus_00_dot_12_bar__minus_01_dot_29 loc_bar_2_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Pencil_bar__minus_01_dot_33_bar__plus_00_dot_70_bar__minus_02_dot_19 loc_bar__minus_3_bar__minus_8_bar_3_bar_60)\n (objectAtLocation CellPhone_bar__plus_01_dot_33_bar__plus_00_dot_37_bar__minus_01_dot_93 loc_bar_1_bar__minus_6_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__plus_00_dot_31_bar__plus_00_dot_58_bar__minus_02_dot_48 loc_bar_2_bar__minus_6_bar_2_bar_60)\n (objectAtLocation Laptop_bar__minus_01_dot_20_bar__plus_00_dot_61_bar__minus_00_dot_50 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation Pillow_bar__minus_01_dot_17_bar__plus_00_dot_68_bar__minus_00_dot_99 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation LightSwitch_bar__minus_00_dot_76_bar__plus_01_dot_18_bar__plus_02_dot_10 loc_bar__minus_3_bar_6_bar_0_bar_45)\n (objectAtLocation Boots_bar__plus_01_dot_29_bar__plus_00_dot_00_bar__minus_00_dot_96 loc_bar_3_bar__minus_4_bar_1_bar_60)\n (objectAtLocation Pen_bar__plus_01_dot_16_bar__plus_00_dot_39_bar__minus_00_dot_53 loc_bar_2_bar__minus_1_bar_1_bar_60)\n (objectAtLocation DeskLamp_bar__minus_01_dot_49_bar__plus_00_dot_69_bar__minus_02_dot_42 loc_bar__minus_3_bar__minus_8_bar_3_bar_60)\n (objectAtLocation AlarmClock_bar__plus_01_dot_23_bar__plus_01_dot_41_bar__plus_00_dot_05 loc_bar_2_bar__minus_1_bar_1_bar_15)\n (objectAtLocation CD_bar__plus_01_dot_29_bar__plus_00_dot_38_bar__minus_00_dot_24 loc_bar_2_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Window_bar__plus_00_dot_24_bar__plus_00_dot_96_bar__minus_02_dot_68 loc_bar__minus_2_bar__minus_9_bar_1_bar_45)\n (objectAtLocation Window_bar__minus_00_dot_36_bar__plus_00_dot_96_bar__minus_02_dot_68 loc_bar__minus_2_bar__minus_9_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_00_dot_96_bar__plus_00_dot_96_bar__minus_02_dot_68 loc_bar__minus_3_bar__minus_9_bar_2_bar_60)\n (objectAtLocation Bowl_bar__plus_01_dot_17_bar__plus_00_dot_50_bar__minus_02_dot_04 loc_bar_2_bar__minus_6_bar_1_bar_45)\n (objectAtLocation Blinds_bar__minus_00_dot_35_bar__plus_02_dot_19_bar__minus_02_dot_69 loc_bar__minus_2_bar__minus_9_bar_2_bar__minus_30)\n (objectAtLocation Blinds_bar__plus_00_dot_25_bar__plus_02_dot_19_bar__minus_02_dot_69 loc_bar__minus_2_bar__minus_9_bar_1_bar__minus_30)\n (objectAtLocation Blinds_bar__minus_00_dot_95_bar__plus_02_dot_19_bar__minus_02_dot_69 loc_bar__minus_3_bar__minus_9_bar_2_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 PencilType)\n (receptacleType ?r DrawerType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 PencilType)\n (receptacleType ?r DrawerType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to shelf 3", "take pencil 1 from shelf 3", "go to drawer 7", "move pencil 1 to drawer 7", "take pencil 3 from dresser 1", "move pencil 3 to drawer 7"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pencil-None-Drawer-327/trial_T20190918_171204_045094/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pencil-None-Drawer-327/trial_T20190918_171204_045094/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..6ff5b4e79f027834873a4fadf318dea3a75c4c0c --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pencil-None-Drawer-327/trial_T20190918_171204_045094/initial_state.pddl @@ -0,0 +1,624 @@ + +(define (problem plan_trial_T20190918_171204_045094) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + AlarmClock_bar__plus_01_dot_23_bar__plus_01_dot_41_bar__plus_00_dot_05 - object + AlarmClock_bar__plus_01_dot_26_bar__plus_00_dot_91_bar__minus_00_dot_25 - object + BaseballBat_bar__plus_01_dot_44_bar__plus_00_dot_64_bar__plus_01_dot_99 - object + BasketBall_bar__plus_01_dot_27_bar__plus_00_dot_12_bar__minus_01_dot_29 - object + Blinds_bar__plus_00_dot_25_bar__plus_02_dot_19_bar__minus_02_dot_69 - object + Blinds_bar__minus_00_dot_35_bar__plus_02_dot_19_bar__minus_02_dot_69 - object + Blinds_bar__minus_00_dot_95_bar__plus_02_dot_19_bar__minus_02_dot_69 - object + Book_bar__minus_00_dot_96_bar__plus_00_dot_61_bar__plus_00_dot_06 - object + Book_bar_00_dot_00_bar__plus_00_dot_58_bar__minus_02_dot_48 - object + Boots_bar__plus_01_dot_29_bar__plus_00_dot_00_bar__minus_00_dot_96 - object + Bowl_bar__plus_01_dot_17_bar__plus_00_dot_50_bar__minus_02_dot_04 - object + CD_bar__plus_00_dot_94_bar__plus_00_dot_58_bar__minus_02_dot_43 - object + CD_bar__plus_01_dot_29_bar__plus_00_dot_38_bar__minus_00_dot_24 - object + CellPhone_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_00_dot_68 - object + CellPhone_bar__plus_01_dot_33_bar__plus_00_dot_37_bar__minus_01_dot_93 - object + CellPhone_bar__minus_00_dot_84_bar__plus_00_dot_61_bar__minus_00_dot_78 - object + Chair_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__minus_02_dot_26 - object + CreditCard_bar__plus_00_dot_31_bar__plus_00_dot_58_bar__minus_02_dot_48 - object + CreditCard_bar__plus_01_dot_38_bar__plus_00_dot_37_bar__minus_01_dot_61 - object + CreditCard_bar__minus_01_dot_27_bar__plus_00_dot_70_bar__minus_02_dot_19 - object + DeskLamp_bar__minus_01_dot_49_bar__plus_00_dot_69_bar__minus_02_dot_42 - object + KeyChain_bar__minus_01_dot_33_bar__plus_00_dot_70_bar__minus_01_dot_76 - object + KeyChain_bar__minus_01_dot_58_bar__plus_00_dot_70_bar__minus_01_dot_61 - object + Laptop_bar__minus_00_dot_96_bar__plus_00_dot_61_bar__plus_00_dot_62 - object + Laptop_bar__minus_01_dot_20_bar__plus_00_dot_61_bar__minus_00_dot_50 - object + LightSwitch_bar__minus_00_dot_76_bar__plus_01_dot_18_bar__plus_02_dot_10 - object + Mirror_bar__plus_00_dot_74_bar__plus_01_dot_49_bar__plus_02_dot_10 - object + Pencil_bar__plus_00_dot_62_bar__plus_00_dot_58_bar__minus_02_dot_59 - object + Pencil_bar__plus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_05 - object + Pencil_bar__minus_01_dot_33_bar__plus_00_dot_70_bar__minus_02_dot_19 - object + Pen_bar__plus_01_dot_12_bar__plus_00_dot_24_bar__minus_01_dot_93 - object + Pen_bar__plus_01_dot_16_bar__plus_00_dot_39_bar__minus_00_dot_53 - object + Pen_bar__plus_01_dot_17_bar__plus_00_dot_11_bar__minus_01_dot_93 - object + Pillow_bar__minus_01_dot_17_bar__plus_00_dot_68_bar__minus_00_dot_99 - object + Window_bar__plus_00_dot_24_bar__plus_00_dot_96_bar__minus_02_dot_68 - object + Window_bar__minus_00_dot_36_bar__plus_00_dot_96_bar__minus_02_dot_68 - object + Window_bar__minus_00_dot_96_bar__plus_00_dot_96_bar__minus_02_dot_68 - object + Bed_bar__minus_01_dot_21_bar__plus_00_dot_02_bar__minus_00_dot_27 - receptacle + Desk_bar__plus_00_dot_45_bar_00_dot_00_bar__minus_02_dot_53 - receptacle + Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_64 - receptacle + Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_96 - receptacle + Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_64 - receptacle + Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_96 - receptacle + Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_64 - receptacle + Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_96 - receptacle + Drawer_bar__minus_01_dot_35_bar__plus_00_dot_19_bar__minus_02_dot_05 - receptacle + Drawer_bar__minus_01_dot_35_bar__plus_00_dot_48_bar__minus_02_dot_05 - receptacle + Dresser_bar__minus_01_dot_47_bar__plus_00_dot_03_bar__minus_02_dot_05 - receptacle + GarbageCan_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_94 - receptacle + Shelf_bar__plus_01_dot_22_bar__plus_00_dot_86_bar__minus_01_dot_80 - receptacle + Shelf_bar__plus_01_dot_26_bar__plus_00_dot_38_bar__minus_00_dot_26 - receptacle + Shelf_bar__plus_01_dot_26_bar__plus_00_dot_90_bar__minus_00_dot_27 - receptacle + Shelf_bar__plus_01_dot_26_bar__plus_01_dot_40_bar__minus_00_dot_26 - receptacle + Shelf_bar__minus_01_dot_58_bar__plus_01_dot_51_bar__minus_02_dot_03 - receptacle + loc_bar_0_bar_0_bar_3_bar_60 - location + loc_bar_0_bar__minus_6_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_9_bar_2_bar__minus_30 - location + loc_bar__minus_2_bar__minus_9_bar_2_bar_60 - location + loc_bar_1_bar__minus_6_bar_1_bar_60 - location + loc_bar_2_bar__minus_1_bar_1_bar_45 - location + loc_bar_1_bar__minus_5_bar_1_bar_60 - location + loc_bar__minus_2_bar_5_bar_3_bar_60 - location + loc_bar_3_bar_6_bar_0_bar_15 - location + loc_bar_2_bar__minus_6_bar_2_bar_60 - location + loc_bar_2_bar__minus_6_bar_1_bar_45 - location + loc_bar_4_bar_6_bar_0_bar_60 - location + loc_bar__minus_2_bar__minus_9_bar_1_bar_45 - location + loc_bar__minus_3_bar__minus_8_bar_3_bar_60 - location + loc_bar__minus_1_bar__minus_7_bar_3_bar_60 - location + loc_bar__minus_3_bar__minus_9_bar_2_bar__minus_30 - location + loc_bar__minus_3_bar_6_bar_0_bar_45 - location + loc_bar__minus_3_bar__minus_9_bar_2_bar_60 - location + loc_bar_2_bar__minus_1_bar_1_bar_60 - location + loc_bar_2_bar__minus_5_bar_1_bar_60 - location + loc_bar_2_bar__minus_1_bar_1_bar_15 - location + loc_bar__minus_1_bar__minus_5_bar_1_bar_45 - location + loc_bar__minus_2_bar__minus_9_bar_1_bar_60 - location + loc_bar_0_bar__minus_5_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_9_bar_1_bar__minus_30 - location + loc_bar__minus_3_bar__minus_8_bar_3_bar_15 - location + loc_bar_3_bar__minus_4_bar_1_bar_60 - location + loc_bar__minus_2_bar_5_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_64 DrawerType) + (receptacleType Shelf_bar__minus_01_dot_58_bar__plus_01_dot_51_bar__minus_02_dot_03 ShelfType) + (receptacleType Dresser_bar__minus_01_dot_47_bar__plus_00_dot_03_bar__minus_02_dot_05 DresserType) + (receptacleType Drawer_bar__minus_01_dot_35_bar__plus_00_dot_19_bar__minus_02_dot_05 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_64 DrawerType) + (receptacleType Shelf_bar__plus_01_dot_26_bar__plus_01_dot_40_bar__minus_00_dot_26 ShelfType) + (receptacleType Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_96 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_64 DrawerType) + (receptacleType Shelf_bar__plus_01_dot_26_bar__plus_00_dot_38_bar__minus_00_dot_26 ShelfType) + (receptacleType GarbageCan_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_94 GarbageCanType) + (receptacleType Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_96 DrawerType) + (receptacleType Shelf_bar__plus_01_dot_22_bar__plus_00_dot_86_bar__minus_01_dot_80 ShelfType) + (receptacleType Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_96 DrawerType) + (receptacleType Shelf_bar__plus_01_dot_26_bar__plus_00_dot_90_bar__minus_00_dot_27 ShelfType) + (receptacleType Desk_bar__plus_00_dot_45_bar_00_dot_00_bar__minus_02_dot_53 DeskType) + (receptacleType Bed_bar__minus_01_dot_21_bar__plus_00_dot_02_bar__minus_00_dot_27 BedType) + (receptacleType Drawer_bar__minus_01_dot_35_bar__plus_00_dot_48_bar__minus_02_dot_05 DrawerType) + (objectType CellPhone_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_00_dot_68 CellPhoneType) + (objectType Pencil_bar__plus_00_dot_62_bar__plus_00_dot_58_bar__minus_02_dot_59 PencilType) + (objectType KeyChain_bar__minus_01_dot_33_bar__plus_00_dot_70_bar__minus_01_dot_76 KeyChainType) + (objectType CreditCard_bar__plus_00_dot_31_bar__plus_00_dot_58_bar__minus_02_dot_48 CreditCardType) + (objectType Window_bar__minus_00_dot_96_bar__plus_00_dot_96_bar__minus_02_dot_68 WindowType) + (objectType Blinds_bar__minus_00_dot_35_bar__plus_02_dot_19_bar__minus_02_dot_69 BlindsType) + (objectType CellPhone_bar__minus_00_dot_84_bar__plus_00_dot_61_bar__minus_00_dot_78 CellPhoneType) + (objectType CreditCard_bar__minus_01_dot_27_bar__plus_00_dot_70_bar__minus_02_dot_19 CreditCardType) + (objectType Pencil_bar__plus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_05 PencilType) + (objectType Book_bar__minus_00_dot_96_bar__plus_00_dot_61_bar__plus_00_dot_06 BookType) + (objectType CreditCard_bar__plus_01_dot_38_bar__plus_00_dot_37_bar__minus_01_dot_61 CreditCardType) + (objectType Boots_bar__plus_01_dot_29_bar__plus_00_dot_00_bar__minus_00_dot_96 BootsType) + (objectType Blinds_bar__plus_00_dot_25_bar__plus_02_dot_19_bar__minus_02_dot_69 BlindsType) + (objectType Blinds_bar__minus_00_dot_95_bar__plus_02_dot_19_bar__minus_02_dot_69 BlindsType) + (objectType Laptop_bar__minus_01_dot_20_bar__plus_00_dot_61_bar__minus_00_dot_50 LaptopType) + (objectType Pencil_bar__minus_01_dot_33_bar__plus_00_dot_70_bar__minus_02_dot_19 PencilType) + (objectType Laptop_bar__minus_00_dot_96_bar__plus_00_dot_61_bar__plus_00_dot_62 LaptopType) + (objectType Chair_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__minus_02_dot_26 ChairType) + (objectType DeskLamp_bar__minus_01_dot_49_bar__plus_00_dot_69_bar__minus_02_dot_42 DeskLampType) + (objectType CD_bar__plus_00_dot_94_bar__plus_00_dot_58_bar__minus_02_dot_43 CDType) + (objectType Pen_bar__plus_01_dot_16_bar__plus_00_dot_39_bar__minus_00_dot_53 PenType) + (objectType Pen_bar__plus_01_dot_12_bar__plus_00_dot_24_bar__minus_01_dot_93 PenType) + (objectType Bowl_bar__plus_01_dot_17_bar__plus_00_dot_50_bar__minus_02_dot_04 BowlType) + (objectType CD_bar__plus_01_dot_29_bar__plus_00_dot_38_bar__minus_00_dot_24 CDType) + (objectType CellPhone_bar__plus_01_dot_33_bar__plus_00_dot_37_bar__minus_01_dot_93 CellPhoneType) + (objectType Window_bar__plus_00_dot_24_bar__plus_00_dot_96_bar__minus_02_dot_68 WindowType) + (objectType BasketBall_bar__plus_01_dot_27_bar__plus_00_dot_12_bar__minus_01_dot_29 BasketBallType) + (objectType KeyChain_bar__minus_01_dot_58_bar__plus_00_dot_70_bar__minus_01_dot_61 KeyChainType) + (objectType Pillow_bar__minus_01_dot_17_bar__plus_00_dot_68_bar__minus_00_dot_99 PillowType) + (objectType BaseballBat_bar__plus_01_dot_44_bar__plus_00_dot_64_bar__plus_01_dot_99 BaseballBatType) + (objectType Window_bar__minus_00_dot_36_bar__plus_00_dot_96_bar__minus_02_dot_68 WindowType) + (objectType AlarmClock_bar__plus_01_dot_23_bar__plus_01_dot_41_bar__plus_00_dot_05 AlarmClockType) + (objectType Mirror_bar__plus_00_dot_74_bar__plus_01_dot_49_bar__plus_02_dot_10 MirrorType) + (objectType Pen_bar__plus_01_dot_17_bar__plus_00_dot_11_bar__minus_01_dot_93 PenType) + (objectType Book_bar_00_dot_00_bar__plus_00_dot_58_bar__minus_02_dot_48 BookType) + (objectType LightSwitch_bar__minus_00_dot_76_bar__plus_01_dot_18_bar__plus_02_dot_10 LightSwitchType) + (objectType AlarmClock_bar__plus_01_dot_26_bar__plus_00_dot_91_bar__minus_00_dot_25 AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType BowlType) + (canContain ShelfType CDType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType AlarmClockType) + (canContain DresserType PenType) + (canContain DresserType BookType) + (canContain DresserType BowlType) + (canContain DresserType CDType) + (canContain DresserType CellPhoneType) + (canContain DresserType KeyChainType) + (canContain DresserType CreditCardType) + (canContain DresserType BasketBallType) + (canContain DresserType LaptopType) + (canContain DresserType PencilType) + (canContain DresserType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType BowlType) + (canContain ShelfType CDType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType BowlType) + (canContain ShelfType CDType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType AlarmClockType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType CDType) + (canContain GarbageCanType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType BowlType) + (canContain ShelfType CDType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType BowlType) + (canContain ShelfType CDType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType AlarmClockType) + (canContain DeskType PenType) + (canContain DeskType BookType) + (canContain DeskType BowlType) + (canContain DeskType CDType) + (canContain DeskType CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (canContain DeskType BasketBallType) + (canContain DeskType LaptopType) + (canContain DeskType PencilType) + (canContain DeskType AlarmClockType) + (canContain BedType BasketBallType) + (canContain BedType BaseballBatType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (pickupable CellPhone_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_00_dot_68) + (pickupable Pencil_bar__plus_00_dot_62_bar__plus_00_dot_58_bar__minus_02_dot_59) + (pickupable KeyChain_bar__minus_01_dot_33_bar__plus_00_dot_70_bar__minus_01_dot_76) + (pickupable CreditCard_bar__plus_00_dot_31_bar__plus_00_dot_58_bar__minus_02_dot_48) + (pickupable CellPhone_bar__minus_00_dot_84_bar__plus_00_dot_61_bar__minus_00_dot_78) + (pickupable CreditCard_bar__minus_01_dot_27_bar__plus_00_dot_70_bar__minus_02_dot_19) + (pickupable Pencil_bar__plus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_05) + (pickupable Book_bar__minus_00_dot_96_bar__plus_00_dot_61_bar__plus_00_dot_06) + (pickupable CreditCard_bar__plus_01_dot_38_bar__plus_00_dot_37_bar__minus_01_dot_61) + (pickupable Boots_bar__plus_01_dot_29_bar__plus_00_dot_00_bar__minus_00_dot_96) + (pickupable Laptop_bar__minus_01_dot_20_bar__plus_00_dot_61_bar__minus_00_dot_50) + (pickupable Pencil_bar__minus_01_dot_33_bar__plus_00_dot_70_bar__minus_02_dot_19) + (pickupable Laptop_bar__minus_00_dot_96_bar__plus_00_dot_61_bar__plus_00_dot_62) + (pickupable CD_bar__plus_00_dot_94_bar__plus_00_dot_58_bar__minus_02_dot_43) + (pickupable Pen_bar__plus_01_dot_16_bar__plus_00_dot_39_bar__minus_00_dot_53) + (pickupable Pen_bar__plus_01_dot_12_bar__plus_00_dot_24_bar__minus_01_dot_93) + (pickupable Bowl_bar__plus_01_dot_17_bar__plus_00_dot_50_bar__minus_02_dot_04) + (pickupable CD_bar__plus_01_dot_29_bar__plus_00_dot_38_bar__minus_00_dot_24) + (pickupable CellPhone_bar__plus_01_dot_33_bar__plus_00_dot_37_bar__minus_01_dot_93) + (pickupable BasketBall_bar__plus_01_dot_27_bar__plus_00_dot_12_bar__minus_01_dot_29) + (pickupable KeyChain_bar__minus_01_dot_58_bar__plus_00_dot_70_bar__minus_01_dot_61) + (pickupable Pillow_bar__minus_01_dot_17_bar__plus_00_dot_68_bar__minus_00_dot_99) + (pickupable BaseballBat_bar__plus_01_dot_44_bar__plus_00_dot_64_bar__plus_01_dot_99) + (pickupable AlarmClock_bar__plus_01_dot_23_bar__plus_01_dot_41_bar__plus_00_dot_05) + (pickupable Pen_bar__plus_01_dot_17_bar__plus_00_dot_11_bar__minus_01_dot_93) + (pickupable Book_bar_00_dot_00_bar__plus_00_dot_58_bar__minus_02_dot_48) + (pickupable AlarmClock_bar__plus_01_dot_26_bar__plus_00_dot_91_bar__minus_00_dot_25) + (isReceptacleObject Bowl_bar__plus_01_dot_17_bar__plus_00_dot_50_bar__minus_02_dot_04) + (openable Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_64) + (openable Drawer_bar__minus_01_dot_35_bar__plus_00_dot_19_bar__minus_02_dot_05) + (openable Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_64) + (openable Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_96) + (openable Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_64) + (openable Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_96) + (openable Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_96) + + (atLocation agent1 loc_bar__minus_2_bar_5_bar_3_bar_30) + + (cleanable Bowl_bar__plus_01_dot_17_bar__plus_00_dot_50_bar__minus_02_dot_04) + + + (coolable Bowl_bar__plus_01_dot_17_bar__plus_00_dot_50_bar__minus_02_dot_04) + + + (toggleable DeskLamp_bar__minus_01_dot_49_bar__plus_00_dot_69_bar__minus_02_dot_42) + + + + + (inReceptacle Pen_bar__plus_01_dot_12_bar__plus_00_dot_24_bar__minus_01_dot_93 Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_96) + (inReceptacle Book_bar_00_dot_00_bar__plus_00_dot_58_bar__minus_02_dot_48 Desk_bar__plus_00_dot_45_bar_00_dot_00_bar__minus_02_dot_53) + (inReceptacle CreditCard_bar__plus_00_dot_31_bar__plus_00_dot_58_bar__minus_02_dot_48 Desk_bar__plus_00_dot_45_bar_00_dot_00_bar__minus_02_dot_53) + (inReceptacle CD_bar__plus_00_dot_94_bar__plus_00_dot_58_bar__minus_02_dot_43 Desk_bar__plus_00_dot_45_bar_00_dot_00_bar__minus_02_dot_53) + (inReceptacle Pencil_bar__plus_00_dot_62_bar__plus_00_dot_58_bar__minus_02_dot_59 Desk_bar__plus_00_dot_45_bar_00_dot_00_bar__minus_02_dot_53) + (inReceptacle CreditCard_bar__minus_01_dot_27_bar__plus_00_dot_70_bar__minus_02_dot_19 Dresser_bar__minus_01_dot_47_bar__plus_00_dot_03_bar__minus_02_dot_05) + (inReceptacle KeyChain_bar__minus_01_dot_33_bar__plus_00_dot_70_bar__minus_01_dot_76 Dresser_bar__minus_01_dot_47_bar__plus_00_dot_03_bar__minus_02_dot_05) + (inReceptacle Pencil_bar__minus_01_dot_33_bar__plus_00_dot_70_bar__minus_02_dot_19 Dresser_bar__minus_01_dot_47_bar__plus_00_dot_03_bar__minus_02_dot_05) + (inReceptacle DeskLamp_bar__minus_01_dot_49_bar__plus_00_dot_69_bar__minus_02_dot_42 Dresser_bar__minus_01_dot_47_bar__plus_00_dot_03_bar__minus_02_dot_05) + (inReceptacle KeyChain_bar__minus_01_dot_58_bar__plus_00_dot_70_bar__minus_01_dot_61 Dresser_bar__minus_01_dot_47_bar__plus_00_dot_03_bar__minus_02_dot_05) + (inReceptacle Pen_bar__plus_01_dot_17_bar__plus_00_dot_11_bar__minus_01_dot_93 Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_96) + (inReceptacle Book_bar__minus_00_dot_96_bar__plus_00_dot_61_bar__plus_00_dot_06 Bed_bar__minus_01_dot_21_bar__plus_00_dot_02_bar__minus_00_dot_27) + (inReceptacle Laptop_bar__minus_01_dot_20_bar__plus_00_dot_61_bar__minus_00_dot_50 Bed_bar__minus_01_dot_21_bar__plus_00_dot_02_bar__minus_00_dot_27) + (inReceptacle Laptop_bar__minus_00_dot_96_bar__plus_00_dot_61_bar__plus_00_dot_62 Bed_bar__minus_01_dot_21_bar__plus_00_dot_02_bar__minus_00_dot_27) + (inReceptacle Pillow_bar__minus_01_dot_17_bar__plus_00_dot_68_bar__minus_00_dot_99 Bed_bar__minus_01_dot_21_bar__plus_00_dot_02_bar__minus_00_dot_27) + (inReceptacle CellPhone_bar__minus_00_dot_84_bar__plus_00_dot_61_bar__minus_00_dot_78 Bed_bar__minus_01_dot_21_bar__plus_00_dot_02_bar__minus_00_dot_27) + (inReceptacle Bowl_bar__plus_01_dot_17_bar__plus_00_dot_50_bar__minus_02_dot_04 Shelf_bar__plus_01_dot_22_bar__plus_00_dot_86_bar__minus_01_dot_80) + (inReceptacle CellPhone_bar__plus_01_dot_33_bar__plus_00_dot_37_bar__minus_01_dot_93 Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_96) + (inReceptacle CreditCard_bar__plus_01_dot_38_bar__plus_00_dot_37_bar__minus_01_dot_61 Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_64) + (inReceptacle AlarmClock_bar__plus_01_dot_26_bar__plus_00_dot_91_bar__minus_00_dot_25 Shelf_bar__plus_01_dot_26_bar__plus_00_dot_90_bar__minus_00_dot_27) + (inReceptacle CellPhone_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_00_dot_68 Shelf_bar__plus_01_dot_26_bar__plus_00_dot_90_bar__minus_00_dot_27) + (inReceptacle Pen_bar__plus_01_dot_16_bar__plus_00_dot_39_bar__minus_00_dot_53 Shelf_bar__plus_01_dot_26_bar__plus_00_dot_38_bar__minus_00_dot_26) + (inReceptacle Pencil_bar__plus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_05 Shelf_bar__plus_01_dot_26_bar__plus_00_dot_38_bar__minus_00_dot_26) + (inReceptacle AlarmClock_bar__plus_01_dot_23_bar__plus_01_dot_41_bar__plus_00_dot_05 Shelf_bar__plus_01_dot_26_bar__plus_01_dot_40_bar__minus_00_dot_26) + + + (receptacleAtLocation Bed_bar__minus_01_dot_21_bar__plus_00_dot_02_bar__minus_00_dot_27 loc_bar_0_bar_0_bar_3_bar_60) + (receptacleAtLocation Desk_bar__plus_00_dot_45_bar_00_dot_00_bar__minus_02_dot_53 loc_bar_2_bar__minus_6_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_64 loc_bar_0_bar__minus_5_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_98_bar__plus_00_dot_14_bar__minus_01_dot_96 loc_bar_0_bar__minus_6_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_64 loc_bar__minus_1_bar__minus_5_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_98_bar__plus_00_dot_27_bar__minus_01_dot_96 loc_bar_0_bar__minus_6_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_64 loc_bar_1_bar__minus_5_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_98_bar__plus_00_dot_40_bar__minus_01_dot_96 loc_bar_1_bar__minus_6_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_35_bar__plus_00_dot_19_bar__minus_02_dot_05 loc_bar__minus_1_bar__minus_7_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_35_bar__plus_00_dot_48_bar__minus_02_dot_05 loc_bar__minus_3_bar__minus_8_bar_3_bar_60) + (receptacleAtLocation Dresser_bar__minus_01_dot_47_bar__plus_00_dot_03_bar__minus_02_dot_05 loc_bar__minus_3_bar__minus_8_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_94 loc_bar__minus_2_bar_5_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__plus_01_dot_22_bar__plus_00_dot_86_bar__minus_01_dot_80 loc_bar_2_bar__minus_6_bar_1_bar_45) + (receptacleAtLocation Shelf_bar__plus_01_dot_26_bar__plus_00_dot_38_bar__minus_00_dot_26 loc_bar_2_bar__minus_1_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__plus_01_dot_26_bar__plus_00_dot_90_bar__minus_00_dot_27 loc_bar_2_bar__minus_1_bar_1_bar_45) + (receptacleAtLocation Shelf_bar__plus_01_dot_26_bar__plus_01_dot_40_bar__minus_00_dot_26 loc_bar_2_bar__minus_1_bar_1_bar_15) + (receptacleAtLocation Shelf_bar__minus_01_dot_58_bar__plus_01_dot_51_bar__minus_02_dot_03 loc_bar__minus_3_bar__minus_8_bar_3_bar_15) + (objectAtLocation CD_bar__plus_00_dot_94_bar__plus_00_dot_58_bar__minus_02_dot_43 loc_bar_2_bar__minus_6_bar_2_bar_60) + (objectAtLocation AlarmClock_bar__plus_01_dot_26_bar__plus_00_dot_91_bar__minus_00_dot_25 loc_bar_2_bar__minus_1_bar_1_bar_45) + (objectAtLocation Pen_bar__plus_01_dot_17_bar__plus_00_dot_11_bar__minus_01_dot_93 loc_bar_0_bar__minus_6_bar_1_bar_60) + (objectAtLocation Laptop_bar__minus_00_dot_96_bar__plus_00_dot_61_bar__plus_00_dot_62 loc_bar_0_bar_0_bar_3_bar_60) + (objectAtLocation CreditCard_bar__minus_01_dot_27_bar__plus_00_dot_70_bar__minus_02_dot_19 loc_bar__minus_3_bar__minus_8_bar_3_bar_60) + (objectAtLocation CellPhone_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_00_dot_68 loc_bar_2_bar__minus_1_bar_1_bar_45) + (objectAtLocation Pencil_bar__plus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_05 loc_bar_2_bar__minus_1_bar_1_bar_60) + (objectAtLocation KeyChain_bar__minus_01_dot_33_bar__plus_00_dot_70_bar__minus_01_dot_76 loc_bar__minus_3_bar__minus_8_bar_3_bar_60) + (objectAtLocation Book_bar__minus_00_dot_96_bar__plus_00_dot_61_bar__plus_00_dot_06 loc_bar_0_bar_0_bar_3_bar_60) + (objectAtLocation CreditCard_bar__plus_01_dot_38_bar__plus_00_dot_37_bar__minus_01_dot_61 loc_bar_1_bar__minus_5_bar_1_bar_60) + (objectAtLocation Pencil_bar__plus_00_dot_62_bar__plus_00_dot_58_bar__minus_02_dot_59 loc_bar_2_bar__minus_6_bar_2_bar_60) + (objectAtLocation CellPhone_bar__minus_00_dot_84_bar__plus_00_dot_61_bar__minus_00_dot_78 loc_bar_0_bar_0_bar_3_bar_60) + (objectAtLocation Pen_bar__plus_01_dot_12_bar__plus_00_dot_24_bar__minus_01_dot_93 loc_bar_0_bar__minus_6_bar_1_bar_60) + (objectAtLocation Book_bar_00_dot_00_bar__plus_00_dot_58_bar__minus_02_dot_48 loc_bar_2_bar__minus_6_bar_2_bar_60) + (objectAtLocation Mirror_bar__plus_00_dot_74_bar__plus_01_dot_49_bar__plus_02_dot_10 loc_bar_3_bar_6_bar_0_bar_15) + (objectAtLocation Chair_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__minus_02_dot_26 loc_bar__minus_2_bar__minus_9_bar_1_bar_60) + (objectAtLocation KeyChain_bar__minus_01_dot_58_bar__plus_00_dot_70_bar__minus_01_dot_61 loc_bar__minus_3_bar__minus_8_bar_3_bar_60) + (objectAtLocation BaseballBat_bar__plus_01_dot_44_bar__plus_00_dot_64_bar__plus_01_dot_99 loc_bar_4_bar_6_bar_0_bar_60) + (objectAtLocation BasketBall_bar__plus_01_dot_27_bar__plus_00_dot_12_bar__minus_01_dot_29 loc_bar_2_bar__minus_5_bar_1_bar_60) + (objectAtLocation Pencil_bar__minus_01_dot_33_bar__plus_00_dot_70_bar__minus_02_dot_19 loc_bar__minus_3_bar__minus_8_bar_3_bar_60) + (objectAtLocation CellPhone_bar__plus_01_dot_33_bar__plus_00_dot_37_bar__minus_01_dot_93 loc_bar_1_bar__minus_6_bar_1_bar_60) + (objectAtLocation CreditCard_bar__plus_00_dot_31_bar__plus_00_dot_58_bar__minus_02_dot_48 loc_bar_2_bar__minus_6_bar_2_bar_60) + (objectAtLocation Laptop_bar__minus_01_dot_20_bar__plus_00_dot_61_bar__minus_00_dot_50 loc_bar_0_bar_0_bar_3_bar_60) + (objectAtLocation Pillow_bar__minus_01_dot_17_bar__plus_00_dot_68_bar__minus_00_dot_99 loc_bar_0_bar_0_bar_3_bar_60) + (objectAtLocation LightSwitch_bar__minus_00_dot_76_bar__plus_01_dot_18_bar__plus_02_dot_10 loc_bar__minus_3_bar_6_bar_0_bar_45) + (objectAtLocation Boots_bar__plus_01_dot_29_bar__plus_00_dot_00_bar__minus_00_dot_96 loc_bar_3_bar__minus_4_bar_1_bar_60) + (objectAtLocation Pen_bar__plus_01_dot_16_bar__plus_00_dot_39_bar__minus_00_dot_53 loc_bar_2_bar__minus_1_bar_1_bar_60) + (objectAtLocation DeskLamp_bar__minus_01_dot_49_bar__plus_00_dot_69_bar__minus_02_dot_42 loc_bar__minus_3_bar__minus_8_bar_3_bar_60) + (objectAtLocation AlarmClock_bar__plus_01_dot_23_bar__plus_01_dot_41_bar__plus_00_dot_05 loc_bar_2_bar__minus_1_bar_1_bar_15) + (objectAtLocation CD_bar__plus_01_dot_29_bar__plus_00_dot_38_bar__minus_00_dot_24 loc_bar_2_bar__minus_1_bar_1_bar_60) + (objectAtLocation Window_bar__plus_00_dot_24_bar__plus_00_dot_96_bar__minus_02_dot_68 loc_bar__minus_2_bar__minus_9_bar_1_bar_45) + (objectAtLocation Window_bar__minus_00_dot_36_bar__plus_00_dot_96_bar__minus_02_dot_68 loc_bar__minus_2_bar__minus_9_bar_2_bar_60) + (objectAtLocation Window_bar__minus_00_dot_96_bar__plus_00_dot_96_bar__minus_02_dot_68 loc_bar__minus_3_bar__minus_9_bar_2_bar_60) + (objectAtLocation Bowl_bar__plus_01_dot_17_bar__plus_00_dot_50_bar__minus_02_dot_04 loc_bar_2_bar__minus_6_bar_1_bar_45) + (objectAtLocation Blinds_bar__minus_00_dot_35_bar__plus_02_dot_19_bar__minus_02_dot_69 loc_bar__minus_2_bar__minus_9_bar_2_bar__minus_30) + (objectAtLocation Blinds_bar__plus_00_dot_25_bar__plus_02_dot_19_bar__minus_02_dot_69 loc_bar__minus_2_bar__minus_9_bar_1_bar__minus_30) + (objectAtLocation Blinds_bar__minus_00_dot_95_bar__plus_02_dot_19_bar__minus_02_dot_69 loc_bar__minus_3_bar__minus_9_bar_2_bar__minus_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 PencilType) + (receptacleType ?r DrawerType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 PencilType) + (receptacleType ?r DrawerType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ 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"object_toggles": [], + "random_seed": 57456854, + "scene_num": 327 + }, + "task_id": "trial_T20190918_171204_045094", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "ARB8SJAWXUWTD_323Q6SJS8L7ZCWZWL3LATC3C09AFH1", + "high_descs": [ + "Go to the desk", + "Pick up a pencil from the desk", + "Go to the cabinet with a lamp on top of it", + "Place the pencil in the top drawer", + "Turn around and look at the top of the cabinet", + "Pick up a pencil from the top of the cabinet", + "Turn around and look back at the cabinet", + "Place the pencil in the top drawer of the cabinet" + ], + "task_desc": "Place two pencils in a drawer", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A12HZGOZQD5YK7_3EJPLAJKEP7PKO6FQWODZDU431Q6ZJ", + "high_descs": [ + "Turn to the left and head to the desk.", + "Pick up the pencil on the desk.", + "Turn right and go to the dresser.", + "Open the top drawer of the dress, put the pencil inside the drawer and close it.", + "Turn to the left and then back to the right to face the dresser.", + "Pick up the pencil off the top of the dresser.", + "Turn around in a circle and face the dresser.", + "Put the pencil in the top drawer and close the drawer." + ], + "task_desc": "Put two pencils in the dresser.", + "votes": [ + 1, + 1, + 0 + ] + }, + { + "assignment_id": "A23HZ18KTCK2DA_3PZDLQMM0WCOUUC4BGS2Y2C7EEZ2CW", + "high_descs": [ + "Turn and go to the desk.", + "Pick up the pencil on the desk.", + "With the pencil in hand turn and go to the dresser where the lamp is on the right side.", + "Open the first drawer and place the pencil in the drawer on the right side.", + "Turn so you are in front of the same dresser but on the left side.", + "Pick up the pencil that is on the dresser in front of you.", + "Turn around again so you are now on the right side of the same dresser with the pencil in hand.", + "Open the drawer and place the pencil on top of the other pencil in there on the right side." + ], + "task_desc": "Put two pencils away in the drawer.", + "votes": [ + 0, + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pencil-None-Shelf-301/trial_T20190909_011323_432966/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pencil-None-Shelf-301/trial_T20190909_011323_432966/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..f7ebdf123a8ba2b9fe7eaa75527883842e786916 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pencil-None-Shelf-301/trial_T20190909_011323_432966/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 pencil in shelf.\"\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_011323_432966)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n AlarmClock_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_15 - object\n AlarmClock_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_22 - object\n AlarmClock_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_22 - object\n BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84 - object\n BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98 - object\n Blinds_bar__plus_00_dot_11_bar__plus_02_dot_34_bar__minus_01_dot_44 - object\n Book_bar__minus_00_dot_90_bar__plus_00_dot_57_bar__plus_01_dot_18 - object\n Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34 - object\n Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21 - object\n Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89 - object\n CD_bar__minus_01_dot_25_bar__plus_01_dot_23_bar__minus_00_dot_84 - object\n CD_bar__minus_01_dot_32_bar__plus_01_dot_23_bar__minus_00_dot_46 - object\n CellPhone_bar__plus_02_dot_79_bar__plus_00_dot_57_bar__minus_01_dot_19 - object\n CellPhone_bar__minus_00_dot_63_bar__plus_00_dot_57_bar__plus_01_dot_34 - object\n CellPhone_bar__minus_00_dot_98_bar__plus_00_dot_57_bar__plus_00_dot_11 - object\n Chair_bar__plus_02_dot_40_bar__plus_00_dot_00_bar__minus_01_dot_08 - object\n CreditCard_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_28 - object\n CreditCard_bar__plus_02_dot_02_bar__plus_00_dot_35_bar__minus_01_dot_25 - object\n CreditCard_bar__minus_01_dot_27_bar__plus_00_dot_68_bar__minus_00_dot_85 - object\n DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 - object\n KeyChain_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_39 - object\n KeyChain_bar__plus_01_dot_96_bar__plus_01_dot_05_bar__minus_01_dot_39 - object\n Laptop_bar__minus_00_dot_46_bar__plus_00_dot_56_bar__plus_01_dot_09 - object\n Laptop_bar__minus_00_dot_98_bar__plus_00_dot_56_bar__plus_00_dot_60 - object\n LightSwitch_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__plus_01_dot_90 - object\n Mirror_bar__plus_01_dot_99_bar__plus_01_dot_38_bar__plus_01_dot_88 - object\n Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22 - object\n 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Watch_bar__minus_01_dot_35_bar__plus_00_dot_11_bar__minus_00_dot_88 - object\n Window_bar__plus_00_dot_12_bar__plus_01_dot_50_bar__minus_01_dot_59 - object\n Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87 - receptacle\n Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15 - receptacle\n Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_01_dot_95_bar__plus_00_dot_62_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_02_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_58 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_92 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_58 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_92 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_58 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_92 - receptacle\n Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75 - receptacle\n GarbageCan_bar__plus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_22 - receptacle\n Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42 - receptacle\n Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42 - receptacle\n Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42 - receptacle\n Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41 - receptacle\n Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41 - receptacle\n Shelf_bar__plus_02_dot_70_bar__plus_01_dot_27_bar__minus_01_dot_42 - receptacle\n loc_bar_9_bar_4_bar_1_bar_60 - location\n loc_bar_10_bar__minus_2_bar_2_bar_60 - location\n loc_bar_8_bar__minus_3_bar_2_bar_45 - location\n loc_bar_8_bar__minus_2_bar_1_bar_60 - location\n loc_bar_3_bar_5_bar_3_bar_45 - location\n loc_bar_10_bar_5_bar_0_bar_30 - location\n loc_bar_3_bar__minus_2_bar_1_bar_60 - location\n loc_bar_8_bar__minus_3_bar_1_bar_45 - location\n loc_bar_0_bar__minus_4_bar_2_bar_15 - location\n loc_bar__minus_3_bar__minus_4_bar_3_bar_60 - location\n loc_bar_9_bar__minus_2_bar_2_bar_60 - location\n loc_bar_1_bar__minus_4_bar_1_bar_30 - location\n loc_bar__minus_3_bar__minus_2_bar_3_bar_45 - location\n loc_bar_0_bar__minus_4_bar_2_bar__minus_30 - location\n loc_bar__minus_3_bar__minus_3_bar_3_bar_60 - location\n loc_bar_4_bar__minus_2_bar_2_bar_60 - location\n loc_bar_10_bar_1_bar_1_bar_60 - location\n loc_bar_7_bar__minus_3_bar_2_bar_45 - location\n loc_bar__minus_3_bar__minus_2_bar_3_bar_60 - location\n loc_bar_4_bar__minus_2_bar_1_bar_60 - location\n loc_bar_8_bar_5_bar_0_bar_30 - location\n loc_bar_8_bar__minus_3_bar_2_bar_30 - location\n loc_bar_10_bar_5_bar_0_bar_60 - location\n loc_bar_8_bar__minus_3_bar_2_bar_60 - location\n loc_bar_10_bar__minus_2_bar_2_bar_45 - location\n loc_bar__minus_3_bar__minus_4_bar_3_bar_45 - location\n loc_bar_10_bar__minus_2_bar_2_bar_30 - location\n loc_bar_9_bar__minus_1_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42 ShelfType)\n (receptacleType 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Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41 ShelfType)\n (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_58 DrawerType)\n (receptacleType GarbageCan_bar__plus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_22 GarbageCanType)\n (receptacleType Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42 ShelfType)\n (receptacleType Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42 ShelfType)\n (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_92 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_21 DrawerType)\n (receptacleType Shelf_bar__plus_02_dot_70_bar__plus_01_dot_27_bar__minus_01_dot_42 ShelfType)\n (receptacleType Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41 ShelfType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_58 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21 DrawerType)\n (receptacleType Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75 DresserType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21 DrawerType)\n (objectType CellPhone_bar__minus_00_dot_63_bar__plus_00_dot_57_bar__plus_01_dot_34 CellPhoneType)\n (objectType CreditCard_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_28 CreditCardType)\n (objectType Watch_bar__minus_01_dot_35_bar__plus_00_dot_11_bar__minus_00_dot_88 WatchType)\n (objectType CellPhone_bar__plus_02_dot_79_bar__plus_00_dot_57_bar__minus_01_dot_19 CellPhoneType)\n (objectType Watch_bar__minus_01_dot_29_bar__plus_00_dot_68_bar__minus_00_dot_65 WatchType)\n (objectType KeyChain_bar__plus_01_dot_96_bar__plus_01_dot_05_bar__minus_01_dot_39 KeyChainType)\n (objectType AlarmClock_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_22 AlarmClockType)\n (objectType CD_bar__minus_01_dot_32_bar__plus_01_dot_23_bar__minus_00_dot_46 CDType)\n (objectType Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21 BowlType)\n (objectType BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84 BaseballBatType)\n (objectType Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22 MugType)\n (objectType Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89 BoxType)\n (objectType AlarmClock_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_15 AlarmClockType)\n (objectType CreditCard_bar__minus_01_dot_27_bar__plus_00_dot_68_bar__minus_00_dot_85 CreditCardType)\n (objectType Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34 BootsType)\n (objectType BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98 BasketBallType)\n (objectType Window_bar__plus_00_dot_12_bar__plus_01_dot_50_bar__minus_01_dot_59 WindowType)\n (objectType Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 StatueType)\n (objectType CreditCard_bar__plus_02_dot_02_bar__plus_00_dot_35_bar__minus_01_dot_25 CreditCardType)\n (objectType Laptop_bar__minus_00_dot_98_bar__plus_00_dot_56_bar__plus_00_dot_60 LaptopType)\n (objectType CellPhone_bar__minus_00_dot_98_bar__plus_00_dot_57_bar__plus_00_dot_11 CellPhoneType)\n (objectType DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 DeskLampType)\n (objectType Pencil_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_19 PencilType)\n (objectType TissueBox_bar__plus_01_dot_91_bar__plus_00_dot_57_bar__minus_01_dot_22 TissueBoxType)\n (objectType 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ShelfType BookType)\n (canContain ShelfType WatchType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain ShelfType AlarmClockType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType WatchType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain ShelfType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DresserType PenType)\n (canContain DresserType BookType)\n (canContain DresserType WatchType)\n (canContain DresserType BowlType)\n (canContain DresserType CDType)\n (canContain DresserType MugType)\n (canContain DresserType BoxType)\n (canContain DresserType CellPhoneType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType BasketBallType)\n (canContain DresserType LaptopType)\n (canContain DresserType PencilType)\n (canContain DresserType TissueBoxType)\n (canContain DresserType StatueType)\n (canContain DresserType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (pickupable CellPhone_bar__minus_00_dot_63_bar__plus_00_dot_57_bar__plus_01_dot_34)\n (pickupable CreditCard_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_28)\n (pickupable Watch_bar__minus_01_dot_35_bar__plus_00_dot_11_bar__minus_00_dot_88)\n (pickupable CellPhone_bar__plus_02_dot_79_bar__plus_00_dot_57_bar__minus_01_dot_19)\n (pickupable Watch_bar__minus_01_dot_29_bar__plus_00_dot_68_bar__minus_00_dot_65)\n (pickupable KeyChain_bar__plus_01_dot_96_bar__plus_01_dot_05_bar__minus_01_dot_39)\n (pickupable AlarmClock_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_22)\n (pickupable CD_bar__minus_01_dot_32_bar__plus_01_dot_23_bar__minus_00_dot_46)\n (pickupable Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21)\n (pickupable BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84)\n (pickupable Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22)\n (pickupable Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89)\n (pickupable AlarmClock_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_15)\n (pickupable CreditCard_bar__minus_01_dot_27_bar__plus_00_dot_68_bar__minus_00_dot_85)\n (pickupable Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34)\n (pickupable BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98)\n (pickupable Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42)\n (pickupable CreditCard_bar__plus_02_dot_02_bar__plus_00_dot_35_bar__minus_01_dot_25)\n (pickupable Laptop_bar__minus_00_dot_98_bar__plus_00_dot_56_bar__plus_00_dot_60)\n (pickupable CellPhone_bar__minus_00_dot_98_bar__plus_00_dot_57_bar__plus_00_dot_11)\n (pickupable Pencil_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_19)\n (pickupable TissueBox_bar__plus_01_dot_91_bar__plus_00_dot_57_bar__minus_01_dot_22)\n (pickupable CD_bar__minus_01_dot_25_bar__plus_01_dot_23_bar__minus_00_dot_84)\n (pickupable Pen_bar__plus_02_dot_16_bar__plus_01_dot_28_bar__minus_01_dot_37)\n (pickupable Pencil_bar__minus_01_dot_28_bar__plus_01_dot_24_bar__minus_00_dot_75)\n (pickupable Book_bar__minus_00_dot_90_bar__plus_00_dot_57_bar__plus_01_dot_18)\n (pickupable TissueBox_bar__plus_01_dot_98_bar__plus_00_dot_13_bar__minus_01_dot_22)\n (pickupable Pen_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_00_dot_54)\n (pickupable Laptop_bar__minus_00_dot_46_bar__plus_00_dot_56_bar__plus_01_dot_09)\n (pickupable Pillow_bar__minus_00_dot_46_bar__plus_00_dot_64_bar__plus_00_dot_11)\n (pickupable AlarmClock_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_22)\n (pickupable Pen_bar__plus_02_dot_59_bar__plus_01_dot_05_bar__minus_01_dot_37)\n (pickupable KeyChain_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_39)\n (pickupable Pencil_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_65)\n (pickupable TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_38_bar__minus_00_dot_58)\n (isReceptacleObject Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21)\n (isReceptacleObject Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22)\n (isReceptacleObject Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89)\n (openable Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21)\n (openable Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21)\n (openable Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21)\n (openable Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21)\n (openable Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21)\n (openable Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21)\n (openable Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21)\n \n (atLocation agent1 loc_bar_9_bar__minus_1_bar_2_bar_30)\n \n (cleanable Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21)\n (cleanable Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22)\n \n (heatable Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22)\n (coolable Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21)\n (coolable Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22)\n \n \n (toggleable DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99)\n \n \n \n \n (inReceptacle KeyChain_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_39 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42)\n (inReceptacle Watch_bar__minus_01_dot_35_bar__plus_00_dot_11_bar__minus_00_dot_88 Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92)\n (inReceptacle Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle AlarmClock_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_15 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle CreditCard_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_28 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle Pencil_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_19 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle AlarmClock_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_22 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle AlarmClock_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_22 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle CreditCard_bar__minus_01_dot_27_bar__plus_00_dot_68_bar__minus_00_dot_85 Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_92)\n (inReceptacle CreditCard_bar__plus_02_dot_02_bar__plus_00_dot_35_bar__minus_01_dot_25 Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21)\n (inReceptacle TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_38_bar__minus_00_dot_58 Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_58)\n (inReceptacle Pen_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_00_dot_54 Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58)\n (inReceptacle CellPhone_bar__plus_02_dot_79_bar__plus_00_dot_57_bar__minus_01_dot_19 Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21)\n (inReceptacle TissueBox_bar__plus_01_dot_98_bar__plus_00_dot_13_bar__minus_01_dot_22 Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21)\n (inReceptacle TissueBox_bar__plus_01_dot_91_bar__plus_00_dot_57_bar__minus_01_dot_22 Drawer_bar__plus_01_dot_95_bar__plus_00_dot_62_bar__minus_01_dot_21)\n (inReceptacle CD_bar__minus_01_dot_32_bar__plus_01_dot_23_bar__minus_00_dot_46 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75)\n (inReceptacle DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75)\n (inReceptacle CD_bar__minus_01_dot_25_bar__plus_01_dot_23_bar__minus_00_dot_84 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75)\n (inReceptacle Pencil_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_65 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75)\n (inReceptacle Pencil_bar__minus_01_dot_28_bar__plus_01_dot_24_bar__minus_00_dot_75 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75)\n (inReceptacle Watch_bar__minus_01_dot_29_bar__plus_00_dot_68_bar__minus_00_dot_65 Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_58)\n (inReceptacle Book_bar__minus_00_dot_90_bar__plus_00_dot_57_bar__plus_01_dot_18 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87)\n (inReceptacle CellPhone_bar__minus_00_dot_63_bar__plus_00_dot_57_bar__plus_01_dot_34 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87)\n (inReceptacle Laptop_bar__minus_00_dot_98_bar__plus_00_dot_56_bar__plus_00_dot_60 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87)\n (inReceptacle CellPhone_bar__minus_00_dot_98_bar__plus_00_dot_57_bar__plus_00_dot_11 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87)\n (inReceptacle Laptop_bar__minus_00_dot_46_bar__plus_00_dot_56_bar__plus_01_dot_09 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87)\n (inReceptacle Pillow_bar__minus_00_dot_46_bar__plus_00_dot_64_bar__plus_00_dot_11 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87)\n (inReceptacle Pen_bar__plus_02_dot_59_bar__plus_01_dot_05_bar__minus_01_dot_37 Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41)\n (inReceptacle KeyChain_bar__plus_01_dot_96_bar__plus_01_dot_05_bar__minus_01_dot_39 Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42)\n (inReceptacle Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42)\n (inReceptacle Pen_bar__plus_02_dot_16_bar__plus_01_dot_28_bar__minus_01_dot_37 Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42)\n \n \n (receptacleAtLocation Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87 loc_bar_3_bar_5_bar_3_bar_45)\n (receptacleAtLocation Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21 loc_bar_3_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21 loc_bar_3_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21 loc_bar_1_bar__minus_4_bar_1_bar_30)\n (receptacleAtLocation Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21 loc_bar_4_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21 loc_bar_4_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_95_bar__plus_00_dot_62_bar__minus_01_dot_21 loc_bar_8_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_21 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21 loc_bar_8_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21 loc_bar_8_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92 loc_bar__minus_3_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_92 loc_bar__minus_3_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_92 loc_bar__minus_3_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_92 loc_bar__minus_3_bar__minus_4_bar_3_bar_45)\n (receptacleAtLocation Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_22 loc_bar_10_bar_1_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42 loc_bar_8_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42 loc_bar_7_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42 loc_bar_8_bar__minus_3_bar_2_bar_30)\n (receptacleAtLocation Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41 loc_bar_10_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41 loc_bar_10_bar__minus_2_bar_2_bar_30)\n (receptacleAtLocation Shelf_bar__plus_02_dot_70_bar__plus_01_dot_27_bar__minus_01_dot_42 loc_bar_10_bar__minus_2_bar_2_bar_30)\n (objectAtLocation Pen_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_00_dot_54 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (objectAtLocation CD_bar__minus_01_dot_32_bar__plus_01_dot_23_bar__minus_00_dot_46 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Watch_bar__minus_01_dot_29_bar__plus_00_dot_68_bar__minus_00_dot_65 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (objectAtLocation KeyChain_bar__plus_01_dot_96_bar__plus_01_dot_05_bar__minus_01_dot_39 loc_bar_7_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Pencil_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_19 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation AlarmClock_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_22 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_27_bar__plus_00_dot_68_bar__minus_00_dot_85 loc_bar__minus_3_bar__minus_4_bar_3_bar_60)\n (objectAtLocation TissueBox_bar__plus_01_dot_98_bar__plus_00_dot_13_bar__minus_01_dot_22 loc_bar_4_bar__minus_2_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__minus_00_dot_63_bar__plus_00_dot_57_bar__plus_01_dot_34 loc_bar_3_bar_5_bar_3_bar_45)\n (objectAtLocation Laptop_bar__minus_00_dot_98_bar__plus_00_dot_56_bar__plus_00_dot_60 loc_bar_3_bar_5_bar_3_bar_45)\n (objectAtLocation AlarmClock_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_22 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_28 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Pencil_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_65 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Pen_bar__plus_02_dot_16_bar__plus_01_dot_28_bar__minus_01_dot_37 loc_bar_8_bar__minus_3_bar_2_bar_30)\n (objectAtLocation CellPhone_bar__minus_00_dot_98_bar__plus_00_dot_57_bar__plus_00_dot_11 loc_bar_3_bar_5_bar_3_bar_45)\n (objectAtLocation TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_38_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_90_bar__plus_00_dot_57_bar__plus_01_dot_18 loc_bar_3_bar_5_bar_3_bar_45)\n (objectAtLocation Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89 loc_bar_9_bar_4_bar_1_bar_60)\n (objectAtLocation Chair_bar__plus_02_dot_40_bar__plus_00_dot_00_bar__minus_01_dot_08 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_46_bar__plus_00_dot_56_bar__plus_01_dot_09 loc_bar_3_bar_5_bar_3_bar_45)\n (objectAtLocation CellPhone_bar__plus_02_dot_79_bar__plus_00_dot_57_bar__minus_01_dot_19 loc_bar_8_bar__minus_3_bar_1_bar_45)\n (objectAtLocation BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84 loc_bar_10_bar_5_bar_0_bar_60)\n (objectAtLocation DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation TissueBox_bar__plus_01_dot_91_bar__plus_00_dot_57_bar__minus_01_dot_22 loc_bar_8_bar__minus_3_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__plus_02_dot_02_bar__plus_00_dot_35_bar__minus_01_dot_25 loc_bar_4_bar__minus_2_bar_1_bar_60)\n (objectAtLocation AlarmClock_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_15 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Pencil_bar__minus_01_dot_28_bar__plus_01_dot_24_bar__minus_00_dot_75 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34 loc_bar__minus_3_bar__minus_4_bar_3_bar_60)\n (objectAtLocation Blinds_bar__plus_00_dot_11_bar__plus_02_dot_34_bar__minus_01_dot_44 loc_bar_0_bar__minus_4_bar_2_bar__minus_30)\n (objectAtLocation Pillow_bar__minus_00_dot_46_bar__plus_00_dot_64_bar__plus_00_dot_11 loc_bar_3_bar_5_bar_3_bar_45)\n (objectAtLocation KeyChain_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_39 loc_bar_8_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Watch_bar__minus_01_dot_35_bar__plus_00_dot_11_bar__minus_00_dot_88 loc_bar__minus_3_bar__minus_4_bar_3_bar_60)\n (objectAtLocation Mirror_bar__plus_01_dot_99_bar__plus_01_dot_38_bar__plus_01_dot_88 loc_bar_8_bar_5_bar_0_bar_30)\n (objectAtLocation CD_bar__minus_01_dot_25_bar__plus_01_dot_23_bar__minus_00_dot_84 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Pen_bar__plus_02_dot_59_bar__plus_01_dot_05_bar__minus_01_dot_37 loc_bar_10_bar__minus_2_bar_2_bar_30)\n (objectAtLocation Window_bar__plus_00_dot_12_bar__plus_01_dot_50_bar__minus_01_dot_59 loc_bar_0_bar__minus_4_bar_2_bar_15)\n (objectAtLocation LightSwitch_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__plus_01_dot_90 loc_bar_10_bar_5_bar_0_bar_30)\n (objectAtLocation Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 loc_bar_7_bar__minus_3_bar_2_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 PencilType)\n (receptacleType ?r ShelfType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 PencilType)\n (receptacleType ?r ShelfType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to desk 1", "take pencil 1 from desk 1", "go to shelf 2", "move pencil 1 to shelf 2", "go to dresser 1", "take pencil 3 from dresser 1", "go to shelf 2", "move pencil 3 to shelf 2"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pencil-None-Shelf-301/trial_T20190909_011323_432966/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pencil-None-Shelf-301/trial_T20190909_011323_432966/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..6752bcc50244a9da29ab1af0950688622c2ba3dc --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pencil-None-Shelf-301/trial_T20190909_011323_432966/initial_state.pddl @@ -0,0 +1,833 @@ + +(define (problem plan_trial_T20190909_011323_432966) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + AlarmClock_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_15 - object + AlarmClock_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_22 - object + AlarmClock_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_22 - object + BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84 - object + BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98 - object + Blinds_bar__plus_00_dot_11_bar__plus_02_dot_34_bar__minus_01_dot_44 - object + Book_bar__minus_00_dot_90_bar__plus_00_dot_57_bar__plus_01_dot_18 - object + Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34 - object + Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21 - object + Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89 - object + CD_bar__minus_01_dot_25_bar__plus_01_dot_23_bar__minus_00_dot_84 - object + CD_bar__minus_01_dot_32_bar__plus_01_dot_23_bar__minus_00_dot_46 - object + CellPhone_bar__plus_02_dot_79_bar__plus_00_dot_57_bar__minus_01_dot_19 - object + CellPhone_bar__minus_00_dot_63_bar__plus_00_dot_57_bar__plus_01_dot_34 - object + CellPhone_bar__minus_00_dot_98_bar__plus_00_dot_57_bar__plus_00_dot_11 - object + Chair_bar__plus_02_dot_40_bar__plus_00_dot_00_bar__minus_01_dot_08 - object + CreditCard_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_28 - object + CreditCard_bar__plus_02_dot_02_bar__plus_00_dot_35_bar__minus_01_dot_25 - object + CreditCard_bar__minus_01_dot_27_bar__plus_00_dot_68_bar__minus_00_dot_85 - object + DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 - object + KeyChain_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_39 - object + KeyChain_bar__plus_01_dot_96_bar__plus_01_dot_05_bar__minus_01_dot_39 - object + Laptop_bar__minus_00_dot_46_bar__plus_00_dot_56_bar__plus_01_dot_09 - object + Laptop_bar__minus_00_dot_98_bar__plus_00_dot_56_bar__plus_00_dot_60 - object + LightSwitch_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__plus_01_dot_90 - object + Mirror_bar__plus_01_dot_99_bar__plus_01_dot_38_bar__plus_01_dot_88 - object + Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22 - object + Pencil_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_19 - object + Pencil_bar__minus_01_dot_28_bar__plus_01_dot_24_bar__minus_00_dot_75 - object + Pencil_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_65 - object + Pen_bar__plus_02_dot_16_bar__plus_01_dot_28_bar__minus_01_dot_37 - object + Pen_bar__plus_02_dot_59_bar__plus_01_dot_05_bar__minus_01_dot_37 - object + Pen_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_00_dot_54 - object + Pillow_bar__minus_00_dot_46_bar__plus_00_dot_64_bar__plus_00_dot_11 - object + Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 - object + TissueBox_bar__plus_01_dot_91_bar__plus_00_dot_57_bar__minus_01_dot_22 - object + TissueBox_bar__plus_01_dot_98_bar__plus_00_dot_13_bar__minus_01_dot_22 - object + TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_38_bar__minus_00_dot_58 - object + Watch_bar__minus_01_dot_29_bar__plus_00_dot_68_bar__minus_00_dot_65 - object + Watch_bar__minus_01_dot_35_bar__plus_00_dot_11_bar__minus_00_dot_88 - object + Window_bar__plus_00_dot_12_bar__plus_01_dot_50_bar__minus_01_dot_59 - object + Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87 - receptacle + Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15 - receptacle + Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21 - receptacle + Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21 - receptacle + Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21 - receptacle + Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21 - receptacle + Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21 - receptacle + Drawer_bar__plus_01_dot_95_bar__plus_00_dot_62_bar__minus_01_dot_21 - receptacle + Drawer_bar__plus_02_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_21 - receptacle + Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21 - receptacle + Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21 - receptacle + Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58 - receptacle + Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92 - receptacle + Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_58 - receptacle + Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_92 - receptacle + Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_58 - receptacle + Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_92 - receptacle + Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_58 - receptacle + Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_92 - receptacle + Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75 - receptacle + GarbageCan_bar__plus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_22 - receptacle + Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42 - receptacle + Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42 - receptacle + Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42 - receptacle + Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41 - receptacle + Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41 - receptacle + Shelf_bar__plus_02_dot_70_bar__plus_01_dot_27_bar__minus_01_dot_42 - receptacle + loc_bar_9_bar_4_bar_1_bar_60 - location + loc_bar_10_bar__minus_2_bar_2_bar_60 - location + loc_bar_8_bar__minus_3_bar_2_bar_45 - location + loc_bar_8_bar__minus_2_bar_1_bar_60 - location + loc_bar_3_bar_5_bar_3_bar_45 - location + loc_bar_10_bar_5_bar_0_bar_30 - location + loc_bar_3_bar__minus_2_bar_1_bar_60 - location + loc_bar_8_bar__minus_3_bar_1_bar_45 - location + loc_bar_0_bar__minus_4_bar_2_bar_15 - location + loc_bar__minus_3_bar__minus_4_bar_3_bar_60 - location + loc_bar_9_bar__minus_2_bar_2_bar_60 - location + loc_bar_1_bar__minus_4_bar_1_bar_30 - location + loc_bar__minus_3_bar__minus_2_bar_3_bar_45 - location + loc_bar_0_bar__minus_4_bar_2_bar__minus_30 - location + loc_bar__minus_3_bar__minus_3_bar_3_bar_60 - location + loc_bar_4_bar__minus_2_bar_2_bar_60 - location + loc_bar_10_bar_1_bar_1_bar_60 - location + loc_bar_7_bar__minus_3_bar_2_bar_45 - location + loc_bar__minus_3_bar__minus_2_bar_3_bar_60 - location + loc_bar_4_bar__minus_2_bar_1_bar_60 - location + loc_bar_8_bar_5_bar_0_bar_30 - location + loc_bar_8_bar__minus_3_bar_2_bar_30 - location + loc_bar_10_bar_5_bar_0_bar_60 - location + loc_bar_8_bar__minus_3_bar_2_bar_60 - location + loc_bar_10_bar__minus_2_bar_2_bar_45 - location + loc_bar__minus_3_bar__minus_4_bar_3_bar_45 - location + loc_bar_10_bar__minus_2_bar_2_bar_30 - location + loc_bar_9_bar__minus_1_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42 ShelfType) + (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_92 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType) + (receptacleType Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15 DeskType) + (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_92 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_58 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21 DrawerType) + (receptacleType Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87 BedType) + (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType) + (receptacleType 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(isReceptacleObject Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22) + (isReceptacleObject Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89) + (openable Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21) + (openable Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21) + (openable Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21) + (openable Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21) + (openable Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21) + (openable Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21) + (openable Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21) + + (atLocation agent1 loc_bar_9_bar__minus_1_bar_2_bar_30) + + (cleanable Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21) + (cleanable Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22) + + (heatable Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22) + (coolable Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21) + (coolable Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22) + + + (toggleable DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99) + + + + + (inReceptacle KeyChain_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_39 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42) + (inReceptacle Watch_bar__minus_01_dot_35_bar__plus_00_dot_11_bar__minus_00_dot_88 Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92) + (inReceptacle Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15) + (inReceptacle AlarmClock_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_15 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15) + (inReceptacle CreditCard_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_28 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15) + (inReceptacle Pencil_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_19 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15) + (inReceptacle AlarmClock_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_22 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15) + (inReceptacle AlarmClock_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_22 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15) + (inReceptacle Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15) + (inReceptacle CreditCard_bar__minus_01_dot_27_bar__plus_00_dot_68_bar__minus_00_dot_85 Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_92) + (inReceptacle CreditCard_bar__plus_02_dot_02_bar__plus_00_dot_35_bar__minus_01_dot_25 Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21) + (inReceptacle TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_38_bar__minus_00_dot_58 Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_58) + (inReceptacle Pen_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_00_dot_54 Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58) + (inReceptacle CellPhone_bar__plus_02_dot_79_bar__plus_00_dot_57_bar__minus_01_dot_19 Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21) + (inReceptacle TissueBox_bar__plus_01_dot_98_bar__plus_00_dot_13_bar__minus_01_dot_22 Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21) + (inReceptacle TissueBox_bar__plus_01_dot_91_bar__plus_00_dot_57_bar__minus_01_dot_22 Drawer_bar__plus_01_dot_95_bar__plus_00_dot_62_bar__minus_01_dot_21) + (inReceptacle CD_bar__minus_01_dot_32_bar__plus_01_dot_23_bar__minus_00_dot_46 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75) + (inReceptacle DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75) + (inReceptacle CD_bar__minus_01_dot_25_bar__plus_01_dot_23_bar__minus_00_dot_84 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75) + (inReceptacle Pencil_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_65 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75) + (inReceptacle Pencil_bar__minus_01_dot_28_bar__plus_01_dot_24_bar__minus_00_dot_75 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75) + (inReceptacle Watch_bar__minus_01_dot_29_bar__plus_00_dot_68_bar__minus_00_dot_65 Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_58) + (inReceptacle Book_bar__minus_00_dot_90_bar__plus_00_dot_57_bar__plus_01_dot_18 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87) + (inReceptacle CellPhone_bar__minus_00_dot_63_bar__plus_00_dot_57_bar__plus_01_dot_34 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87) + (inReceptacle Laptop_bar__minus_00_dot_98_bar__plus_00_dot_56_bar__plus_00_dot_60 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87) + (inReceptacle CellPhone_bar__minus_00_dot_98_bar__plus_00_dot_57_bar__plus_00_dot_11 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87) + (inReceptacle Laptop_bar__minus_00_dot_46_bar__plus_00_dot_56_bar__plus_01_dot_09 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87) + (inReceptacle Pillow_bar__minus_00_dot_46_bar__plus_00_dot_64_bar__plus_00_dot_11 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87) + (inReceptacle Pen_bar__plus_02_dot_59_bar__plus_01_dot_05_bar__minus_01_dot_37 Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41) + (inReceptacle KeyChain_bar__plus_01_dot_96_bar__plus_01_dot_05_bar__minus_01_dot_39 Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42) + (inReceptacle Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42) + (inReceptacle Pen_bar__plus_02_dot_16_bar__plus_01_dot_28_bar__minus_01_dot_37 Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42) + + + (receptacleAtLocation Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87 loc_bar_3_bar_5_bar_3_bar_45) + (receptacleAtLocation Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15 loc_bar_9_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21 loc_bar_3_bar__minus_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21 loc_bar_3_bar__minus_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21 loc_bar_1_bar__minus_4_bar_1_bar_30) + (receptacleAtLocation Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21 loc_bar_4_bar__minus_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21 loc_bar_4_bar__minus_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_95_bar__plus_00_dot_62_bar__minus_01_dot_21 loc_bar_8_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_21 loc_bar_10_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21 loc_bar_8_bar__minus_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21 loc_bar_8_bar__minus_3_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92 loc_bar__minus_3_bar__minus_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_92 loc_bar__minus_3_bar__minus_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_92 loc_bar__minus_3_bar__minus_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_92 loc_bar__minus_3_bar__minus_4_bar_3_bar_45) + (receptacleAtLocation Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75 loc_bar__minus_3_bar__minus_3_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_22 loc_bar_10_bar_1_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42 loc_bar_8_bar__minus_3_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42 loc_bar_7_bar__minus_3_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42 loc_bar_8_bar__minus_3_bar_2_bar_30) + (receptacleAtLocation Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41 loc_bar_10_bar__minus_2_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41 loc_bar_10_bar__minus_2_bar_2_bar_30) + (receptacleAtLocation Shelf_bar__plus_02_dot_70_bar__plus_01_dot_27_bar__minus_01_dot_42 loc_bar_10_bar__minus_2_bar_2_bar_30) + (objectAtLocation Pen_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_00_dot_54 loc_bar__minus_3_bar__minus_2_bar_3_bar_60) + (objectAtLocation CD_bar__minus_01_dot_32_bar__plus_01_dot_23_bar__minus_00_dot_46 loc_bar__minus_3_bar__minus_3_bar_3_bar_60) + (objectAtLocation Watch_bar__minus_01_dot_29_bar__plus_00_dot_68_bar__minus_00_dot_65 loc_bar__minus_3_bar__minus_2_bar_3_bar_60) + (objectAtLocation KeyChain_bar__plus_01_dot_96_bar__plus_01_dot_05_bar__minus_01_dot_39 loc_bar_7_bar__minus_3_bar_2_bar_45) + (objectAtLocation Pencil_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_19 loc_bar_9_bar__minus_2_bar_2_bar_60) + (objectAtLocation AlarmClock_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_22 loc_bar_9_bar__minus_2_bar_2_bar_60) + (objectAtLocation CreditCard_bar__minus_01_dot_27_bar__plus_00_dot_68_bar__minus_00_dot_85 loc_bar__minus_3_bar__minus_4_bar_3_bar_60) + (objectAtLocation TissueBox_bar__plus_01_dot_98_bar__plus_00_dot_13_bar__minus_01_dot_22 loc_bar_4_bar__minus_2_bar_1_bar_60) + (objectAtLocation CellPhone_bar__minus_00_dot_63_bar__plus_00_dot_57_bar__plus_01_dot_34 loc_bar_3_bar_5_bar_3_bar_45) + (objectAtLocation Laptop_bar__minus_00_dot_98_bar__plus_00_dot_56_bar__plus_00_dot_60 loc_bar_3_bar_5_bar_3_bar_45) + (objectAtLocation AlarmClock_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_22 loc_bar_9_bar__minus_2_bar_2_bar_60) + (objectAtLocation CreditCard_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_28 loc_bar_9_bar__minus_2_bar_2_bar_60) + (objectAtLocation Pencil_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_65 loc_bar__minus_3_bar__minus_3_bar_3_bar_60) + (objectAtLocation Pen_bar__plus_02_dot_16_bar__plus_01_dot_28_bar__minus_01_dot_37 loc_bar_8_bar__minus_3_bar_2_bar_30) + (objectAtLocation CellPhone_bar__minus_00_dot_98_bar__plus_00_dot_57_bar__plus_00_dot_11 loc_bar_3_bar_5_bar_3_bar_45) + (objectAtLocation TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_38_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_60) + (objectAtLocation Book_bar__minus_00_dot_90_bar__plus_00_dot_57_bar__plus_01_dot_18 loc_bar_3_bar_5_bar_3_bar_45) + (objectAtLocation Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89 loc_bar_9_bar_4_bar_1_bar_60) + (objectAtLocation Chair_bar__plus_02_dot_40_bar__plus_00_dot_00_bar__minus_01_dot_08 loc_bar_10_bar__minus_2_bar_2_bar_60) + (objectAtLocation Laptop_bar__minus_00_dot_46_bar__plus_00_dot_56_bar__plus_01_dot_09 loc_bar_3_bar_5_bar_3_bar_45) + (objectAtLocation CellPhone_bar__plus_02_dot_79_bar__plus_00_dot_57_bar__minus_01_dot_19 loc_bar_8_bar__minus_3_bar_1_bar_45) + (objectAtLocation BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84 loc_bar_10_bar_5_bar_0_bar_60) + (objectAtLocation DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 loc_bar__minus_3_bar__minus_3_bar_3_bar_60) + (objectAtLocation BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98 loc_bar_4_bar__minus_2_bar_2_bar_60) + (objectAtLocation TissueBox_bar__plus_01_dot_91_bar__plus_00_dot_57_bar__minus_01_dot_22 loc_bar_8_bar__minus_3_bar_2_bar_60) + (objectAtLocation CreditCard_bar__plus_02_dot_02_bar__plus_00_dot_35_bar__minus_01_dot_25 loc_bar_4_bar__minus_2_bar_1_bar_60) + (objectAtLocation AlarmClock_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_15 loc_bar_9_bar__minus_2_bar_2_bar_60) + (objectAtLocation Pencil_bar__minus_01_dot_28_bar__plus_01_dot_24_bar__minus_00_dot_75 loc_bar__minus_3_bar__minus_3_bar_3_bar_60) + (objectAtLocation Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34 loc_bar__minus_3_bar__minus_4_bar_3_bar_60) + (objectAtLocation Blinds_bar__plus_00_dot_11_bar__plus_02_dot_34_bar__minus_01_dot_44 loc_bar_0_bar__minus_4_bar_2_bar__minus_30) + (objectAtLocation Pillow_bar__minus_00_dot_46_bar__plus_00_dot_64_bar__plus_00_dot_11 loc_bar_3_bar_5_bar_3_bar_45) + (objectAtLocation KeyChain_bar__plus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_39 loc_bar_8_bar__minus_3_bar_2_bar_45) + (objectAtLocation Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21 loc_bar_9_bar__minus_2_bar_2_bar_60) + (objectAtLocation Watch_bar__minus_01_dot_35_bar__plus_00_dot_11_bar__minus_00_dot_88 loc_bar__minus_3_bar__minus_4_bar_3_bar_60) + (objectAtLocation Mirror_bar__plus_01_dot_99_bar__plus_01_dot_38_bar__plus_01_dot_88 loc_bar_8_bar_5_bar_0_bar_30) + (objectAtLocation CD_bar__minus_01_dot_25_bar__plus_01_dot_23_bar__minus_00_dot_84 loc_bar__minus_3_bar__minus_3_bar_3_bar_60) + (objectAtLocation Pen_bar__plus_02_dot_59_bar__plus_01_dot_05_bar__minus_01_dot_37 loc_bar_10_bar__minus_2_bar_2_bar_30) + (objectAtLocation Window_bar__plus_00_dot_12_bar__plus_01_dot_50_bar__minus_01_dot_59 loc_bar_0_bar__minus_4_bar_2_bar_15) + (objectAtLocation LightSwitch_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__plus_01_dot_90 loc_bar_10_bar_5_bar_0_bar_30) + (objectAtLocation Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22 loc_bar_9_bar__minus_2_bar_2_bar_60) + (objectAtLocation Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 loc_bar_7_bar__minus_3_bar_2_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 PencilType) + (receptacleType ?r ShelfType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 PencilType) + (receptacleType ?r ShelfType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pencil-None-Shelf-301/trial_T20190909_011323_432966/traj_data.json b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pencil-None-Shelf-301/trial_T20190909_011323_432966/traj_data.json new file mode 100644 index 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}, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Watch_0f7be4f9", + "position": { + "x": -1.29435253, + "y": 0.676453769, + "z": -0.65047 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CD_f25640ea", + "position": { + "x": -1.31801915, + "y": 1.23452353, + "z": -0.458181381 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pen_d94967db", + "position": { + "x": -1.29335022, + "y": 0.111808971, + "z": -0.5444698 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_2a940808", + "position": { + "x": 2.82123184, + "y": 0.7887154, + "z": -1.22375691 + }, + "rotation": { + "x": -0.000521142036, + "y": 4.2662964e-06, + "z": 0.00056537363 + } + }, + { + "objectName": "Statue_e0075340", + "position": { + "x": 1.823921, + "y": 1.036511, + "z": -1.419659 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 1274954093, + "scene_num": 301 + }, + "task_id": "trial_T20190909_011323_432966", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A32W24TWSWXW_3UJ1CZ6IZKGW08KNQLK0BEJ1KVU5SK", + "high_descs": [ + "Turn right for one step, turn left to face the desk.", + "Pick up the pencil sitting on the desk to the right of the chair.", + "Stand holding the pencil up.", + "Put the pencil on the second shelf horizontal to the dog and the tip facing the keys.", + "Turn around for one step, turn left and walk past the bean bag chair, take a left and then a right, and walk toward the dresser at the foot of the bed.", + "Pick up the pencil on the right.", + "Turn right for one step, turn right again and walk past the bean bag chair then turn right to face the desk.", + "Put the pencil on the second shelf, vertically behind middle of the existing pencil with the tip up and pencil leaning back on the dog statue." + ], + "task_desc": "Put two pencils on the hutch shelf, one horizontal and one vertical.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1O3TWBUDONVLO_3YMTUJH0DV7FJPT21G6GGR99MJKT41", + "high_descs": [ + "Take a step to the right to face the right end of the desk.", + "Pick up the pencil on the desk.", + "Look up to face the shelf with a statue on it.", + "Place the pencil on the shelf with the statue.", + "Turn right and walk across the room to face the dresser.", + "Pick up the pencil to the right on the dresser.", + "Turn around and walk across the room and turn right to face the desk.", + "Place the pencil on the shelf of the desk with the other pencil." + ], + "task_desc": "To move two pencils to the shelf of the desk with the statue.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3C81THYYSBGVD_3WYGZ5XF3Z6ZIR5QX8O6D32JHM8SKD", + "high_descs": [ + "Turn right and face the desk on your left.", + "Take the pencil from the desk in front of you.", + "Look up at the shelves in front of you.", + "Place the pencil on the top shelf in front of you.", + "Turn right and face the dresser in front of you.", + "Take the blue pencil off the dresser in front of you.", + "Turn around and face the desk on your right.", + "Place the pencil on the top shelf of the desk in front of you." + ], + "task_desc": "Move pencil to the top self of the desk.", + "votes": [ + 0, + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pencil-None-Shelf-301/trial_T20190909_011401_611613/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pencil-None-Shelf-301/trial_T20190909_011401_611613/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..57c3142ca30da9a0d6539c8cad671c3c310f7827 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pencil-None-Shelf-301/trial_T20190909_011401_611613/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 pencil in shelf.\"\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_011401_611613)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n AlarmClock_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_22 - object\n AlarmClock_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_19 - object\n BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84 - object\n BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98 - object\n Blinds_bar__plus_00_dot_11_bar__plus_02_dot_34_bar__minus_01_dot_44 - object\n Book_bar__minus_00_dot_98_bar__plus_00_dot_57_bar__plus_00_dot_36 - object\n Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34 - object\n Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21 - object\n Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89 - object\n CD_bar__plus_01_dot_91_bar__plus_00_dot_13_bar__minus_01_dot_22 - object\n CD_bar__plus_02_dot_76_bar__plus_00_dot_13_bar__minus_01_dot_19 - object\n CD_bar__minus_01_dot_39_bar__plus_01_dot_23_bar__minus_00_dot_84 - object\n CellPhone_bar__minus_00_dot_29_bar__plus_00_dot_57_bar__plus_01_dot_09 - object\n CellPhone_bar__minus_01_dot_39_bar__plus_01_dot_24_bar__minus_00_dot_46 - object\n Chair_bar__plus_02_dot_40_bar__plus_00_dot_00_bar__minus_01_dot_08 - object\n CreditCard_bar__plus_02_dot_59_bar__plus_01_dot_04_bar__minus_01_dot_41 - object\n DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 - object\n KeyChain_bar__plus_02_dot_26_bar__plus_01_dot_28_bar__minus_01_dot_39 - object\n Laptop_bar__minus_00_dot_50_bar__plus_00_dot_56_bar__plus_00_dot_29 - object\n LightSwitch_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__plus_01_dot_90 - object\n Mirror_bar__plus_01_dot_99_bar__plus_01_dot_38_bar__plus_01_dot_88 - object\n Mug_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_28 - object\n Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22 - object\n Pencil_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_12 - object\n Pencil_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_75 - object\n Pen_bar__plus_01_dot_71_bar__plus_00_dot_81_bar__minus_01_dot_37 - object\n Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61 - object\n Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 - object\n TissueBox_bar__plus_01_dot_59_bar__plus_00_dot_13_bar__minus_01_dot_22 - object\n TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_97_bar__minus_00_dot_95 - object\n Watch_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_28 - object\n Watch_bar__plus_02_dot_48_bar__plus_01_dot_04_bar__minus_01_dot_38 - object\n Watch_bar__minus_01_dot_32_bar__plus_01_dot_24_bar__minus_00_dot_65 - object\n Window_bar__plus_00_dot_12_bar__plus_01_dot_50_bar__minus_01_dot_59 - object\n Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87 - receptacle\n Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15 - receptacle\n Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_01_dot_95_bar__plus_00_dot_62_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_02_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_58 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_92 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_58 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_92 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_58 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_92 - receptacle\n Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75 - receptacle\n GarbageCan_bar__plus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_22 - receptacle\n Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42 - receptacle\n Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42 - receptacle\n Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42 - receptacle\n Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41 - receptacle\n Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41 - receptacle\n Shelf_bar__plus_02_dot_70_bar__plus_01_dot_27_bar__minus_01_dot_42 - receptacle\n loc_bar_9_bar_4_bar_1_bar_60 - location\n loc_bar_10_bar__minus_2_bar_2_bar_60 - location\n loc_bar_8_bar__minus_3_bar_2_bar_45 - location\n loc_bar_8_bar__minus_2_bar_1_bar_60 - location\n loc_bar_3_bar_5_bar_3_bar_45 - location\n loc_bar_10_bar_5_bar_0_bar_30 - location\n loc_bar_3_bar__minus_2_bar_1_bar_60 - location\n loc_bar_8_bar__minus_3_bar_1_bar_45 - location\n loc_bar_0_bar__minus_4_bar_2_bar_15 - location\n loc_bar__minus_3_bar__minus_4_bar_3_bar_60 - location\n loc_bar_9_bar__minus_2_bar_2_bar_60 - location\n loc_bar_1_bar__minus_4_bar_1_bar_30 - location\n loc_bar__minus_3_bar__minus_2_bar_3_bar_45 - location\n loc_bar_0_bar__minus_4_bar_2_bar__minus_30 - location\n loc_bar__minus_3_bar__minus_3_bar_3_bar_60 - location\n loc_bar_4_bar__minus_2_bar_2_bar_60 - location\n loc_bar_10_bar_1_bar_1_bar_60 - location\n loc_bar_7_bar__minus_3_bar_2_bar_45 - location\n loc_bar__minus_3_bar__minus_2_bar_3_bar_60 - location\n loc_bar_4_bar__minus_2_bar_1_bar_60 - location\n loc_bar_8_bar_5_bar_0_bar_30 - location\n loc_bar_8_bar__minus_3_bar_2_bar_30 - location\n loc_bar_10_bar_5_bar_0_bar_60 - location\n loc_bar_8_bar__minus_3_bar_2_bar_60 - location\n loc_bar_10_bar__minus_2_bar_2_bar_45 - location\n loc_bar__minus_3_bar__minus_4_bar_3_bar_45 - location\n loc_bar_10_bar__minus_2_bar_2_bar_30 - location\n loc_bar_1_bar__minus_4_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42 ShelfType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_92 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType)\n (receptacleType Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15 DeskType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_92 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_58 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21 DrawerType)\n (receptacleType Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87 BedType)\n (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType)\n (receptacleType Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41 ShelfType)\n (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_58 DrawerType)\n (receptacleType GarbageCan_bar__plus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_22 GarbageCanType)\n (receptacleType Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42 ShelfType)\n (receptacleType Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42 ShelfType)\n (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_92 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_21 DrawerType)\n (receptacleType Shelf_bar__plus_02_dot_70_bar__plus_01_dot_27_bar__minus_01_dot_42 ShelfType)\n (receptacleType Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41 ShelfType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_58 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21 DrawerType)\n (receptacleType Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75 DresserType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21 DrawerType)\n (objectType Watch_bar__minus_01_dot_32_bar__plus_01_dot_24_bar__minus_00_dot_65 WatchType)\n (objectType Pen_bar__plus_01_dot_71_bar__plus_00_dot_81_bar__minus_01_dot_37 PenType)\n (objectType TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_97_bar__minus_00_dot_95 TissueBoxType)\n (objectType CellPhone_bar__minus_00_dot_29_bar__plus_00_dot_57_bar__plus_01_dot_09 CellPhoneType)\n (objectType Laptop_bar__minus_00_dot_50_bar__plus_00_dot_56_bar__plus_00_dot_29 LaptopType)\n (objectType TissueBox_bar__plus_01_dot_59_bar__plus_00_dot_13_bar__minus_01_dot_22 TissueBoxType)\n (objectType Mug_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_28 MugType)\n (objectType Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21 BowlType)\n (objectType Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22 MugType)\n (objectType BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84 BaseballBatType)\n (objectType Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89 BoxType)\n (objectType Book_bar__minus_00_dot_98_bar__plus_00_dot_57_bar__plus_00_dot_36 BookType)\n (objectType CreditCard_bar__plus_02_dot_59_bar__plus_01_dot_04_bar__minus_01_dot_41 CreditCardType)\n (objectType Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34 BootsType)\n (objectType Watch_bar__plus_02_dot_48_bar__plus_01_dot_04_bar__minus_01_dot_38 WatchType)\n (objectType BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98 BasketBallType)\n (objectType AlarmClock_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_19 AlarmClockType)\n (objectType Window_bar__plus_00_dot_12_bar__plus_01_dot_50_bar__minus_01_dot_59 WindowType)\n (objectType Watch_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_28 WatchType)\n (objectType Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 StatueType)\n (objectType CD_bar__plus_01_dot_91_bar__plus_00_dot_13_bar__minus_01_dot_22 CDType)\n (objectType DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 DeskLampType)\n (objectType CD_bar__plus_02_dot_76_bar__plus_00_dot_13_bar__minus_01_dot_19 CDType)\n (objectType Pencil_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_12 PencilType)\n (objectType KeyChain_bar__plus_02_dot_26_bar__plus_01_dot_28_bar__minus_01_dot_39 KeyChainType)\n (objectType Pencil_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_75 PencilType)\n (objectType LightSwitch_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__plus_01_dot_90 LightSwitchType)\n (objectType Mirror_bar__plus_01_dot_99_bar__plus_01_dot_38_bar__plus_01_dot_88 MirrorType)\n (objectType Chair_bar__plus_02_dot_40_bar__plus_00_dot_00_bar__minus_01_dot_08 ChairType)\n (objectType CellPhone_bar__minus_01_dot_39_bar__plus_01_dot_24_bar__minus_00_dot_46 CellPhoneType)\n (objectType AlarmClock_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_22 AlarmClockType)\n (objectType Blinds_bar__plus_00_dot_11_bar__plus_02_dot_34_bar__minus_01_dot_44 BlindsType)\n (objectType CD_bar__minus_01_dot_39_bar__plus_01_dot_23_bar__minus_00_dot_84 CDType)\n (objectType Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61 PillowType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType WatchType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain ShelfType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DeskType PenType)\n (canContain DeskType BookType)\n (canContain DeskType WatchType)\n (canContain DeskType BowlType)\n (canContain DeskType CDType)\n (canContain DeskType MugType)\n (canContain DeskType BoxType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType BasketBallType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType TissueBoxType)\n (canContain DeskType StatueType)\n (canContain DeskType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain BedType BasketBallType)\n (canContain BedType BaseballBatType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType WatchType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain ShelfType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType PencilType)\n (canContain GarbageCanType TissueBoxType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType WatchType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain ShelfType AlarmClockType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType WatchType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain ShelfType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType WatchType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain ShelfType AlarmClockType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType WatchType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain ShelfType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DresserType PenType)\n (canContain DresserType BookType)\n (canContain DresserType WatchType)\n (canContain DresserType BowlType)\n (canContain DresserType CDType)\n (canContain DresserType MugType)\n (canContain DresserType BoxType)\n (canContain DresserType CellPhoneType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType BasketBallType)\n (canContain DresserType LaptopType)\n (canContain DresserType PencilType)\n (canContain DresserType TissueBoxType)\n (canContain DresserType StatueType)\n (canContain DresserType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (pickupable Watch_bar__minus_01_dot_32_bar__plus_01_dot_24_bar__minus_00_dot_65)\n (pickupable Pen_bar__plus_01_dot_71_bar__plus_00_dot_81_bar__minus_01_dot_37)\n (pickupable TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_97_bar__minus_00_dot_95)\n (pickupable CellPhone_bar__minus_00_dot_29_bar__plus_00_dot_57_bar__plus_01_dot_09)\n (pickupable Laptop_bar__minus_00_dot_50_bar__plus_00_dot_56_bar__plus_00_dot_29)\n (pickupable TissueBox_bar__plus_01_dot_59_bar__plus_00_dot_13_bar__minus_01_dot_22)\n (pickupable Mug_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_28)\n (pickupable Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21)\n (pickupable Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22)\n (pickupable BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84)\n (pickupable Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89)\n (pickupable Book_bar__minus_00_dot_98_bar__plus_00_dot_57_bar__plus_00_dot_36)\n (pickupable CreditCard_bar__plus_02_dot_59_bar__plus_01_dot_04_bar__minus_01_dot_41)\n (pickupable Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34)\n (pickupable Watch_bar__plus_02_dot_48_bar__plus_01_dot_04_bar__minus_01_dot_38)\n (pickupable BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98)\n (pickupable AlarmClock_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_19)\n (pickupable Watch_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_28)\n (pickupable Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42)\n (pickupable CD_bar__plus_01_dot_91_bar__plus_00_dot_13_bar__minus_01_dot_22)\n (pickupable CD_bar__plus_02_dot_76_bar__plus_00_dot_13_bar__minus_01_dot_19)\n (pickupable Pencil_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_12)\n (pickupable KeyChain_bar__plus_02_dot_26_bar__plus_01_dot_28_bar__minus_01_dot_39)\n (pickupable Pencil_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_75)\n (pickupable CellPhone_bar__minus_01_dot_39_bar__plus_01_dot_24_bar__minus_00_dot_46)\n (pickupable AlarmClock_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_22)\n (pickupable CD_bar__minus_01_dot_39_bar__plus_01_dot_23_bar__minus_00_dot_84)\n (pickupable Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61)\n (isReceptacleObject Mug_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_28)\n (isReceptacleObject Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21)\n (isReceptacleObject Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22)\n (isReceptacleObject Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89)\n (openable Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21)\n (openable Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21)\n (openable Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21)\n (openable Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21)\n (openable Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21)\n (openable Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21)\n (openable Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21)\n \n (atLocation agent1 loc_bar_1_bar__minus_4_bar_2_bar_30)\n \n (cleanable Mug_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_28)\n (cleanable Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21)\n (cleanable Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22)\n \n (heatable Mug_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_28)\n (heatable Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22)\n (coolable Mug_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_28)\n (coolable Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21)\n (coolable Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22)\n \n \n (toggleable DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99)\n \n \n \n \n (inReceptacle CD_bar__plus_02_dot_76_bar__plus_00_dot_13_bar__minus_01_dot_19 Drawer_bar__plus_02_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_21)\n (inReceptacle Pen_bar__plus_01_dot_71_bar__plus_00_dot_81_bar__minus_01_dot_37 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42)\n (inReceptacle Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle AlarmClock_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_19 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle AlarmClock_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_22 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle Pencil_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_12 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle Mug_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_28 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle Watch_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_28 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_97_bar__minus_00_dot_95 Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_92)\n (inReceptacle TissueBox_bar__plus_01_dot_59_bar__plus_00_dot_13_bar__minus_01_dot_22 Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21)\n (inReceptacle CD_bar__plus_01_dot_91_bar__plus_00_dot_13_bar__minus_01_dot_22 Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21)\n (inReceptacle Watch_bar__minus_01_dot_32_bar__plus_01_dot_24_bar__minus_00_dot_65 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75)\n (inReceptacle DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75)\n (inReceptacle CellPhone_bar__minus_01_dot_39_bar__plus_01_dot_24_bar__minus_00_dot_46 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75)\n (inReceptacle Pencil_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_75 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75)\n (inReceptacle CD_bar__minus_01_dot_39_bar__plus_01_dot_23_bar__minus_00_dot_84 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75)\n (inReceptacle Laptop_bar__minus_00_dot_50_bar__plus_00_dot_56_bar__plus_00_dot_29 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87)\n (inReceptacle Book_bar__minus_00_dot_98_bar__plus_00_dot_57_bar__plus_00_dot_36 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87)\n (inReceptacle Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87)\n (inReceptacle CellPhone_bar__minus_00_dot_29_bar__plus_00_dot_57_bar__plus_01_dot_09 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87)\n (inReceptacle Watch_bar__plus_02_dot_48_bar__plus_01_dot_04_bar__minus_01_dot_38 Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41)\n (inReceptacle CreditCard_bar__plus_02_dot_59_bar__plus_01_dot_04_bar__minus_01_dot_41 Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41)\n (inReceptacle Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42)\n (inReceptacle KeyChain_bar__plus_02_dot_26_bar__plus_01_dot_28_bar__minus_01_dot_39 Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42)\n \n \n (receptacleAtLocation Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87 loc_bar_3_bar_5_bar_3_bar_45)\n (receptacleAtLocation Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21 loc_bar_3_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21 loc_bar_3_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21 loc_bar_1_bar__minus_4_bar_1_bar_30)\n (receptacleAtLocation Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21 loc_bar_4_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21 loc_bar_4_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_95_bar__plus_00_dot_62_bar__minus_01_dot_21 loc_bar_8_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_21 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21 loc_bar_8_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21 loc_bar_8_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92 loc_bar__minus_3_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_92 loc_bar__minus_3_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_92 loc_bar__minus_3_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_92 loc_bar__minus_3_bar__minus_4_bar_3_bar_45)\n (receptacleAtLocation Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_22 loc_bar_10_bar_1_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42 loc_bar_8_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42 loc_bar_7_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42 loc_bar_8_bar__minus_3_bar_2_bar_30)\n (receptacleAtLocation Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41 loc_bar_10_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41 loc_bar_10_bar__minus_2_bar_2_bar_30)\n (receptacleAtLocation Shelf_bar__plus_02_dot_70_bar__plus_01_dot_27_bar__minus_01_dot_42 loc_bar_10_bar__minus_2_bar_2_bar_30)\n (objectAtLocation Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation CD_bar__plus_01_dot_91_bar__plus_00_dot_13_bar__minus_01_dot_22 loc_bar_4_bar__minus_2_bar_1_bar_60)\n (objectAtLocation Watch_bar__minus_01_dot_32_bar__plus_01_dot_24_bar__minus_00_dot_65 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Pencil_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_12 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation AlarmClock_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_19 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation TissueBox_bar__plus_01_dot_59_bar__plus_00_dot_13_bar__minus_01_dot_22 loc_bar_3_bar__minus_2_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__minus_00_dot_29_bar__plus_00_dot_57_bar__plus_01_dot_09 loc_bar_3_bar_5_bar_3_bar_45)\n (objectAtLocation CD_bar__minus_01_dot_39_bar__plus_01_dot_23_bar__minus_00_dot_84 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Watch_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_28 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_98_bar__plus_00_dot_57_bar__plus_00_dot_36 loc_bar_3_bar_5_bar_3_bar_45)\n (objectAtLocation Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89 loc_bar_9_bar_4_bar_1_bar_60)\n (objectAtLocation Chair_bar__plus_02_dot_40_bar__plus_00_dot_00_bar__minus_01_dot_08 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_50_bar__plus_00_dot_56_bar__plus_00_dot_29 loc_bar_3_bar_5_bar_3_bar_45)\n (objectAtLocation CellPhone_bar__minus_01_dot_39_bar__plus_01_dot_24_bar__minus_00_dot_46 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84 loc_bar_10_bar_5_bar_0_bar_60)\n (objectAtLocation DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_97_bar__minus_00_dot_95 loc_bar__minus_3_bar__minus_4_bar_3_bar_45)\n (objectAtLocation CreditCard_bar__plus_02_dot_59_bar__plus_01_dot_04_bar__minus_01_dot_41 loc_bar_10_bar__minus_2_bar_2_bar_30)\n (objectAtLocation AlarmClock_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_22 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Pencil_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_75 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34 loc_bar__minus_3_bar__minus_4_bar_3_bar_60)\n (objectAtLocation Blinds_bar__plus_00_dot_11_bar__plus_02_dot_34_bar__minus_01_dot_44 loc_bar_0_bar__minus_4_bar_2_bar__minus_30)\n (objectAtLocation Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61 loc_bar_3_bar_5_bar_3_bar_45)\n (objectAtLocation KeyChain_bar__plus_02_dot_26_bar__plus_01_dot_28_bar__minus_01_dot_39 loc_bar_8_bar__minus_3_bar_2_bar_30)\n (objectAtLocation Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Watch_bar__plus_02_dot_48_bar__plus_01_dot_04_bar__minus_01_dot_38 loc_bar_10_bar__minus_2_bar_2_bar_30)\n (objectAtLocation Mirror_bar__plus_01_dot_99_bar__plus_01_dot_38_bar__plus_01_dot_88 loc_bar_8_bar_5_bar_0_bar_30)\n (objectAtLocation CD_bar__plus_02_dot_76_bar__plus_00_dot_13_bar__minus_01_dot_19 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Pen_bar__plus_01_dot_71_bar__plus_00_dot_81_bar__minus_01_dot_37 loc_bar_8_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Window_bar__plus_00_dot_12_bar__plus_01_dot_50_bar__minus_01_dot_59 loc_bar_0_bar__minus_4_bar_2_bar_15)\n (objectAtLocation LightSwitch_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__plus_01_dot_90 loc_bar_10_bar_5_bar_0_bar_30)\n (objectAtLocation Mug_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_28 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 loc_bar_7_bar__minus_3_bar_2_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 PencilType)\n (receptacleType ?r ShelfType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 PencilType)\n (receptacleType ?r ShelfType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to desk 1", "take pencil 1 from desk 1", "go to shelf 2", "move pencil 1 to shelf 2", "go to dresser 1", "take pencil 2 from dresser 1", "go to shelf 2", "move pencil 2 to shelf 2"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pencil-None-Shelf-301/trial_T20190909_011401_611613/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pencil-None-Shelf-301/trial_T20190909_011401_611613/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..5d3f480a80c39b54754e5a3ddc7a51bb0124dd1b --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pencil-None-Shelf-301/trial_T20190909_011401_611613/initial_state.pddl @@ -0,0 +1,802 @@ + +(define (problem plan_trial_T20190909_011401_611613) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + AlarmClock_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_22 - object + AlarmClock_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_19 - object + BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84 - object + BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98 - object + Blinds_bar__plus_00_dot_11_bar__plus_02_dot_34_bar__minus_01_dot_44 - object + Book_bar__minus_00_dot_98_bar__plus_00_dot_57_bar__plus_00_dot_36 - object + Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34 - object + Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21 - object + Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89 - object + CD_bar__plus_01_dot_91_bar__plus_00_dot_13_bar__minus_01_dot_22 - object + CD_bar__plus_02_dot_76_bar__plus_00_dot_13_bar__minus_01_dot_19 - object + CD_bar__minus_01_dot_39_bar__plus_01_dot_23_bar__minus_00_dot_84 - object + CellPhone_bar__minus_00_dot_29_bar__plus_00_dot_57_bar__plus_01_dot_09 - object + CellPhone_bar__minus_01_dot_39_bar__plus_01_dot_24_bar__minus_00_dot_46 - object + Chair_bar__plus_02_dot_40_bar__plus_00_dot_00_bar__minus_01_dot_08 - object + CreditCard_bar__plus_02_dot_59_bar__plus_01_dot_04_bar__minus_01_dot_41 - object + DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 - object + KeyChain_bar__plus_02_dot_26_bar__plus_01_dot_28_bar__minus_01_dot_39 - object + Laptop_bar__minus_00_dot_50_bar__plus_00_dot_56_bar__plus_00_dot_29 - object + LightSwitch_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__plus_01_dot_90 - object + Mirror_bar__plus_01_dot_99_bar__plus_01_dot_38_bar__plus_01_dot_88 - object + Mug_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_28 - object + Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22 - object + Pencil_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_12 - object + Pencil_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_75 - object + Pen_bar__plus_01_dot_71_bar__plus_00_dot_81_bar__minus_01_dot_37 - object + Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61 - object + Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 - object + TissueBox_bar__plus_01_dot_59_bar__plus_00_dot_13_bar__minus_01_dot_22 - object + TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_97_bar__minus_00_dot_95 - object + Watch_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_28 - object + Watch_bar__plus_02_dot_48_bar__plus_01_dot_04_bar__minus_01_dot_38 - object + Watch_bar__minus_01_dot_32_bar__plus_01_dot_24_bar__minus_00_dot_65 - object + Window_bar__plus_00_dot_12_bar__plus_01_dot_50_bar__minus_01_dot_59 - object + Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87 - receptacle + Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15 - receptacle + Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21 - receptacle + Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21 - receptacle + Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21 - receptacle + Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21 - receptacle + Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21 - receptacle + Drawer_bar__plus_01_dot_95_bar__plus_00_dot_62_bar__minus_01_dot_21 - receptacle + Drawer_bar__plus_02_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_21 - receptacle + Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21 - receptacle + Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21 - receptacle + Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58 - receptacle + Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92 - receptacle + Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_58 - receptacle + Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_92 - receptacle + Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_58 - receptacle + Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_92 - receptacle + Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_58 - receptacle + Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_92 - receptacle + Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75 - receptacle + GarbageCan_bar__plus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_22 - receptacle + Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42 - receptacle + Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42 - receptacle + Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42 - receptacle + Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41 - receptacle + Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41 - receptacle + Shelf_bar__plus_02_dot_70_bar__plus_01_dot_27_bar__minus_01_dot_42 - receptacle + loc_bar_9_bar_4_bar_1_bar_60 - location + loc_bar_10_bar__minus_2_bar_2_bar_60 - location + loc_bar_8_bar__minus_3_bar_2_bar_45 - location + loc_bar_8_bar__minus_2_bar_1_bar_60 - location + loc_bar_3_bar_5_bar_3_bar_45 - location + loc_bar_10_bar_5_bar_0_bar_30 - location + loc_bar_3_bar__minus_2_bar_1_bar_60 - location + loc_bar_8_bar__minus_3_bar_1_bar_45 - location + loc_bar_0_bar__minus_4_bar_2_bar_15 - location + loc_bar__minus_3_bar__minus_4_bar_3_bar_60 - location + loc_bar_9_bar__minus_2_bar_2_bar_60 - location + loc_bar_1_bar__minus_4_bar_1_bar_30 - location + loc_bar__minus_3_bar__minus_2_bar_3_bar_45 - location + loc_bar_0_bar__minus_4_bar_2_bar__minus_30 - location + loc_bar__minus_3_bar__minus_3_bar_3_bar_60 - location + loc_bar_4_bar__minus_2_bar_2_bar_60 - location + loc_bar_10_bar_1_bar_1_bar_60 - location + loc_bar_7_bar__minus_3_bar_2_bar_45 - location + loc_bar__minus_3_bar__minus_2_bar_3_bar_60 - location + loc_bar_4_bar__minus_2_bar_1_bar_60 - location + loc_bar_8_bar_5_bar_0_bar_30 - location + loc_bar_8_bar__minus_3_bar_2_bar_30 - location + loc_bar_10_bar_5_bar_0_bar_60 - location + loc_bar_8_bar__minus_3_bar_2_bar_60 - location + loc_bar_10_bar__minus_2_bar_2_bar_45 - location + loc_bar__minus_3_bar__minus_4_bar_3_bar_45 - location + loc_bar_10_bar__minus_2_bar_2_bar_30 - location + loc_bar_1_bar__minus_4_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42 ShelfType) + (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_92 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType) + (receptacleType Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15 DeskType) + (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_92 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_58 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21 DrawerType) + (receptacleType Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87 BedType) + (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType) + (receptacleType Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41 ShelfType) + (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_58 DrawerType) + (receptacleType GarbageCan_bar__plus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_22 GarbageCanType) + (receptacleType Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42 ShelfType) + (receptacleType Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42 ShelfType) + (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_92 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_21 DrawerType) + (receptacleType Shelf_bar__plus_02_dot_70_bar__plus_01_dot_27_bar__minus_01_dot_42 ShelfType) + (receptacleType Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41 ShelfType) + (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_58 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21 DrawerType) + (receptacleType Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75 DresserType) + (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21 DrawerType) + (objectType Watch_bar__minus_01_dot_32_bar__plus_01_dot_24_bar__minus_00_dot_65 WatchType) + (objectType Pen_bar__plus_01_dot_71_bar__plus_00_dot_81_bar__minus_01_dot_37 PenType) + (objectType TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_97_bar__minus_00_dot_95 TissueBoxType) + (objectType CellPhone_bar__minus_00_dot_29_bar__plus_00_dot_57_bar__plus_01_dot_09 CellPhoneType) + (objectType Laptop_bar__minus_00_dot_50_bar__plus_00_dot_56_bar__plus_00_dot_29 LaptopType) + (objectType TissueBox_bar__plus_01_dot_59_bar__plus_00_dot_13_bar__minus_01_dot_22 TissueBoxType) + (objectType Mug_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_28 MugType) + (objectType Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21 BowlType) + (objectType Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22 MugType) + (objectType BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84 BaseballBatType) + (objectType Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89 BoxType) + (objectType Book_bar__minus_00_dot_98_bar__plus_00_dot_57_bar__plus_00_dot_36 BookType) + (objectType CreditCard_bar__plus_02_dot_59_bar__plus_01_dot_04_bar__minus_01_dot_41 CreditCardType) + (objectType Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34 BootsType) + (objectType Watch_bar__plus_02_dot_48_bar__plus_01_dot_04_bar__minus_01_dot_38 WatchType) + (objectType BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98 BasketBallType) + (objectType AlarmClock_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_19 AlarmClockType) + (objectType Window_bar__plus_00_dot_12_bar__plus_01_dot_50_bar__minus_01_dot_59 WindowType) + (objectType Watch_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_28 WatchType) + (objectType Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 StatueType) + (objectType CD_bar__plus_01_dot_91_bar__plus_00_dot_13_bar__minus_01_dot_22 CDType) + (objectType DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 DeskLampType) + (objectType CD_bar__plus_02_dot_76_bar__plus_00_dot_13_bar__minus_01_dot_19 CDType) + (objectType Pencil_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_12 PencilType) + (objectType KeyChain_bar__plus_02_dot_26_bar__plus_01_dot_28_bar__minus_01_dot_39 KeyChainType) + (objectType Pencil_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_75 PencilType) + (objectType LightSwitch_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__plus_01_dot_90 LightSwitchType) + (objectType 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+ (canContain ShelfType PencilType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType StatueType) + (canContain ShelfType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + 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DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99) + + + + + (inReceptacle CD_bar__plus_02_dot_76_bar__plus_00_dot_13_bar__minus_01_dot_19 Drawer_bar__plus_02_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_21) + (inReceptacle Pen_bar__plus_01_dot_71_bar__plus_00_dot_81_bar__minus_01_dot_37 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42) + (inReceptacle Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15) + (inReceptacle AlarmClock_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_19 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15) + (inReceptacle AlarmClock_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_22 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15) + (inReceptacle Pencil_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_12 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15) + (inReceptacle Mug_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_28 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15) + (inReceptacle Watch_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_28 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15) + (inReceptacle Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15) + (inReceptacle TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_97_bar__minus_00_dot_95 Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_92) + (inReceptacle TissueBox_bar__plus_01_dot_59_bar__plus_00_dot_13_bar__minus_01_dot_22 Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21) + (inReceptacle CD_bar__plus_01_dot_91_bar__plus_00_dot_13_bar__minus_01_dot_22 Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21) + (inReceptacle Watch_bar__minus_01_dot_32_bar__plus_01_dot_24_bar__minus_00_dot_65 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75) + (inReceptacle DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75) + (inReceptacle CellPhone_bar__minus_01_dot_39_bar__plus_01_dot_24_bar__minus_00_dot_46 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75) + (inReceptacle Pencil_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_75 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75) + (inReceptacle CD_bar__minus_01_dot_39_bar__plus_01_dot_23_bar__minus_00_dot_84 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75) + (inReceptacle Laptop_bar__minus_00_dot_50_bar__plus_00_dot_56_bar__plus_00_dot_29 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87) + (inReceptacle Book_bar__minus_00_dot_98_bar__plus_00_dot_57_bar__plus_00_dot_36 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87) + (inReceptacle Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87) + (inReceptacle CellPhone_bar__minus_00_dot_29_bar__plus_00_dot_57_bar__plus_01_dot_09 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87) + (inReceptacle Watch_bar__plus_02_dot_48_bar__plus_01_dot_04_bar__minus_01_dot_38 Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41) + (inReceptacle CreditCard_bar__plus_02_dot_59_bar__plus_01_dot_04_bar__minus_01_dot_41 Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41) + (inReceptacle Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42) + (inReceptacle KeyChain_bar__plus_02_dot_26_bar__plus_01_dot_28_bar__minus_01_dot_39 Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42) + + + (receptacleAtLocation Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87 loc_bar_3_bar_5_bar_3_bar_45) + (receptacleAtLocation Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15 loc_bar_9_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21 loc_bar_3_bar__minus_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21 loc_bar_3_bar__minus_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21 loc_bar_1_bar__minus_4_bar_1_bar_30) + (receptacleAtLocation Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21 loc_bar_4_bar__minus_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21 loc_bar_4_bar__minus_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_95_bar__plus_00_dot_62_bar__minus_01_dot_21 loc_bar_8_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_21 loc_bar_10_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21 loc_bar_8_bar__minus_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21 loc_bar_8_bar__minus_3_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92 loc_bar__minus_3_bar__minus_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_92 loc_bar__minus_3_bar__minus_4_bar_3_bar_60) + (receptacleAtLocation 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"z": 0.0 + } + }, + { + "objectName": "Mug_2a940808", + "position": { + "x": 2.82123423, + "y": 0.788715959, + "z": -1.22375667 + }, + "rotation": { + "x": -0.0005381318, + "y": 0.000171952488, + "z": 0.000611530035 + } + }, + { + "objectName": "Statue_e0075340", + "position": { + "x": 1.823921, + "y": 1.036511, + "z": -1.419659 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3210525251, + "scene_num": 301 + }, + "task_id": "trial_T20190909_011401_611613", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3F7G1FSFWQPLE_3FPRZHYEP1Y9ELEN6X1C745O5303V0", + "high_descs": [ + "Turn around and walk over to the white desk on your right.", + "Pick up the blue pencil off of the white desk.", + "Look up at the shelf behind the desk.", + "Put the blue pencil on the shelf with the golden statue on it.", + "Walk over to the tall white dresser next to the bed on your right.", + "Pick up the blue pencil off of the dresser.", + "Turn around and walk back over to the shelf behind the white desk.", + "Put the blue pencil on the shelf with the golden statue" + ], + "task_desc": "Move two pencils to a shelf.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3HL2LL0LEPZT8_3R2UR8A0ID7Q4ZC4PAMMJS0KG6AXO0", + "high_descs": [ + "Turn around, go forward to the bed, turn right, go forward, turn right to the right side of the desk, go to the desk.", + "Take the blue pencil from the desk.", + "Stay at the desk.", + "Put the pencil on the shelf with the gold sculpture.", + "Turn right, go forward to the dresser to the left of the bed.", + "Take the blue pencil from the dresser.", + "Turn around, go back to the right side of the desk.", + "Put the pencil on the shelf with the gold sculpture." + ], + "task_desc": "Put two pencils on a shelf on a desk.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3C81THYYSBGVD_3T3IWE1XG9EM8UG0ZDDTJUAEIB7QTL", + "high_descs": [ + "Turn around, then right and face the desk to your right.", + "Take the pencil off of the desk in front of you.", + "Face the top shelf of the desk.", + "Place the pencil on the top shelf of the desk in front of you.", + "Turn around then left and face the desk with the lamp in front of you.", + "Take the pencil from the desk in front of you.", + "Turn around then face the desk on your right.", + "Place the pencil on the top shelf of the desk in front of you." + ], + "task_desc": "Move pencil to the top shelf of the desk.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pencil-None-Shelf-301/trial_T20190909_011443_526440/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pencil-None-Shelf-301/trial_T20190909_011443_526440/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..05b6d5a41fe55aa31539265c6e8b9427dcc2c5c8 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pencil-None-Shelf-301/trial_T20190909_011443_526440/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 pencil in shelf.\"\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_011443_526440)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n AlarmClock_bar__minus_01_dot_27_bar__plus_01_dot_23_bar__minus_00_dot_47 - object\n BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84 - object\n BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98 - object\n Blinds_bar__plus_00_dot_11_bar__plus_02_dot_34_bar__minus_01_dot_44 - object\n Book_bar__minus_00_dot_90_bar__plus_00_dot_57_bar__plus_01_dot_18 - object\n Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34 - object\n Bowl_bar__plus_02_dot_03_bar__plus_00_dot_79_bar__minus_01_dot_22 - object\n Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89 - object\n CD_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_19 - object\n CD_bar__plus_02_dot_60_bar__plus_01_dot_28_bar__minus_01_dot_42 - object\n CellPhone_bar__minus_01_dot_28_bar__plus_01_dot_23_bar__minus_00_dot_84 - object\n Chair_bar__plus_02_dot_40_bar__plus_00_dot_00_bar__minus_01_dot_08 - object\n CreditCard_bar__plus_01_dot_96_bar__plus_00_dot_80_bar__minus_01_dot_40 - object\n DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 - object\n KeyChain_bar__plus_02_dot_69_bar__plus_01_dot_04_bar__minus_01_dot_40 - object\n Laptop_bar__minus_00_dot_29_bar__plus_00_dot_56_bar__plus_01_dot_09 - object\n LightSwitch_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__plus_01_dot_90 - object\n Mirror_bar__plus_01_dot_99_bar__plus_01_dot_38_bar__plus_01_dot_88 - object\n Mug_bar__plus_01_dot_65_bar__plus_00_dot_79_bar__minus_01_dot_25 - object\n Mug_bar__plus_02_dot_22_bar__plus_00_dot_79_bar__minus_01_dot_19 - object\n Pencil_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_15 - object\n Pencil_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_15 - object\n Pen_bar__plus_02_dot_31_bar__plus_01_dot_28_bar__minus_01_dot_37 - object\n Pen_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_75 - object\n Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61 - object\n Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 - object\n TissueBox_bar__plus_01_dot_67_bar__plus_00_dot_13_bar__minus_01_dot_22 - object\n TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_00_dot_58 - object\n Watch_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_22 - object\n Watch_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_65 - object\n Window_bar__plus_00_dot_12_bar__plus_01_dot_50_bar__minus_01_dot_59 - object\n Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87 - receptacle\n Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15 - receptacle\n Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_01_dot_95_bar__plus_00_dot_62_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_02_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_58 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_92 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_58 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_92 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_58 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_92 - receptacle\n Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75 - receptacle\n GarbageCan_bar__plus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_22 - receptacle\n Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42 - receptacle\n Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42 - receptacle\n Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42 - receptacle\n Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41 - receptacle\n Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41 - receptacle\n Shelf_bar__plus_02_dot_70_bar__plus_01_dot_27_bar__minus_01_dot_42 - receptacle\n loc_bar_9_bar_4_bar_1_bar_60 - location\n loc_bar_10_bar__minus_2_bar_2_bar_60 - location\n loc_bar_8_bar__minus_3_bar_2_bar_45 - location\n loc_bar_8_bar__minus_2_bar_1_bar_60 - location\n loc_bar_3_bar_5_bar_3_bar_45 - location\n loc_bar_10_bar_5_bar_0_bar_30 - location\n loc_bar_3_bar__minus_2_bar_1_bar_60 - location\n loc_bar_8_bar__minus_3_bar_1_bar_45 - location\n loc_bar_0_bar__minus_4_bar_2_bar_15 - location\n loc_bar__minus_3_bar__minus_4_bar_3_bar_60 - location\n loc_bar_9_bar__minus_2_bar_2_bar_60 - location\n loc_bar_1_bar__minus_4_bar_1_bar_30 - location\n loc_bar__minus_3_bar__minus_2_bar_3_bar_45 - location\n loc_bar_0_bar__minus_4_bar_2_bar__minus_30 - location\n loc_bar__minus_3_bar__minus_3_bar_3_bar_60 - location\n loc_bar_4_bar__minus_2_bar_2_bar_60 - location\n loc_bar_10_bar_1_bar_1_bar_60 - location\n loc_bar_7_bar__minus_3_bar_2_bar_45 - location\n loc_bar__minus_3_bar__minus_2_bar_3_bar_60 - location\n loc_bar_4_bar__minus_2_bar_1_bar_60 - location\n loc_bar_8_bar_5_bar_0_bar_30 - location\n loc_bar_8_bar__minus_3_bar_2_bar_30 - location\n loc_bar_10_bar_5_bar_0_bar_60 - location\n loc_bar_8_bar__minus_3_bar_2_bar_60 - location\n loc_bar_10_bar__minus_2_bar_2_bar_45 - location\n loc_bar__minus_3_bar__minus_4_bar_3_bar_45 - location\n loc_bar_10_bar__minus_2_bar_2_bar_30 - location\n loc_bar__minus_1_bar__minus_2_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42 ShelfType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_92 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType)\n (receptacleType Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15 DeskType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_92 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_58 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21 DrawerType)\n (receptacleType Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87 BedType)\n (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType)\n (receptacleType Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41 ShelfType)\n (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_58 DrawerType)\n (receptacleType GarbageCan_bar__plus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_22 GarbageCanType)\n (receptacleType Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42 ShelfType)\n (receptacleType Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42 ShelfType)\n (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_92 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_21 DrawerType)\n (receptacleType Shelf_bar__plus_02_dot_70_bar__plus_01_dot_27_bar__minus_01_dot_42 ShelfType)\n (receptacleType Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41 ShelfType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_58 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21 DrawerType)\n (receptacleType Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75 DresserType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21 DrawerType)\n (objectType CellPhone_bar__minus_01_dot_28_bar__plus_01_dot_23_bar__minus_00_dot_84 CellPhoneType)\n (objectType Pencil_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_15 PencilType)\n (objectType CD_bar__plus_02_dot_60_bar__plus_01_dot_28_bar__minus_01_dot_42 CDType)\n (objectType Laptop_bar__minus_00_dot_29_bar__plus_00_dot_56_bar__plus_01_dot_09 LaptopType)\n (objectType CreditCard_bar__plus_01_dot_96_bar__plus_00_dot_80_bar__minus_01_dot_40 CreditCardType)\n (objectType Pen_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_75 PenType)\n (objectType Pencil_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_15 PencilType)\n (objectType KeyChain_bar__plus_02_dot_69_bar__plus_01_dot_04_bar__minus_01_dot_40 KeyChainType)\n (objectType AlarmClock_bar__minus_01_dot_27_bar__plus_01_dot_23_bar__minus_00_dot_47 AlarmClockType)\n (objectType BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84 BaseballBatType)\n (objectType Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89 BoxType)\n (objectType Mug_bar__plus_02_dot_22_bar__plus_00_dot_79_bar__minus_01_dot_19 MugType)\n (objectType Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34 BootsType)\n (objectType Mug_bar__plus_01_dot_65_bar__plus_00_dot_79_bar__minus_01_dot_25 MugType)\n (objectType BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98 BasketBallType)\n (objectType Window_bar__plus_00_dot_12_bar__plus_01_dot_50_bar__minus_01_dot_59 WindowType)\n (objectType Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 StatueType)\n (objectType Pen_bar__plus_02_dot_31_bar__plus_01_dot_28_bar__minus_01_dot_37 PenType)\n (objectType DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 DeskLampType)\n (objectType Watch_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_65 WatchType)\n (objectType LightSwitch_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__plus_01_dot_90 LightSwitchType)\n (objectType Book_bar__minus_00_dot_90_bar__plus_00_dot_57_bar__plus_01_dot_18 BookType)\n (objectType CD_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_19 CDType)\n (objectType 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DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DeskType PenType)\n (canContain DeskType BookType)\n (canContain DeskType WatchType)\n (canContain DeskType BowlType)\n (canContain DeskType CDType)\n (canContain DeskType MugType)\n (canContain DeskType BoxType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType BasketBallType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType TissueBoxType)\n (canContain DeskType StatueType)\n (canContain DeskType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain BedType BasketBallType)\n (canContain BedType BaseballBatType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType 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(canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain ShelfType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType 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(receptacleAtLocation Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21 loc_bar_4_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_95_bar__plus_00_dot_62_bar__minus_01_dot_21 loc_bar_8_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_21 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21 loc_bar_8_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21 loc_bar_8_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92 loc_bar__minus_3_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation 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GarbageCan_bar__plus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_22 loc_bar_10_bar_1_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42 loc_bar_8_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42 loc_bar_7_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42 loc_bar_8_bar__minus_3_bar_2_bar_30)\n (receptacleAtLocation Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41 loc_bar_10_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41 loc_bar_10_bar__minus_2_bar_2_bar_30)\n (receptacleAtLocation Shelf_bar__plus_02_dot_70_bar__plus_01_dot_27_bar__minus_01_dot_42 loc_bar_10_bar__minus_2_bar_2_bar_30)\n (objectAtLocation Mug_bar__plus_01_dot_65_bar__plus_00_dot_79_bar__minus_01_dot_25 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Pen_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_75 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation CD_bar__plus_02_dot_60_bar__plus_01_dot_28_bar__minus_01_dot_42 loc_bar_10_bar__minus_2_bar_2_bar_30)\n (objectAtLocation Watch_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_22 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Pencil_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_15 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation TissueBox_bar__plus_01_dot_67_bar__plus_00_dot_13_bar__minus_01_dot_22 loc_bar_3_bar__minus_2_bar_1_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_90_bar__plus_00_dot_57_bar__plus_01_dot_18 loc_bar_3_bar_5_bar_3_bar_45)\n (objectAtLocation Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89 loc_bar_9_bar_4_bar_1_bar_60)\n (objectAtLocation Chair_bar__plus_02_dot_40_bar__plus_00_dot_00_bar__minus_01_dot_08 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_29_bar__plus_00_dot_56_bar__plus_01_dot_09 loc_bar_3_bar_5_bar_3_bar_45)\n (objectAtLocation CellPhone_bar__minus_01_dot_28_bar__plus_01_dot_23_bar__minus_00_dot_84 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84 loc_bar_10_bar_5_bar_0_bar_60)\n (objectAtLocation DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__plus_01_dot_96_bar__plus_00_dot_80_bar__minus_01_dot_40 loc_bar_8_bar__minus_3_bar_2_bar_45)\n (objectAtLocation AlarmClock_bar__minus_01_dot_27_bar__plus_01_dot_23_bar__minus_00_dot_47 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Pencil_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_15 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34 loc_bar__minus_3_bar__minus_4_bar_3_bar_60)\n (objectAtLocation Blinds_bar__plus_00_dot_11_bar__plus_02_dot_34_bar__minus_01_dot_44 loc_bar_0_bar__minus_4_bar_2_bar__minus_30)\n (objectAtLocation Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61 loc_bar_3_bar_5_bar_3_bar_45)\n (objectAtLocation KeyChain_bar__plus_02_dot_69_bar__plus_01_dot_04_bar__minus_01_dot_40 loc_bar_10_bar__minus_2_bar_2_bar_30)\n (objectAtLocation Bowl_bar__plus_02_dot_03_bar__plus_00_dot_79_bar__minus_01_dot_22 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Watch_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_65 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Mirror_bar__plus_01_dot_99_bar__plus_01_dot_38_bar__plus_01_dot_88 loc_bar_8_bar_5_bar_0_bar_30)\n (objectAtLocation CD_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_19 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Pen_bar__plus_02_dot_31_bar__plus_01_dot_28_bar__minus_01_dot_37 loc_bar_8_bar__minus_3_bar_2_bar_30)\n (objectAtLocation Window_bar__plus_00_dot_12_bar__plus_01_dot_50_bar__minus_01_dot_59 loc_bar_0_bar__minus_4_bar_2_bar_15)\n (objectAtLocation LightSwitch_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__plus_01_dot_90 loc_bar_10_bar_5_bar_0_bar_30)\n (objectAtLocation Mug_bar__plus_02_dot_22_bar__plus_00_dot_79_bar__minus_01_dot_19 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 loc_bar_7_bar__minus_3_bar_2_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 PencilType)\n (receptacleType ?r ShelfType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 PencilType)\n (receptacleType ?r ShelfType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to desk 1", "take pencil 2 from desk 1", "go to shelf 2", "move pencil 2 to shelf 2", "go to desk 1", "take pencil 1 from desk 1", "go to shelf 2", "move pencil 1 to shelf 2"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pencil-None-Shelf-301/trial_T20190909_011443_526440/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pencil-None-Shelf-301/trial_T20190909_011443_526440/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..4742f0ee3d0a8844d9086ffb3ed8d7e504515ec9 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pencil-None-Shelf-301/trial_T20190909_011443_526440/initial_state.pddl @@ -0,0 +1,786 @@ + +(define (problem plan_trial_T20190909_011443_526440) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + AlarmClock_bar__minus_01_dot_27_bar__plus_01_dot_23_bar__minus_00_dot_47 - object + BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84 - object + BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98 - object + Blinds_bar__plus_00_dot_11_bar__plus_02_dot_34_bar__minus_01_dot_44 - object + Book_bar__minus_00_dot_90_bar__plus_00_dot_57_bar__plus_01_dot_18 - object + Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34 - object + Bowl_bar__plus_02_dot_03_bar__plus_00_dot_79_bar__minus_01_dot_22 - object + Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89 - object + CD_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_19 - object + CD_bar__plus_02_dot_60_bar__plus_01_dot_28_bar__minus_01_dot_42 - object + CellPhone_bar__minus_01_dot_28_bar__plus_01_dot_23_bar__minus_00_dot_84 - object + Chair_bar__plus_02_dot_40_bar__plus_00_dot_00_bar__minus_01_dot_08 - object + CreditCard_bar__plus_01_dot_96_bar__plus_00_dot_80_bar__minus_01_dot_40 - object + DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 - object + KeyChain_bar__plus_02_dot_69_bar__plus_01_dot_04_bar__minus_01_dot_40 - object + Laptop_bar__minus_00_dot_29_bar__plus_00_dot_56_bar__plus_01_dot_09 - object + LightSwitch_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__plus_01_dot_90 - object + Mirror_bar__plus_01_dot_99_bar__plus_01_dot_38_bar__plus_01_dot_88 - object + Mug_bar__plus_01_dot_65_bar__plus_00_dot_79_bar__minus_01_dot_25 - object + Mug_bar__plus_02_dot_22_bar__plus_00_dot_79_bar__minus_01_dot_19 - object + Pencil_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_15 - object + Pencil_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_15 - object + Pen_bar__plus_02_dot_31_bar__plus_01_dot_28_bar__minus_01_dot_37 - object + Pen_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_75 - object + Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61 - object + Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 - object + TissueBox_bar__plus_01_dot_67_bar__plus_00_dot_13_bar__minus_01_dot_22 - object + TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_00_dot_58 - object + Watch_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_22 - object + Watch_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_65 - object + Window_bar__plus_00_dot_12_bar__plus_01_dot_50_bar__minus_01_dot_59 - object + Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87 - receptacle + Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15 - receptacle + Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21 - receptacle + Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21 - receptacle + Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21 - receptacle + Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21 - receptacle + Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21 - receptacle + Drawer_bar__plus_01_dot_95_bar__plus_00_dot_62_bar__minus_01_dot_21 - receptacle + Drawer_bar__plus_02_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_21 - receptacle + Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21 - receptacle + Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21 - receptacle + Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58 - receptacle + Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92 - receptacle + Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_58 - receptacle + Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_92 - receptacle + Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_58 - receptacle + Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_92 - receptacle + Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_58 - receptacle + Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_92 - receptacle + Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75 - receptacle + GarbageCan_bar__plus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_22 - receptacle + Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42 - receptacle + Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42 - receptacle + Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42 - receptacle + Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41 - receptacle + Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41 - receptacle + Shelf_bar__plus_02_dot_70_bar__plus_01_dot_27_bar__minus_01_dot_42 - receptacle + loc_bar_9_bar_4_bar_1_bar_60 - location + loc_bar_10_bar__minus_2_bar_2_bar_60 - location + loc_bar_8_bar__minus_3_bar_2_bar_45 - location + loc_bar_8_bar__minus_2_bar_1_bar_60 - location + loc_bar_3_bar_5_bar_3_bar_45 - location + loc_bar_10_bar_5_bar_0_bar_30 - location + loc_bar_3_bar__minus_2_bar_1_bar_60 - location + loc_bar_8_bar__minus_3_bar_1_bar_45 - location + loc_bar_0_bar__minus_4_bar_2_bar_15 - location + loc_bar__minus_3_bar__minus_4_bar_3_bar_60 - location + loc_bar_9_bar__minus_2_bar_2_bar_60 - location + loc_bar_1_bar__minus_4_bar_1_bar_30 - location + loc_bar__minus_3_bar__minus_2_bar_3_bar_45 - location + loc_bar_0_bar__minus_4_bar_2_bar__minus_30 - location + loc_bar__minus_3_bar__minus_3_bar_3_bar_60 - location + loc_bar_4_bar__minus_2_bar_2_bar_60 - location + loc_bar_10_bar_1_bar_1_bar_60 - location + loc_bar_7_bar__minus_3_bar_2_bar_45 - location + loc_bar__minus_3_bar__minus_2_bar_3_bar_60 - location + loc_bar_4_bar__minus_2_bar_1_bar_60 - location + loc_bar_8_bar_5_bar_0_bar_30 - location + loc_bar_8_bar__minus_3_bar_2_bar_30 - location + loc_bar_10_bar_5_bar_0_bar_60 - location + loc_bar_8_bar__minus_3_bar_2_bar_60 - location + loc_bar_10_bar__minus_2_bar_2_bar_45 - location + loc_bar__minus_3_bar__minus_4_bar_3_bar_45 - location + loc_bar_10_bar__minus_2_bar_2_bar_30 - location + loc_bar__minus_1_bar__minus_2_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42 ShelfType) + (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_92 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType) + (receptacleType Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15 DeskType) + (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_92 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_58 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21 DrawerType) + (receptacleType Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87 BedType) + (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType) + (receptacleType Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41 ShelfType) + (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_58 DrawerType) + (receptacleType GarbageCan_bar__plus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_22 GarbageCanType) + (receptacleType Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42 ShelfType) + (receptacleType Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42 ShelfType) + (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_92 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_21 DrawerType) + (receptacleType Shelf_bar__plus_02_dot_70_bar__plus_01_dot_27_bar__minus_01_dot_42 ShelfType) + (receptacleType Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41 ShelfType) + (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_58 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21 DrawerType) + (receptacleType Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75 DresserType) + (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21 DrawerType) + (objectType CellPhone_bar__minus_01_dot_28_bar__plus_01_dot_23_bar__minus_00_dot_84 CellPhoneType) + (objectType Pencil_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_15 PencilType) + (objectType CD_bar__plus_02_dot_60_bar__plus_01_dot_28_bar__minus_01_dot_42 CDType) + (objectType Laptop_bar__minus_00_dot_29_bar__plus_00_dot_56_bar__plus_01_dot_09 LaptopType) + (objectType CreditCard_bar__plus_01_dot_96_bar__plus_00_dot_80_bar__minus_01_dot_40 CreditCardType) + (objectType Pen_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_75 PenType) + (objectType Pencil_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_15 PencilType) + (objectType KeyChain_bar__plus_02_dot_69_bar__plus_01_dot_04_bar__minus_01_dot_40 KeyChainType) + (objectType AlarmClock_bar__minus_01_dot_27_bar__plus_01_dot_23_bar__minus_00_dot_47 AlarmClockType) + (objectType BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84 BaseballBatType) + (objectType Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89 BoxType) + (objectType Mug_bar__plus_02_dot_22_bar__plus_00_dot_79_bar__minus_01_dot_19 MugType) + (objectType Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34 BootsType) + (objectType Mug_bar__plus_01_dot_65_bar__plus_00_dot_79_bar__minus_01_dot_25 MugType) + (objectType BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98 BasketBallType) + (objectType Window_bar__plus_00_dot_12_bar__plus_01_dot_50_bar__minus_01_dot_59 WindowType) + (objectType Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 StatueType) + (objectType Pen_bar__plus_02_dot_31_bar__plus_01_dot_28_bar__minus_01_dot_37 PenType) + (objectType DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 DeskLampType) + (objectType Watch_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_65 WatchType) + (objectType LightSwitch_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__plus_01_dot_90 LightSwitchType) + (objectType Book_bar__minus_00_dot_90_bar__plus_00_dot_57_bar__plus_01_dot_18 BookType) + (objectType CD_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_19 CDType) + (objectType Watch_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_22 WatchType) + (objectType Mirror_bar__plus_01_dot_99_bar__plus_01_dot_38_bar__plus_01_dot_88 MirrorType) + (objectType TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_00_dot_58 TissueBoxType) + (objectType TissueBox_bar__plus_01_dot_67_bar__plus_00_dot_13_bar__minus_01_dot_22 TissueBoxType) + (objectType Chair_bar__plus_02_dot_40_bar__plus_00_dot_00_bar__minus_01_dot_08 ChairType) + (objectType Bowl_bar__plus_02_dot_03_bar__plus_00_dot_79_bar__minus_01_dot_22 BowlType) + (objectType Blinds_bar__plus_00_dot_11_bar__plus_02_dot_34_bar__minus_01_dot_44 BlindsType) + (objectType Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61 PillowType) + (canContain ShelfType PenType) + (canContain 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"objectName": "Pen_d94967db", + "position": { + "x": -1.35281718, + "y": 1.23925281, + "z": -0.745 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_2a940808", + "position": { + "x": 1.651802, + "y": 0.793715239, + "z": -1.24994731 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_e0075340", + "position": { + "x": 1.823921, + "y": 1.036511, + "z": -1.419659 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 932893199, + "scene_num": 301 + }, + "task_id": "trial_T20190909_011443_526440", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3HL2LL0LEPZT8_3PM8NZGV817TPBPK4NEQ8XVKV6GQXN", + "high_descs": [ + "Turn left, go forward, turn right at the right side of the desk, go to the desk.", + "Take the pencil in front of the mug from the desk.", + "Go to the left side of the desk.", + "Put the pencil on the left side of the middle shelf on the desk next to the keys.", + "Stay at the desk.", + "Take the pencil in front of the bracelet from the desk.", + "Stay at the desk.", + "Put the pencil on the left side of the middle shelf on the desk next to the keys." + ], + "task_desc": "Put two pencils on a shelf on a desk.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1CY7IOJ9YH136_3QXNC7EIPLMF0M2NK9EXDOIKBZS09H", + "high_descs": [ + "turn left, go to desk to the right of desk chair", + "pick up blue pencil on desk", + "go to left side of desk", + "place pencil on shelf of desk in front of keys", + "look down at desk", + "pick up blue pencil on desk", + "look up to shelf with keys and blue pencil", + "place blue pencil behind blue pencil on desk shelf" + ], + "task_desc": "place two blue pencils on desk shelf with keys", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3PGS1Q1XAY79I_3SLE99ER0Q4VQ0NAMN5LATGWH5JZBL", + "high_descs": [ + "Turn to your left and walk to the desk to the left of the window.", + "Pick up the blue pencil in front of the white mug.", + "Walk to the other side of the desk.", + "Place the pencil that you are carrying to the right of the keys on the shelf at the back of the desk.", + "Look down at the desktop.", + "Pick up the blue pencil directly in front of the wristwatch on the desktop.", + "Look up to the shelf with the keys and the pencil.", + "Place the pencil from in front of the wristwatch, on the shelf behind, and perpendicular to, the first blue pencil." + ], + "task_desc": "Move two blue pencils from the desktop to the shelf at the back of the desk", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-TissueBox-None-DiningTable-230/trial_T20190909_145505_799057/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-TissueBox-None-DiningTable-230/trial_T20190909_145505_799057/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..88af601549b442020ae4a4dd353c526553d40171 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-TissueBox-None-DiningTable-230/trial_T20190909_145505_799057/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: find two tissuebox and put them 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_145505_799057)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Boots_bar__minus_05_dot_79_bar__plus_00_dot_01_bar__plus_04_dot_82 - object\n Box_bar__minus_02_dot_05_bar__plus_00_dot_91_bar__plus_02_dot_53 - object\n Box_bar__minus_03_dot_13_bar__plus_00_dot_59_bar__plus_06_dot_14 - object\n Candle_bar__minus_00_dot_56_bar__plus_00_dot_67_bar__plus_00_dot_40 - object\n Candle_bar__minus_00_dot_62_bar__plus_00_dot_67_bar__plus_08_dot_44 - object\n Candle_bar__minus_02_dot_65_bar__plus_00_dot_54_bar__plus_08_dot_53 - object\n Chair_bar__minus_00_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_00 - object\n Chair_bar__minus_02_dot_35_bar__plus_00_dot_01_bar__plus_02_dot_75 - object\n Chair_bar__minus_02_dot_48_bar__plus_00_dot_01_bar__plus_01_dot_63 - object\n Chair_bar__minus_03_dot_33_bar__plus_00_dot_01_bar__plus_01_dot_70 - object\n Chair_bar__minus_03_dot_33_bar__plus_00_dot_01_bar__plus_02_dot_74 - object\n CreditCard_bar__minus_02_dot_97_bar__plus_00_dot_53_bar__plus_08_dot_53 - object\n CreditCard_bar__minus_03_dot_60_bar__plus_00_dot_33_bar__plus_04_dot_51 - object\n CreditCard_bar__minus_03_dot_71_bar__plus_00_dot_78_bar__plus_01_dot_91 - object\n FloorLamp_bar__minus_05_dot_65_bar__plus_00_dot_01_bar__plus_08_dot_53 - object\n HousePlant_bar__minus_03_dot_20_bar__plus_00_dot_45_bar__plus_06_dot_80 - object\n HousePlant_bar__minus_05_dot_36_bar__plus_01_dot_48_bar__plus_05_dot_44 - object\n KeyChain_bar__minus_03_dot_33_bar__plus_00_dot_46_bar__plus_06_dot_35 - object\n KeyChain_bar__minus_03_dot_43_bar__plus_00_dot_78_bar__plus_02_dot_53 - object\n Lamp_bar__minus_00_dot_35_bar__plus_00_dot_68_bar__plus_00_dot_34 - object\n Lamp_bar__minus_00_dot_43_bar__plus_00_dot_68_bar__plus_08_dot_64 - object\n Laptop_bar__minus_01_dot_85_bar__plus_00_dot_45_bar__plus_06_dot_44 - object\n Laptop_bar__minus_02_dot_32_bar__plus_00_dot_78_bar__plus_01_dot_75 - object\n Laptop_bar__minus_03_dot_16_bar__plus_00_dot_78_bar__plus_01_dot_91 - object\n LightSwitch_bar__minus_06_dot_00_bar__plus_01_dot_34_bar__plus_03_dot_43 - object\n Mirror_bar__minus_05_dot_49_bar__plus_01_dot_83_bar__plus_06_dot_51 - object\n Newspaper_bar__minus_03_dot_16_bar__plus_00_dot_78_bar__plus_02_dot_53 - object\n Painting_bar__minus_05_dot_96_bar__plus_01_dot_53_bar__plus_01_dot_15 - object\n Pillow_bar__minus_01_dot_72_bar__plus_00_dot_52_bar__plus_05_dot_73 - object\n Plate_bar__minus_03_dot_03_bar__plus_00_dot_47_bar__plus_06_dot_56 - object\n Plate_bar__minus_03_dot_03_bar__plus_00_dot_47_bar__plus_07_dot_18 - object\n Plate_bar__minus_03_dot_71_bar__plus_00_dot_80_bar__plus_02_dot_53 - object\n RemoteControl_bar__minus_02_dot_88_bar__plus_00_dot_78_bar__plus_02_dot_68 - object\n RemoteControl_bar__minus_03_dot_13_bar__plus_00_dot_53_bar__plus_08_dot_66 - object\n Statue_bar__minus_03_dot_53_bar__plus_00_dot_56_bar__plus_06_dot_97 - object\n Statue_bar__minus_03_dot_71_bar__plus_00_dot_79_bar__plus_01_dot_75 - object\n Television_bar__minus_03_dot_11_bar__plus_01_dot_02_bar__plus_08_dot_71 - object\n TissueBox_bar__minus_03_dot_03_bar__plus_00_dot_46_bar__plus_06_dot_76 - object\n TissueBox_bar__minus_03_dot_43_bar__plus_00_dot_46_bar__plus_06_dot_14 - object\n TissueBox_bar__minus_03_dot_43_bar__plus_00_dot_46_bar__plus_06_dot_76 - object\n Watch_bar__minus_03_dot_03_bar__plus_00_dot_46_bar__plus_06_dot_97 - object\n Watch_bar__minus_03_dot_53_bar__plus_00_dot_46_bar__plus_06_dot_56 - object\n Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_01_dot_09 - object\n Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_02_dot_99 - object\n Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_04_dot_92 - object\n Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_06_dot_90 - object\n Window_bar__minus_01_dot_06_bar__plus_01_dot_20_bar__minus_00_dot_16 - object\n Window_bar__minus_02_dot_94_bar__plus_01_dot_20_bar__minus_00_dot_16 - object\n Window_bar__minus_04_dot_86_bar__plus_01_dot_20_bar__minus_00_dot_16 - object\n ArmChair_bar__minus_02_dot_69_bar__plus_00_dot_00_bar__plus_04_dot_62 - receptacle\n ArmChair_bar__minus_03_dot_66_bar__plus_00_dot_00_bar__plus_04_dot_56 - receptacle\n CoffeeTable_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_08_dot_53 - receptacle\n CoffeeTable_bar__minus_03_dot_24_bar__plus_00_dot_01_bar__plus_06_dot_60 - receptacle\n DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23 - receptacle\n GarbageCan_bar__minus_05_dot_75_bar__plus_00_dot_01_bar__plus_00_dot_26 - receptacle\n SideTable_bar__minus_00_dot_40_bar__plus_00_dot_66_bar__plus_00_dot_36 - receptacle\n SideTable_bar__minus_00_dot_53_bar__plus_00_dot_66_bar__plus_08_dot_52 - receptacle\n Sofa_bar__minus_01_dot_74_bar__minus_00_dot_08_bar__plus_06_dot_45 - receptacle\n loc_bar__minus_22_bar_14_bar_3_bar_30 - location\n loc_bar__minus_19_bar_26_bar_3_bar__minus_15 - location\n loc_bar__minus_19_bar_22_bar_3_bar_15 - location\n loc_bar__minus_21_bar_5_bar_3_bar_15 - location\n loc_bar__minus_22_bar_18_bar_0_bar_60 - location\n loc_bar__minus_15_bar_22_bar_2_bar_60 - location\n loc_bar__minus_21_bar_2_bar_3_bar_60 - location\n loc_bar__minus_5_bar_33_bar_1_bar_60 - location\n loc_bar__minus_6_bar_11_bar_3_bar_60 - location\n loc_bar__minus_12_bar_2_bar_2_bar_30 - location\n loc_bar__minus_13_bar_4_bar_0_bar_60 - location\n loc_bar__minus_4_bar_2_bar_2_bar_30 - location\n loc_bar__minus_17_bar_26_bar_1_bar_60 - location\n loc_bar__minus_18_bar_32_bar_1_bar_45 - location\n loc_bar__minus_19_bar_2_bar_2_bar_30 - location\n loc_bar__minus_5_bar_3_bar_1_bar_45 - location\n loc_bar__minus_4_bar_4_bar_1_bar_60 - location\n loc_bar__minus_6_bar_9_bar_3_bar_45 - location\n loc_bar__minus_2_bar_6_bar_1_bar_30 - location\n loc_bar__minus_12_bar_13_bar_2_bar_60 - location\n loc_bar__minus_10_bar_4_bar_0_bar_60 - location\n loc_bar__minus_2_bar_28_bar_1_bar_30 - location\n loc_bar__minus_10_bar_27_bar_1_bar_60 - location\n loc_bar__minus_10_bar_22_bar_2_bar_60 - location\n loc_bar__minus_20_bar_33_bar_3_bar_60 - location\n loc_bar__minus_2_bar_12_bar_1_bar_30 - location\n loc_bar__minus_2_bar_20_bar_1_bar_30 - location\n loc_bar__minus_20_bar_10_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType CoffeeTable_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_08_dot_53 CoffeeTableType)\n (receptacleType DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23 DiningTableType)\n (receptacleType SideTable_bar__minus_00_dot_40_bar__plus_00_dot_66_bar__plus_00_dot_36 SideTableType)\n (receptacleType CoffeeTable_bar__minus_03_dot_24_bar__plus_00_dot_01_bar__plus_06_dot_60 CoffeeTableType)\n (receptacleType ArmChair_bar__minus_02_dot_69_bar__plus_00_dot_00_bar__plus_04_dot_62 ArmChairType)\n (receptacleType SideTable_bar__minus_00_dot_53_bar__plus_00_dot_66_bar__plus_08_dot_52 SideTableType)\n (receptacleType ArmChair_bar__minus_03_dot_66_bar__plus_00_dot_00_bar__plus_04_dot_56 ArmChairType)\n (receptacleType Sofa_bar__minus_01_dot_74_bar__minus_00_dot_08_bar__plus_06_dot_45 SofaType)\n (receptacleType GarbageCan_bar__minus_05_dot_75_bar__plus_00_dot_01_bar__plus_00_dot_26 GarbageCanType)\n (objectType HousePlant_bar__minus_05_dot_36_bar__plus_01_dot_48_bar__plus_05_dot_44 HousePlantType)\n (objectType Pillow_bar__minus_01_dot_72_bar__plus_00_dot_52_bar__plus_05_dot_73 PillowType)\n (objectType Painting_bar__minus_05_dot_96_bar__plus_01_dot_53_bar__plus_01_dot_15 PaintingType)\n (objectType FloorLamp_bar__minus_05_dot_65_bar__plus_00_dot_01_bar__plus_08_dot_53 FloorLampType)\n (objectType CreditCard_bar__minus_02_dot_97_bar__plus_00_dot_53_bar__plus_08_dot_53 CreditCardType)\n (objectType CreditCard_bar__minus_03_dot_60_bar__plus_00_dot_33_bar__plus_04_dot_51 CreditCardType)\n (objectType RemoteControl_bar__minus_02_dot_88_bar__plus_00_dot_78_bar__plus_02_dot_68 RemoteControlType)\n (objectType Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_06_dot_90 WindowType)\n (objectType Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_04_dot_92 WindowType)\n (objectType Chair_bar__minus_02_dot_35_bar__plus_00_dot_01_bar__plus_02_dot_75 ChairType)\n (objectType Television_bar__minus_03_dot_11_bar__plus_01_dot_02_bar__plus_08_dot_71 TelevisionType)\n (objectType Plate_bar__minus_03_dot_03_bar__plus_00_dot_47_bar__plus_07_dot_18 PlateType)\n (objectType Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_02_dot_99 WindowType)\n (objectType Statue_bar__minus_03_dot_71_bar__plus_00_dot_79_bar__plus_01_dot_75 StatueType)\n (objectType HousePlant_bar__minus_03_dot_20_bar__plus_00_dot_45_bar__plus_06_dot_80 HousePlantType)\n (objectType Box_bar__minus_02_dot_05_bar__plus_00_dot_91_bar__plus_02_dot_53 BoxType)\n (objectType Chair_bar__minus_02_dot_48_bar__plus_00_dot_01_bar__plus_01_dot_63 ChairType)\n (objectType Laptop_bar__minus_02_dot_32_bar__plus_00_dot_78_bar__plus_01_dot_75 LaptopType)\n (objectType Statue_bar__minus_03_dot_53_bar__plus_00_dot_56_bar__plus_06_dot_97 StatueType)\n (objectType Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_01_dot_09 WindowType)\n (objectType Laptop_bar__minus_03_dot_16_bar__plus_00_dot_78_bar__plus_01_dot_91 LaptopType)\n (objectType Chair_bar__minus_03_dot_33_bar__plus_00_dot_01_bar__plus_01_dot_70 ChairType)\n (objectType Candle_bar__minus_00_dot_62_bar__plus_00_dot_67_bar__plus_08_dot_44 CandleType)\n (objectType Plate_bar__minus_03_dot_03_bar__plus_00_dot_47_bar__plus_06_dot_56 PlateType)\n (objectType TissueBox_bar__minus_03_dot_43_bar__plus_00_dot_46_bar__plus_06_dot_76 TissueBoxType)\n (objectType Watch_bar__minus_03_dot_03_bar__plus_00_dot_46_bar__plus_06_dot_97 WatchType)\n (objectType RemoteControl_bar__minus_03_dot_13_bar__plus_00_dot_53_bar__plus_08_dot_66 RemoteControlType)\n (objectType LightSwitch_bar__minus_06_dot_00_bar__plus_01_dot_34_bar__plus_03_dot_43 LightSwitchType)\n (objectType CreditCard_bar__minus_03_dot_71_bar__plus_00_dot_78_bar__plus_01_dot_91 CreditCardType)\n (objectType Mirror_bar__minus_05_dot_49_bar__plus_01_dot_83_bar__plus_06_dot_51 MirrorType)\n (objectType Laptop_bar__minus_01_dot_85_bar__plus_00_dot_45_bar__plus_06_dot_44 LaptopType)\n (objectType KeyChain_bar__minus_03_dot_33_bar__plus_00_dot_46_bar__plus_06_dot_35 KeyChainType)\n (objectType KeyChain_bar__minus_03_dot_43_bar__plus_00_dot_78_bar__plus_02_dot_53 KeyChainType)\n (objectType Chair_bar__minus_00_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_00 ChairType)\n (objectType Plate_bar__minus_03_dot_71_bar__plus_00_dot_80_bar__plus_02_dot_53 PlateType)\n (objectType Candle_bar__minus_02_dot_65_bar__plus_00_dot_54_bar__plus_08_dot_53 CandleType)\n (objectType TissueBox_bar__minus_03_dot_03_bar__plus_00_dot_46_bar__plus_06_dot_76 TissueBoxType)\n (objectType Newspaper_bar__minus_03_dot_16_bar__plus_00_dot_78_bar__plus_02_dot_53 NewspaperType)\n (objectType Watch_bar__minus_03_dot_53_bar__plus_00_dot_46_bar__plus_06_dot_56 WatchType)\n (objectType TissueBox_bar__minus_03_dot_43_bar__plus_00_dot_46_bar__plus_06_dot_14 TissueBoxType)\n (objectType Candle_bar__minus_00_dot_56_bar__plus_00_dot_67_bar__plus_00_dot_40 CandleType)\n (objectType Window_bar__minus_04_dot_86_bar__plus_01_dot_20_bar__minus_00_dot_16 WindowType)\n (objectType Boots_bar__minus_05_dot_79_bar__plus_00_dot_01_bar__plus_04_dot_82 BootsType)\n (objectType Box_bar__minus_03_dot_13_bar__plus_00_dot_59_bar__plus_06_dot_14 BoxType)\n (objectType Window_bar__minus_02_dot_94_bar__plus_01_dot_20_bar__minus_00_dot_16 WindowType)\n (objectType Window_bar__minus_01_dot_06_bar__plus_01_dot_20_bar__minus_00_dot_16 WindowType)\n (objectType Chair_bar__minus_03_dot_33_bar__plus_00_dot_01_bar__plus_02_dot_74 ChairType)\n (canContain CoffeeTableType CandleType)\n (canContain CoffeeTableType WatchType)\n (canContain CoffeeTableType NewspaperType)\n (canContain CoffeeTableType BoxType)\n (canContain CoffeeTableType KeyChainType)\n (canContain CoffeeTableType CreditCardType)\n (canContain CoffeeTableType LaptopType)\n (canContain CoffeeTableType PlateType)\n (canContain CoffeeTableType RemoteControlType)\n (canContain CoffeeTableType TissueBoxType)\n (canContain CoffeeTableType StatueType)\n (canContain DiningTableType CandleType)\n (canContain DiningTableType WatchType)\n (canContain DiningTableType NewspaperType)\n (canContain DiningTableType BoxType)\n (canContain DiningTableType KeyChainType)\n (canContain DiningTableType CreditCardType)\n (canContain DiningTableType LaptopType)\n (canContain DiningTableType PlateType)\n (canContain DiningTableType RemoteControlType)\n (canContain DiningTableType TissueBoxType)\n (canContain DiningTableType StatueType)\n (canContain SideTableType CandleType)\n (canContain SideTableType WatchType)\n (canContain SideTableType NewspaperType)\n (canContain SideTableType BoxType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PlateType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType TissueBoxType)\n (canContain SideTableType StatueType)\n (canContain CoffeeTableType CandleType)\n (canContain CoffeeTableType WatchType)\n (canContain CoffeeTableType NewspaperType)\n (canContain CoffeeTableType BoxType)\n (canContain CoffeeTableType KeyChainType)\n (canContain CoffeeTableType CreditCardType)\n (canContain CoffeeTableType LaptopType)\n (canContain CoffeeTableType PlateType)\n (canContain CoffeeTableType RemoteControlType)\n (canContain CoffeeTableType TissueBoxType)\n (canContain CoffeeTableType StatueType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType NewspaperType)\n (canContain ArmChairType CreditCardType)\n (canContain SideTableType CandleType)\n (canContain SideTableType WatchType)\n (canContain SideTableType NewspaperType)\n (canContain SideTableType BoxType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PlateType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType TissueBoxType)\n (canContain SideTableType StatueType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType NewspaperType)\n (canContain ArmChairType CreditCardType)\n (canContain SofaType BoxType)\n (canContain SofaType LaptopType)\n (canContain SofaType PillowType)\n (canContain SofaType RemoteControlType)\n (canContain SofaType KeyChainType)\n (canContain SofaType NewspaperType)\n (canContain SofaType CreditCardType)\n (canContain GarbageCanType NewspaperType)\n (canContain GarbageCanType TissueBoxType)\n (pickupable Pillow_bar__minus_01_dot_72_bar__plus_00_dot_52_bar__plus_05_dot_73)\n (pickupable CreditCard_bar__minus_02_dot_97_bar__plus_00_dot_53_bar__plus_08_dot_53)\n (pickupable CreditCard_bar__minus_03_dot_60_bar__plus_00_dot_33_bar__plus_04_dot_51)\n (pickupable RemoteControl_bar__minus_02_dot_88_bar__plus_00_dot_78_bar__plus_02_dot_68)\n (pickupable Plate_bar__minus_03_dot_03_bar__plus_00_dot_47_bar__plus_07_dot_18)\n (pickupable Statue_bar__minus_03_dot_71_bar__plus_00_dot_79_bar__plus_01_dot_75)\n (pickupable Box_bar__minus_02_dot_05_bar__plus_00_dot_91_bar__plus_02_dot_53)\n (pickupable Laptop_bar__minus_02_dot_32_bar__plus_00_dot_78_bar__plus_01_dot_75)\n (pickupable Statue_bar__minus_03_dot_53_bar__plus_00_dot_56_bar__plus_06_dot_97)\n (pickupable Laptop_bar__minus_03_dot_16_bar__plus_00_dot_78_bar__plus_01_dot_91)\n (pickupable Candle_bar__minus_00_dot_62_bar__plus_00_dot_67_bar__plus_08_dot_44)\n (pickupable Plate_bar__minus_03_dot_03_bar__plus_00_dot_47_bar__plus_06_dot_56)\n (pickupable 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Watch_bar__minus_03_dot_53_bar__plus_00_dot_46_bar__plus_06_dot_56)\n (pickupable TissueBox_bar__minus_03_dot_43_bar__plus_00_dot_46_bar__plus_06_dot_14)\n (pickupable Candle_bar__minus_00_dot_56_bar__plus_00_dot_67_bar__plus_00_dot_40)\n (pickupable Boots_bar__minus_05_dot_79_bar__plus_00_dot_01_bar__plus_04_dot_82)\n (pickupable Box_bar__minus_03_dot_13_bar__plus_00_dot_59_bar__plus_06_dot_14)\n (isReceptacleObject Plate_bar__minus_03_dot_03_bar__plus_00_dot_47_bar__plus_07_dot_18)\n (isReceptacleObject Box_bar__minus_02_dot_05_bar__plus_00_dot_91_bar__plus_02_dot_53)\n (isReceptacleObject Plate_bar__minus_03_dot_03_bar__plus_00_dot_47_bar__plus_06_dot_56)\n (isReceptacleObject Plate_bar__minus_03_dot_71_bar__plus_00_dot_80_bar__plus_02_dot_53)\n (isReceptacleObject Box_bar__minus_03_dot_13_bar__plus_00_dot_59_bar__plus_06_dot_14)\n \n \n (atLocation agent1 loc_bar__minus_20_bar_10_bar_0_bar_30)\n \n (cleanable Plate_bar__minus_03_dot_03_bar__plus_00_dot_47_bar__plus_07_dot_18)\n (cleanable Plate_bar__minus_03_dot_03_bar__plus_00_dot_47_bar__plus_06_dot_56)\n (cleanable Plate_bar__minus_03_dot_71_bar__plus_00_dot_80_bar__plus_02_dot_53)\n \n (heatable Plate_bar__minus_03_dot_03_bar__plus_00_dot_47_bar__plus_07_dot_18)\n (heatable Plate_bar__minus_03_dot_03_bar__plus_00_dot_47_bar__plus_06_dot_56)\n (heatable Plate_bar__minus_03_dot_71_bar__plus_00_dot_80_bar__plus_02_dot_53)\n (coolable Plate_bar__minus_03_dot_03_bar__plus_00_dot_47_bar__plus_07_dot_18)\n (coolable Plate_bar__minus_03_dot_03_bar__plus_00_dot_47_bar__plus_06_dot_56)\n (coolable Plate_bar__minus_03_dot_71_bar__plus_00_dot_80_bar__plus_02_dot_53)\n \n \n (toggleable FloorLamp_bar__minus_05_dot_65_bar__plus_00_dot_01_bar__plus_08_dot_53)\n \n \n \n \n (inReceptacle Box_bar__minus_02_dot_05_bar__plus_00_dot_91_bar__plus_02_dot_53 DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23)\n (inReceptacle Laptop_bar__minus_02_dot_32_bar__plus_00_dot_78_bar__plus_01_dot_75 DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23)\n (inReceptacle CreditCard_bar__minus_03_dot_71_bar__plus_00_dot_78_bar__plus_01_dot_91 DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23)\n (inReceptacle RemoteControl_bar__minus_02_dot_88_bar__plus_00_dot_78_bar__plus_02_dot_68 DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23)\n (inReceptacle KeyChain_bar__minus_03_dot_43_bar__plus_00_dot_78_bar__plus_02_dot_53 DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23)\n (inReceptacle Laptop_bar__minus_03_dot_16_bar__plus_00_dot_78_bar__plus_01_dot_91 DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23)\n (inReceptacle Plate_bar__minus_03_dot_71_bar__plus_00_dot_80_bar__plus_02_dot_53 DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23)\n (inReceptacle Statue_bar__minus_03_dot_71_bar__plus_00_dot_79_bar__plus_01_dot_75 DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23)\n (inReceptacle Newspaper_bar__minus_03_dot_16_bar__plus_00_dot_78_bar__plus_02_dot_53 DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23)\n (inReceptacle Statue_bar__minus_03_dot_53_bar__plus_00_dot_56_bar__plus_06_dot_97 CoffeeTable_bar__minus_03_dot_24_bar__plus_00_dot_01_bar__plus_06_dot_60)\n (inReceptacle TissueBox_bar__minus_03_dot_43_bar__plus_00_dot_46_bar__plus_06_dot_14 CoffeeTable_bar__minus_03_dot_24_bar__plus_00_dot_01_bar__plus_06_dot_60)\n (inReceptacle KeyChain_bar__minus_03_dot_33_bar__plus_00_dot_46_bar__plus_06_dot_35 CoffeeTable_bar__minus_03_dot_24_bar__plus_00_dot_01_bar__plus_06_dot_60)\n (inReceptacle Plate_bar__minus_03_dot_03_bar__plus_00_dot_47_bar__plus_06_dot_56 CoffeeTable_bar__minus_03_dot_24_bar__plus_00_dot_01_bar__plus_06_dot_60)\n (inReceptacle Box_bar__minus_03_dot_13_bar__plus_00_dot_59_bar__plus_06_dot_14 CoffeeTable_bar__minus_03_dot_24_bar__plus_00_dot_01_bar__plus_06_dot_60)\n (inReceptacle Plate_bar__minus_03_dot_03_bar__plus_00_dot_47_bar__plus_07_dot_18 CoffeeTable_bar__minus_03_dot_24_bar__plus_00_dot_01_bar__plus_06_dot_60)\n (inReceptacle TissueBox_bar__minus_03_dot_03_bar__plus_00_dot_46_bar__plus_06_dot_76 CoffeeTable_bar__minus_03_dot_24_bar__plus_00_dot_01_bar__plus_06_dot_60)\n (inReceptacle HousePlant_bar__minus_03_dot_20_bar__plus_00_dot_45_bar__plus_06_dot_80 CoffeeTable_bar__minus_03_dot_24_bar__plus_00_dot_01_bar__plus_06_dot_60)\n (inReceptacle TissueBox_bar__minus_03_dot_43_bar__plus_00_dot_46_bar__plus_06_dot_76 CoffeeTable_bar__minus_03_dot_24_bar__plus_00_dot_01_bar__plus_06_dot_60)\n (inReceptacle Watch_bar__minus_03_dot_03_bar__plus_00_dot_46_bar__plus_06_dot_97 CoffeeTable_bar__minus_03_dot_24_bar__plus_00_dot_01_bar__plus_06_dot_60)\n (inReceptacle Watch_bar__minus_03_dot_53_bar__plus_00_dot_46_bar__plus_06_dot_56 CoffeeTable_bar__minus_03_dot_24_bar__plus_00_dot_01_bar__plus_06_dot_60)\n (inReceptacle Pillow_bar__minus_01_dot_72_bar__plus_00_dot_52_bar__plus_05_dot_73 Sofa_bar__minus_01_dot_74_bar__minus_00_dot_08_bar__plus_06_dot_45)\n (inReceptacle Laptop_bar__minus_01_dot_85_bar__plus_00_dot_45_bar__plus_06_dot_44 Sofa_bar__minus_01_dot_74_bar__minus_00_dot_08_bar__plus_06_dot_45)\n (inReceptacle CreditCard_bar__minus_03_dot_60_bar__plus_00_dot_33_bar__plus_04_dot_51 ArmChair_bar__minus_03_dot_66_bar__plus_00_dot_00_bar__plus_04_dot_56)\n (inReceptacle Candle_bar__minus_00_dot_62_bar__plus_00_dot_67_bar__plus_08_dot_44 SideTable_bar__minus_00_dot_53_bar__plus_00_dot_66_bar__plus_08_dot_52)\n (inReceptacle CreditCard_bar__minus_02_dot_97_bar__plus_00_dot_53_bar__plus_08_dot_53 CoffeeTable_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_08_dot_53)\n (inReceptacle RemoteControl_bar__minus_03_dot_13_bar__plus_00_dot_53_bar__plus_08_dot_66 CoffeeTable_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_08_dot_53)\n (inReceptacle Television_bar__minus_03_dot_11_bar__plus_01_dot_02_bar__plus_08_dot_71 CoffeeTable_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_08_dot_53)\n (inReceptacle Candle_bar__minus_02_dot_65_bar__plus_00_dot_54_bar__plus_08_dot_53 CoffeeTable_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_08_dot_53)\n (inReceptacle Candle_bar__minus_00_dot_56_bar__plus_00_dot_67_bar__plus_00_dot_40 SideTable_bar__minus_00_dot_40_bar__plus_00_dot_66_bar__plus_00_dot_36)\n \n \n (receptacleAtLocation ArmChair_bar__minus_02_dot_69_bar__plus_00_dot_00_bar__plus_04_dot_62 loc_bar__minus_10_bar_22_bar_2_bar_60)\n (receptacleAtLocation ArmChair_bar__minus_03_dot_66_bar__plus_00_dot_00_bar__plus_04_dot_56 loc_bar__minus_15_bar_22_bar_2_bar_60)\n (receptacleAtLocation CoffeeTable_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_08_dot_53 loc_bar__minus_18_bar_32_bar_1_bar_45)\n (receptacleAtLocation CoffeeTable_bar__minus_03_dot_24_bar__plus_00_dot_01_bar__plus_06_dot_60 loc_bar__minus_17_bar_26_bar_1_bar_60)\n (receptacleAtLocation DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23 loc_bar__minus_6_bar_9_bar_3_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_05_dot_75_bar__plus_00_dot_01_bar__plus_00_dot_26 loc_bar__minus_21_bar_2_bar_3_bar_60)\n (receptacleAtLocation SideTable_bar__minus_00_dot_40_bar__plus_00_dot_66_bar__plus_00_dot_36 loc_bar__minus_5_bar_3_bar_1_bar_45)\n (receptacleAtLocation SideTable_bar__minus_00_dot_53_bar__plus_00_dot_66_bar__plus_08_dot_52 loc_bar__minus_5_bar_33_bar_1_bar_60)\n (receptacleAtLocation Sofa_bar__minus_01_dot_74_bar__minus_00_dot_08_bar__plus_06_dot_45 loc_bar__minus_10_bar_27_bar_1_bar_60)\n (objectAtLocation Watch_bar__minus_03_dot_53_bar__plus_00_dot_46_bar__plus_06_dot_56 loc_bar__minus_17_bar_26_bar_1_bar_60)\n (objectAtLocation RemoteControl_bar__minus_02_dot_88_bar__plus_00_dot_78_bar__plus_02_dot_68 loc_bar__minus_6_bar_9_bar_3_bar_45)\n (objectAtLocation CreditCard_bar__minus_03_dot_71_bar__plus_00_dot_78_bar__plus_01_dot_91 loc_bar__minus_6_bar_9_bar_3_bar_45)\n (objectAtLocation Laptop_bar__minus_02_dot_32_bar__plus_00_dot_78_bar__plus_01_dot_75 loc_bar__minus_6_bar_9_bar_3_bar_45)\n (objectAtLocation TissueBox_bar__minus_03_dot_43_bar__plus_00_dot_46_bar__plus_06_dot_14 loc_bar__minus_17_bar_26_bar_1_bar_60)\n (objectAtLocation Plate_bar__minus_03_dot_71_bar__plus_00_dot_80_bar__plus_02_dot_53 loc_bar__minus_6_bar_9_bar_3_bar_45)\n (objectAtLocation KeyChain_bar__minus_03_dot_33_bar__plus_00_dot_46_bar__plus_06_dot_35 loc_bar__minus_17_bar_26_bar_1_bar_60)\n (objectAtLocation Box_bar__minus_02_dot_05_bar__plus_00_dot_91_bar__plus_02_dot_53 loc_bar__minus_6_bar_9_bar_3_bar_45)\n (objectAtLocation Laptop_bar__minus_03_dot_16_bar__plus_00_dot_78_bar__plus_01_dot_91 loc_bar__minus_6_bar_9_bar_3_bar_45)\n (objectAtLocation CreditCard_bar__minus_02_dot_97_bar__plus_00_dot_53_bar__plus_08_dot_53 loc_bar__minus_18_bar_32_bar_1_bar_45)\n (objectAtLocation TissueBox_bar__minus_03_dot_03_bar__plus_00_dot_46_bar__plus_06_dot_76 loc_bar__minus_17_bar_26_bar_1_bar_60)\n (objectAtLocation Plate_bar__minus_03_dot_03_bar__plus_00_dot_47_bar__plus_06_dot_56 loc_bar__minus_17_bar_26_bar_1_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_00 loc_bar__minus_4_bar_4_bar_1_bar_60)\n (objectAtLocation Chair_bar__minus_03_dot_33_bar__plus_00_dot_01_bar__plus_01_dot_70 loc_bar__minus_13_bar_4_bar_0_bar_60)\n (objectAtLocation Chair_bar__minus_03_dot_33_bar__plus_00_dot_01_bar__plus_02_dot_74 loc_bar__minus_12_bar_13_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_02_dot_35_bar__plus_00_dot_01_bar__plus_02_dot_75 loc_bar__minus_6_bar_11_bar_3_bar_60)\n (objectAtLocation Chair_bar__minus_02_dot_48_bar__plus_00_dot_01_bar__plus_01_dot_63 loc_bar__minus_10_bar_4_bar_0_bar_60)\n (objectAtLocation Box_bar__minus_03_dot_13_bar__plus_00_dot_59_bar__plus_06_dot_14 loc_bar__minus_17_bar_26_bar_1_bar_60)\n (objectAtLocation Mirror_bar__minus_05_dot_49_bar__plus_01_dot_83_bar__plus_06_dot_51 loc_bar__minus_19_bar_26_bar_3_bar__minus_15)\n (objectAtLocation FloorLamp_bar__minus_05_dot_65_bar__plus_00_dot_01_bar__plus_08_dot_53 loc_bar__minus_20_bar_33_bar_3_bar_60)\n (objectAtLocation KeyChain_bar__minus_03_dot_43_bar__plus_00_dot_78_bar__plus_02_dot_53 loc_bar__minus_6_bar_9_bar_3_bar_45)\n (objectAtLocation Plate_bar__minus_03_dot_03_bar__plus_00_dot_47_bar__plus_07_dot_18 loc_bar__minus_17_bar_26_bar_1_bar_60)\n (objectAtLocation Candle_bar__minus_00_dot_56_bar__plus_00_dot_67_bar__plus_00_dot_40 loc_bar__minus_5_bar_3_bar_1_bar_45)\n (objectAtLocation Pillow_bar__minus_01_dot_72_bar__plus_00_dot_52_bar__plus_05_dot_73 loc_bar__minus_10_bar_27_bar_1_bar_60)\n (objectAtLocation HousePlant_bar__minus_03_dot_20_bar__plus_00_dot_45_bar__plus_06_dot_80 loc_bar__minus_17_bar_26_bar_1_bar_60)\n (objectAtLocation HousePlant_bar__minus_05_dot_36_bar__plus_01_dot_48_bar__plus_05_dot_44 loc_bar__minus_19_bar_22_bar_3_bar_15)\n (objectAtLocation Candle_bar__minus_00_dot_62_bar__plus_00_dot_67_bar__plus_08_dot_44 loc_bar__minus_5_bar_33_bar_1_bar_60)\n (objectAtLocation TissueBox_bar__minus_03_dot_43_bar__plus_00_dot_46_bar__plus_06_dot_76 loc_bar__minus_17_bar_26_bar_1_bar_60)\n (objectAtLocation Laptop_bar__minus_01_dot_85_bar__plus_00_dot_45_bar__plus_06_dot_44 loc_bar__minus_10_bar_27_bar_1_bar_60)\n (objectAtLocation Television_bar__minus_03_dot_11_bar__plus_01_dot_02_bar__plus_08_dot_71 loc_bar__minus_18_bar_32_bar_1_bar_45)\n (objectAtLocation Newspaper_bar__minus_03_dot_16_bar__plus_00_dot_78_bar__plus_02_dot_53 loc_bar__minus_6_bar_9_bar_3_bar_45)\n (objectAtLocation CreditCard_bar__minus_03_dot_60_bar__plus_00_dot_33_bar__plus_04_dot_51 loc_bar__minus_15_bar_22_bar_2_bar_60)\n (objectAtLocation RemoteControl_bar__minus_03_dot_13_bar__plus_00_dot_53_bar__plus_08_dot_66 loc_bar__minus_18_bar_32_bar_1_bar_45)\n (objectAtLocation Boots_bar__minus_05_dot_79_bar__plus_00_dot_01_bar__plus_04_dot_82 loc_bar__minus_22_bar_18_bar_0_bar_60)\n (objectAtLocation Candle_bar__minus_02_dot_65_bar__plus_00_dot_54_bar__plus_08_dot_53 loc_bar__minus_18_bar_32_bar_1_bar_45)\n (objectAtLocation Statue_bar__minus_03_dot_53_bar__plus_00_dot_56_bar__plus_06_dot_97 loc_bar__minus_17_bar_26_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__minus_06_dot_00_bar__plus_01_dot_34_bar__plus_03_dot_43 loc_bar__minus_22_bar_14_bar_3_bar_30)\n (objectAtLocation Painting_bar__minus_05_dot_96_bar__plus_01_dot_53_bar__plus_01_dot_15 loc_bar__minus_21_bar_5_bar_3_bar_15)\n (objectAtLocation Watch_bar__minus_03_dot_03_bar__plus_00_dot_46_bar__plus_06_dot_97 loc_bar__minus_17_bar_26_bar_1_bar_60)\n (objectAtLocation Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_06_dot_90 loc_bar__minus_2_bar_28_bar_1_bar_30)\n (objectAtLocation Window_bar__minus_04_dot_86_bar__plus_01_dot_20_bar__minus_00_dot_16 loc_bar__minus_19_bar_2_bar_2_bar_30)\n (objectAtLocation Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_04_dot_92 loc_bar__minus_2_bar_20_bar_1_bar_30)\n (objectAtLocation Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_02_dot_99 loc_bar__minus_2_bar_12_bar_1_bar_30)\n (objectAtLocation Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_01_dot_09 loc_bar__minus_2_bar_6_bar_1_bar_30)\n (objectAtLocation Window_bar__minus_02_dot_94_bar__plus_01_dot_20_bar__minus_00_dot_16 loc_bar__minus_12_bar_2_bar_2_bar_30)\n (objectAtLocation Window_bar__minus_01_dot_06_bar__plus_01_dot_20_bar__minus_00_dot_16 loc_bar__minus_4_bar_2_bar_2_bar_30)\n (objectAtLocation Statue_bar__minus_03_dot_71_bar__plus_00_dot_79_bar__plus_01_dot_75 loc_bar__minus_6_bar_9_bar_3_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 TissueBoxType)\n (receptacleType ?r DiningTableType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 TissueBoxType)\n (receptacleType ?r DiningTableType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to coffeetable 1", "take tissuebox 3 from coffeetable 1", "go to diningtable 1", "move tissuebox 3 to diningtable 1", "go to coffeetable 1", "take tissuebox 2 from coffeetable 1", "go to diningtable 1", "move tissuebox 2 to diningtable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-TissueBox-None-DiningTable-230/trial_T20190909_145505_799057/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-TissueBox-None-DiningTable-230/trial_T20190909_145505_799057/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..8f8f14dd6c77b0eb186ba5901296fed03a26807d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-TissueBox-None-DiningTable-230/trial_T20190909_145505_799057/initial_state.pddl @@ -0,0 +1,588 @@ + +(define (problem plan_trial_T20190909_145505_799057) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Boots_bar__minus_05_dot_79_bar__plus_00_dot_01_bar__plus_04_dot_82 - object + Box_bar__minus_02_dot_05_bar__plus_00_dot_91_bar__plus_02_dot_53 - object + Box_bar__minus_03_dot_13_bar__plus_00_dot_59_bar__plus_06_dot_14 - object + Candle_bar__minus_00_dot_56_bar__plus_00_dot_67_bar__plus_00_dot_40 - object + Candle_bar__minus_00_dot_62_bar__plus_00_dot_67_bar__plus_08_dot_44 - object + Candle_bar__minus_02_dot_65_bar__plus_00_dot_54_bar__plus_08_dot_53 - object + Chair_bar__minus_00_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_00 - object + Chair_bar__minus_02_dot_35_bar__plus_00_dot_01_bar__plus_02_dot_75 - object + Chair_bar__minus_02_dot_48_bar__plus_00_dot_01_bar__plus_01_dot_63 - object + Chair_bar__minus_03_dot_33_bar__plus_00_dot_01_bar__plus_01_dot_70 - object + Chair_bar__minus_03_dot_33_bar__plus_00_dot_01_bar__plus_02_dot_74 - object + CreditCard_bar__minus_02_dot_97_bar__plus_00_dot_53_bar__plus_08_dot_53 - object + CreditCard_bar__minus_03_dot_60_bar__plus_00_dot_33_bar__plus_04_dot_51 - object + CreditCard_bar__minus_03_dot_71_bar__plus_00_dot_78_bar__plus_01_dot_91 - object + FloorLamp_bar__minus_05_dot_65_bar__plus_00_dot_01_bar__plus_08_dot_53 - object + HousePlant_bar__minus_03_dot_20_bar__plus_00_dot_45_bar__plus_06_dot_80 - object + HousePlant_bar__minus_05_dot_36_bar__plus_01_dot_48_bar__plus_05_dot_44 - object + KeyChain_bar__minus_03_dot_33_bar__plus_00_dot_46_bar__plus_06_dot_35 - object + KeyChain_bar__minus_03_dot_43_bar__plus_00_dot_78_bar__plus_02_dot_53 - object + Lamp_bar__minus_00_dot_35_bar__plus_00_dot_68_bar__plus_00_dot_34 - object + Lamp_bar__minus_00_dot_43_bar__plus_00_dot_68_bar__plus_08_dot_64 - object + Laptop_bar__minus_01_dot_85_bar__plus_00_dot_45_bar__plus_06_dot_44 - object + Laptop_bar__minus_02_dot_32_bar__plus_00_dot_78_bar__plus_01_dot_75 - object + Laptop_bar__minus_03_dot_16_bar__plus_00_dot_78_bar__plus_01_dot_91 - object + LightSwitch_bar__minus_06_dot_00_bar__plus_01_dot_34_bar__plus_03_dot_43 - object + Mirror_bar__minus_05_dot_49_bar__plus_01_dot_83_bar__plus_06_dot_51 - object + Newspaper_bar__minus_03_dot_16_bar__plus_00_dot_78_bar__plus_02_dot_53 - object + Painting_bar__minus_05_dot_96_bar__plus_01_dot_53_bar__plus_01_dot_15 - object + Pillow_bar__minus_01_dot_72_bar__plus_00_dot_52_bar__plus_05_dot_73 - object + Plate_bar__minus_03_dot_03_bar__plus_00_dot_47_bar__plus_06_dot_56 - object + Plate_bar__minus_03_dot_03_bar__plus_00_dot_47_bar__plus_07_dot_18 - object + Plate_bar__minus_03_dot_71_bar__plus_00_dot_80_bar__plus_02_dot_53 - object + RemoteControl_bar__minus_02_dot_88_bar__plus_00_dot_78_bar__plus_02_dot_68 - object + RemoteControl_bar__minus_03_dot_13_bar__plus_00_dot_53_bar__plus_08_dot_66 - object + Statue_bar__minus_03_dot_53_bar__plus_00_dot_56_bar__plus_06_dot_97 - object + Statue_bar__minus_03_dot_71_bar__plus_00_dot_79_bar__plus_01_dot_75 - object + Television_bar__minus_03_dot_11_bar__plus_01_dot_02_bar__plus_08_dot_71 - object + TissueBox_bar__minus_03_dot_03_bar__plus_00_dot_46_bar__plus_06_dot_76 - object + TissueBox_bar__minus_03_dot_43_bar__plus_00_dot_46_bar__plus_06_dot_14 - object + TissueBox_bar__minus_03_dot_43_bar__plus_00_dot_46_bar__plus_06_dot_76 - object + Watch_bar__minus_03_dot_03_bar__plus_00_dot_46_bar__plus_06_dot_97 - object + Watch_bar__minus_03_dot_53_bar__plus_00_dot_46_bar__plus_06_dot_56 - object + Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_01_dot_09 - object + Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_02_dot_99 - object + Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_04_dot_92 - object + Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_06_dot_90 - object + Window_bar__minus_01_dot_06_bar__plus_01_dot_20_bar__minus_00_dot_16 - object + Window_bar__minus_02_dot_94_bar__plus_01_dot_20_bar__minus_00_dot_16 - object + Window_bar__minus_04_dot_86_bar__plus_01_dot_20_bar__minus_00_dot_16 - object + ArmChair_bar__minus_02_dot_69_bar__plus_00_dot_00_bar__plus_04_dot_62 - receptacle + ArmChair_bar__minus_03_dot_66_bar__plus_00_dot_00_bar__plus_04_dot_56 - receptacle + CoffeeTable_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_08_dot_53 - receptacle + CoffeeTable_bar__minus_03_dot_24_bar__plus_00_dot_01_bar__plus_06_dot_60 - receptacle + DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23 - receptacle + GarbageCan_bar__minus_05_dot_75_bar__plus_00_dot_01_bar__plus_00_dot_26 - receptacle + SideTable_bar__minus_00_dot_40_bar__plus_00_dot_66_bar__plus_00_dot_36 - receptacle + SideTable_bar__minus_00_dot_53_bar__plus_00_dot_66_bar__plus_08_dot_52 - receptacle + Sofa_bar__minus_01_dot_74_bar__minus_00_dot_08_bar__plus_06_dot_45 - receptacle + loc_bar__minus_22_bar_14_bar_3_bar_30 - location + loc_bar__minus_19_bar_26_bar_3_bar__minus_15 - location + loc_bar__minus_19_bar_22_bar_3_bar_15 - location + loc_bar__minus_21_bar_5_bar_3_bar_15 - location + loc_bar__minus_22_bar_18_bar_0_bar_60 - location + loc_bar__minus_15_bar_22_bar_2_bar_60 - location + loc_bar__minus_21_bar_2_bar_3_bar_60 - location + loc_bar__minus_5_bar_33_bar_1_bar_60 - location + loc_bar__minus_6_bar_11_bar_3_bar_60 - location + loc_bar__minus_12_bar_2_bar_2_bar_30 - location + loc_bar__minus_13_bar_4_bar_0_bar_60 - location + loc_bar__minus_4_bar_2_bar_2_bar_30 - location + loc_bar__minus_17_bar_26_bar_1_bar_60 - location + loc_bar__minus_18_bar_32_bar_1_bar_45 - location + loc_bar__minus_19_bar_2_bar_2_bar_30 - location + loc_bar__minus_5_bar_3_bar_1_bar_45 - location + loc_bar__minus_4_bar_4_bar_1_bar_60 - location + loc_bar__minus_6_bar_9_bar_3_bar_45 - location + loc_bar__minus_2_bar_6_bar_1_bar_30 - location + loc_bar__minus_12_bar_13_bar_2_bar_60 - location + loc_bar__minus_10_bar_4_bar_0_bar_60 - location + loc_bar__minus_2_bar_28_bar_1_bar_30 - location + loc_bar__minus_10_bar_27_bar_1_bar_60 - location + loc_bar__minus_10_bar_22_bar_2_bar_60 - location + loc_bar__minus_20_bar_33_bar_3_bar_60 - location + loc_bar__minus_2_bar_12_bar_1_bar_30 - location + loc_bar__minus_2_bar_20_bar_1_bar_30 - location + loc_bar__minus_20_bar_10_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType CoffeeTable_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_08_dot_53 CoffeeTableType) + (receptacleType DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23 DiningTableType) + (receptacleType SideTable_bar__minus_00_dot_40_bar__plus_00_dot_66_bar__plus_00_dot_36 SideTableType) + (receptacleType CoffeeTable_bar__minus_03_dot_24_bar__plus_00_dot_01_bar__plus_06_dot_60 CoffeeTableType) + (receptacleType ArmChair_bar__minus_02_dot_69_bar__plus_00_dot_00_bar__plus_04_dot_62 ArmChairType) + (receptacleType SideTable_bar__minus_00_dot_53_bar__plus_00_dot_66_bar__plus_08_dot_52 SideTableType) + (receptacleType ArmChair_bar__minus_03_dot_66_bar__plus_00_dot_00_bar__plus_04_dot_56 ArmChairType) + (receptacleType Sofa_bar__minus_01_dot_74_bar__minus_00_dot_08_bar__plus_06_dot_45 SofaType) + (receptacleType GarbageCan_bar__minus_05_dot_75_bar__plus_00_dot_01_bar__plus_00_dot_26 GarbageCanType) + (objectType HousePlant_bar__minus_05_dot_36_bar__plus_01_dot_48_bar__plus_05_dot_44 HousePlantType) + (objectType Pillow_bar__minus_01_dot_72_bar__plus_00_dot_52_bar__plus_05_dot_73 PillowType) + (objectType Painting_bar__minus_05_dot_96_bar__plus_01_dot_53_bar__plus_01_dot_15 PaintingType) + (objectType FloorLamp_bar__minus_05_dot_65_bar__plus_00_dot_01_bar__plus_08_dot_53 FloorLampType) + (objectType CreditCard_bar__minus_02_dot_97_bar__plus_00_dot_53_bar__plus_08_dot_53 CreditCardType) + (objectType CreditCard_bar__minus_03_dot_60_bar__plus_00_dot_33_bar__plus_04_dot_51 CreditCardType) + (objectType RemoteControl_bar__minus_02_dot_88_bar__plus_00_dot_78_bar__plus_02_dot_68 RemoteControlType) + (objectType Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_06_dot_90 WindowType) + (objectType Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_04_dot_92 WindowType) + (objectType Chair_bar__minus_02_dot_35_bar__plus_00_dot_01_bar__plus_02_dot_75 ChairType) + (objectType Television_bar__minus_03_dot_11_bar__plus_01_dot_02_bar__plus_08_dot_71 TelevisionType) + (objectType Plate_bar__minus_03_dot_03_bar__plus_00_dot_47_bar__plus_07_dot_18 PlateType) + (objectType Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_02_dot_99 WindowType) + (objectType Statue_bar__minus_03_dot_71_bar__plus_00_dot_79_bar__plus_01_dot_75 StatueType) + (objectType HousePlant_bar__minus_03_dot_20_bar__plus_00_dot_45_bar__plus_06_dot_80 HousePlantType) + (objectType Box_bar__minus_02_dot_05_bar__plus_00_dot_91_bar__plus_02_dot_53 BoxType) + (objectType Chair_bar__minus_02_dot_48_bar__plus_00_dot_01_bar__plus_01_dot_63 ChairType) + (objectType Laptop_bar__minus_02_dot_32_bar__plus_00_dot_78_bar__plus_01_dot_75 LaptopType) + (objectType Statue_bar__minus_03_dot_53_bar__plus_00_dot_56_bar__plus_06_dot_97 StatueType) + (objectType Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_01_dot_09 WindowType) + (objectType Laptop_bar__minus_03_dot_16_bar__plus_00_dot_78_bar__plus_01_dot_91 LaptopType) + (objectType Chair_bar__minus_03_dot_33_bar__plus_00_dot_01_bar__plus_01_dot_70 ChairType) + (objectType Candle_bar__minus_00_dot_62_bar__plus_00_dot_67_bar__plus_08_dot_44 CandleType) + (objectType Plate_bar__minus_03_dot_03_bar__plus_00_dot_47_bar__plus_06_dot_56 PlateType) + (objectType TissueBox_bar__minus_03_dot_43_bar__plus_00_dot_46_bar__plus_06_dot_76 TissueBoxType) + (objectType Watch_bar__minus_03_dot_03_bar__plus_00_dot_46_bar__plus_06_dot_97 WatchType) + (objectType RemoteControl_bar__minus_03_dot_13_bar__plus_00_dot_53_bar__plus_08_dot_66 RemoteControlType) + (objectType LightSwitch_bar__minus_06_dot_00_bar__plus_01_dot_34_bar__plus_03_dot_43 LightSwitchType) + (objectType CreditCard_bar__minus_03_dot_71_bar__plus_00_dot_78_bar__plus_01_dot_91 CreditCardType) + (objectType Mirror_bar__minus_05_dot_49_bar__plus_01_dot_83_bar__plus_06_dot_51 MirrorType) + (objectType Laptop_bar__minus_01_dot_85_bar__plus_00_dot_45_bar__plus_06_dot_44 LaptopType) + (objectType KeyChain_bar__minus_03_dot_33_bar__plus_00_dot_46_bar__plus_06_dot_35 KeyChainType) + (objectType KeyChain_bar__minus_03_dot_43_bar__plus_00_dot_78_bar__plus_02_dot_53 KeyChainType) + (objectType Chair_bar__minus_00_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_00 ChairType) + (objectType Plate_bar__minus_03_dot_71_bar__plus_00_dot_80_bar__plus_02_dot_53 PlateType) + (objectType Candle_bar__minus_02_dot_65_bar__plus_00_dot_54_bar__plus_08_dot_53 CandleType) + (objectType TissueBox_bar__minus_03_dot_03_bar__plus_00_dot_46_bar__plus_06_dot_76 TissueBoxType) + (objectType Newspaper_bar__minus_03_dot_16_bar__plus_00_dot_78_bar__plus_02_dot_53 NewspaperType) + (objectType Watch_bar__minus_03_dot_53_bar__plus_00_dot_46_bar__plus_06_dot_56 WatchType) + (objectType TissueBox_bar__minus_03_dot_43_bar__plus_00_dot_46_bar__plus_06_dot_14 TissueBoxType) + (objectType Candle_bar__minus_00_dot_56_bar__plus_00_dot_67_bar__plus_00_dot_40 CandleType) + (objectType Window_bar__minus_04_dot_86_bar__plus_01_dot_20_bar__minus_00_dot_16 WindowType) + (objectType Boots_bar__minus_05_dot_79_bar__plus_00_dot_01_bar__plus_04_dot_82 BootsType) + (objectType Box_bar__minus_03_dot_13_bar__plus_00_dot_59_bar__plus_06_dot_14 BoxType) + (objectType Window_bar__minus_02_dot_94_bar__plus_01_dot_20_bar__minus_00_dot_16 WindowType) + (objectType Window_bar__minus_01_dot_06_bar__plus_01_dot_20_bar__minus_00_dot_16 WindowType) + (objectType Chair_bar__minus_03_dot_33_bar__plus_00_dot_01_bar__plus_02_dot_74 ChairType) + (canContain CoffeeTableType CandleType) + (canContain CoffeeTableType WatchType) + (canContain CoffeeTableType NewspaperType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType PlateType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType TissueBoxType) + (canContain CoffeeTableType StatueType) + (canContain DiningTableType CandleType) + (canContain DiningTableType WatchType) + (canContain DiningTableType NewspaperType) + (canContain DiningTableType BoxType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType PlateType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType TissueBoxType) + (canContain DiningTableType StatueType) + (canContain SideTableType CandleType) + (canContain SideTableType WatchType) + (canContain SideTableType NewspaperType) + (canContain SideTableType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType PlateType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType TissueBoxType) + (canContain SideTableType StatueType) + (canContain CoffeeTableType CandleType) + (canContain CoffeeTableType WatchType) + (canContain CoffeeTableType NewspaperType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType PlateType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType TissueBoxType) + (canContain CoffeeTableType StatueType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType NewspaperType) + (canContain ArmChairType CreditCardType) + (canContain SideTableType CandleType) + (canContain SideTableType WatchType) + (canContain SideTableType NewspaperType) + (canContain SideTableType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType PlateType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType TissueBoxType) + (canContain SideTableType StatueType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType NewspaperType) + (canContain ArmChairType CreditCardType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType NewspaperType) + (canContain SofaType CreditCardType) + (canContain GarbageCanType NewspaperType) + (canContain GarbageCanType TissueBoxType) + (pickupable Pillow_bar__minus_01_dot_72_bar__plus_00_dot_52_bar__plus_05_dot_73) + (pickupable CreditCard_bar__minus_02_dot_97_bar__plus_00_dot_53_bar__plus_08_dot_53) + (pickupable CreditCard_bar__minus_03_dot_60_bar__plus_00_dot_33_bar__plus_04_dot_51) + (pickupable RemoteControl_bar__minus_02_dot_88_bar__plus_00_dot_78_bar__plus_02_dot_68) + (pickupable Plate_bar__minus_03_dot_03_bar__plus_00_dot_47_bar__plus_07_dot_18) + (pickupable Statue_bar__minus_03_dot_71_bar__plus_00_dot_79_bar__plus_01_dot_75) + (pickupable Box_bar__minus_02_dot_05_bar__plus_00_dot_91_bar__plus_02_dot_53) + (pickupable Laptop_bar__minus_02_dot_32_bar__plus_00_dot_78_bar__plus_01_dot_75) + (pickupable Statue_bar__minus_03_dot_53_bar__plus_00_dot_56_bar__plus_06_dot_97) + (pickupable Laptop_bar__minus_03_dot_16_bar__plus_00_dot_78_bar__plus_01_dot_91) + (pickupable Candle_bar__minus_00_dot_62_bar__plus_00_dot_67_bar__plus_08_dot_44) + (pickupable Plate_bar__minus_03_dot_03_bar__plus_00_dot_47_bar__plus_06_dot_56) + (pickupable TissueBox_bar__minus_03_dot_43_bar__plus_00_dot_46_bar__plus_06_dot_76) + (pickupable Watch_bar__minus_03_dot_03_bar__plus_00_dot_46_bar__plus_06_dot_97) + (pickupable RemoteControl_bar__minus_03_dot_13_bar__plus_00_dot_53_bar__plus_08_dot_66) + (pickupable CreditCard_bar__minus_03_dot_71_bar__plus_00_dot_78_bar__plus_01_dot_91) + (pickupable Laptop_bar__minus_01_dot_85_bar__plus_00_dot_45_bar__plus_06_dot_44) + (pickupable KeyChain_bar__minus_03_dot_33_bar__plus_00_dot_46_bar__plus_06_dot_35) + (pickupable KeyChain_bar__minus_03_dot_43_bar__plus_00_dot_78_bar__plus_02_dot_53) + (pickupable Plate_bar__minus_03_dot_71_bar__plus_00_dot_80_bar__plus_02_dot_53) + (pickupable Candle_bar__minus_02_dot_65_bar__plus_00_dot_54_bar__plus_08_dot_53) + (pickupable TissueBox_bar__minus_03_dot_03_bar__plus_00_dot_46_bar__plus_06_dot_76) + (pickupable Newspaper_bar__minus_03_dot_16_bar__plus_00_dot_78_bar__plus_02_dot_53) + (pickupable Watch_bar__minus_03_dot_53_bar__plus_00_dot_46_bar__plus_06_dot_56) + (pickupable TissueBox_bar__minus_03_dot_43_bar__plus_00_dot_46_bar__plus_06_dot_14) + (pickupable Candle_bar__minus_00_dot_56_bar__plus_00_dot_67_bar__plus_00_dot_40) + (pickupable Boots_bar__minus_05_dot_79_bar__plus_00_dot_01_bar__plus_04_dot_82) + (pickupable Box_bar__minus_03_dot_13_bar__plus_00_dot_59_bar__plus_06_dot_14) + (isReceptacleObject Plate_bar__minus_03_dot_03_bar__plus_00_dot_47_bar__plus_07_dot_18) + (isReceptacleObject Box_bar__minus_02_dot_05_bar__plus_00_dot_91_bar__plus_02_dot_53) + (isReceptacleObject Plate_bar__minus_03_dot_03_bar__plus_00_dot_47_bar__plus_06_dot_56) + (isReceptacleObject Plate_bar__minus_03_dot_71_bar__plus_00_dot_80_bar__plus_02_dot_53) + (isReceptacleObject Box_bar__minus_03_dot_13_bar__plus_00_dot_59_bar__plus_06_dot_14) + + + (atLocation agent1 loc_bar__minus_20_bar_10_bar_0_bar_30) + + (cleanable Plate_bar__minus_03_dot_03_bar__plus_00_dot_47_bar__plus_07_dot_18) + (cleanable Plate_bar__minus_03_dot_03_bar__plus_00_dot_47_bar__plus_06_dot_56) + (cleanable Plate_bar__minus_03_dot_71_bar__plus_00_dot_80_bar__plus_02_dot_53) + + (heatable Plate_bar__minus_03_dot_03_bar__plus_00_dot_47_bar__plus_07_dot_18) + (heatable Plate_bar__minus_03_dot_03_bar__plus_00_dot_47_bar__plus_06_dot_56) + (heatable Plate_bar__minus_03_dot_71_bar__plus_00_dot_80_bar__plus_02_dot_53) + (coolable Plate_bar__minus_03_dot_03_bar__plus_00_dot_47_bar__plus_07_dot_18) + (coolable Plate_bar__minus_03_dot_03_bar__plus_00_dot_47_bar__plus_06_dot_56) + (coolable Plate_bar__minus_03_dot_71_bar__plus_00_dot_80_bar__plus_02_dot_53) + + + (toggleable FloorLamp_bar__minus_05_dot_65_bar__plus_00_dot_01_bar__plus_08_dot_53) + + + + + (inReceptacle Box_bar__minus_02_dot_05_bar__plus_00_dot_91_bar__plus_02_dot_53 DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23) + (inReceptacle Laptop_bar__minus_02_dot_32_bar__plus_00_dot_78_bar__plus_01_dot_75 DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23) + (inReceptacle CreditCard_bar__minus_03_dot_71_bar__plus_00_dot_78_bar__plus_01_dot_91 DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23) + (inReceptacle RemoteControl_bar__minus_02_dot_88_bar__plus_00_dot_78_bar__plus_02_dot_68 DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23) + (inReceptacle KeyChain_bar__minus_03_dot_43_bar__plus_00_dot_78_bar__plus_02_dot_53 DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23) + (inReceptacle Laptop_bar__minus_03_dot_16_bar__plus_00_dot_78_bar__plus_01_dot_91 DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23) + (inReceptacle Plate_bar__minus_03_dot_71_bar__plus_00_dot_80_bar__plus_02_dot_53 DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23) + (inReceptacle Statue_bar__minus_03_dot_71_bar__plus_00_dot_79_bar__plus_01_dot_75 DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23) + (inReceptacle Newspaper_bar__minus_03_dot_16_bar__plus_00_dot_78_bar__plus_02_dot_53 DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23) + (inReceptacle Statue_bar__minus_03_dot_53_bar__plus_00_dot_56_bar__plus_06_dot_97 CoffeeTable_bar__minus_03_dot_24_bar__plus_00_dot_01_bar__plus_06_dot_60) + (inReceptacle TissueBox_bar__minus_03_dot_43_bar__plus_00_dot_46_bar__plus_06_dot_14 CoffeeTable_bar__minus_03_dot_24_bar__plus_00_dot_01_bar__plus_06_dot_60) + (inReceptacle KeyChain_bar__minus_03_dot_33_bar__plus_00_dot_46_bar__plus_06_dot_35 CoffeeTable_bar__minus_03_dot_24_bar__plus_00_dot_01_bar__plus_06_dot_60) + (inReceptacle Plate_bar__minus_03_dot_03_bar__plus_00_dot_47_bar__plus_06_dot_56 CoffeeTable_bar__minus_03_dot_24_bar__plus_00_dot_01_bar__plus_06_dot_60) + (inReceptacle Box_bar__minus_03_dot_13_bar__plus_00_dot_59_bar__plus_06_dot_14 CoffeeTable_bar__minus_03_dot_24_bar__plus_00_dot_01_bar__plus_06_dot_60) + (inReceptacle Plate_bar__minus_03_dot_03_bar__plus_00_dot_47_bar__plus_07_dot_18 CoffeeTable_bar__minus_03_dot_24_bar__plus_00_dot_01_bar__plus_06_dot_60) + (inReceptacle TissueBox_bar__minus_03_dot_03_bar__plus_00_dot_46_bar__plus_06_dot_76 CoffeeTable_bar__minus_03_dot_24_bar__plus_00_dot_01_bar__plus_06_dot_60) + (inReceptacle HousePlant_bar__minus_03_dot_20_bar__plus_00_dot_45_bar__plus_06_dot_80 CoffeeTable_bar__minus_03_dot_24_bar__plus_00_dot_01_bar__plus_06_dot_60) + (inReceptacle TissueBox_bar__minus_03_dot_43_bar__plus_00_dot_46_bar__plus_06_dot_76 CoffeeTable_bar__minus_03_dot_24_bar__plus_00_dot_01_bar__plus_06_dot_60) + (inReceptacle Watch_bar__minus_03_dot_03_bar__plus_00_dot_46_bar__plus_06_dot_97 CoffeeTable_bar__minus_03_dot_24_bar__plus_00_dot_01_bar__plus_06_dot_60) + (inReceptacle Watch_bar__minus_03_dot_53_bar__plus_00_dot_46_bar__plus_06_dot_56 CoffeeTable_bar__minus_03_dot_24_bar__plus_00_dot_01_bar__plus_06_dot_60) + (inReceptacle Pillow_bar__minus_01_dot_72_bar__plus_00_dot_52_bar__plus_05_dot_73 Sofa_bar__minus_01_dot_74_bar__minus_00_dot_08_bar__plus_06_dot_45) + (inReceptacle Laptop_bar__minus_01_dot_85_bar__plus_00_dot_45_bar__plus_06_dot_44 Sofa_bar__minus_01_dot_74_bar__minus_00_dot_08_bar__plus_06_dot_45) + (inReceptacle CreditCard_bar__minus_03_dot_60_bar__plus_00_dot_33_bar__plus_04_dot_51 ArmChair_bar__minus_03_dot_66_bar__plus_00_dot_00_bar__plus_04_dot_56) + (inReceptacle Candle_bar__minus_00_dot_62_bar__plus_00_dot_67_bar__plus_08_dot_44 SideTable_bar__minus_00_dot_53_bar__plus_00_dot_66_bar__plus_08_dot_52) + (inReceptacle CreditCard_bar__minus_02_dot_97_bar__plus_00_dot_53_bar__plus_08_dot_53 CoffeeTable_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_08_dot_53) + (inReceptacle RemoteControl_bar__minus_03_dot_13_bar__plus_00_dot_53_bar__plus_08_dot_66 CoffeeTable_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_08_dot_53) + (inReceptacle Television_bar__minus_03_dot_11_bar__plus_01_dot_02_bar__plus_08_dot_71 CoffeeTable_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_08_dot_53) + (inReceptacle Candle_bar__minus_02_dot_65_bar__plus_00_dot_54_bar__plus_08_dot_53 CoffeeTable_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_08_dot_53) + (inReceptacle Candle_bar__minus_00_dot_56_bar__plus_00_dot_67_bar__plus_00_dot_40 SideTable_bar__minus_00_dot_40_bar__plus_00_dot_66_bar__plus_00_dot_36) + + + (receptacleAtLocation ArmChair_bar__minus_02_dot_69_bar__plus_00_dot_00_bar__plus_04_dot_62 loc_bar__minus_10_bar_22_bar_2_bar_60) + (receptacleAtLocation ArmChair_bar__minus_03_dot_66_bar__plus_00_dot_00_bar__plus_04_dot_56 loc_bar__minus_15_bar_22_bar_2_bar_60) + (receptacleAtLocation CoffeeTable_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_08_dot_53 loc_bar__minus_18_bar_32_bar_1_bar_45) + (receptacleAtLocation CoffeeTable_bar__minus_03_dot_24_bar__plus_00_dot_01_bar__plus_06_dot_60 loc_bar__minus_17_bar_26_bar_1_bar_60) + (receptacleAtLocation DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23 loc_bar__minus_6_bar_9_bar_3_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_05_dot_75_bar__plus_00_dot_01_bar__plus_00_dot_26 loc_bar__minus_21_bar_2_bar_3_bar_60) + (receptacleAtLocation SideTable_bar__minus_00_dot_40_bar__plus_00_dot_66_bar__plus_00_dot_36 loc_bar__minus_5_bar_3_bar_1_bar_45) + (receptacleAtLocation SideTable_bar__minus_00_dot_53_bar__plus_00_dot_66_bar__plus_08_dot_52 loc_bar__minus_5_bar_33_bar_1_bar_60) + (receptacleAtLocation Sofa_bar__minus_01_dot_74_bar__minus_00_dot_08_bar__plus_06_dot_45 loc_bar__minus_10_bar_27_bar_1_bar_60) + (objectAtLocation Watch_bar__minus_03_dot_53_bar__plus_00_dot_46_bar__plus_06_dot_56 loc_bar__minus_17_bar_26_bar_1_bar_60) + (objectAtLocation RemoteControl_bar__minus_02_dot_88_bar__plus_00_dot_78_bar__plus_02_dot_68 loc_bar__minus_6_bar_9_bar_3_bar_45) + (objectAtLocation CreditCard_bar__minus_03_dot_71_bar__plus_00_dot_78_bar__plus_01_dot_91 loc_bar__minus_6_bar_9_bar_3_bar_45) + (objectAtLocation Laptop_bar__minus_02_dot_32_bar__plus_00_dot_78_bar__plus_01_dot_75 loc_bar__minus_6_bar_9_bar_3_bar_45) + (objectAtLocation TissueBox_bar__minus_03_dot_43_bar__plus_00_dot_46_bar__plus_06_dot_14 loc_bar__minus_17_bar_26_bar_1_bar_60) + (objectAtLocation Plate_bar__minus_03_dot_71_bar__plus_00_dot_80_bar__plus_02_dot_53 loc_bar__minus_6_bar_9_bar_3_bar_45) + (objectAtLocation KeyChain_bar__minus_03_dot_33_bar__plus_00_dot_46_bar__plus_06_dot_35 loc_bar__minus_17_bar_26_bar_1_bar_60) + (objectAtLocation Box_bar__minus_02_dot_05_bar__plus_00_dot_91_bar__plus_02_dot_53 loc_bar__minus_6_bar_9_bar_3_bar_45) + (objectAtLocation Laptop_bar__minus_03_dot_16_bar__plus_00_dot_78_bar__plus_01_dot_91 loc_bar__minus_6_bar_9_bar_3_bar_45) + (objectAtLocation CreditCard_bar__minus_02_dot_97_bar__plus_00_dot_53_bar__plus_08_dot_53 loc_bar__minus_18_bar_32_bar_1_bar_45) + (objectAtLocation TissueBox_bar__minus_03_dot_03_bar__plus_00_dot_46_bar__plus_06_dot_76 loc_bar__minus_17_bar_26_bar_1_bar_60) + (objectAtLocation Plate_bar__minus_03_dot_03_bar__plus_00_dot_47_bar__plus_06_dot_56 loc_bar__minus_17_bar_26_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_00_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_00 loc_bar__minus_4_bar_4_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_03_dot_33_bar__plus_00_dot_01_bar__plus_01_dot_70 loc_bar__minus_13_bar_4_bar_0_bar_60) + (objectAtLocation Chair_bar__minus_03_dot_33_bar__plus_00_dot_01_bar__plus_02_dot_74 loc_bar__minus_12_bar_13_bar_2_bar_60) + (objectAtLocation Chair_bar__minus_02_dot_35_bar__plus_00_dot_01_bar__plus_02_dot_75 loc_bar__minus_6_bar_11_bar_3_bar_60) + (objectAtLocation Chair_bar__minus_02_dot_48_bar__plus_00_dot_01_bar__plus_01_dot_63 loc_bar__minus_10_bar_4_bar_0_bar_60) + (objectAtLocation Box_bar__minus_03_dot_13_bar__plus_00_dot_59_bar__plus_06_dot_14 loc_bar__minus_17_bar_26_bar_1_bar_60) + (objectAtLocation Mirror_bar__minus_05_dot_49_bar__plus_01_dot_83_bar__plus_06_dot_51 loc_bar__minus_19_bar_26_bar_3_bar__minus_15) + (objectAtLocation FloorLamp_bar__minus_05_dot_65_bar__plus_00_dot_01_bar__plus_08_dot_53 loc_bar__minus_20_bar_33_bar_3_bar_60) + (objectAtLocation KeyChain_bar__minus_03_dot_43_bar__plus_00_dot_78_bar__plus_02_dot_53 loc_bar__minus_6_bar_9_bar_3_bar_45) + (objectAtLocation Plate_bar__minus_03_dot_03_bar__plus_00_dot_47_bar__plus_07_dot_18 loc_bar__minus_17_bar_26_bar_1_bar_60) + (objectAtLocation Candle_bar__minus_00_dot_56_bar__plus_00_dot_67_bar__plus_00_dot_40 loc_bar__minus_5_bar_3_bar_1_bar_45) + (objectAtLocation Pillow_bar__minus_01_dot_72_bar__plus_00_dot_52_bar__plus_05_dot_73 loc_bar__minus_10_bar_27_bar_1_bar_60) + (objectAtLocation HousePlant_bar__minus_03_dot_20_bar__plus_00_dot_45_bar__plus_06_dot_80 loc_bar__minus_17_bar_26_bar_1_bar_60) + (objectAtLocation HousePlant_bar__minus_05_dot_36_bar__plus_01_dot_48_bar__plus_05_dot_44 loc_bar__minus_19_bar_22_bar_3_bar_15) + (objectAtLocation Candle_bar__minus_00_dot_62_bar__plus_00_dot_67_bar__plus_08_dot_44 loc_bar__minus_5_bar_33_bar_1_bar_60) + (objectAtLocation TissueBox_bar__minus_03_dot_43_bar__plus_00_dot_46_bar__plus_06_dot_76 loc_bar__minus_17_bar_26_bar_1_bar_60) + (objectAtLocation Laptop_bar__minus_01_dot_85_bar__plus_00_dot_45_bar__plus_06_dot_44 loc_bar__minus_10_bar_27_bar_1_bar_60) + (objectAtLocation Television_bar__minus_03_dot_11_bar__plus_01_dot_02_bar__plus_08_dot_71 loc_bar__minus_18_bar_32_bar_1_bar_45) + (objectAtLocation Newspaper_bar__minus_03_dot_16_bar__plus_00_dot_78_bar__plus_02_dot_53 loc_bar__minus_6_bar_9_bar_3_bar_45) + (objectAtLocation CreditCard_bar__minus_03_dot_60_bar__plus_00_dot_33_bar__plus_04_dot_51 loc_bar__minus_15_bar_22_bar_2_bar_60) + (objectAtLocation RemoteControl_bar__minus_03_dot_13_bar__plus_00_dot_53_bar__plus_08_dot_66 loc_bar__minus_18_bar_32_bar_1_bar_45) + (objectAtLocation Boots_bar__minus_05_dot_79_bar__plus_00_dot_01_bar__plus_04_dot_82 loc_bar__minus_22_bar_18_bar_0_bar_60) + (objectAtLocation Candle_bar__minus_02_dot_65_bar__plus_00_dot_54_bar__plus_08_dot_53 loc_bar__minus_18_bar_32_bar_1_bar_45) + (objectAtLocation Statue_bar__minus_03_dot_53_bar__plus_00_dot_56_bar__plus_06_dot_97 loc_bar__minus_17_bar_26_bar_1_bar_60) + (objectAtLocation LightSwitch_bar__minus_06_dot_00_bar__plus_01_dot_34_bar__plus_03_dot_43 loc_bar__minus_22_bar_14_bar_3_bar_30) + (objectAtLocation Painting_bar__minus_05_dot_96_bar__plus_01_dot_53_bar__plus_01_dot_15 loc_bar__minus_21_bar_5_bar_3_bar_15) + (objectAtLocation Watch_bar__minus_03_dot_03_bar__plus_00_dot_46_bar__plus_06_dot_97 loc_bar__minus_17_bar_26_bar_1_bar_60) + (objectAtLocation Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_06_dot_90 loc_bar__minus_2_bar_28_bar_1_bar_30) + (objectAtLocation Window_bar__minus_04_dot_86_bar__plus_01_dot_20_bar__minus_00_dot_16 loc_bar__minus_19_bar_2_bar_2_bar_30) + (objectAtLocation Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_04_dot_92 loc_bar__minus_2_bar_20_bar_1_bar_30) + (objectAtLocation Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_02_dot_99 loc_bar__minus_2_bar_12_bar_1_bar_30) + (objectAtLocation Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_01_dot_09 loc_bar__minus_2_bar_6_bar_1_bar_30) + (objectAtLocation Window_bar__minus_02_dot_94_bar__plus_01_dot_20_bar__minus_00_dot_16 loc_bar__minus_12_bar_2_bar_2_bar_30) + (objectAtLocation Window_bar__minus_01_dot_06_bar__plus_01_dot_20_bar__minus_00_dot_16 loc_bar__minus_4_bar_2_bar_2_bar_30) + (objectAtLocation Statue_bar__minus_03_dot_71_bar__plus_00_dot_79_bar__plus_01_dot_75 loc_bar__minus_6_bar_9_bar_3_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 TissueBoxType) + (receptacleType ?r DiningTableType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 TissueBoxType) + (receptacleType ?r DiningTableType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git 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-2.65134239, + "y": 0.53611654, + "z": 8.534002 + }, + "rotation": { + "x": 0.0, + "y": 179.999847, + "z": 0.0 + } + }, + { + "objectName": "Statue_ed97bba2", + "position": { + "x": -3.52802038, + "y": 0.557524264, + "z": 6.973553 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Watch_724f65b7", + "position": { + "x": -3.52802038, + "y": 0.456272662, + "z": 6.556262 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_1d7526da", + "position": { + "x": -3.70963955, + "y": 0.792243361, + "z": 1.75198448 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3186344637, + "scene_num": 230 + }, + "task_id": "trial_T20190909_145505_799057", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1CY7IOJ9YH136_3MRNMEIQW8X4084QLI5IX4TY5T9LD5", + "high_descs": [ + "go forward to coffee table on the right", + "pick up tissue box in front of plant on coffee table", + "turn right, go to left end of dining table with box", + "place tissue box to the left of box on dining table", + "turn right, go past dining table, go right at chairs, go to coffee table to the right", + "pick up tissue box in front of box on coffee table", + "turn right, go to left end of dining table with box", + "place tissue box to the left of tissue box on dining table" + ], + "task_desc": "place two tissue boxes on dining table next to box", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AKW57KYG90X61_3QXNC7EIPLMF0M2NK9EXDOIKBBH903", + "high_descs": [ + "move forward to the center table", + "pick up the paper box", + "turn right and head to the dining", + "drop the box on the dining", + "turn right and head to the center table", + "pick up the paper box", + "head forward to the dining", + "place the paper box on the dining" + ], + "task_desc": "place two paper boxes on the dining", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A12HZGOZQD5YK7_3S4AW7T80E9R0CLXS74PU0ZSSI84L7", + "high_descs": [ + "Go across the room to the fireplace and turn right toward the coffee table.", + "Pick up the tissues in front of the plant on the coffee table.", + "Turn right, go between the table and chairs and turn right to face the end of the table.", + "Put the tissues to the left of the large box.", + "Head back to the fireplace and turn toward the coffee table.", + "Pick up the tissues in front of the box on the coffee table.", + "Turn right, go behind the chairs, turn right and face the end of the table.", + "Put the tissues to the left of the other box of tissues on the table." + ], + "task_desc": "Put two boxes of tissues on the table.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-TissueBox-None-DiningTable-230/trial_T20190914_012602_275826/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-TissueBox-None-DiningTable-230/trial_T20190914_012602_275826/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..5908a4be3a44bc6dcb01472bb0efb1d80f544dc8 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-TissueBox-None-DiningTable-230/trial_T20190914_012602_275826/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 tissuebox 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_T20190914_012602_275826)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Boots_bar__minus_05_dot_79_bar__plus_00_dot_01_bar__plus_04_dot_82 - object\n Box_bar__minus_02_dot_05_bar__plus_00_dot_91_bar__plus_02_dot_53 - object\n Box_bar__minus_02_dot_88_bar__plus_00_dot_91_bar__plus_02_dot_22 - object\n Box_bar__minus_03_dot_71_bar__plus_00_dot_91_bar__plus_01_dot_91 - object\n Candle_bar__minus_00_dot_36_bar__plus_00_dot_68_bar__plus_00_dot_23 - object\n Candle_bar__minus_00_dot_62_bar__plus_00_dot_67_bar__plus_08_dot_44 - object\n Candle_bar__minus_02_dot_94_bar__plus_00_dot_54_bar__plus_08_dot_53 - object\n Chair_bar__minus_00_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_00 - object\n Chair_bar__minus_02_dot_35_bar__plus_00_dot_01_bar__plus_02_dot_75 - object\n Chair_bar__minus_02_dot_48_bar__plus_00_dot_01_bar__plus_01_dot_63 - object\n Chair_bar__minus_03_dot_33_bar__plus_00_dot_01_bar__plus_01_dot_70 - object\n Chair_bar__minus_03_dot_33_bar__plus_00_dot_01_bar__plus_02_dot_74 - object\n CreditCard_bar__minus_03_dot_03_bar__plus_00_dot_46_bar__plus_06_dot_97 - object\n FloorLamp_bar__minus_05_dot_65_bar__plus_00_dot_01_bar__plus_08_dot_53 - object\n HousePlant_bar__minus_03_dot_20_bar__plus_00_dot_45_bar__plus_06_dot_80 - object\n HousePlant_bar__minus_05_dot_36_bar__plus_01_dot_48_bar__plus_05_dot_44 - object\n KeyChain_bar__minus_03_dot_01_bar__plus_00_dot_54_bar__plus_08_dot_21 - object\n Lamp_bar__minus_00_dot_35_bar__plus_00_dot_68_bar__plus_00_dot_34 - object\n Lamp_bar__minus_00_dot_43_bar__plus_00_dot_68_bar__plus_08_dot_64 - object\n Laptop_bar__minus_02_dot_32_bar__plus_00_dot_78_bar__plus_02_dot_06 - object\n LightSwitch_bar__minus_06_dot_00_bar__plus_01_dot_34_bar__plus_03_dot_43 - object\n Mirror_bar__minus_05_dot_49_bar__plus_01_dot_83_bar__plus_06_dot_51 - object\n Newspaper_bar__minus_01_dot_70_bar__plus_00_dot_45_bar__plus_06_dot_14 - object\n Newspaper_bar__minus_03_dot_43_bar__plus_00_dot_78_bar__plus_02_dot_68 - object\n Painting_bar__minus_05_dot_96_bar__plus_01_dot_53_bar__plus_01_dot_15 - object\n Pillow_bar__minus_01_dot_72_bar__plus_00_dot_52_bar__plus_05_dot_73 - object\n Plate_bar__minus_02_dot_60_bar__plus_00_dot_80_bar__plus_02_dot_53 - object\n Plate_bar__minus_03_dot_13_bar__plus_00_dot_47_bar__plus_06_dot_35 - object\n Plate_bar__minus_03_dot_43_bar__plus_00_dot_80_bar__plus_02_dot_37 - object\n RemoteControl_bar__minus_02_dot_93_bar__plus_00_dot_46_bar__plus_06_dot_56 - object\n RemoteControl_bar__minus_03_dot_71_bar__plus_00_dot_78_bar__plus_02_dot_22 - object\n Statue_bar__minus_02_dot_71_bar__plus_00_dot_90_bar__plus_02_dot_29 - object\n Statue_bar__minus_03_dot_43_bar__plus_00_dot_79_bar__plus_02_dot_06 - object\n Television_bar__minus_03_dot_11_bar__plus_01_dot_02_bar__plus_08_dot_71 - object\n TissueBox_bar__minus_03_dot_07_bar__plus_00_dot_54_bar__plus_08_dot_53 - object\n TissueBox_bar__minus_05_dot_75_bar__plus_00_dot_08_bar__plus_00_dot_31 - object\n Watch_bar__minus_00_dot_41_bar__plus_00_dot_68_bar__plus_08_dot_45 - object\n Watch_bar__minus_00_dot_54_bar__plus_00_dot_68_bar__plus_00_dot_23 - object\n Watch_bar__minus_03_dot_16_bar__plus_00_dot_78_bar__plus_02_dot_37 - object\n Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_01_dot_09 - object\n Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_02_dot_99 - object\n Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_04_dot_92 - object\n Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_06_dot_90 - object\n Window_bar__minus_01_dot_06_bar__plus_01_dot_20_bar__minus_00_dot_16 - object\n Window_bar__minus_02_dot_94_bar__plus_01_dot_20_bar__minus_00_dot_16 - object\n Window_bar__minus_04_dot_86_bar__plus_01_dot_20_bar__minus_00_dot_16 - object\n ArmChair_bar__minus_02_dot_69_bar__plus_00_dot_00_bar__plus_04_dot_62 - receptacle\n ArmChair_bar__minus_03_dot_66_bar__plus_00_dot_00_bar__plus_04_dot_56 - receptacle\n CoffeeTable_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_08_dot_53 - receptacle\n CoffeeTable_bar__minus_03_dot_24_bar__plus_00_dot_01_bar__plus_06_dot_60 - receptacle\n DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23 - receptacle\n GarbageCan_bar__minus_05_dot_75_bar__plus_00_dot_01_bar__plus_00_dot_26 - receptacle\n SideTable_bar__minus_00_dot_40_bar__plus_00_dot_66_bar__plus_00_dot_36 - receptacle\n SideTable_bar__minus_00_dot_53_bar__plus_00_dot_66_bar__plus_08_dot_52 - receptacle\n Sofa_bar__minus_01_dot_74_bar__minus_00_dot_08_bar__plus_06_dot_45 - receptacle\n loc_bar__minus_22_bar_14_bar_3_bar_30 - location\n loc_bar__minus_19_bar_26_bar_3_bar__minus_15 - location\n loc_bar__minus_19_bar_22_bar_3_bar_15 - location\n loc_bar__minus_21_bar_5_bar_3_bar_15 - location\n loc_bar__minus_22_bar_18_bar_0_bar_60 - location\n loc_bar__minus_15_bar_22_bar_2_bar_60 - location\n loc_bar__minus_21_bar_2_bar_3_bar_60 - location\n loc_bar__minus_5_bar_33_bar_1_bar_60 - location\n loc_bar__minus_6_bar_11_bar_3_bar_60 - location\n loc_bar__minus_12_bar_2_bar_2_bar_30 - location\n loc_bar__minus_13_bar_4_bar_0_bar_60 - location\n loc_bar__minus_4_bar_2_bar_2_bar_30 - location\n loc_bar__minus_17_bar_26_bar_1_bar_60 - location\n loc_bar__minus_18_bar_32_bar_1_bar_45 - location\n loc_bar__minus_19_bar_2_bar_2_bar_30 - location\n loc_bar__minus_5_bar_3_bar_1_bar_45 - location\n loc_bar__minus_4_bar_4_bar_1_bar_60 - location\n loc_bar__minus_6_bar_9_bar_3_bar_45 - location\n loc_bar__minus_2_bar_6_bar_1_bar_30 - location\n loc_bar__minus_12_bar_13_bar_2_bar_60 - location\n loc_bar__minus_10_bar_4_bar_0_bar_60 - location\n loc_bar__minus_2_bar_28_bar_1_bar_30 - location\n loc_bar__minus_10_bar_27_bar_1_bar_60 - location\n loc_bar__minus_10_bar_22_bar_2_bar_60 - location\n loc_bar__minus_20_bar_33_bar_3_bar_60 - location\n loc_bar__minus_2_bar_12_bar_1_bar_30 - location\n loc_bar__minus_2_bar_20_bar_1_bar_30 - location\n loc_bar__minus_15_bar_15_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType CoffeeTable_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_08_dot_53 CoffeeTableType)\n (receptacleType DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23 DiningTableType)\n (receptacleType SideTable_bar__minus_00_dot_40_bar__plus_00_dot_66_bar__plus_00_dot_36 SideTableType)\n (receptacleType CoffeeTable_bar__minus_03_dot_24_bar__plus_00_dot_01_bar__plus_06_dot_60 CoffeeTableType)\n (receptacleType ArmChair_bar__minus_02_dot_69_bar__plus_00_dot_00_bar__plus_04_dot_62 ArmChairType)\n (receptacleType SideTable_bar__minus_00_dot_53_bar__plus_00_dot_66_bar__plus_08_dot_52 SideTableType)\n (receptacleType ArmChair_bar__minus_03_dot_66_bar__plus_00_dot_00_bar__plus_04_dot_56 ArmChairType)\n (receptacleType Sofa_bar__minus_01_dot_74_bar__minus_00_dot_08_bar__plus_06_dot_45 SofaType)\n (receptacleType GarbageCan_bar__minus_05_dot_75_bar__plus_00_dot_01_bar__plus_00_dot_26 GarbageCanType)\n (objectType HousePlant_bar__minus_05_dot_36_bar__plus_01_dot_48_bar__plus_05_dot_44 HousePlantType)\n (objectType RemoteControl_bar__minus_02_dot_93_bar__plus_00_dot_46_bar__plus_06_dot_56 RemoteControlType)\n (objectType Pillow_bar__minus_01_dot_72_bar__plus_00_dot_52_bar__plus_05_dot_73 PillowType)\n (objectType Painting_bar__minus_05_dot_96_bar__plus_01_dot_53_bar__plus_01_dot_15 PaintingType)\n (objectType Watch_bar__minus_00_dot_54_bar__plus_00_dot_68_bar__plus_00_dot_23 WatchType)\n (objectType FloorLamp_bar__minus_05_dot_65_bar__plus_00_dot_01_bar__plus_08_dot_53 FloorLampType)\n (objectType Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_06_dot_90 WindowType)\n (objectType Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_04_dot_92 WindowType)\n (objectType Chair_bar__minus_02_dot_35_bar__plus_00_dot_01_bar__plus_02_dot_75 ChairType)\n (objectType Box_bar__minus_02_dot_88_bar__plus_00_dot_91_bar__plus_02_dot_22 BoxType)\n (objectType Television_bar__minus_03_dot_11_bar__plus_01_dot_02_bar__plus_08_dot_71 TelevisionType)\n (objectType Box_bar__minus_03_dot_71_bar__plus_00_dot_91_bar__plus_01_dot_91 BoxType)\n (objectType Plate_bar__minus_03_dot_13_bar__plus_00_dot_47_bar__plus_06_dot_35 PlateType)\n (objectType CreditCard_bar__minus_03_dot_03_bar__plus_00_dot_46_bar__plus_06_dot_97 CreditCardType)\n (objectType Laptop_bar__minus_02_dot_32_bar__plus_00_dot_78_bar__plus_02_dot_06 LaptopType)\n (objectType TissueBox_bar__minus_03_dot_07_bar__plus_00_dot_54_bar__plus_08_dot_53 TissueBoxType)\n (objectType HousePlant_bar__minus_03_dot_20_bar__plus_00_dot_45_bar__plus_06_dot_80 HousePlantType)\n (objectType Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_02_dot_99 WindowType)\n (objectType Box_bar__minus_02_dot_05_bar__plus_00_dot_91_bar__plus_02_dot_53 BoxType)\n (objectType Chair_bar__minus_02_dot_48_bar__plus_00_dot_01_bar__plus_01_dot_63 ChairType)\n (objectType Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_01_dot_09 WindowType)\n (objectType Watch_bar__minus_03_dot_16_bar__plus_00_dot_78_bar__plus_02_dot_37 WatchType)\n (objectType RemoteControl_bar__minus_03_dot_71_bar__plus_00_dot_78_bar__plus_02_dot_22 RemoteControlType)\n (objectType Chair_bar__minus_03_dot_33_bar__plus_00_dot_01_bar__plus_01_dot_70 ChairType)\n (objectType Plate_bar__minus_03_dot_43_bar__plus_00_dot_80_bar__plus_02_dot_37 PlateType)\n (objectType Candle_bar__minus_00_dot_62_bar__plus_00_dot_67_bar__plus_08_dot_44 CandleType)\n (objectType Statue_bar__minus_02_dot_71_bar__plus_00_dot_90_bar__plus_02_dot_29 StatueType)\n (objectType LightSwitch_bar__minus_06_dot_00_bar__plus_01_dot_34_bar__plus_03_dot_43 LightSwitchType)\n (objectType Candle_bar__minus_00_dot_36_bar__plus_00_dot_68_bar__plus_00_dot_23 CandleType)\n (objectType Mirror_bar__minus_05_dot_49_bar__plus_01_dot_83_bar__plus_06_dot_51 MirrorType)\n (objectType Statue_bar__minus_03_dot_43_bar__plus_00_dot_79_bar__plus_02_dot_06 StatueType)\n (objectType Plate_bar__minus_02_dot_60_bar__plus_00_dot_80_bar__plus_02_dot_53 PlateType)\n (objectType KeyChain_bar__minus_03_dot_01_bar__plus_00_dot_54_bar__plus_08_dot_21 KeyChainType)\n (objectType Chair_bar__minus_00_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_00 ChairType)\n (objectType TissueBox_bar__minus_05_dot_75_bar__plus_00_dot_08_bar__plus_00_dot_31 TissueBoxType)\n (objectType Newspaper_bar__minus_01_dot_70_bar__plus_00_dot_45_bar__plus_06_dot_14 NewspaperType)\n (objectType Watch_bar__minus_00_dot_41_bar__plus_00_dot_68_bar__plus_08_dot_45 WatchType)\n (objectType Window_bar__minus_04_dot_86_bar__plus_01_dot_20_bar__minus_00_dot_16 WindowType)\n (objectType Candle_bar__minus_02_dot_94_bar__plus_00_dot_54_bar__plus_08_dot_53 CandleType)\n (objectType Boots_bar__minus_05_dot_79_bar__plus_00_dot_01_bar__plus_04_dot_82 BootsType)\n (objectType Newspaper_bar__minus_03_dot_43_bar__plus_00_dot_78_bar__plus_02_dot_68 NewspaperType)\n (objectType Window_bar__minus_02_dot_94_bar__plus_01_dot_20_bar__minus_00_dot_16 WindowType)\n (objectType Window_bar__minus_01_dot_06_bar__plus_01_dot_20_bar__minus_00_dot_16 WindowType)\n (objectType Chair_bar__minus_03_dot_33_bar__plus_00_dot_01_bar__plus_02_dot_74 ChairType)\n (canContain CoffeeTableType CandleType)\n (canContain CoffeeTableType WatchType)\n (canContain CoffeeTableType NewspaperType)\n (canContain CoffeeTableType BoxType)\n (canContain CoffeeTableType KeyChainType)\n (canContain CoffeeTableType CreditCardType)\n (canContain CoffeeTableType LaptopType)\n (canContain CoffeeTableType PlateType)\n (canContain CoffeeTableType RemoteControlType)\n (canContain CoffeeTableType TissueBoxType)\n (canContain CoffeeTableType StatueType)\n (canContain DiningTableType CandleType)\n (canContain DiningTableType WatchType)\n (canContain DiningTableType NewspaperType)\n (canContain DiningTableType BoxType)\n (canContain DiningTableType KeyChainType)\n (canContain DiningTableType CreditCardType)\n (canContain DiningTableType LaptopType)\n (canContain DiningTableType PlateType)\n (canContain DiningTableType RemoteControlType)\n (canContain DiningTableType TissueBoxType)\n (canContain DiningTableType StatueType)\n (canContain SideTableType CandleType)\n (canContain SideTableType WatchType)\n (canContain SideTableType NewspaperType)\n (canContain SideTableType BoxType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PlateType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType TissueBoxType)\n (canContain SideTableType StatueType)\n (canContain CoffeeTableType CandleType)\n (canContain CoffeeTableType WatchType)\n (canContain CoffeeTableType NewspaperType)\n (canContain CoffeeTableType BoxType)\n (canContain CoffeeTableType KeyChainType)\n (canContain CoffeeTableType CreditCardType)\n (canContain CoffeeTableType LaptopType)\n (canContain CoffeeTableType PlateType)\n (canContain CoffeeTableType RemoteControlType)\n (canContain CoffeeTableType TissueBoxType)\n (canContain CoffeeTableType StatueType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType NewspaperType)\n (canContain ArmChairType CreditCardType)\n (canContain SideTableType CandleType)\n (canContain SideTableType WatchType)\n (canContain SideTableType NewspaperType)\n (canContain SideTableType BoxType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PlateType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType TissueBoxType)\n (canContain SideTableType StatueType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType NewspaperType)\n (canContain ArmChairType CreditCardType)\n (canContain SofaType BoxType)\n (canContain SofaType LaptopType)\n (canContain SofaType PillowType)\n (canContain SofaType RemoteControlType)\n (canContain SofaType KeyChainType)\n (canContain SofaType NewspaperType)\n (canContain SofaType CreditCardType)\n (canContain GarbageCanType NewspaperType)\n (canContain GarbageCanType TissueBoxType)\n (pickupable RemoteControl_bar__minus_02_dot_93_bar__plus_00_dot_46_bar__plus_06_dot_56)\n (pickupable Pillow_bar__minus_01_dot_72_bar__plus_00_dot_52_bar__plus_05_dot_73)\n (pickupable Watch_bar__minus_00_dot_54_bar__plus_00_dot_68_bar__plus_00_dot_23)\n (pickupable Box_bar__minus_02_dot_88_bar__plus_00_dot_91_bar__plus_02_dot_22)\n (pickupable Box_bar__minus_03_dot_71_bar__plus_00_dot_91_bar__plus_01_dot_91)\n (pickupable Plate_bar__minus_03_dot_13_bar__plus_00_dot_47_bar__plus_06_dot_35)\n (pickupable CreditCard_bar__minus_03_dot_03_bar__plus_00_dot_46_bar__plus_06_dot_97)\n (pickupable Laptop_bar__minus_02_dot_32_bar__plus_00_dot_78_bar__plus_02_dot_06)\n (pickupable TissueBox_bar__minus_03_dot_07_bar__plus_00_dot_54_bar__plus_08_dot_53)\n (pickupable Box_bar__minus_02_dot_05_bar__plus_00_dot_91_bar__plus_02_dot_53)\n (pickupable Watch_bar__minus_03_dot_16_bar__plus_00_dot_78_bar__plus_02_dot_37)\n (pickupable RemoteControl_bar__minus_03_dot_71_bar__plus_00_dot_78_bar__plus_02_dot_22)\n (pickupable Plate_bar__minus_03_dot_43_bar__plus_00_dot_80_bar__plus_02_dot_37)\n (pickupable Candle_bar__minus_00_dot_62_bar__plus_00_dot_67_bar__plus_08_dot_44)\n (pickupable Statue_bar__minus_02_dot_71_bar__plus_00_dot_90_bar__plus_02_dot_29)\n (pickupable Candle_bar__minus_00_dot_36_bar__plus_00_dot_68_bar__plus_00_dot_23)\n (pickupable Statue_bar__minus_03_dot_43_bar__plus_00_dot_79_bar__plus_02_dot_06)\n (pickupable Plate_bar__minus_02_dot_60_bar__plus_00_dot_80_bar__plus_02_dot_53)\n (pickupable KeyChain_bar__minus_03_dot_01_bar__plus_00_dot_54_bar__plus_08_dot_21)\n (pickupable TissueBox_bar__minus_05_dot_75_bar__plus_00_dot_08_bar__plus_00_dot_31)\n (pickupable Newspaper_bar__minus_01_dot_70_bar__plus_00_dot_45_bar__plus_06_dot_14)\n (pickupable Watch_bar__minus_00_dot_41_bar__plus_00_dot_68_bar__plus_08_dot_45)\n (pickupable Candle_bar__minus_02_dot_94_bar__plus_00_dot_54_bar__plus_08_dot_53)\n (pickupable Boots_bar__minus_05_dot_79_bar__plus_00_dot_01_bar__plus_04_dot_82)\n (pickupable Newspaper_bar__minus_03_dot_43_bar__plus_00_dot_78_bar__plus_02_dot_68)\n (isReceptacleObject Box_bar__minus_02_dot_88_bar__plus_00_dot_91_bar__plus_02_dot_22)\n (isReceptacleObject Box_bar__minus_03_dot_71_bar__plus_00_dot_91_bar__plus_01_dot_91)\n (isReceptacleObject Plate_bar__minus_03_dot_13_bar__plus_00_dot_47_bar__plus_06_dot_35)\n (isReceptacleObject Box_bar__minus_02_dot_05_bar__plus_00_dot_91_bar__plus_02_dot_53)\n (isReceptacleObject Plate_bar__minus_03_dot_43_bar__plus_00_dot_80_bar__plus_02_dot_37)\n (isReceptacleObject Plate_bar__minus_02_dot_60_bar__plus_00_dot_80_bar__plus_02_dot_53)\n \n \n (atLocation agent1 loc_bar__minus_15_bar_15_bar_1_bar_30)\n \n (cleanable Plate_bar__minus_03_dot_13_bar__plus_00_dot_47_bar__plus_06_dot_35)\n (cleanable Plate_bar__minus_03_dot_43_bar__plus_00_dot_80_bar__plus_02_dot_37)\n (cleanable Plate_bar__minus_02_dot_60_bar__plus_00_dot_80_bar__plus_02_dot_53)\n \n (heatable Plate_bar__minus_03_dot_13_bar__plus_00_dot_47_bar__plus_06_dot_35)\n (heatable Plate_bar__minus_03_dot_43_bar__plus_00_dot_80_bar__plus_02_dot_37)\n (heatable Plate_bar__minus_02_dot_60_bar__plus_00_dot_80_bar__plus_02_dot_53)\n (coolable Plate_bar__minus_03_dot_13_bar__plus_00_dot_47_bar__plus_06_dot_35)\n (coolable Plate_bar__minus_03_dot_43_bar__plus_00_dot_80_bar__plus_02_dot_37)\n (coolable Plate_bar__minus_02_dot_60_bar__plus_00_dot_80_bar__plus_02_dot_53)\n \n \n (toggleable FloorLamp_bar__minus_05_dot_65_bar__plus_00_dot_01_bar__plus_08_dot_53)\n \n \n \n \n (inReceptacle Box_bar__minus_02_dot_05_bar__plus_00_dot_91_bar__plus_02_dot_53 DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23)\n (inReceptacle Statue_bar__minus_03_dot_43_bar__plus_00_dot_79_bar__plus_02_dot_06 DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23)\n (inReceptacle Watch_bar__minus_03_dot_16_bar__plus_00_dot_78_bar__plus_02_dot_37 DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23)\n (inReceptacle Plate_bar__minus_02_dot_60_bar__plus_00_dot_80_bar__plus_02_dot_53 DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23)\n (inReceptacle RemoteControl_bar__minus_03_dot_71_bar__plus_00_dot_78_bar__plus_02_dot_22 DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23)\n (inReceptacle Box_bar__minus_02_dot_88_bar__plus_00_dot_91_bar__plus_02_dot_22 DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23)\n (inReceptacle Plate_bar__minus_03_dot_43_bar__plus_00_dot_80_bar__plus_02_dot_37 DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23)\n (inReceptacle Newspaper_bar__minus_03_dot_43_bar__plus_00_dot_78_bar__plus_02_dot_68 DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23)\n (inReceptacle Box_bar__minus_03_dot_71_bar__plus_00_dot_91_bar__plus_01_dot_91 DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23)\n (inReceptacle Laptop_bar__minus_02_dot_32_bar__plus_00_dot_78_bar__plus_02_dot_06 DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23)\n (inReceptacle Statue_bar__minus_02_dot_71_bar__plus_00_dot_90_bar__plus_02_dot_29 DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23)\n (inReceptacle CreditCard_bar__minus_03_dot_03_bar__plus_00_dot_46_bar__plus_06_dot_97 CoffeeTable_bar__minus_03_dot_24_bar__plus_00_dot_01_bar__plus_06_dot_60)\n (inReceptacle HousePlant_bar__minus_03_dot_20_bar__plus_00_dot_45_bar__plus_06_dot_80 CoffeeTable_bar__minus_03_dot_24_bar__plus_00_dot_01_bar__plus_06_dot_60)\n (inReceptacle RemoteControl_bar__minus_02_dot_93_bar__plus_00_dot_46_bar__plus_06_dot_56 CoffeeTable_bar__minus_03_dot_24_bar__plus_00_dot_01_bar__plus_06_dot_60)\n (inReceptacle Plate_bar__minus_03_dot_13_bar__plus_00_dot_47_bar__plus_06_dot_35 CoffeeTable_bar__minus_03_dot_24_bar__plus_00_dot_01_bar__plus_06_dot_60)\n (inReceptacle Newspaper_bar__minus_01_dot_70_bar__plus_00_dot_45_bar__plus_06_dot_14 Sofa_bar__minus_01_dot_74_bar__minus_00_dot_08_bar__plus_06_dot_45)\n (inReceptacle Pillow_bar__minus_01_dot_72_bar__plus_00_dot_52_bar__plus_05_dot_73 Sofa_bar__minus_01_dot_74_bar__minus_00_dot_08_bar__plus_06_dot_45)\n (inReceptacle Watch_bar__minus_00_dot_41_bar__plus_00_dot_68_bar__plus_08_dot_45 SideTable_bar__minus_00_dot_53_bar__plus_00_dot_66_bar__plus_08_dot_52)\n (inReceptacle Candle_bar__minus_00_dot_62_bar__plus_00_dot_67_bar__plus_08_dot_44 SideTable_bar__minus_00_dot_53_bar__plus_00_dot_66_bar__plus_08_dot_52)\n (inReceptacle Candle_bar__minus_02_dot_94_bar__plus_00_dot_54_bar__plus_08_dot_53 CoffeeTable_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_08_dot_53)\n (inReceptacle TissueBox_bar__minus_03_dot_07_bar__plus_00_dot_54_bar__plus_08_dot_53 CoffeeTable_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_08_dot_53)\n (inReceptacle Television_bar__minus_03_dot_11_bar__plus_01_dot_02_bar__plus_08_dot_71 CoffeeTable_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_08_dot_53)\n (inReceptacle KeyChain_bar__minus_03_dot_01_bar__plus_00_dot_54_bar__plus_08_dot_21 CoffeeTable_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_08_dot_53)\n (inReceptacle Candle_bar__minus_00_dot_36_bar__plus_00_dot_68_bar__plus_00_dot_23 SideTable_bar__minus_00_dot_40_bar__plus_00_dot_66_bar__plus_00_dot_36)\n (inReceptacle Watch_bar__minus_00_dot_54_bar__plus_00_dot_68_bar__plus_00_dot_23 SideTable_bar__minus_00_dot_40_bar__plus_00_dot_66_bar__plus_00_dot_36)\n (inReceptacle TissueBox_bar__minus_05_dot_75_bar__plus_00_dot_08_bar__plus_00_dot_31 GarbageCan_bar__minus_05_dot_75_bar__plus_00_dot_01_bar__plus_00_dot_26)\n \n \n (receptacleAtLocation ArmChair_bar__minus_02_dot_69_bar__plus_00_dot_00_bar__plus_04_dot_62 loc_bar__minus_10_bar_22_bar_2_bar_60)\n (receptacleAtLocation ArmChair_bar__minus_03_dot_66_bar__plus_00_dot_00_bar__plus_04_dot_56 loc_bar__minus_15_bar_22_bar_2_bar_60)\n (receptacleAtLocation CoffeeTable_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_08_dot_53 loc_bar__minus_18_bar_32_bar_1_bar_45)\n (receptacleAtLocation CoffeeTable_bar__minus_03_dot_24_bar__plus_00_dot_01_bar__plus_06_dot_60 loc_bar__minus_17_bar_26_bar_1_bar_60)\n (receptacleAtLocation DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23 loc_bar__minus_6_bar_9_bar_3_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_05_dot_75_bar__plus_00_dot_01_bar__plus_00_dot_26 loc_bar__minus_21_bar_2_bar_3_bar_60)\n (receptacleAtLocation SideTable_bar__minus_00_dot_40_bar__plus_00_dot_66_bar__plus_00_dot_36 loc_bar__minus_5_bar_3_bar_1_bar_45)\n (receptacleAtLocation SideTable_bar__minus_00_dot_53_bar__plus_00_dot_66_bar__plus_08_dot_52 loc_bar__minus_5_bar_33_bar_1_bar_60)\n (receptacleAtLocation Sofa_bar__minus_01_dot_74_bar__minus_00_dot_08_bar__plus_06_dot_45 loc_bar__minus_10_bar_27_bar_1_bar_60)\n (objectAtLocation Watch_bar__minus_03_dot_16_bar__plus_00_dot_78_bar__plus_02_dot_37 loc_bar__minus_6_bar_9_bar_3_bar_45)\n (objectAtLocation RemoteControl_bar__minus_02_dot_93_bar__plus_00_dot_46_bar__plus_06_dot_56 loc_bar__minus_17_bar_26_bar_1_bar_60)\n (objectAtLocation Newspaper_bar__minus_01_dot_70_bar__plus_00_dot_45_bar__plus_06_dot_14 loc_bar__minus_10_bar_27_bar_1_bar_60)\n (objectAtLocation TissueBox_bar__minus_03_dot_07_bar__plus_00_dot_54_bar__plus_08_dot_53 loc_bar__minus_18_bar_32_bar_1_bar_45)\n (objectAtLocation Plate_bar__minus_03_dot_43_bar__plus_00_dot_80_bar__plus_02_dot_37 loc_bar__minus_6_bar_9_bar_3_bar_45)\n (objectAtLocation Box_bar__minus_02_dot_88_bar__plus_00_dot_91_bar__plus_02_dot_22 loc_bar__minus_6_bar_9_bar_3_bar_45)\n (objectAtLocation Box_bar__minus_02_dot_05_bar__plus_00_dot_91_bar__plus_02_dot_53 loc_bar__minus_6_bar_9_bar_3_bar_45)\n (objectAtLocation Watch_bar__minus_00_dot_54_bar__plus_00_dot_68_bar__plus_00_dot_23 loc_bar__minus_5_bar_3_bar_1_bar_45)\n (objectAtLocation Plate_bar__minus_03_dot_13_bar__plus_00_dot_47_bar__plus_06_dot_35 loc_bar__minus_17_bar_26_bar_1_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_00 loc_bar__minus_4_bar_4_bar_1_bar_60)\n (objectAtLocation Chair_bar__minus_03_dot_33_bar__plus_00_dot_01_bar__plus_01_dot_70 loc_bar__minus_13_bar_4_bar_0_bar_60)\n (objectAtLocation Chair_bar__minus_03_dot_33_bar__plus_00_dot_01_bar__plus_02_dot_74 loc_bar__minus_12_bar_13_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_02_dot_35_bar__plus_00_dot_01_bar__plus_02_dot_75 loc_bar__minus_6_bar_11_bar_3_bar_60)\n (objectAtLocation Chair_bar__minus_02_dot_48_bar__plus_00_dot_01_bar__plus_01_dot_63 loc_bar__minus_10_bar_4_bar_0_bar_60)\n (objectAtLocation Box_bar__minus_03_dot_71_bar__plus_00_dot_91_bar__plus_01_dot_91 loc_bar__minus_6_bar_9_bar_3_bar_45)\n (objectAtLocation Mirror_bar__minus_05_dot_49_bar__plus_01_dot_83_bar__plus_06_dot_51 loc_bar__minus_19_bar_26_bar_3_bar__minus_15)\n (objectAtLocation FloorLamp_bar__minus_05_dot_65_bar__plus_00_dot_01_bar__plus_08_dot_53 loc_bar__minus_20_bar_33_bar_3_bar_60)\n (objectAtLocation KeyChain_bar__minus_03_dot_01_bar__plus_00_dot_54_bar__plus_08_dot_21 loc_bar__minus_18_bar_32_bar_1_bar_45)\n (objectAtLocation Plate_bar__minus_02_dot_60_bar__plus_00_dot_80_bar__plus_02_dot_53 loc_bar__minus_6_bar_9_bar_3_bar_45)\n (objectAtLocation Candle_bar__minus_00_dot_36_bar__plus_00_dot_68_bar__plus_00_dot_23 loc_bar__minus_5_bar_3_bar_1_bar_45)\n (objectAtLocation Pillow_bar__minus_01_dot_72_bar__plus_00_dot_52_bar__plus_05_dot_73 loc_bar__minus_10_bar_27_bar_1_bar_60)\n (objectAtLocation HousePlant_bar__minus_03_dot_20_bar__plus_00_dot_45_bar__plus_06_dot_80 loc_bar__minus_17_bar_26_bar_1_bar_60)\n (objectAtLocation HousePlant_bar__minus_05_dot_36_bar__plus_01_dot_48_bar__plus_05_dot_44 loc_bar__minus_19_bar_22_bar_3_bar_15)\n (objectAtLocation Candle_bar__minus_00_dot_62_bar__plus_00_dot_67_bar__plus_08_dot_44 loc_bar__minus_5_bar_33_bar_1_bar_60)\n (objectAtLocation TissueBox_bar__minus_05_dot_75_bar__plus_00_dot_08_bar__plus_00_dot_31 loc_bar__minus_21_bar_2_bar_3_bar_60)\n (objectAtLocation Laptop_bar__minus_02_dot_32_bar__plus_00_dot_78_bar__plus_02_dot_06 loc_bar__minus_6_bar_9_bar_3_bar_45)\n (objectAtLocation Television_bar__minus_03_dot_11_bar__plus_01_dot_02_bar__plus_08_dot_71 loc_bar__minus_18_bar_32_bar_1_bar_45)\n (objectAtLocation Newspaper_bar__minus_03_dot_43_bar__plus_00_dot_78_bar__plus_02_dot_68 loc_bar__minus_6_bar_9_bar_3_bar_45)\n (objectAtLocation CreditCard_bar__minus_03_dot_03_bar__plus_00_dot_46_bar__plus_06_dot_97 loc_bar__minus_17_bar_26_bar_1_bar_60)\n (objectAtLocation RemoteControl_bar__minus_03_dot_71_bar__plus_00_dot_78_bar__plus_02_dot_22 loc_bar__minus_6_bar_9_bar_3_bar_45)\n (objectAtLocation Boots_bar__minus_05_dot_79_bar__plus_00_dot_01_bar__plus_04_dot_82 loc_bar__minus_22_bar_18_bar_0_bar_60)\n (objectAtLocation Candle_bar__minus_02_dot_94_bar__plus_00_dot_54_bar__plus_08_dot_53 loc_bar__minus_18_bar_32_bar_1_bar_45)\n (objectAtLocation Statue_bar__minus_02_dot_71_bar__plus_00_dot_90_bar__plus_02_dot_29 loc_bar__minus_6_bar_9_bar_3_bar_45)\n (objectAtLocation LightSwitch_bar__minus_06_dot_00_bar__plus_01_dot_34_bar__plus_03_dot_43 loc_bar__minus_22_bar_14_bar_3_bar_30)\n (objectAtLocation Painting_bar__minus_05_dot_96_bar__plus_01_dot_53_bar__plus_01_dot_15 loc_bar__minus_21_bar_5_bar_3_bar_15)\n (objectAtLocation Watch_bar__minus_00_dot_41_bar__plus_00_dot_68_bar__plus_08_dot_45 loc_bar__minus_5_bar_33_bar_1_bar_60)\n (objectAtLocation Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_06_dot_90 loc_bar__minus_2_bar_28_bar_1_bar_30)\n (objectAtLocation Window_bar__minus_04_dot_86_bar__plus_01_dot_20_bar__minus_00_dot_16 loc_bar__minus_19_bar_2_bar_2_bar_30)\n (objectAtLocation Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_04_dot_92 loc_bar__minus_2_bar_20_bar_1_bar_30)\n (objectAtLocation Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_02_dot_99 loc_bar__minus_2_bar_12_bar_1_bar_30)\n (objectAtLocation Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_01_dot_09 loc_bar__minus_2_bar_6_bar_1_bar_30)\n (objectAtLocation Window_bar__minus_02_dot_94_bar__plus_01_dot_20_bar__minus_00_dot_16 loc_bar__minus_12_bar_2_bar_2_bar_30)\n (objectAtLocation Window_bar__minus_01_dot_06_bar__plus_01_dot_20_bar__minus_00_dot_16 loc_bar__minus_4_bar_2_bar_2_bar_30)\n (objectAtLocation Statue_bar__minus_03_dot_43_bar__plus_00_dot_79_bar__plus_02_dot_06 loc_bar__minus_6_bar_9_bar_3_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 TissueBoxType)\n (receptacleType ?r DiningTableType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 TissueBoxType)\n (receptacleType ?r DiningTableType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to coffeetable 2", "take tissuebox 2 from coffeetable 2", "go to diningtable 1", "move tissuebox 2 to diningtable 1", "go to garbagecan 1", "take tissuebox 1 from garbagecan 1", "go to diningtable 1", "move tissuebox 1 to diningtable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-TissueBox-None-DiningTable-230/trial_T20190914_012602_275826/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-TissueBox-None-DiningTable-230/trial_T20190914_012602_275826/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..e39612c17ff44315db1402fea3f1a964847d8918 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-TissueBox-None-DiningTable-230/trial_T20190914_012602_275826/initial_state.pddl @@ -0,0 +1,574 @@ + +(define (problem plan_trial_T20190914_012602_275826) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Boots_bar__minus_05_dot_79_bar__plus_00_dot_01_bar__plus_04_dot_82 - object + Box_bar__minus_02_dot_05_bar__plus_00_dot_91_bar__plus_02_dot_53 - object + Box_bar__minus_02_dot_88_bar__plus_00_dot_91_bar__plus_02_dot_22 - object + Box_bar__minus_03_dot_71_bar__plus_00_dot_91_bar__plus_01_dot_91 - object 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KeyChain_bar__minus_03_dot_01_bar__plus_00_dot_54_bar__plus_08_dot_21 - object + Lamp_bar__minus_00_dot_35_bar__plus_00_dot_68_bar__plus_00_dot_34 - object + Lamp_bar__minus_00_dot_43_bar__plus_00_dot_68_bar__plus_08_dot_64 - object + Laptop_bar__minus_02_dot_32_bar__plus_00_dot_78_bar__plus_02_dot_06 - object + LightSwitch_bar__minus_06_dot_00_bar__plus_01_dot_34_bar__plus_03_dot_43 - object + Mirror_bar__minus_05_dot_49_bar__plus_01_dot_83_bar__plus_06_dot_51 - object + Newspaper_bar__minus_01_dot_70_bar__plus_00_dot_45_bar__plus_06_dot_14 - object + Newspaper_bar__minus_03_dot_43_bar__plus_00_dot_78_bar__plus_02_dot_68 - object + Painting_bar__minus_05_dot_96_bar__plus_01_dot_53_bar__plus_01_dot_15 - object + Pillow_bar__minus_01_dot_72_bar__plus_00_dot_52_bar__plus_05_dot_73 - object + Plate_bar__minus_02_dot_60_bar__plus_00_dot_80_bar__plus_02_dot_53 - object + Plate_bar__minus_03_dot_13_bar__plus_00_dot_47_bar__plus_06_dot_35 - object + Plate_bar__minus_03_dot_43_bar__plus_00_dot_80_bar__plus_02_dot_37 - object + RemoteControl_bar__minus_02_dot_93_bar__plus_00_dot_46_bar__plus_06_dot_56 - object + RemoteControl_bar__minus_03_dot_71_bar__plus_00_dot_78_bar__plus_02_dot_22 - object + Statue_bar__minus_02_dot_71_bar__plus_00_dot_90_bar__plus_02_dot_29 - object + Statue_bar__minus_03_dot_43_bar__plus_00_dot_79_bar__plus_02_dot_06 - object + Television_bar__minus_03_dot_11_bar__plus_01_dot_02_bar__plus_08_dot_71 - object + TissueBox_bar__minus_03_dot_07_bar__plus_00_dot_54_bar__plus_08_dot_53 - object + TissueBox_bar__minus_05_dot_75_bar__plus_00_dot_08_bar__plus_00_dot_31 - object + Watch_bar__minus_00_dot_41_bar__plus_00_dot_68_bar__plus_08_dot_45 - object + Watch_bar__minus_00_dot_54_bar__plus_00_dot_68_bar__plus_00_dot_23 - object + Watch_bar__minus_03_dot_16_bar__plus_00_dot_78_bar__plus_02_dot_37 - object + Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_01_dot_09 - object + Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_02_dot_99 - object + Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_04_dot_92 - object + Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_06_dot_90 - object + Window_bar__minus_01_dot_06_bar__plus_01_dot_20_bar__minus_00_dot_16 - object + Window_bar__minus_02_dot_94_bar__plus_01_dot_20_bar__minus_00_dot_16 - object + Window_bar__minus_04_dot_86_bar__plus_01_dot_20_bar__minus_00_dot_16 - object + ArmChair_bar__minus_02_dot_69_bar__plus_00_dot_00_bar__plus_04_dot_62 - receptacle + ArmChair_bar__minus_03_dot_66_bar__plus_00_dot_00_bar__plus_04_dot_56 - receptacle + CoffeeTable_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_08_dot_53 - receptacle + CoffeeTable_bar__minus_03_dot_24_bar__plus_00_dot_01_bar__plus_06_dot_60 - receptacle + DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23 - receptacle + GarbageCan_bar__minus_05_dot_75_bar__plus_00_dot_01_bar__plus_00_dot_26 - receptacle + SideTable_bar__minus_00_dot_40_bar__plus_00_dot_66_bar__plus_00_dot_36 - receptacle + SideTable_bar__minus_00_dot_53_bar__plus_00_dot_66_bar__plus_08_dot_52 - receptacle + Sofa_bar__minus_01_dot_74_bar__minus_00_dot_08_bar__plus_06_dot_45 - receptacle + loc_bar__minus_22_bar_14_bar_3_bar_30 - location + loc_bar__minus_19_bar_26_bar_3_bar__minus_15 - location + loc_bar__minus_19_bar_22_bar_3_bar_15 - location + loc_bar__minus_21_bar_5_bar_3_bar_15 - location + loc_bar__minus_22_bar_18_bar_0_bar_60 - location + loc_bar__minus_15_bar_22_bar_2_bar_60 - location + loc_bar__minus_21_bar_2_bar_3_bar_60 - location + loc_bar__minus_5_bar_33_bar_1_bar_60 - location + loc_bar__minus_6_bar_11_bar_3_bar_60 - location + loc_bar__minus_12_bar_2_bar_2_bar_30 - location + loc_bar__minus_13_bar_4_bar_0_bar_60 - location + loc_bar__minus_4_bar_2_bar_2_bar_30 - location + loc_bar__minus_17_bar_26_bar_1_bar_60 - location + loc_bar__minus_18_bar_32_bar_1_bar_45 - location + loc_bar__minus_19_bar_2_bar_2_bar_30 - location + loc_bar__minus_5_bar_3_bar_1_bar_45 - location + loc_bar__minus_4_bar_4_bar_1_bar_60 - location + loc_bar__minus_6_bar_9_bar_3_bar_45 - location + loc_bar__minus_2_bar_6_bar_1_bar_30 - location + loc_bar__minus_12_bar_13_bar_2_bar_60 - location + loc_bar__minus_10_bar_4_bar_0_bar_60 - location + loc_bar__minus_2_bar_28_bar_1_bar_30 - location + loc_bar__minus_10_bar_27_bar_1_bar_60 - location + loc_bar__minus_10_bar_22_bar_2_bar_60 - location + loc_bar__minus_20_bar_33_bar_3_bar_60 - location + loc_bar__minus_2_bar_12_bar_1_bar_30 - location + loc_bar__minus_2_bar_20_bar_1_bar_30 - location + loc_bar__minus_15_bar_15_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType CoffeeTable_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_08_dot_53 CoffeeTableType) + (receptacleType DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23 DiningTableType) + (receptacleType SideTable_bar__minus_00_dot_40_bar__plus_00_dot_66_bar__plus_00_dot_36 SideTableType) + (receptacleType CoffeeTable_bar__minus_03_dot_24_bar__plus_00_dot_01_bar__plus_06_dot_60 CoffeeTableType) + (receptacleType ArmChair_bar__minus_02_dot_69_bar__plus_00_dot_00_bar__plus_04_dot_62 ArmChairType) + (receptacleType SideTable_bar__minus_00_dot_53_bar__plus_00_dot_66_bar__plus_08_dot_52 SideTableType) + (receptacleType ArmChair_bar__minus_03_dot_66_bar__plus_00_dot_00_bar__plus_04_dot_56 ArmChairType) + (receptacleType Sofa_bar__minus_01_dot_74_bar__minus_00_dot_08_bar__plus_06_dot_45 SofaType) + (receptacleType GarbageCan_bar__minus_05_dot_75_bar__plus_00_dot_01_bar__plus_00_dot_26 GarbageCanType) + (objectType HousePlant_bar__minus_05_dot_36_bar__plus_01_dot_48_bar__plus_05_dot_44 HousePlantType) + (objectType RemoteControl_bar__minus_02_dot_93_bar__plus_00_dot_46_bar__plus_06_dot_56 RemoteControlType) + (objectType Pillow_bar__minus_01_dot_72_bar__plus_00_dot_52_bar__plus_05_dot_73 PillowType) + (objectType Painting_bar__minus_05_dot_96_bar__plus_01_dot_53_bar__plus_01_dot_15 PaintingType) + (objectType Watch_bar__minus_00_dot_54_bar__plus_00_dot_68_bar__plus_00_dot_23 WatchType) + (objectType FloorLamp_bar__minus_05_dot_65_bar__plus_00_dot_01_bar__plus_08_dot_53 FloorLampType) + (objectType Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_06_dot_90 WindowType) + (objectType Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_04_dot_92 WindowType) + (objectType Chair_bar__minus_02_dot_35_bar__plus_00_dot_01_bar__plus_02_dot_75 ChairType) + (objectType Box_bar__minus_02_dot_88_bar__plus_00_dot_91_bar__plus_02_dot_22 BoxType) + (objectType Television_bar__minus_03_dot_11_bar__plus_01_dot_02_bar__plus_08_dot_71 TelevisionType) + (objectType Box_bar__minus_03_dot_71_bar__plus_00_dot_91_bar__plus_01_dot_91 BoxType) + (objectType Plate_bar__minus_03_dot_13_bar__plus_00_dot_47_bar__plus_06_dot_35 PlateType) + (objectType CreditCard_bar__minus_03_dot_03_bar__plus_00_dot_46_bar__plus_06_dot_97 CreditCardType) + (objectType Laptop_bar__minus_02_dot_32_bar__plus_00_dot_78_bar__plus_02_dot_06 LaptopType) + (objectType TissueBox_bar__minus_03_dot_07_bar__plus_00_dot_54_bar__plus_08_dot_53 TissueBoxType) + (objectType HousePlant_bar__minus_03_dot_20_bar__plus_00_dot_45_bar__plus_06_dot_80 HousePlantType) + (objectType Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_02_dot_99 WindowType) + (objectType Box_bar__minus_02_dot_05_bar__plus_00_dot_91_bar__plus_02_dot_53 BoxType) + (objectType Chair_bar__minus_02_dot_48_bar__plus_00_dot_01_bar__plus_01_dot_63 ChairType) + (objectType Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_01_dot_09 WindowType) + (objectType Watch_bar__minus_03_dot_16_bar__plus_00_dot_78_bar__plus_02_dot_37 WatchType) + (objectType RemoteControl_bar__minus_03_dot_71_bar__plus_00_dot_78_bar__plus_02_dot_22 RemoteControlType) + (objectType Chair_bar__minus_03_dot_33_bar__plus_00_dot_01_bar__plus_01_dot_70 ChairType) + (objectType Plate_bar__minus_03_dot_43_bar__plus_00_dot_80_bar__plus_02_dot_37 PlateType) + (objectType Candle_bar__minus_00_dot_62_bar__plus_00_dot_67_bar__plus_08_dot_44 CandleType) + (objectType Statue_bar__minus_02_dot_71_bar__plus_00_dot_90_bar__plus_02_dot_29 StatueType) + (objectType LightSwitch_bar__minus_06_dot_00_bar__plus_01_dot_34_bar__plus_03_dot_43 LightSwitchType) + (objectType Candle_bar__minus_00_dot_36_bar__plus_00_dot_68_bar__plus_00_dot_23 CandleType) + (objectType Mirror_bar__minus_05_dot_49_bar__plus_01_dot_83_bar__plus_06_dot_51 MirrorType) + (objectType Statue_bar__minus_03_dot_43_bar__plus_00_dot_79_bar__plus_02_dot_06 StatueType) + (objectType Plate_bar__minus_02_dot_60_bar__plus_00_dot_80_bar__plus_02_dot_53 PlateType) + (objectType KeyChain_bar__minus_03_dot_01_bar__plus_00_dot_54_bar__plus_08_dot_21 KeyChainType) + (objectType Chair_bar__minus_00_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_00 ChairType) + (objectType TissueBox_bar__minus_05_dot_75_bar__plus_00_dot_08_bar__plus_00_dot_31 TissueBoxType) + (objectType Newspaper_bar__minus_01_dot_70_bar__plus_00_dot_45_bar__plus_06_dot_14 NewspaperType) + (objectType Watch_bar__minus_00_dot_41_bar__plus_00_dot_68_bar__plus_08_dot_45 WatchType) + (objectType Window_bar__minus_04_dot_86_bar__plus_01_dot_20_bar__minus_00_dot_16 WindowType) + (objectType Candle_bar__minus_02_dot_94_bar__plus_00_dot_54_bar__plus_08_dot_53 CandleType) + (objectType Boots_bar__minus_05_dot_79_bar__plus_00_dot_01_bar__plus_04_dot_82 BootsType) + (objectType Newspaper_bar__minus_03_dot_43_bar__plus_00_dot_78_bar__plus_02_dot_68 NewspaperType) + (objectType Window_bar__minus_02_dot_94_bar__plus_01_dot_20_bar__minus_00_dot_16 WindowType) + (objectType Window_bar__minus_01_dot_06_bar__plus_01_dot_20_bar__minus_00_dot_16 WindowType) + (objectType Chair_bar__minus_03_dot_33_bar__plus_00_dot_01_bar__plus_02_dot_74 ChairType) + (canContain CoffeeTableType CandleType) + (canContain CoffeeTableType WatchType) + (canContain CoffeeTableType NewspaperType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType PlateType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType TissueBoxType) + (canContain CoffeeTableType StatueType) + (canContain DiningTableType CandleType) + (canContain DiningTableType WatchType) + (canContain DiningTableType NewspaperType) + (canContain DiningTableType BoxType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType PlateType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType TissueBoxType) + (canContain DiningTableType StatueType) + (canContain SideTableType CandleType) + (canContain SideTableType WatchType) + (canContain SideTableType NewspaperType) + (canContain SideTableType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType PlateType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType TissueBoxType) + (canContain SideTableType StatueType) + (canContain CoffeeTableType CandleType) + (canContain CoffeeTableType WatchType) + (canContain CoffeeTableType NewspaperType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType PlateType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType TissueBoxType) + (canContain CoffeeTableType StatueType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType NewspaperType) + (canContain ArmChairType CreditCardType) + (canContain SideTableType CandleType) + (canContain SideTableType WatchType) + (canContain SideTableType NewspaperType) + (canContain SideTableType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType PlateType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType TissueBoxType) + (canContain SideTableType StatueType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType NewspaperType) + (canContain ArmChairType CreditCardType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType NewspaperType) + (canContain SofaType CreditCardType) + (canContain GarbageCanType NewspaperType) + (canContain GarbageCanType TissueBoxType) + (pickupable RemoteControl_bar__minus_02_dot_93_bar__plus_00_dot_46_bar__plus_06_dot_56) + (pickupable Pillow_bar__minus_01_dot_72_bar__plus_00_dot_52_bar__plus_05_dot_73) + (pickupable Watch_bar__minus_00_dot_54_bar__plus_00_dot_68_bar__plus_00_dot_23) + (pickupable Box_bar__minus_02_dot_88_bar__plus_00_dot_91_bar__plus_02_dot_22) + (pickupable Box_bar__minus_03_dot_71_bar__plus_00_dot_91_bar__plus_01_dot_91) + (pickupable Plate_bar__minus_03_dot_13_bar__plus_00_dot_47_bar__plus_06_dot_35) + (pickupable CreditCard_bar__minus_03_dot_03_bar__plus_00_dot_46_bar__plus_06_dot_97) + (pickupable 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(pickupable TissueBox_bar__minus_05_dot_75_bar__plus_00_dot_08_bar__plus_00_dot_31) + (pickupable Newspaper_bar__minus_01_dot_70_bar__plus_00_dot_45_bar__plus_06_dot_14) + (pickupable Watch_bar__minus_00_dot_41_bar__plus_00_dot_68_bar__plus_08_dot_45) + (pickupable Candle_bar__minus_02_dot_94_bar__plus_00_dot_54_bar__plus_08_dot_53) + (pickupable Boots_bar__minus_05_dot_79_bar__plus_00_dot_01_bar__plus_04_dot_82) + (pickupable Newspaper_bar__minus_03_dot_43_bar__plus_00_dot_78_bar__plus_02_dot_68) + (isReceptacleObject Box_bar__minus_02_dot_88_bar__plus_00_dot_91_bar__plus_02_dot_22) + (isReceptacleObject Box_bar__minus_03_dot_71_bar__plus_00_dot_91_bar__plus_01_dot_91) + (isReceptacleObject Plate_bar__minus_03_dot_13_bar__plus_00_dot_47_bar__plus_06_dot_35) + (isReceptacleObject Box_bar__minus_02_dot_05_bar__plus_00_dot_91_bar__plus_02_dot_53) + (isReceptacleObject Plate_bar__minus_03_dot_43_bar__plus_00_dot_80_bar__plus_02_dot_37) + (isReceptacleObject Plate_bar__minus_02_dot_60_bar__plus_00_dot_80_bar__plus_02_dot_53) + + + (atLocation agent1 loc_bar__minus_15_bar_15_bar_1_bar_30) + + (cleanable Plate_bar__minus_03_dot_13_bar__plus_00_dot_47_bar__plus_06_dot_35) + (cleanable Plate_bar__minus_03_dot_43_bar__plus_00_dot_80_bar__plus_02_dot_37) + (cleanable Plate_bar__minus_02_dot_60_bar__plus_00_dot_80_bar__plus_02_dot_53) + + (heatable Plate_bar__minus_03_dot_13_bar__plus_00_dot_47_bar__plus_06_dot_35) + (heatable Plate_bar__minus_03_dot_43_bar__plus_00_dot_80_bar__plus_02_dot_37) + (heatable Plate_bar__minus_02_dot_60_bar__plus_00_dot_80_bar__plus_02_dot_53) + (coolable Plate_bar__minus_03_dot_13_bar__plus_00_dot_47_bar__plus_06_dot_35) + (coolable Plate_bar__minus_03_dot_43_bar__plus_00_dot_80_bar__plus_02_dot_37) + (coolable Plate_bar__minus_02_dot_60_bar__plus_00_dot_80_bar__plus_02_dot_53) + + + (toggleable FloorLamp_bar__minus_05_dot_65_bar__plus_00_dot_01_bar__plus_08_dot_53) + + + + + (inReceptacle Box_bar__minus_02_dot_05_bar__plus_00_dot_91_bar__plus_02_dot_53 DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23) + (inReceptacle Statue_bar__minus_03_dot_43_bar__plus_00_dot_79_bar__plus_02_dot_06 DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23) + (inReceptacle Watch_bar__minus_03_dot_16_bar__plus_00_dot_78_bar__plus_02_dot_37 DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23) + (inReceptacle Plate_bar__minus_02_dot_60_bar__plus_00_dot_80_bar__plus_02_dot_53 DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23) + (inReceptacle RemoteControl_bar__minus_03_dot_71_bar__plus_00_dot_78_bar__plus_02_dot_22 DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23) + (inReceptacle Box_bar__minus_02_dot_88_bar__plus_00_dot_91_bar__plus_02_dot_22 DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23) + (inReceptacle Plate_bar__minus_03_dot_43_bar__plus_00_dot_80_bar__plus_02_dot_37 DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23) + (inReceptacle Newspaper_bar__minus_03_dot_43_bar__plus_00_dot_78_bar__plus_02_dot_68 DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23) + (inReceptacle Box_bar__minus_03_dot_71_bar__plus_00_dot_91_bar__plus_01_dot_91 DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23) + (inReceptacle Laptop_bar__minus_02_dot_32_bar__plus_00_dot_78_bar__plus_02_dot_06 DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23) + (inReceptacle Statue_bar__minus_02_dot_71_bar__plus_00_dot_90_bar__plus_02_dot_29 DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23) + (inReceptacle CreditCard_bar__minus_03_dot_03_bar__plus_00_dot_46_bar__plus_06_dot_97 CoffeeTable_bar__minus_03_dot_24_bar__plus_00_dot_01_bar__plus_06_dot_60) + (inReceptacle HousePlant_bar__minus_03_dot_20_bar__plus_00_dot_45_bar__plus_06_dot_80 CoffeeTable_bar__minus_03_dot_24_bar__plus_00_dot_01_bar__plus_06_dot_60) + (inReceptacle RemoteControl_bar__minus_02_dot_93_bar__plus_00_dot_46_bar__plus_06_dot_56 CoffeeTable_bar__minus_03_dot_24_bar__plus_00_dot_01_bar__plus_06_dot_60) + (inReceptacle Plate_bar__minus_03_dot_13_bar__plus_00_dot_47_bar__plus_06_dot_35 CoffeeTable_bar__minus_03_dot_24_bar__plus_00_dot_01_bar__plus_06_dot_60) + (inReceptacle Newspaper_bar__minus_01_dot_70_bar__plus_00_dot_45_bar__plus_06_dot_14 Sofa_bar__minus_01_dot_74_bar__minus_00_dot_08_bar__plus_06_dot_45) + (inReceptacle Pillow_bar__minus_01_dot_72_bar__plus_00_dot_52_bar__plus_05_dot_73 Sofa_bar__minus_01_dot_74_bar__minus_00_dot_08_bar__plus_06_dot_45) + (inReceptacle Watch_bar__minus_00_dot_41_bar__plus_00_dot_68_bar__plus_08_dot_45 SideTable_bar__minus_00_dot_53_bar__plus_00_dot_66_bar__plus_08_dot_52) + (inReceptacle Candle_bar__minus_00_dot_62_bar__plus_00_dot_67_bar__plus_08_dot_44 SideTable_bar__minus_00_dot_53_bar__plus_00_dot_66_bar__plus_08_dot_52) + (inReceptacle Candle_bar__minus_02_dot_94_bar__plus_00_dot_54_bar__plus_08_dot_53 CoffeeTable_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_08_dot_53) + (inReceptacle TissueBox_bar__minus_03_dot_07_bar__plus_00_dot_54_bar__plus_08_dot_53 CoffeeTable_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_08_dot_53) + (inReceptacle Television_bar__minus_03_dot_11_bar__plus_01_dot_02_bar__plus_08_dot_71 CoffeeTable_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_08_dot_53) + (inReceptacle KeyChain_bar__minus_03_dot_01_bar__plus_00_dot_54_bar__plus_08_dot_21 CoffeeTable_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_08_dot_53) + (inReceptacle Candle_bar__minus_00_dot_36_bar__plus_00_dot_68_bar__plus_00_dot_23 SideTable_bar__minus_00_dot_40_bar__plus_00_dot_66_bar__plus_00_dot_36) + (inReceptacle Watch_bar__minus_00_dot_54_bar__plus_00_dot_68_bar__plus_00_dot_23 SideTable_bar__minus_00_dot_40_bar__plus_00_dot_66_bar__plus_00_dot_36) + (inReceptacle TissueBox_bar__minus_05_dot_75_bar__plus_00_dot_08_bar__plus_00_dot_31 GarbageCan_bar__minus_05_dot_75_bar__plus_00_dot_01_bar__plus_00_dot_26) + + + (receptacleAtLocation ArmChair_bar__minus_02_dot_69_bar__plus_00_dot_00_bar__plus_04_dot_62 loc_bar__minus_10_bar_22_bar_2_bar_60) + (receptacleAtLocation ArmChair_bar__minus_03_dot_66_bar__plus_00_dot_00_bar__plus_04_dot_56 loc_bar__minus_15_bar_22_bar_2_bar_60) + (receptacleAtLocation CoffeeTable_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_08_dot_53 loc_bar__minus_18_bar_32_bar_1_bar_45) + (receptacleAtLocation CoffeeTable_bar__minus_03_dot_24_bar__plus_00_dot_01_bar__plus_06_dot_60 loc_bar__minus_17_bar_26_bar_1_bar_60) + (receptacleAtLocation DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23 loc_bar__minus_6_bar_9_bar_3_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_05_dot_75_bar__plus_00_dot_01_bar__plus_00_dot_26 loc_bar__minus_21_bar_2_bar_3_bar_60) + (receptacleAtLocation SideTable_bar__minus_00_dot_40_bar__plus_00_dot_66_bar__plus_00_dot_36 loc_bar__minus_5_bar_3_bar_1_bar_45) + (receptacleAtLocation SideTable_bar__minus_00_dot_53_bar__plus_00_dot_66_bar__plus_08_dot_52 loc_bar__minus_5_bar_33_bar_1_bar_60) + (receptacleAtLocation Sofa_bar__minus_01_dot_74_bar__minus_00_dot_08_bar__plus_06_dot_45 loc_bar__minus_10_bar_27_bar_1_bar_60) + (objectAtLocation Watch_bar__minus_03_dot_16_bar__plus_00_dot_78_bar__plus_02_dot_37 loc_bar__minus_6_bar_9_bar_3_bar_45) + (objectAtLocation RemoteControl_bar__minus_02_dot_93_bar__plus_00_dot_46_bar__plus_06_dot_56 loc_bar__minus_17_bar_26_bar_1_bar_60) + (objectAtLocation Newspaper_bar__minus_01_dot_70_bar__plus_00_dot_45_bar__plus_06_dot_14 loc_bar__minus_10_bar_27_bar_1_bar_60) + (objectAtLocation TissueBox_bar__minus_03_dot_07_bar__plus_00_dot_54_bar__plus_08_dot_53 loc_bar__minus_18_bar_32_bar_1_bar_45) + (objectAtLocation Plate_bar__minus_03_dot_43_bar__plus_00_dot_80_bar__plus_02_dot_37 loc_bar__minus_6_bar_9_bar_3_bar_45) + (objectAtLocation Box_bar__minus_02_dot_88_bar__plus_00_dot_91_bar__plus_02_dot_22 loc_bar__minus_6_bar_9_bar_3_bar_45) + (objectAtLocation Box_bar__minus_02_dot_05_bar__plus_00_dot_91_bar__plus_02_dot_53 loc_bar__minus_6_bar_9_bar_3_bar_45) + (objectAtLocation Watch_bar__minus_00_dot_54_bar__plus_00_dot_68_bar__plus_00_dot_23 loc_bar__minus_5_bar_3_bar_1_bar_45) + (objectAtLocation Plate_bar__minus_03_dot_13_bar__plus_00_dot_47_bar__plus_06_dot_35 loc_bar__minus_17_bar_26_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_00_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_00 loc_bar__minus_4_bar_4_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_03_dot_33_bar__plus_00_dot_01_bar__plus_01_dot_70 loc_bar__minus_13_bar_4_bar_0_bar_60) + (objectAtLocation Chair_bar__minus_03_dot_33_bar__plus_00_dot_01_bar__plus_02_dot_74 loc_bar__minus_12_bar_13_bar_2_bar_60) + (objectAtLocation Chair_bar__minus_02_dot_35_bar__plus_00_dot_01_bar__plus_02_dot_75 loc_bar__minus_6_bar_11_bar_3_bar_60) + (objectAtLocation Chair_bar__minus_02_dot_48_bar__plus_00_dot_01_bar__plus_01_dot_63 loc_bar__minus_10_bar_4_bar_0_bar_60) + (objectAtLocation Box_bar__minus_03_dot_71_bar__plus_00_dot_91_bar__plus_01_dot_91 loc_bar__minus_6_bar_9_bar_3_bar_45) + (objectAtLocation Mirror_bar__minus_05_dot_49_bar__plus_01_dot_83_bar__plus_06_dot_51 loc_bar__minus_19_bar_26_bar_3_bar__minus_15) + (objectAtLocation FloorLamp_bar__minus_05_dot_65_bar__plus_00_dot_01_bar__plus_08_dot_53 loc_bar__minus_20_bar_33_bar_3_bar_60) + (objectAtLocation KeyChain_bar__minus_03_dot_01_bar__plus_00_dot_54_bar__plus_08_dot_21 loc_bar__minus_18_bar_32_bar_1_bar_45) + (objectAtLocation Plate_bar__minus_02_dot_60_bar__plus_00_dot_80_bar__plus_02_dot_53 loc_bar__minus_6_bar_9_bar_3_bar_45) + (objectAtLocation Candle_bar__minus_00_dot_36_bar__plus_00_dot_68_bar__plus_00_dot_23 loc_bar__minus_5_bar_3_bar_1_bar_45) + (objectAtLocation Pillow_bar__minus_01_dot_72_bar__plus_00_dot_52_bar__plus_05_dot_73 loc_bar__minus_10_bar_27_bar_1_bar_60) + (objectAtLocation HousePlant_bar__minus_03_dot_20_bar__plus_00_dot_45_bar__plus_06_dot_80 loc_bar__minus_17_bar_26_bar_1_bar_60) + (objectAtLocation HousePlant_bar__minus_05_dot_36_bar__plus_01_dot_48_bar__plus_05_dot_44 loc_bar__minus_19_bar_22_bar_3_bar_15) + (objectAtLocation Candle_bar__minus_00_dot_62_bar__plus_00_dot_67_bar__plus_08_dot_44 loc_bar__minus_5_bar_33_bar_1_bar_60) + (objectAtLocation TissueBox_bar__minus_05_dot_75_bar__plus_00_dot_08_bar__plus_00_dot_31 loc_bar__minus_21_bar_2_bar_3_bar_60) + (objectAtLocation Laptop_bar__minus_02_dot_32_bar__plus_00_dot_78_bar__plus_02_dot_06 loc_bar__minus_6_bar_9_bar_3_bar_45) + (objectAtLocation Television_bar__minus_03_dot_11_bar__plus_01_dot_02_bar__plus_08_dot_71 loc_bar__minus_18_bar_32_bar_1_bar_45) + (objectAtLocation Newspaper_bar__minus_03_dot_43_bar__plus_00_dot_78_bar__plus_02_dot_68 loc_bar__minus_6_bar_9_bar_3_bar_45) + (objectAtLocation CreditCard_bar__minus_03_dot_03_bar__plus_00_dot_46_bar__plus_06_dot_97 loc_bar__minus_17_bar_26_bar_1_bar_60) + (objectAtLocation RemoteControl_bar__minus_03_dot_71_bar__plus_00_dot_78_bar__plus_02_dot_22 loc_bar__minus_6_bar_9_bar_3_bar_45) + (objectAtLocation Boots_bar__minus_05_dot_79_bar__plus_00_dot_01_bar__plus_04_dot_82 loc_bar__minus_22_bar_18_bar_0_bar_60) + (objectAtLocation Candle_bar__minus_02_dot_94_bar__plus_00_dot_54_bar__plus_08_dot_53 loc_bar__minus_18_bar_32_bar_1_bar_45) + (objectAtLocation Statue_bar__minus_02_dot_71_bar__plus_00_dot_90_bar__plus_02_dot_29 loc_bar__minus_6_bar_9_bar_3_bar_45) + (objectAtLocation LightSwitch_bar__minus_06_dot_00_bar__plus_01_dot_34_bar__plus_03_dot_43 loc_bar__minus_22_bar_14_bar_3_bar_30) + (objectAtLocation Painting_bar__minus_05_dot_96_bar__plus_01_dot_53_bar__plus_01_dot_15 loc_bar__minus_21_bar_5_bar_3_bar_15) + (objectAtLocation Watch_bar__minus_00_dot_41_bar__plus_00_dot_68_bar__plus_08_dot_45 loc_bar__minus_5_bar_33_bar_1_bar_60) + (objectAtLocation Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_06_dot_90 loc_bar__minus_2_bar_28_bar_1_bar_30) + (objectAtLocation Window_bar__minus_04_dot_86_bar__plus_01_dot_20_bar__minus_00_dot_16 loc_bar__minus_19_bar_2_bar_2_bar_30) + (objectAtLocation Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_04_dot_92 loc_bar__minus_2_bar_20_bar_1_bar_30) + (objectAtLocation Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_02_dot_99 loc_bar__minus_2_bar_12_bar_1_bar_30) + (objectAtLocation Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_01_dot_09 loc_bar__minus_2_bar_6_bar_1_bar_30) + (objectAtLocation Window_bar__minus_02_dot_94_bar__plus_01_dot_20_bar__minus_00_dot_16 loc_bar__minus_12_bar_2_bar_2_bar_30) + (objectAtLocation Window_bar__minus_01_dot_06_bar__plus_01_dot_20_bar__minus_00_dot_16 loc_bar__minus_4_bar_2_bar_2_bar_30) + (objectAtLocation Statue_bar__minus_03_dot_43_bar__plus_00_dot_79_bar__plus_02_dot_06 loc_bar__minus_6_bar_9_bar_3_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 TissueBoxType) + (receptacleType ?r DiningTableType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 TissueBoxType) + (receptacleType ?r DiningTableType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-TissueBox-None-DiningTable-230/trial_T20190914_012602_275826/traj_data.json b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-TissueBox-None-DiningTable-230/trial_T20190914_012602_275826/traj_data.json new file mode 100644 index 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"trial_T20190914_012602_275826", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A2JBNDG0U9IA6I_3GD6L00D3VOUEV6Z51M2WF7EG2J1MM", + "high_descs": [ + "Turn around and walk straight slightly then turn left and walk to the window and turn right to face the blue trash bin", + "Pick up the tissue box from the bottom of the trash bin", + "Turn around and walk straight then turn left at the kitchen table and face it", + "Place the tissue box on the kitchen table next to the box", + "Turn right walk straight slightly then turn left and walk forward then turn right at the sofa and walk to the TV", + "Pick up the tissue box from the TV stand", + "Turn right and walk straight slightly then turn right around the sofa and walk straight to the kitchen table and face it", + "Place the tissue box on the kitchen table next to the other tissue box" + ], + "task_desc": "Move two tissue boxes to the kitchen table", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_3K772S5NPB276IZ0QS14BUICOQUEHH", + "high_descs": [ + "Walk over to the small blue bin in the corner of the room behind you.", + "Pick up the box of tissues out of the blue bin.", + "Walk over to the far end of the large wooden table behind you.", + "Put the box of tissues on the large wooden table.", + "Walk over to the wooden table with the television on it across the room to your right.", + "Pick up the box of tissues off of the wooden table.", + "Walk back over to the end of the large wooden table behind you.", + "Put the box of tissues on the table next to the other box." + ], + "task_desc": "Move two boxes of tissues to a large wooden table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A002160837SWJFPIAI7L7_3PJ71Z61R7TF7BN5GSIXRT1UG4C91X", + "high_descs": [ + "Turn around and walk left then face right to the trashcan.", + "Grab the tissue box out of the trashcan.", + "Turn around and walk along the table then turn and face left.", + "Place the tissue box on the table.", + "Turn right and walk then turn left and walk then go right again then right to face the TV stand.", + "Grab the tissue box from the TV stand.", + "Head right to get behind the couch then walk straight to the table then face right.", + "Place the second tissue box to the right of the first." + ], + "task_desc": "Place two tissue boxes on the table.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Toilet-405/trial_T20190909_070029_031921/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Toilet-405/trial_T20190909_070029_031921/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..7a59caa44d5750b16d9b8157a5be122eadbc06a7 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Toilet-405/trial_T20190909_070029_031921/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_070029_031921)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83 - object\n Candle_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_01_dot_07 - object\n Candle_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_01_dot_13 - object\n Cloth_bar__minus_00_dot_55_bar__plus_00_dot_03_bar__plus_01_dot_04 - object\n Cloth_bar__minus_00_dot_62_bar__plus_00_dot_03_bar__plus_00_dot_58 - object\n Cloth_bar__minus_00_dot_69_bar__plus_00_dot_03_bar__plus_00_dot_81 - object\n Faucet_bar__minus_00_dot_62_bar__plus_00_dot_67_bar__plus_01_dot_81 - object\n Faucet_bar__minus_03_dot_31_bar__plus_00_dot_99_bar__plus_00_dot_21 - object\n HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_59_bar__minus_00_dot_73 - object\n HandTowel_bar__minus_03_dot_32_bar__plus_01_dot_46_bar__plus_00_dot_76 - object\n LightSwitch_bar__minus_02_dot_31_bar__plus_01_dot_43_bar__minus_00_dot_77 - object\n Mirror_bar__minus_03_dot_35_bar__plus_01_dot_48_bar__plus_00_dot_02 - object\n Plunger_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_01_dot_68 - object\n ScrubBrush_bar__minus_03_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_79 - object\n ShowerCurtain_bar__minus_01_dot_17_bar__plus_01_dot_87_bar__minus_00_dot_11 - object\n Sink_bar__minus_03_dot_02_bar__plus_00_dot_87_bar__plus_00_dot_21 - object\n SoapBar_bar__minus_02_dot_84_bar__plus_00_dot_11_bar__plus_00_dot_54 - object\n SoapBottle_bar__minus_03_dot_17_bar__plus_00_dot_11_bar__plus_00_dot_29 - object\n SprayBottle_bar__minus_02_dot_89_bar__plus_01_dot_00_bar__plus_00_dot_62 - object\n SprayBottle_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_01_dot_46 - object\n SprayBottle_bar__minus_03_dot_17_bar__plus_00_dot_11_bar__minus_00_dot_60 - object\n ToiletPaper_bar__minus_02_dot_90_bar__plus_00_dot_11_bar__minus_00_dot_49 - object\n ToiletPaper_bar__minus_03_dot_06_bar__plus_00_dot_67_bar__plus_00_dot_69 - object\n Towel_bar__minus_01_dot_62_bar__plus_01_dot_40_bar__plus_01_dot_80 - object\n Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83_bar_BathtubBasin - receptacle\n Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_27 - receptacle\n Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_76 - receptacle\n Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_45_bar__plus_00_dot_60 - receptacle\n Cabinet_bar__minus_02_dot_90_bar__plus_02_dot_05_bar__plus_01_dot_01 - receptacle\n Cabinet_bar__minus_02_dot_91_bar__plus_02_dot_10_bar__plus_01_dot_88 - receptacle\n CounterTop_bar__minus_03_dot_05_bar__plus_01_dot_04_bar__minus_00_dot_44 - receptacle\n GarbageCan_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_00_dot_85 - receptacle\n HandTowelHolder_bar__minus_02_dot_96_bar__plus_01_dot_70_bar__minus_00_dot_77 - receptacle\n HandTowelHolder_bar__minus_03_dot_36_bar__plus_01_dot_57_bar__plus_00_dot_76 - receptacle\n Sink_bar__minus_03_dot_02_bar__plus_00_dot_87_bar__plus_00_dot_21_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_03_dot_11_bar__plus_00_dot_83_bar__plus_00_dot_63 - receptacle\n Toilet_bar__minus_02_dot_93_bar__plus_00_dot_00_bar__plus_01_dot_27 - receptacle\n TowelHolder_bar__minus_01_dot_62_bar__plus_01_dot_38_bar__plus_01_dot_91 - receptacle\n loc_bar__minus_10_bar_0_bar_3_bar_15 - location\n loc_bar__minus_6_bar_5_bar_0_bar_15 - location\n loc_bar__minus_7_bar_0_bar_3_bar_45 - location\n loc_bar__minus_10_bar_1_bar_3_bar_60 - location\n loc_bar__minus_10_bar_3_bar_3_bar_0 - location\n loc_bar__minus_8_bar_4_bar_3_bar__minus_30 - location\n loc_bar__minus_7_bar_2_bar_3_bar_45 - location\n loc_bar__minus_10_bar_3_bar_3_bar_60 - location\n loc_bar__minus_10_bar__minus_1_bar_2_bar_0 - location\n loc_bar__minus_8_bar_5_bar_3_bar__minus_30 - location\n loc_bar__minus_9_bar__minus_1_bar_2_bar_30 - location\n loc_bar__minus_6_bar_3_bar_1_bar_60 - location\n loc_bar__minus_10_bar__minus_1_bar_3_bar_45 - location\n loc_bar__minus_10_bar_3_bar_0_bar_60 - location\n loc_bar__minus_8_bar_3_bar_3_bar_60 - location\n loc_bar__minus_8_bar_0_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__minus_02_dot_91_bar__plus_02_dot_10_bar__plus_01_dot_88 CabinetType)\n (receptacleType CounterTop_bar__minus_03_dot_05_bar__plus_01_dot_04_bar__minus_00_dot_44 CounterTopType)\n (receptacleType Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_76 CabinetType)\n (receptacleType ToiletPaperHanger_bar__minus_03_dot_11_bar__plus_00_dot_83_bar__plus_00_dot_63 ToiletPaperHangerType)\n (receptacleType Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83_bar_BathtubBasin BathtubBasinType)\n (receptacleType TowelHolder_bar__minus_01_dot_62_bar__plus_01_dot_38_bar__plus_01_dot_91 TowelHolderType)\n (receptacleType Sink_bar__minus_03_dot_02_bar__plus_00_dot_87_bar__plus_00_dot_21_bar_SinkBasin SinkBasinType)\n (receptacleType Toilet_bar__minus_02_dot_93_bar__plus_00_dot_00_bar__plus_01_dot_27 ToiletType)\n (receptacleType GarbageCan_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_00_dot_85 GarbageCanType)\n (receptacleType HandTowelHolder_bar__minus_03_dot_36_bar__plus_01_dot_57_bar__plus_00_dot_76 HandTowelHolderType)\n (receptacleType HandTowelHolder_bar__minus_02_dot_96_bar__plus_01_dot_70_bar__minus_00_dot_77 HandTowelHolderType)\n (receptacleType Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_45_bar__plus_00_dot_60 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_90_bar__plus_02_dot_05_bar__plus_01_dot_01 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_27 CabinetType)\n (objectType SoapBottle_bar__minus_03_dot_17_bar__plus_00_dot_11_bar__plus_00_dot_29 SoapBottleType)\n (objectType ToiletPaper_bar__minus_02_dot_90_bar__plus_00_dot_11_bar__minus_00_dot_49 ToiletPaperType)\n (objectType ToiletPaper_bar__minus_03_dot_06_bar__plus_00_dot_67_bar__plus_00_dot_69 ToiletPaperType)\n (objectType HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_59_bar__minus_00_dot_73 HandTowelType)\n (objectType SprayBottle_bar__minus_03_dot_17_bar__plus_00_dot_11_bar__minus_00_dot_60 SprayBottleType)\n (objectType Towel_bar__minus_01_dot_62_bar__plus_01_dot_40_bar__plus_01_dot_80 TowelType)\n (objectType Candle_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_01_dot_13 CandleType)\n (objectType SprayBottle_bar__minus_02_dot_89_bar__plus_01_dot_00_bar__plus_00_dot_62 SprayBottleType)\n (objectType Cloth_bar__minus_00_dot_69_bar__plus_00_dot_03_bar__plus_00_dot_81 ClothType)\n (objectType Mirror_bar__minus_03_dot_35_bar__plus_01_dot_48_bar__plus_00_dot_02 MirrorType)\n (objectType Candle_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_01_dot_07 CandleType)\n (objectType Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83 BathtubType)\n (objectType SoapBar_bar__minus_02_dot_84_bar__plus_00_dot_11_bar__plus_00_dot_54 SoapBarType)\n (objectType SprayBottle_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_01_dot_46 SprayBottleType)\n (objectType Sink_bar__minus_03_dot_02_bar__plus_00_dot_87_bar__plus_00_dot_21 SinkType)\n (objectType LightSwitch_bar__minus_02_dot_31_bar__plus_01_dot_43_bar__minus_00_dot_77 LightSwitchType)\n (objectType Plunger_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_01_dot_68 PlungerType)\n (objectType Cloth_bar__minus_00_dot_62_bar__plus_00_dot_03_bar__plus_00_dot_58 ClothType)\n (objectType ScrubBrush_bar__minus_03_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_79 ScrubBrushType)\n (objectType Cloth_bar__minus_00_dot_55_bar__plus_00_dot_03_bar__plus_01_dot_04 ClothType)\n (objectType HandTowel_bar__minus_03_dot_32_bar__plus_01_dot_46_bar__plus_00_dot_76 HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain TowelHolderType TowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType SprayBottleType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (pickupable SoapBottle_bar__minus_03_dot_17_bar__plus_00_dot_11_bar__plus_00_dot_29)\n (pickupable ToiletPaper_bar__minus_02_dot_90_bar__plus_00_dot_11_bar__minus_00_dot_49)\n (pickupable ToiletPaper_bar__minus_03_dot_06_bar__plus_00_dot_67_bar__plus_00_dot_69)\n (pickupable HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_59_bar__minus_00_dot_73)\n (pickupable SprayBottle_bar__minus_03_dot_17_bar__plus_00_dot_11_bar__minus_00_dot_60)\n (pickupable Towel_bar__minus_01_dot_62_bar__plus_01_dot_40_bar__plus_01_dot_80)\n (pickupable Candle_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_01_dot_13)\n (pickupable SprayBottle_bar__minus_02_dot_89_bar__plus_01_dot_00_bar__plus_00_dot_62)\n (pickupable Cloth_bar__minus_00_dot_69_bar__plus_00_dot_03_bar__plus_00_dot_81)\n (pickupable Candle_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_01_dot_07)\n (pickupable SoapBar_bar__minus_02_dot_84_bar__plus_00_dot_11_bar__plus_00_dot_54)\n (pickupable SprayBottle_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_01_dot_46)\n (pickupable Plunger_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_01_dot_68)\n (pickupable Cloth_bar__minus_00_dot_62_bar__plus_00_dot_03_bar__plus_00_dot_58)\n (pickupable ScrubBrush_bar__minus_03_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_79)\n (pickupable Cloth_bar__minus_00_dot_55_bar__plus_00_dot_03_bar__plus_01_dot_04)\n (pickupable HandTowel_bar__minus_03_dot_32_bar__plus_01_dot_46_bar__plus_00_dot_76)\n \n (openable Cabinet_bar__minus_02_dot_91_bar__plus_02_dot_10_bar__plus_01_dot_88)\n (openable Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_76)\n (openable Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_45_bar__plus_00_dot_60)\n (openable Cabinet_bar__minus_02_dot_90_bar__plus_02_dot_05_bar__plus_01_dot_01)\n (openable Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_27)\n \n (atLocation agent1 loc_bar__minus_8_bar_0_bar_3_bar_30)\n \n (cleanable Cloth_bar__minus_00_dot_69_bar__plus_00_dot_03_bar__plus_00_dot_81)\n (cleanable SoapBar_bar__minus_02_dot_84_bar__plus_00_dot_11_bar__plus_00_dot_54)\n (cleanable Cloth_bar__minus_00_dot_62_bar__plus_00_dot_03_bar__plus_00_dot_58)\n (cleanable Cloth_bar__minus_00_dot_55_bar__plus_00_dot_03_bar__plus_01_dot_04)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle SoapBottle_bar__minus_03_dot_17_bar__plus_00_dot_11_bar__plus_00_dot_29 Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_45_bar__plus_00_dot_60)\n (inReceptacle SoapBar_bar__minus_02_dot_84_bar__plus_00_dot_11_bar__plus_00_dot_54 Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_45_bar__plus_00_dot_60)\n (inReceptacle ToiletPaper_bar__minus_02_dot_90_bar__plus_00_dot_11_bar__minus_00_dot_49 Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_76)\n (inReceptacle SprayBottle_bar__minus_03_dot_17_bar__plus_00_dot_11_bar__minus_00_dot_60 Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_76)\n (inReceptacle Cloth_bar__minus_00_dot_69_bar__plus_00_dot_03_bar__plus_00_dot_81 Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83_bar_BathtubBasin)\n (inReceptacle Cloth_bar__minus_00_dot_55_bar__plus_00_dot_03_bar__plus_01_dot_04 Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83_bar_BathtubBasin)\n (inReceptacle Cloth_bar__minus_00_dot_62_bar__plus_00_dot_03_bar__plus_00_dot_58 Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83_bar_BathtubBasin)\n (inReceptacle SprayBottle_bar__minus_02_dot_89_bar__plus_01_dot_00_bar__plus_00_dot_62 CounterTop_bar__minus_03_dot_05_bar__plus_01_dot_04_bar__minus_00_dot_44)\n (inReceptacle Towel_bar__minus_01_dot_62_bar__plus_01_dot_40_bar__plus_01_dot_80 TowelHolder_bar__minus_01_dot_62_bar__plus_01_dot_38_bar__plus_01_dot_91)\n (inReceptacle HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_59_bar__minus_00_dot_73 HandTowelHolder_bar__minus_02_dot_96_bar__plus_01_dot_70_bar__minus_00_dot_77)\n (inReceptacle HandTowel_bar__minus_03_dot_32_bar__plus_01_dot_46_bar__plus_00_dot_76 HandTowelHolder_bar__minus_03_dot_36_bar__plus_01_dot_57_bar__plus_00_dot_76)\n (inReceptacle ToiletPaper_bar__minus_03_dot_06_bar__plus_00_dot_67_bar__plus_00_dot_69 ToiletPaperHanger_bar__minus_03_dot_11_bar__plus_00_dot_83_bar__plus_00_dot_63)\n (inReceptacle Candle_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_01_dot_07 Toilet_bar__minus_02_dot_93_bar__plus_00_dot_00_bar__plus_01_dot_27)\n (inReceptacle Candle_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_01_dot_13 Toilet_bar__minus_02_dot_93_bar__plus_00_dot_00_bar__plus_01_dot_27)\n (inReceptacle SprayBottle_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_01_dot_46 Toilet_bar__minus_02_dot_93_bar__plus_00_dot_00_bar__plus_01_dot_27)\n \n \n (receptacleAtLocation Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83_bar_BathtubBasin loc_bar__minus_6_bar_3_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_27 loc_bar__minus_7_bar_2_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_76 loc_bar__minus_7_bar_0_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_45_bar__plus_00_dot_60 loc_bar__minus_7_bar_0_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_90_bar__plus_02_dot_05_bar__plus_01_dot_01 loc_bar__minus_8_bar_4_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_91_bar__plus_02_dot_10_bar__plus_01_dot_88 loc_bar__minus_8_bar_5_bar_3_bar__minus_30)\n (receptacleAtLocation CounterTop_bar__minus_03_dot_05_bar__plus_01_dot_04_bar__minus_00_dot_44 loc_bar__minus_10_bar__minus_1_bar_3_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_00_dot_85 loc_bar__minus_10_bar_3_bar_3_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_96_bar__plus_01_dot_70_bar__minus_00_dot_77 loc_bar__minus_10_bar__minus_1_bar_2_bar_0)\n (receptacleAtLocation HandTowelHolder_bar__minus_03_dot_36_bar__plus_01_dot_57_bar__plus_00_dot_76 loc_bar__minus_10_bar_3_bar_3_bar_0)\n (receptacleAtLocation Sink_bar__minus_03_dot_02_bar__plus_00_dot_87_bar__plus_00_dot_21_bar_SinkBasin loc_bar__minus_10_bar_1_bar_3_bar_60)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_03_dot_11_bar__plus_00_dot_83_bar__plus_00_dot_63 loc_bar__minus_10_bar_3_bar_3_bar_60)\n (receptacleAtLocation Toilet_bar__minus_02_dot_93_bar__plus_00_dot_00_bar__plus_01_dot_27 loc_bar__minus_8_bar_3_bar_3_bar_60)\n (receptacleAtLocation TowelHolder_bar__minus_01_dot_62_bar__plus_01_dot_38_bar__plus_01_dot_91 loc_bar__minus_6_bar_5_bar_0_bar_15)\n (objectAtLocation SprayBottle_bar__minus_03_dot_17_bar__plus_00_dot_11_bar__minus_00_dot_60 loc_bar__minus_7_bar_0_bar_3_bar_45)\n (objectAtLocation Cloth_bar__minus_00_dot_69_bar__plus_00_dot_03_bar__plus_00_dot_81 loc_bar__minus_6_bar_3_bar_1_bar_60)\n (objectAtLocation Candle_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_01_dot_13 loc_bar__minus_8_bar_3_bar_3_bar_60)\n (objectAtLocation HandTowel_bar__minus_03_dot_32_bar__plus_01_dot_46_bar__plus_00_dot_76 loc_bar__minus_10_bar_3_bar_3_bar_0)\n (objectAtLocation SprayBottle_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_01_dot_46 loc_bar__minus_8_bar_3_bar_3_bar_60)\n (objectAtLocation Cloth_bar__minus_00_dot_55_bar__plus_00_dot_03_bar__plus_01_dot_04 loc_bar__minus_6_bar_3_bar_1_bar_60)\n (objectAtLocation Towel_bar__minus_01_dot_62_bar__plus_01_dot_40_bar__plus_01_dot_80 loc_bar__minus_6_bar_5_bar_0_bar_15)\n (objectAtLocation Sink_bar__minus_03_dot_02_bar__plus_00_dot_87_bar__plus_00_dot_21 loc_bar__minus_10_bar_1_bar_3_bar_60)\n (objectAtLocation Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83 loc_bar__minus_6_bar_3_bar_1_bar_60)\n (objectAtLocation Mirror_bar__minus_03_dot_35_bar__plus_01_dot_48_bar__plus_00_dot_02 loc_bar__minus_10_bar_0_bar_3_bar_15)\n (objectAtLocation HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_59_bar__minus_00_dot_73 loc_bar__minus_10_bar__minus_1_bar_2_bar_0)\n (objectAtLocation SoapBar_bar__minus_02_dot_84_bar__plus_00_dot_11_bar__plus_00_dot_54 loc_bar__minus_7_bar_0_bar_3_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_02_dot_90_bar__plus_00_dot_11_bar__minus_00_dot_49 loc_bar__minus_7_bar_0_bar_3_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_03_dot_06_bar__plus_00_dot_67_bar__plus_00_dot_69 loc_bar__minus_10_bar_3_bar_3_bar_60)\n (objectAtLocation LightSwitch_bar__minus_02_dot_31_bar__plus_01_dot_43_bar__minus_00_dot_77 loc_bar__minus_9_bar__minus_1_bar_2_bar_30)\n (objectAtLocation Candle_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_01_dot_07 loc_bar__minus_8_bar_3_bar_3_bar_60)\n (objectAtLocation ScrubBrush_bar__minus_03_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_79 loc_bar__minus_10_bar_3_bar_0_bar_60)\n (objectAtLocation Plunger_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_01_dot_68 loc_bar__minus_10_bar_3_bar_0_bar_60)\n (objectAtLocation SoapBottle_bar__minus_03_dot_17_bar__plus_00_dot_11_bar__plus_00_dot_29 loc_bar__minus_7_bar_0_bar_3_bar_45)\n (objectAtLocation Cloth_bar__minus_00_dot_62_bar__plus_00_dot_03_bar__plus_00_dot_58 loc_bar__minus_6_bar_3_bar_1_bar_60)\n (objectAtLocation SprayBottle_bar__minus_02_dot_89_bar__plus_01_dot_00_bar__plus_00_dot_62 loc_bar__minus_10_bar__minus_1_bar_3_bar_45)\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 garbagecan 1", "take toiletpaper 1 from toiletpaperhanger 1", "go to toilet 1", "move toiletpaper 1 to toilet 1", "go to cabinet 4", "open cabinet 4", "take toiletpaper 2 from cabinet 4", "go to toilet 1", "move toiletpaper 2 to toilet 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Toilet-405/trial_T20190909_070029_031921/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Toilet-405/trial_T20190909_070029_031921/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..86c7678b5e149b725463780483fc1d6192efe765 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Toilet-405/trial_T20190909_070029_031921/initial_state.pddl @@ -0,0 +1,478 @@ + +(define (problem plan_trial_T20190909_070029_031921) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83 - object + Candle_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_01_dot_07 - object + Candle_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_01_dot_13 - object + Cloth_bar__minus_00_dot_55_bar__plus_00_dot_03_bar__plus_01_dot_04 - object + Cloth_bar__minus_00_dot_62_bar__plus_00_dot_03_bar__plus_00_dot_58 - object + Cloth_bar__minus_00_dot_69_bar__plus_00_dot_03_bar__plus_00_dot_81 - object + Faucet_bar__minus_00_dot_62_bar__plus_00_dot_67_bar__plus_01_dot_81 - object + Faucet_bar__minus_03_dot_31_bar__plus_00_dot_99_bar__plus_00_dot_21 - object + HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_59_bar__minus_00_dot_73 - object + HandTowel_bar__minus_03_dot_32_bar__plus_01_dot_46_bar__plus_00_dot_76 - object + LightSwitch_bar__minus_02_dot_31_bar__plus_01_dot_43_bar__minus_00_dot_77 - object + Mirror_bar__minus_03_dot_35_bar__plus_01_dot_48_bar__plus_00_dot_02 - object + Plunger_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_01_dot_68 - object + ScrubBrush_bar__minus_03_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_79 - object + ShowerCurtain_bar__minus_01_dot_17_bar__plus_01_dot_87_bar__minus_00_dot_11 - object + Sink_bar__minus_03_dot_02_bar__plus_00_dot_87_bar__plus_00_dot_21 - object + SoapBar_bar__minus_02_dot_84_bar__plus_00_dot_11_bar__plus_00_dot_54 - object + SoapBottle_bar__minus_03_dot_17_bar__plus_00_dot_11_bar__plus_00_dot_29 - object + SprayBottle_bar__minus_02_dot_89_bar__plus_01_dot_00_bar__plus_00_dot_62 - object + SprayBottle_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_01_dot_46 - object + SprayBottle_bar__minus_03_dot_17_bar__plus_00_dot_11_bar__minus_00_dot_60 - object + ToiletPaper_bar__minus_02_dot_90_bar__plus_00_dot_11_bar__minus_00_dot_49 - object + ToiletPaper_bar__minus_03_dot_06_bar__plus_00_dot_67_bar__plus_00_dot_69 - object + Towel_bar__minus_01_dot_62_bar__plus_01_dot_40_bar__plus_01_dot_80 - object + Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83_bar_BathtubBasin - receptacle + Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_27 - receptacle + Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_76 - receptacle + Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_45_bar__plus_00_dot_60 - receptacle + Cabinet_bar__minus_02_dot_90_bar__plus_02_dot_05_bar__plus_01_dot_01 - receptacle + Cabinet_bar__minus_02_dot_91_bar__plus_02_dot_10_bar__plus_01_dot_88 - receptacle + CounterTop_bar__minus_03_dot_05_bar__plus_01_dot_04_bar__minus_00_dot_44 - receptacle + GarbageCan_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_00_dot_85 - receptacle + HandTowelHolder_bar__minus_02_dot_96_bar__plus_01_dot_70_bar__minus_00_dot_77 - receptacle + HandTowelHolder_bar__minus_03_dot_36_bar__plus_01_dot_57_bar__plus_00_dot_76 - receptacle + Sink_bar__minus_03_dot_02_bar__plus_00_dot_87_bar__plus_00_dot_21_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__minus_03_dot_11_bar__plus_00_dot_83_bar__plus_00_dot_63 - receptacle + Toilet_bar__minus_02_dot_93_bar__plus_00_dot_00_bar__plus_01_dot_27 - receptacle + TowelHolder_bar__minus_01_dot_62_bar__plus_01_dot_38_bar__plus_01_dot_91 - receptacle + loc_bar__minus_10_bar_0_bar_3_bar_15 - location + loc_bar__minus_6_bar_5_bar_0_bar_15 - location + loc_bar__minus_7_bar_0_bar_3_bar_45 - location + loc_bar__minus_10_bar_1_bar_3_bar_60 - location + loc_bar__minus_10_bar_3_bar_3_bar_0 - location + loc_bar__minus_8_bar_4_bar_3_bar__minus_30 - location + loc_bar__minus_7_bar_2_bar_3_bar_45 - location + loc_bar__minus_10_bar_3_bar_3_bar_60 - location + loc_bar__minus_10_bar__minus_1_bar_2_bar_0 - location + loc_bar__minus_8_bar_5_bar_3_bar__minus_30 - location + loc_bar__minus_9_bar__minus_1_bar_2_bar_30 - location + loc_bar__minus_6_bar_3_bar_1_bar_60 - location + loc_bar__minus_10_bar__minus_1_bar_3_bar_45 - location + loc_bar__minus_10_bar_3_bar_0_bar_60 - location + loc_bar__minus_8_bar_3_bar_3_bar_60 - location + loc_bar__minus_8_bar_0_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__minus_02_dot_91_bar__plus_02_dot_10_bar__plus_01_dot_88 CabinetType) + (receptacleType CounterTop_bar__minus_03_dot_05_bar__plus_01_dot_04_bar__minus_00_dot_44 CounterTopType) + (receptacleType Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_76 CabinetType) + (receptacleType ToiletPaperHanger_bar__minus_03_dot_11_bar__plus_00_dot_83_bar__plus_00_dot_63 ToiletPaperHangerType) + (receptacleType Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83_bar_BathtubBasin BathtubBasinType) + (receptacleType TowelHolder_bar__minus_01_dot_62_bar__plus_01_dot_38_bar__plus_01_dot_91 TowelHolderType) + (receptacleType Sink_bar__minus_03_dot_02_bar__plus_00_dot_87_bar__plus_00_dot_21_bar_SinkBasin SinkBasinType) + (receptacleType Toilet_bar__minus_02_dot_93_bar__plus_00_dot_00_bar__plus_01_dot_27 ToiletType) + (receptacleType GarbageCan_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_00_dot_85 GarbageCanType) + (receptacleType HandTowelHolder_bar__minus_03_dot_36_bar__plus_01_dot_57_bar__plus_00_dot_76 HandTowelHolderType) + (receptacleType HandTowelHolder_bar__minus_02_dot_96_bar__plus_01_dot_70_bar__minus_00_dot_77 HandTowelHolderType) + (receptacleType Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_45_bar__plus_00_dot_60 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_90_bar__plus_02_dot_05_bar__plus_01_dot_01 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_27 CabinetType) + (objectType SoapBottle_bar__minus_03_dot_17_bar__plus_00_dot_11_bar__plus_00_dot_29 SoapBottleType) + (objectType ToiletPaper_bar__minus_02_dot_90_bar__plus_00_dot_11_bar__minus_00_dot_49 ToiletPaperType) + (objectType ToiletPaper_bar__minus_03_dot_06_bar__plus_00_dot_67_bar__plus_00_dot_69 ToiletPaperType) + (objectType HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_59_bar__minus_00_dot_73 HandTowelType) + (objectType SprayBottle_bar__minus_03_dot_17_bar__plus_00_dot_11_bar__minus_00_dot_60 SprayBottleType) + (objectType Towel_bar__minus_01_dot_62_bar__plus_01_dot_40_bar__plus_01_dot_80 TowelType) + (objectType Candle_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_01_dot_13 CandleType) + (objectType SprayBottle_bar__minus_02_dot_89_bar__plus_01_dot_00_bar__plus_00_dot_62 SprayBottleType) + (objectType Cloth_bar__minus_00_dot_69_bar__plus_00_dot_03_bar__plus_00_dot_81 ClothType) + (objectType Mirror_bar__minus_03_dot_35_bar__plus_01_dot_48_bar__plus_00_dot_02 MirrorType) + (objectType Candle_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_01_dot_07 CandleType) + (objectType Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83 BathtubType) + (objectType SoapBar_bar__minus_02_dot_84_bar__plus_00_dot_11_bar__plus_00_dot_54 SoapBarType) + (objectType SprayBottle_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_01_dot_46 SprayBottleType) + (objectType Sink_bar__minus_03_dot_02_bar__plus_00_dot_87_bar__plus_00_dot_21 SinkType) + (objectType LightSwitch_bar__minus_02_dot_31_bar__plus_01_dot_43_bar__minus_00_dot_77 LightSwitchType) + (objectType Plunger_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_01_dot_68 PlungerType) + (objectType Cloth_bar__minus_00_dot_62_bar__plus_00_dot_03_bar__plus_00_dot_58 ClothType) + (objectType ScrubBrush_bar__minus_03_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_79 ScrubBrushType) + (objectType Cloth_bar__minus_00_dot_55_bar__plus_00_dot_03_bar__plus_01_dot_04 ClothType) + (objectType HandTowel_bar__minus_03_dot_32_bar__plus_01_dot_46_bar__plus_00_dot_76 HandTowelType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain CounterTopType CandleType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType HandTowelType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain BathtubBasinType ClothType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain TowelHolderType TowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType ClothType) + (canContain ToiletType CandleType) + (canContain ToiletType SoapBarType) + (canContain ToiletType SprayBottleType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (pickupable SoapBottle_bar__minus_03_dot_17_bar__plus_00_dot_11_bar__plus_00_dot_29) + (pickupable ToiletPaper_bar__minus_02_dot_90_bar__plus_00_dot_11_bar__minus_00_dot_49) + (pickupable ToiletPaper_bar__minus_03_dot_06_bar__plus_00_dot_67_bar__plus_00_dot_69) + (pickupable HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_59_bar__minus_00_dot_73) + (pickupable SprayBottle_bar__minus_03_dot_17_bar__plus_00_dot_11_bar__minus_00_dot_60) + (pickupable Towel_bar__minus_01_dot_62_bar__plus_01_dot_40_bar__plus_01_dot_80) + (pickupable Candle_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_01_dot_13) + (pickupable SprayBottle_bar__minus_02_dot_89_bar__plus_01_dot_00_bar__plus_00_dot_62) + (pickupable Cloth_bar__minus_00_dot_69_bar__plus_00_dot_03_bar__plus_00_dot_81) + (pickupable Candle_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_01_dot_07) + (pickupable SoapBar_bar__minus_02_dot_84_bar__plus_00_dot_11_bar__plus_00_dot_54) + (pickupable SprayBottle_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_01_dot_46) + (pickupable Plunger_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_01_dot_68) + (pickupable Cloth_bar__minus_00_dot_62_bar__plus_00_dot_03_bar__plus_00_dot_58) + (pickupable ScrubBrush_bar__minus_03_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_79) + (pickupable Cloth_bar__minus_00_dot_55_bar__plus_00_dot_03_bar__plus_01_dot_04) + (pickupable HandTowel_bar__minus_03_dot_32_bar__plus_01_dot_46_bar__plus_00_dot_76) + + (openable Cabinet_bar__minus_02_dot_91_bar__plus_02_dot_10_bar__plus_01_dot_88) + (openable Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_76) + (openable Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_45_bar__plus_00_dot_60) + (openable Cabinet_bar__minus_02_dot_90_bar__plus_02_dot_05_bar__plus_01_dot_01) + (openable Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_27) + + (atLocation agent1 loc_bar__minus_8_bar_0_bar_3_bar_30) + + (cleanable Cloth_bar__minus_00_dot_69_bar__plus_00_dot_03_bar__plus_00_dot_81) + (cleanable SoapBar_bar__minus_02_dot_84_bar__plus_00_dot_11_bar__plus_00_dot_54) + (cleanable Cloth_bar__minus_00_dot_62_bar__plus_00_dot_03_bar__plus_00_dot_58) + (cleanable Cloth_bar__minus_00_dot_55_bar__plus_00_dot_03_bar__plus_01_dot_04) + + + + + + + + + + + (inReceptacle SoapBottle_bar__minus_03_dot_17_bar__plus_00_dot_11_bar__plus_00_dot_29 Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_45_bar__plus_00_dot_60) + (inReceptacle SoapBar_bar__minus_02_dot_84_bar__plus_00_dot_11_bar__plus_00_dot_54 Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_45_bar__plus_00_dot_60) + (inReceptacle ToiletPaper_bar__minus_02_dot_90_bar__plus_00_dot_11_bar__minus_00_dot_49 Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_76) + (inReceptacle SprayBottle_bar__minus_03_dot_17_bar__plus_00_dot_11_bar__minus_00_dot_60 Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_76) + (inReceptacle Cloth_bar__minus_00_dot_69_bar__plus_00_dot_03_bar__plus_00_dot_81 Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83_bar_BathtubBasin) + (inReceptacle Cloth_bar__minus_00_dot_55_bar__plus_00_dot_03_bar__plus_01_dot_04 Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83_bar_BathtubBasin) + (inReceptacle Cloth_bar__minus_00_dot_62_bar__plus_00_dot_03_bar__plus_00_dot_58 Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83_bar_BathtubBasin) + (inReceptacle SprayBottle_bar__minus_02_dot_89_bar__plus_01_dot_00_bar__plus_00_dot_62 CounterTop_bar__minus_03_dot_05_bar__plus_01_dot_04_bar__minus_00_dot_44) + (inReceptacle Towel_bar__minus_01_dot_62_bar__plus_01_dot_40_bar__plus_01_dot_80 TowelHolder_bar__minus_01_dot_62_bar__plus_01_dot_38_bar__plus_01_dot_91) + (inReceptacle HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_59_bar__minus_00_dot_73 HandTowelHolder_bar__minus_02_dot_96_bar__plus_01_dot_70_bar__minus_00_dot_77) + (inReceptacle HandTowel_bar__minus_03_dot_32_bar__plus_01_dot_46_bar__plus_00_dot_76 HandTowelHolder_bar__minus_03_dot_36_bar__plus_01_dot_57_bar__plus_00_dot_76) + (inReceptacle ToiletPaper_bar__minus_03_dot_06_bar__plus_00_dot_67_bar__plus_00_dot_69 ToiletPaperHanger_bar__minus_03_dot_11_bar__plus_00_dot_83_bar__plus_00_dot_63) + (inReceptacle Candle_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_01_dot_07 Toilet_bar__minus_02_dot_93_bar__plus_00_dot_00_bar__plus_01_dot_27) + (inReceptacle Candle_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_01_dot_13 Toilet_bar__minus_02_dot_93_bar__plus_00_dot_00_bar__plus_01_dot_27) + (inReceptacle SprayBottle_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_01_dot_46 Toilet_bar__minus_02_dot_93_bar__plus_00_dot_00_bar__plus_01_dot_27) + + + (receptacleAtLocation Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83_bar_BathtubBasin loc_bar__minus_6_bar_3_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_27 loc_bar__minus_7_bar_2_bar_3_bar_45) + (receptacleAtLocation Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_76 loc_bar__minus_7_bar_0_bar_3_bar_45) + (receptacleAtLocation Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_45_bar__plus_00_dot_60 loc_bar__minus_7_bar_0_bar_3_bar_45) + (receptacleAtLocation Cabinet_bar__minus_02_dot_90_bar__plus_02_dot_05_bar__plus_01_dot_01 loc_bar__minus_8_bar_4_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_02_dot_91_bar__plus_02_dot_10_bar__plus_01_dot_88 loc_bar__minus_8_bar_5_bar_3_bar__minus_30) + (receptacleAtLocation CounterTop_bar__minus_03_dot_05_bar__plus_01_dot_04_bar__minus_00_dot_44 loc_bar__minus_10_bar__minus_1_bar_3_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_00_dot_85 loc_bar__minus_10_bar_3_bar_3_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_96_bar__plus_01_dot_70_bar__minus_00_dot_77 loc_bar__minus_10_bar__minus_1_bar_2_bar_0) + (receptacleAtLocation HandTowelHolder_bar__minus_03_dot_36_bar__plus_01_dot_57_bar__plus_00_dot_76 loc_bar__minus_10_bar_3_bar_3_bar_0) + (receptacleAtLocation Sink_bar__minus_03_dot_02_bar__plus_00_dot_87_bar__plus_00_dot_21_bar_SinkBasin loc_bar__minus_10_bar_1_bar_3_bar_60) + (receptacleAtLocation ToiletPaperHanger_bar__minus_03_dot_11_bar__plus_00_dot_83_bar__plus_00_dot_63 loc_bar__minus_10_bar_3_bar_3_bar_60) + (receptacleAtLocation Toilet_bar__minus_02_dot_93_bar__plus_00_dot_00_bar__plus_01_dot_27 loc_bar__minus_8_bar_3_bar_3_bar_60) + (receptacleAtLocation TowelHolder_bar__minus_01_dot_62_bar__plus_01_dot_38_bar__plus_01_dot_91 loc_bar__minus_6_bar_5_bar_0_bar_15) + (objectAtLocation SprayBottle_bar__minus_03_dot_17_bar__plus_00_dot_11_bar__minus_00_dot_60 loc_bar__minus_7_bar_0_bar_3_bar_45) + (objectAtLocation Cloth_bar__minus_00_dot_69_bar__plus_00_dot_03_bar__plus_00_dot_81 loc_bar__minus_6_bar_3_bar_1_bar_60) + (objectAtLocation Candle_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_01_dot_13 loc_bar__minus_8_bar_3_bar_3_bar_60) + (objectAtLocation HandTowel_bar__minus_03_dot_32_bar__plus_01_dot_46_bar__plus_00_dot_76 loc_bar__minus_10_bar_3_bar_3_bar_0) + (objectAtLocation SprayBottle_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_01_dot_46 loc_bar__minus_8_bar_3_bar_3_bar_60) + (objectAtLocation Cloth_bar__minus_00_dot_55_bar__plus_00_dot_03_bar__plus_01_dot_04 loc_bar__minus_6_bar_3_bar_1_bar_60) + (objectAtLocation Towel_bar__minus_01_dot_62_bar__plus_01_dot_40_bar__plus_01_dot_80 loc_bar__minus_6_bar_5_bar_0_bar_15) + (objectAtLocation Sink_bar__minus_03_dot_02_bar__plus_00_dot_87_bar__plus_00_dot_21 loc_bar__minus_10_bar_1_bar_3_bar_60) + (objectAtLocation Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83 loc_bar__minus_6_bar_3_bar_1_bar_60) + (objectAtLocation Mirror_bar__minus_03_dot_35_bar__plus_01_dot_48_bar__plus_00_dot_02 loc_bar__minus_10_bar_0_bar_3_bar_15) + (objectAtLocation HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_59_bar__minus_00_dot_73 loc_bar__minus_10_bar__minus_1_bar_2_bar_0) + (objectAtLocation SoapBar_bar__minus_02_dot_84_bar__plus_00_dot_11_bar__plus_00_dot_54 loc_bar__minus_7_bar_0_bar_3_bar_45) + (objectAtLocation ToiletPaper_bar__minus_02_dot_90_bar__plus_00_dot_11_bar__minus_00_dot_49 loc_bar__minus_7_bar_0_bar_3_bar_45) + (objectAtLocation ToiletPaper_bar__minus_03_dot_06_bar__plus_00_dot_67_bar__plus_00_dot_69 loc_bar__minus_10_bar_3_bar_3_bar_60) + (objectAtLocation LightSwitch_bar__minus_02_dot_31_bar__plus_01_dot_43_bar__minus_00_dot_77 loc_bar__minus_9_bar__minus_1_bar_2_bar_30) + (objectAtLocation Candle_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_01_dot_07 loc_bar__minus_8_bar_3_bar_3_bar_60) + (objectAtLocation ScrubBrush_bar__minus_03_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_79 loc_bar__minus_10_bar_3_bar_0_bar_60) + (objectAtLocation Plunger_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_01_dot_68 loc_bar__minus_10_bar_3_bar_0_bar_60) + (objectAtLocation SoapBottle_bar__minus_03_dot_17_bar__plus_00_dot_11_bar__plus_00_dot_29 loc_bar__minus_7_bar_0_bar_3_bar_45) + (objectAtLocation Cloth_bar__minus_00_dot_62_bar__plus_00_dot_03_bar__plus_00_dot_58 loc_bar__minus_6_bar_3_bar_1_bar_60) + (objectAtLocation SprayBottle_bar__minus_02_dot_89_bar__plus_01_dot_00_bar__plus_00_dot_62 loc_bar__minus_10_bar__minus_1_bar_3_bar_45) + ) + + + (: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/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Toilet-405/trial_T20190909_070029_031921/traj_data.json b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Toilet-405/trial_T20190909_070029_031921/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..11d9900d789924fe2eb6f6bb135e640296b85cea --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Toilet-405/trial_T20190909_070029_031921/traj_data.json @@ -0,0 +1,5013 @@ +{ + "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": "000000004.png", + "low_idx": 0 + }, + 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0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3477136108, + "scene_num": 405 + }, + "task_id": "trial_T20190909_070029_031921", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3F7G1FSFWQPLE_32SVAV9L3I0PMXBPV2AGBHRBKXLA30", + "high_descs": [ + "Turn right and walk towards the wall, then turn left and walk up to the toilet.", + "Pick up the toilet paper roll off of the toilet paper holder.", + "Turn around and walk forward, then turn around to face the toilet.", + "Put the toilet paper roll on top of the toilet tank.", + "Take a step forward then turn left and walk over to the wall, turn right and walk up to the counter.", + "Open the lower left cabinet door and take out the roll of toilet paper, then close the cabinet.", + "Turn right and walk back over to the toilet.", + "Put the roll of toilet paper on the toilet tank." + ], + "task_desc": "Move two rolls of toilet paper to the toilet tank.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A255A9FFZD8PQW_3B3WTRP3DETMWW51ZWIBWCBZ81C29B", + "high_descs": [ + "Turn to the right and then face the toilet.", + "Pick up the empty toilet paper roll from the holder. ", + "Turn around and move slightly to the right.", + "Set the empty toilet paper roll on the back end of the toilet. ", + "Turn to the left then right and face the cabinets under the sink. ", + "Open the white cabinet and take out a toilet paper roll. ", + "Turn to the right then left and face the toilet.", + "Place the toilet paper roll on the back end of the toilet. " + ], + "task_desc": "Move a toilet paper roll and an empty roll to the toilet. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "ASP32QB28TEZU_3RSDURM96DDTSDPP0S5SXUDFED0YEB", + "high_descs": [ + "Move to the right of the vanity", + "Take the toilet paper roll from the holder", + "Turn around a full 360 degrees", + "Put the toilet paper roll on the toilet tank", + "Turn left to move to the left side of the vanity", + "Get toilet paper from the left cupboard", + "Move back to the toilet", + "Put toilet paper on toilet tank" + ], + "task_desc": "Remove empty toilet paper holder, put toilet paper on the toilet tank.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Toilet-405/trial_T20190909_070123_655113/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Toilet-405/trial_T20190909_070123_655113/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..f46816d5a021ca8c369d6e81ac3e94c1be8266f7 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Toilet-405/trial_T20190909_070123_655113/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_070123_655113)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83 - object\n Candle_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_01_dot_13 - object\n Cloth_bar__minus_00_dot_40_bar__plus_00_dot_03_bar__plus_00_dot_12 - object\n Cloth_bar__minus_03_dot_10_bar__plus_00_dot_11_bar__minus_00_dot_07 - object\n Faucet_bar__minus_00_dot_62_bar__plus_00_dot_67_bar__plus_01_dot_81 - object\n Faucet_bar__minus_03_dot_31_bar__plus_00_dot_99_bar__plus_00_dot_21 - object\n HandTowel_bar__minus_03_dot_32_bar__plus_01_dot_46_bar__plus_00_dot_76 - object\n LightSwitch_bar__minus_02_dot_31_bar__plus_01_dot_43_bar__minus_00_dot_77 - object\n Mirror_bar__minus_03_dot_35_bar__plus_01_dot_48_bar__plus_00_dot_02 - object\n Plunger_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_01_dot_68 - object\n ScrubBrush_bar__minus_03_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_79 - object\n ShowerCurtain_bar__minus_01_dot_17_bar__plus_01_dot_87_bar__minus_00_dot_11 - object\n Sink_bar__minus_03_dot_02_bar__plus_00_dot_87_bar__plus_00_dot_21 - object\n SoapBar_bar__minus_00_dot_33_bar__plus_00_dot_03_bar__plus_00_dot_35 - object\n SoapBar_bar__minus_02_dot_84_bar__plus_00_dot_11_bar__plus_00_dot_29 - object\n SoapBar_bar__minus_03_dot_02_bar__plus_00_dot_88_bar__plus_00_dot_08 - object\n SoapBottle_bar__minus_03_dot_23_bar__plus_00_dot_11_bar__plus_00_dot_29 - object\n SprayBottle_bar__minus_03_dot_04_bar__plus_00_dot_05_bar__plus_00_dot_82 - object\n SprayBottle_bar__minus_03_dot_04_bar__plus_01_dot_00_bar__minus_00_dot_52 - object\n ToiletPaper_bar__minus_03_dot_05_bar__plus_01_dot_87_bar__plus_01_dot_78 - object\n ToiletPaper_bar__minus_03_dot_11_bar__plus_01_dot_00_bar__minus_00_dot_60 - object\n Towel_bar__minus_01_dot_62_bar__plus_01_dot_40_bar__plus_01_dot_80 - object\n Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83_bar_BathtubBasin - receptacle\n Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_27 - receptacle\n Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_76 - receptacle\n Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_45_bar__plus_00_dot_60 - receptacle\n Cabinet_bar__minus_02_dot_90_bar__plus_02_dot_05_bar__plus_01_dot_01 - receptacle\n Cabinet_bar__minus_02_dot_91_bar__plus_02_dot_10_bar__plus_01_dot_88 - receptacle\n CounterTop_bar__minus_03_dot_05_bar__plus_01_dot_04_bar__minus_00_dot_44 - receptacle\n GarbageCan_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_00_dot_85 - receptacle\n HandTowelHolder_bar__minus_02_dot_96_bar__plus_01_dot_70_bar__minus_00_dot_77 - receptacle\n HandTowelHolder_bar__minus_03_dot_36_bar__plus_01_dot_57_bar__plus_00_dot_76 - receptacle\n Sink_bar__minus_03_dot_02_bar__plus_00_dot_87_bar__plus_00_dot_21_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_03_dot_11_bar__plus_00_dot_83_bar__plus_00_dot_63 - receptacle\n Toilet_bar__minus_02_dot_93_bar__plus_00_dot_00_bar__plus_01_dot_27 - receptacle\n TowelHolder_bar__minus_01_dot_62_bar__plus_01_dot_38_bar__plus_01_dot_91 - receptacle\n loc_bar__minus_10_bar_0_bar_3_bar_15 - location\n loc_bar__minus_6_bar_5_bar_0_bar_15 - location\n loc_bar__minus_7_bar_0_bar_3_bar_45 - location\n loc_bar__minus_10_bar_1_bar_3_bar_60 - location\n loc_bar__minus_10_bar_3_bar_3_bar_0 - location\n loc_bar__minus_8_bar_4_bar_3_bar__minus_30 - location\n loc_bar__minus_7_bar_2_bar_3_bar_45 - location\n loc_bar__minus_10_bar_3_bar_3_bar_60 - location\n loc_bar__minus_10_bar__minus_1_bar_2_bar_0 - location\n loc_bar__minus_8_bar_5_bar_3_bar__minus_30 - location\n loc_bar__minus_9_bar__minus_1_bar_2_bar_30 - location\n loc_bar__minus_6_bar_3_bar_1_bar_60 - location\n loc_bar__minus_10_bar__minus_1_bar_3_bar_45 - location\n loc_bar__minus_10_bar_3_bar_0_bar_60 - location\n loc_bar__minus_8_bar_3_bar_3_bar_60 - location\n loc_bar__minus_6_bar_2_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__minus_02_dot_91_bar__plus_02_dot_10_bar__plus_01_dot_88 CabinetType)\n (receptacleType CounterTop_bar__minus_03_dot_05_bar__plus_01_dot_04_bar__minus_00_dot_44 CounterTopType)\n (receptacleType Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_76 CabinetType)\n (receptacleType ToiletPaperHanger_bar__minus_03_dot_11_bar__plus_00_dot_83_bar__plus_00_dot_63 ToiletPaperHangerType)\n (receptacleType Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83_bar_BathtubBasin BathtubBasinType)\n (receptacleType TowelHolder_bar__minus_01_dot_62_bar__plus_01_dot_38_bar__plus_01_dot_91 TowelHolderType)\n (receptacleType Sink_bar__minus_03_dot_02_bar__plus_00_dot_87_bar__plus_00_dot_21_bar_SinkBasin SinkBasinType)\n (receptacleType Toilet_bar__minus_02_dot_93_bar__plus_00_dot_00_bar__plus_01_dot_27 ToiletType)\n (receptacleType GarbageCan_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_00_dot_85 GarbageCanType)\n (receptacleType HandTowelHolder_bar__minus_03_dot_36_bar__plus_01_dot_57_bar__plus_00_dot_76 HandTowelHolderType)\n (receptacleType HandTowelHolder_bar__minus_02_dot_96_bar__plus_01_dot_70_bar__minus_00_dot_77 HandTowelHolderType)\n (receptacleType Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_45_bar__plus_00_dot_60 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_90_bar__plus_02_dot_05_bar__plus_01_dot_01 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_27 CabinetType)\n (objectType SoapBar_bar__minus_02_dot_84_bar__plus_00_dot_11_bar__plus_00_dot_29 SoapBarType)\n (objectType SoapBottle_bar__minus_03_dot_23_bar__plus_00_dot_11_bar__plus_00_dot_29 SoapBottleType)\n (objectType SprayBottle_bar__minus_03_dot_04_bar__plus_00_dot_05_bar__plus_00_dot_82 SprayBottleType)\n (objectType Towel_bar__minus_01_dot_62_bar__plus_01_dot_40_bar__plus_01_dot_80 TowelType)\n (objectType Candle_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_01_dot_13 CandleType)\n (objectType Mirror_bar__minus_03_dot_35_bar__plus_01_dot_48_bar__plus_00_dot_02 MirrorType)\n (objectType Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83 BathtubType)\n (objectType SoapBar_bar__minus_00_dot_33_bar__plus_00_dot_03_bar__plus_00_dot_35 SoapBarType)\n (objectType SoapBar_bar__minus_03_dot_02_bar__plus_00_dot_88_bar__plus_00_dot_08 SoapBarType)\n (objectType Cloth_bar__minus_03_dot_10_bar__plus_00_dot_11_bar__minus_00_dot_07 ClothType)\n (objectType Sink_bar__minus_03_dot_02_bar__plus_00_dot_87_bar__plus_00_dot_21 SinkType)\n (objectType ToiletPaper_bar__minus_03_dot_11_bar__plus_01_dot_00_bar__minus_00_dot_60 ToiletPaperType)\n (objectType LightSwitch_bar__minus_02_dot_31_bar__plus_01_dot_43_bar__minus_00_dot_77 LightSwitchType)\n (objectType Plunger_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_01_dot_68 PlungerType)\n (objectType ScrubBrush_bar__minus_03_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_79 ScrubBrushType)\n (objectType SprayBottle_bar__minus_03_dot_04_bar__plus_01_dot_00_bar__minus_00_dot_52 SprayBottleType)\n (objectType ToiletPaper_bar__minus_03_dot_05_bar__plus_01_dot_87_bar__plus_01_dot_78 ToiletPaperType)\n (objectType Cloth_bar__minus_00_dot_40_bar__plus_00_dot_03_bar__plus_00_dot_12 ClothType)\n (objectType HandTowel_bar__minus_03_dot_32_bar__plus_01_dot_46_bar__plus_00_dot_76 HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain TowelHolderType TowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType SprayBottleType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (pickupable SoapBar_bar__minus_02_dot_84_bar__plus_00_dot_11_bar__plus_00_dot_29)\n (pickupable SoapBottle_bar__minus_03_dot_23_bar__plus_00_dot_11_bar__plus_00_dot_29)\n (pickupable SprayBottle_bar__minus_03_dot_04_bar__plus_00_dot_05_bar__plus_00_dot_82)\n (pickupable Towel_bar__minus_01_dot_62_bar__plus_01_dot_40_bar__plus_01_dot_80)\n (pickupable Candle_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_01_dot_13)\n (pickupable SoapBar_bar__minus_00_dot_33_bar__plus_00_dot_03_bar__plus_00_dot_35)\n (pickupable SoapBar_bar__minus_03_dot_02_bar__plus_00_dot_88_bar__plus_00_dot_08)\n (pickupable Cloth_bar__minus_03_dot_10_bar__plus_00_dot_11_bar__minus_00_dot_07)\n (pickupable ToiletPaper_bar__minus_03_dot_11_bar__plus_01_dot_00_bar__minus_00_dot_60)\n (pickupable Plunger_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_01_dot_68)\n (pickupable ScrubBrush_bar__minus_03_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_79)\n (pickupable SprayBottle_bar__minus_03_dot_04_bar__plus_01_dot_00_bar__minus_00_dot_52)\n (pickupable ToiletPaper_bar__minus_03_dot_05_bar__plus_01_dot_87_bar__plus_01_dot_78)\n (pickupable Cloth_bar__minus_00_dot_40_bar__plus_00_dot_03_bar__plus_00_dot_12)\n (pickupable HandTowel_bar__minus_03_dot_32_bar__plus_01_dot_46_bar__plus_00_dot_76)\n \n (openable Cabinet_bar__minus_02_dot_91_bar__plus_02_dot_10_bar__plus_01_dot_88)\n (openable Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_76)\n (openable Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_45_bar__plus_00_dot_60)\n (openable Cabinet_bar__minus_02_dot_90_bar__plus_02_dot_05_bar__plus_01_dot_01)\n (openable Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_27)\n \n (atLocation agent1 loc_bar__minus_6_bar_2_bar_0_bar_30)\n \n (cleanable SoapBar_bar__minus_02_dot_84_bar__plus_00_dot_11_bar__plus_00_dot_29)\n (cleanable SoapBar_bar__minus_00_dot_33_bar__plus_00_dot_03_bar__plus_00_dot_35)\n (cleanable SoapBar_bar__minus_03_dot_02_bar__plus_00_dot_88_bar__plus_00_dot_08)\n (cleanable Cloth_bar__minus_03_dot_10_bar__plus_00_dot_11_bar__minus_00_dot_07)\n (cleanable Cloth_bar__minus_00_dot_40_bar__plus_00_dot_03_bar__plus_00_dot_12)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle SoapBar_bar__minus_02_dot_84_bar__plus_00_dot_11_bar__plus_00_dot_29 Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_45_bar__plus_00_dot_60)\n (inReceptacle SoapBottle_bar__minus_03_dot_23_bar__plus_00_dot_11_bar__plus_00_dot_29 Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_45_bar__plus_00_dot_60)\n (inReceptacle ToiletPaper_bar__minus_03_dot_05_bar__plus_01_dot_87_bar__plus_01_dot_78 Cabinet_bar__minus_02_dot_91_bar__plus_02_dot_10_bar__plus_01_dot_88)\n (inReceptacle SoapBar_bar__minus_03_dot_02_bar__plus_00_dot_88_bar__plus_00_dot_08 Sink_bar__minus_03_dot_02_bar__plus_00_dot_87_bar__plus_00_dot_21_bar_SinkBasin)\n (inReceptacle Cloth_bar__minus_03_dot_10_bar__plus_00_dot_11_bar__minus_00_dot_07 Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_27)\n (inReceptacle Cloth_bar__minus_00_dot_40_bar__plus_00_dot_03_bar__plus_00_dot_12 Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83_bar_BathtubBasin)\n (inReceptacle SoapBar_bar__minus_00_dot_33_bar__plus_00_dot_03_bar__plus_00_dot_35 Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83_bar_BathtubBasin)\n (inReceptacle ToiletPaper_bar__minus_03_dot_11_bar__plus_01_dot_00_bar__minus_00_dot_60 CounterTop_bar__minus_03_dot_05_bar__plus_01_dot_04_bar__minus_00_dot_44)\n (inReceptacle SprayBottle_bar__minus_03_dot_04_bar__plus_01_dot_00_bar__minus_00_dot_52 CounterTop_bar__minus_03_dot_05_bar__plus_01_dot_04_bar__minus_00_dot_44)\n (inReceptacle Towel_bar__minus_01_dot_62_bar__plus_01_dot_40_bar__plus_01_dot_80 TowelHolder_bar__minus_01_dot_62_bar__plus_01_dot_38_bar__plus_01_dot_91)\n (inReceptacle SprayBottle_bar__minus_03_dot_04_bar__plus_00_dot_05_bar__plus_00_dot_82 GarbageCan_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_00_dot_85)\n (inReceptacle HandTowel_bar__minus_03_dot_32_bar__plus_01_dot_46_bar__plus_00_dot_76 HandTowelHolder_bar__minus_03_dot_36_bar__plus_01_dot_57_bar__plus_00_dot_76)\n (inReceptacle Candle_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_01_dot_13 Toilet_bar__minus_02_dot_93_bar__plus_00_dot_00_bar__plus_01_dot_27)\n \n \n (receptacleAtLocation Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83_bar_BathtubBasin loc_bar__minus_6_bar_3_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_27 loc_bar__minus_7_bar_2_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_76 loc_bar__minus_7_bar_0_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_45_bar__plus_00_dot_60 loc_bar__minus_7_bar_0_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_90_bar__plus_02_dot_05_bar__plus_01_dot_01 loc_bar__minus_8_bar_4_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_91_bar__plus_02_dot_10_bar__plus_01_dot_88 loc_bar__minus_8_bar_5_bar_3_bar__minus_30)\n (receptacleAtLocation CounterTop_bar__minus_03_dot_05_bar__plus_01_dot_04_bar__minus_00_dot_44 loc_bar__minus_10_bar__minus_1_bar_3_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_00_dot_85 loc_bar__minus_10_bar_3_bar_3_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_96_bar__plus_01_dot_70_bar__minus_00_dot_77 loc_bar__minus_10_bar__minus_1_bar_2_bar_0)\n (receptacleAtLocation HandTowelHolder_bar__minus_03_dot_36_bar__plus_01_dot_57_bar__plus_00_dot_76 loc_bar__minus_10_bar_3_bar_3_bar_0)\n (receptacleAtLocation Sink_bar__minus_03_dot_02_bar__plus_00_dot_87_bar__plus_00_dot_21_bar_SinkBasin loc_bar__minus_10_bar_1_bar_3_bar_60)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_03_dot_11_bar__plus_00_dot_83_bar__plus_00_dot_63 loc_bar__minus_10_bar_3_bar_3_bar_60)\n (receptacleAtLocation Toilet_bar__minus_02_dot_93_bar__plus_00_dot_00_bar__plus_01_dot_27 loc_bar__minus_8_bar_3_bar_3_bar_60)\n (receptacleAtLocation TowelHolder_bar__minus_01_dot_62_bar__plus_01_dot_38_bar__plus_01_dot_91 loc_bar__minus_6_bar_5_bar_0_bar_15)\n (objectAtLocation SprayBottle_bar__minus_03_dot_04_bar__plus_00_dot_05_bar__plus_00_dot_82 loc_bar__minus_10_bar_3_bar_3_bar_60)\n (objectAtLocation Cloth_bar__minus_00_dot_40_bar__plus_00_dot_03_bar__plus_00_dot_12 loc_bar__minus_6_bar_3_bar_1_bar_60)\n (objectAtLocation SoapBar_bar__minus_00_dot_33_bar__plus_00_dot_03_bar__plus_00_dot_35 loc_bar__minus_6_bar_3_bar_1_bar_60)\n (objectAtLocation SoapBar_bar__minus_03_dot_02_bar__plus_00_dot_88_bar__plus_00_dot_08 loc_bar__minus_10_bar_1_bar_3_bar_60)\n (objectAtLocation Towel_bar__minus_01_dot_62_bar__plus_01_dot_40_bar__plus_01_dot_80 loc_bar__minus_6_bar_5_bar_0_bar_15)\n (objectAtLocation Sink_bar__minus_03_dot_02_bar__plus_00_dot_87_bar__plus_00_dot_21 loc_bar__minus_10_bar_1_bar_3_bar_60)\n (objectAtLocation Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83 loc_bar__minus_6_bar_3_bar_1_bar_60)\n (objectAtLocation Mirror_bar__minus_03_dot_35_bar__plus_01_dot_48_bar__plus_00_dot_02 loc_bar__minus_10_bar_0_bar_3_bar_15)\n (objectAtLocation HandTowel_bar__minus_03_dot_32_bar__plus_01_dot_46_bar__plus_00_dot_76 loc_bar__minus_10_bar_3_bar_3_bar_0)\n (objectAtLocation SoapBar_bar__minus_02_dot_84_bar__plus_00_dot_11_bar__plus_00_dot_29 loc_bar__minus_7_bar_0_bar_3_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_03_dot_05_bar__plus_01_dot_87_bar__plus_01_dot_78 loc_bar__minus_8_bar_5_bar_3_bar__minus_30)\n (objectAtLocation ToiletPaper_bar__minus_03_dot_11_bar__plus_01_dot_00_bar__minus_00_dot_60 loc_bar__minus_10_bar__minus_1_bar_3_bar_45)\n (objectAtLocation LightSwitch_bar__minus_02_dot_31_bar__plus_01_dot_43_bar__minus_00_dot_77 loc_bar__minus_9_bar__minus_1_bar_2_bar_30)\n (objectAtLocation Candle_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_01_dot_13 loc_bar__minus_8_bar_3_bar_3_bar_60)\n (objectAtLocation ScrubBrush_bar__minus_03_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_79 loc_bar__minus_10_bar_3_bar_0_bar_60)\n (objectAtLocation Plunger_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_01_dot_68 loc_bar__minus_10_bar_3_bar_0_bar_60)\n (objectAtLocation SoapBottle_bar__minus_03_dot_23_bar__plus_00_dot_11_bar__plus_00_dot_29 loc_bar__minus_7_bar_0_bar_3_bar_45)\n (objectAtLocation Cloth_bar__minus_03_dot_10_bar__plus_00_dot_11_bar__minus_00_dot_07 loc_bar__minus_7_bar_2_bar_3_bar_45)\n (objectAtLocation SprayBottle_bar__minus_03_dot_04_bar__plus_01_dot_00_bar__minus_00_dot_52 loc_bar__minus_10_bar__minus_1_bar_3_bar_45)\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 countertop 1", "take toiletpaper 1 from countertop 1", "go to toilet 1", "move toiletpaper 1 to toilet 1", "go to cabinet 1", "open cabinet 1", "take toiletpaper 2 from cabinet 1", "go to toilet 1", "move toiletpaper 2 to toilet 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Toilet-405/trial_T20190909_070123_655113/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Toilet-405/trial_T20190909_070123_655113/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..08634f148b35d535ecb53e948e46dfa4186e210a --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Toilet-405/trial_T20190909_070123_655113/initial_state.pddl @@ -0,0 +1,469 @@ + +(define (problem plan_trial_T20190909_070123_655113) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83 - object + Candle_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_01_dot_13 - object + Cloth_bar__minus_00_dot_40_bar__plus_00_dot_03_bar__plus_00_dot_12 - object + Cloth_bar__minus_03_dot_10_bar__plus_00_dot_11_bar__minus_00_dot_07 - object + Faucet_bar__minus_00_dot_62_bar__plus_00_dot_67_bar__plus_01_dot_81 - object + Faucet_bar__minus_03_dot_31_bar__plus_00_dot_99_bar__plus_00_dot_21 - object + HandTowel_bar__minus_03_dot_32_bar__plus_01_dot_46_bar__plus_00_dot_76 - object + LightSwitch_bar__minus_02_dot_31_bar__plus_01_dot_43_bar__minus_00_dot_77 - object + Mirror_bar__minus_03_dot_35_bar__plus_01_dot_48_bar__plus_00_dot_02 - object + Plunger_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_01_dot_68 - object + ScrubBrush_bar__minus_03_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_79 - object + ShowerCurtain_bar__minus_01_dot_17_bar__plus_01_dot_87_bar__minus_00_dot_11 - object + Sink_bar__minus_03_dot_02_bar__plus_00_dot_87_bar__plus_00_dot_21 - object + SoapBar_bar__minus_00_dot_33_bar__plus_00_dot_03_bar__plus_00_dot_35 - object + SoapBar_bar__minus_02_dot_84_bar__plus_00_dot_11_bar__plus_00_dot_29 - object + SoapBar_bar__minus_03_dot_02_bar__plus_00_dot_88_bar__plus_00_dot_08 - object + SoapBottle_bar__minus_03_dot_23_bar__plus_00_dot_11_bar__plus_00_dot_29 - object + SprayBottle_bar__minus_03_dot_04_bar__plus_00_dot_05_bar__plus_00_dot_82 - object + SprayBottle_bar__minus_03_dot_04_bar__plus_01_dot_00_bar__minus_00_dot_52 - object + ToiletPaper_bar__minus_03_dot_05_bar__plus_01_dot_87_bar__plus_01_dot_78 - object + ToiletPaper_bar__minus_03_dot_11_bar__plus_01_dot_00_bar__minus_00_dot_60 - object + Towel_bar__minus_01_dot_62_bar__plus_01_dot_40_bar__plus_01_dot_80 - object + Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83_bar_BathtubBasin - receptacle + Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_27 - receptacle + Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_76 - receptacle + Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_45_bar__plus_00_dot_60 - receptacle + Cabinet_bar__minus_02_dot_90_bar__plus_02_dot_05_bar__plus_01_dot_01 - receptacle + Cabinet_bar__minus_02_dot_91_bar__plus_02_dot_10_bar__plus_01_dot_88 - receptacle + CounterTop_bar__minus_03_dot_05_bar__plus_01_dot_04_bar__minus_00_dot_44 - receptacle + GarbageCan_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_00_dot_85 - receptacle + HandTowelHolder_bar__minus_02_dot_96_bar__plus_01_dot_70_bar__minus_00_dot_77 - receptacle + HandTowelHolder_bar__minus_03_dot_36_bar__plus_01_dot_57_bar__plus_00_dot_76 - receptacle + Sink_bar__minus_03_dot_02_bar__plus_00_dot_87_bar__plus_00_dot_21_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__minus_03_dot_11_bar__plus_00_dot_83_bar__plus_00_dot_63 - receptacle + Toilet_bar__minus_02_dot_93_bar__plus_00_dot_00_bar__plus_01_dot_27 - receptacle + TowelHolder_bar__minus_01_dot_62_bar__plus_01_dot_38_bar__plus_01_dot_91 - receptacle + loc_bar__minus_10_bar_0_bar_3_bar_15 - location + loc_bar__minus_6_bar_5_bar_0_bar_15 - location + loc_bar__minus_7_bar_0_bar_3_bar_45 - location + loc_bar__minus_10_bar_1_bar_3_bar_60 - location + loc_bar__minus_10_bar_3_bar_3_bar_0 - location + loc_bar__minus_8_bar_4_bar_3_bar__minus_30 - location + loc_bar__minus_7_bar_2_bar_3_bar_45 - location + loc_bar__minus_10_bar_3_bar_3_bar_60 - location + loc_bar__minus_10_bar__minus_1_bar_2_bar_0 - location + loc_bar__minus_8_bar_5_bar_3_bar__minus_30 - location + loc_bar__minus_9_bar__minus_1_bar_2_bar_30 - location + loc_bar__minus_6_bar_3_bar_1_bar_60 - location + loc_bar__minus_10_bar__minus_1_bar_3_bar_45 - location + loc_bar__minus_10_bar_3_bar_0_bar_60 - location + loc_bar__minus_8_bar_3_bar_3_bar_60 - location + loc_bar__minus_6_bar_2_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__minus_02_dot_91_bar__plus_02_dot_10_bar__plus_01_dot_88 CabinetType) + (receptacleType CounterTop_bar__minus_03_dot_05_bar__plus_01_dot_04_bar__minus_00_dot_44 CounterTopType) + (receptacleType Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_76 CabinetType) + (receptacleType ToiletPaperHanger_bar__minus_03_dot_11_bar__plus_00_dot_83_bar__plus_00_dot_63 ToiletPaperHangerType) + (receptacleType Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83_bar_BathtubBasin BathtubBasinType) + (receptacleType TowelHolder_bar__minus_01_dot_62_bar__plus_01_dot_38_bar__plus_01_dot_91 TowelHolderType) + (receptacleType Sink_bar__minus_03_dot_02_bar__plus_00_dot_87_bar__plus_00_dot_21_bar_SinkBasin SinkBasinType) + (receptacleType Toilet_bar__minus_02_dot_93_bar__plus_00_dot_00_bar__plus_01_dot_27 ToiletType) + (receptacleType GarbageCan_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_00_dot_85 GarbageCanType) + (receptacleType HandTowelHolder_bar__minus_03_dot_36_bar__plus_01_dot_57_bar__plus_00_dot_76 HandTowelHolderType) + (receptacleType HandTowelHolder_bar__minus_02_dot_96_bar__plus_01_dot_70_bar__minus_00_dot_77 HandTowelHolderType) + (receptacleType Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_45_bar__plus_00_dot_60 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_90_bar__plus_02_dot_05_bar__plus_01_dot_01 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_27 CabinetType) + (objectType SoapBar_bar__minus_02_dot_84_bar__plus_00_dot_11_bar__plus_00_dot_29 SoapBarType) + (objectType SoapBottle_bar__minus_03_dot_23_bar__plus_00_dot_11_bar__plus_00_dot_29 SoapBottleType) + (objectType SprayBottle_bar__minus_03_dot_04_bar__plus_00_dot_05_bar__plus_00_dot_82 SprayBottleType) + (objectType Towel_bar__minus_01_dot_62_bar__plus_01_dot_40_bar__plus_01_dot_80 TowelType) + (objectType Candle_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_01_dot_13 CandleType) + (objectType Mirror_bar__minus_03_dot_35_bar__plus_01_dot_48_bar__plus_00_dot_02 MirrorType) + (objectType Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83 BathtubType) + (objectType SoapBar_bar__minus_00_dot_33_bar__plus_00_dot_03_bar__plus_00_dot_35 SoapBarType) + (objectType SoapBar_bar__minus_03_dot_02_bar__plus_00_dot_88_bar__plus_00_dot_08 SoapBarType) + (objectType Cloth_bar__minus_03_dot_10_bar__plus_00_dot_11_bar__minus_00_dot_07 ClothType) + (objectType Sink_bar__minus_03_dot_02_bar__plus_00_dot_87_bar__plus_00_dot_21 SinkType) + (objectType ToiletPaper_bar__minus_03_dot_11_bar__plus_01_dot_00_bar__minus_00_dot_60 ToiletPaperType) + (objectType LightSwitch_bar__minus_02_dot_31_bar__plus_01_dot_43_bar__minus_00_dot_77 LightSwitchType) + (objectType Plunger_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_01_dot_68 PlungerType) + (objectType ScrubBrush_bar__minus_03_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_79 ScrubBrushType) + (objectType SprayBottle_bar__minus_03_dot_04_bar__plus_01_dot_00_bar__minus_00_dot_52 SprayBottleType) + (objectType ToiletPaper_bar__minus_03_dot_05_bar__plus_01_dot_87_bar__plus_01_dot_78 ToiletPaperType) + (objectType Cloth_bar__minus_00_dot_40_bar__plus_00_dot_03_bar__plus_00_dot_12 ClothType) + (objectType HandTowel_bar__minus_03_dot_32_bar__plus_01_dot_46_bar__plus_00_dot_76 HandTowelType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain CounterTopType CandleType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType HandTowelType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain BathtubBasinType ClothType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain TowelHolderType TowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType ClothType) + (canContain ToiletType CandleType) + (canContain ToiletType SoapBarType) + (canContain ToiletType SprayBottleType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (pickupable SoapBar_bar__minus_02_dot_84_bar__plus_00_dot_11_bar__plus_00_dot_29) + (pickupable SoapBottle_bar__minus_03_dot_23_bar__plus_00_dot_11_bar__plus_00_dot_29) + (pickupable SprayBottle_bar__minus_03_dot_04_bar__plus_00_dot_05_bar__plus_00_dot_82) + (pickupable Towel_bar__minus_01_dot_62_bar__plus_01_dot_40_bar__plus_01_dot_80) + (pickupable Candle_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_01_dot_13) + (pickupable SoapBar_bar__minus_00_dot_33_bar__plus_00_dot_03_bar__plus_00_dot_35) + (pickupable SoapBar_bar__minus_03_dot_02_bar__plus_00_dot_88_bar__plus_00_dot_08) + (pickupable Cloth_bar__minus_03_dot_10_bar__plus_00_dot_11_bar__minus_00_dot_07) + (pickupable ToiletPaper_bar__minus_03_dot_11_bar__plus_01_dot_00_bar__minus_00_dot_60) + (pickupable Plunger_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_01_dot_68) + (pickupable ScrubBrush_bar__minus_03_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_79) + (pickupable SprayBottle_bar__minus_03_dot_04_bar__plus_01_dot_00_bar__minus_00_dot_52) + (pickupable ToiletPaper_bar__minus_03_dot_05_bar__plus_01_dot_87_bar__plus_01_dot_78) + (pickupable Cloth_bar__minus_00_dot_40_bar__plus_00_dot_03_bar__plus_00_dot_12) + (pickupable HandTowel_bar__minus_03_dot_32_bar__plus_01_dot_46_bar__plus_00_dot_76) + + (openable Cabinet_bar__minus_02_dot_91_bar__plus_02_dot_10_bar__plus_01_dot_88) + (openable Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_76) + (openable Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_45_bar__plus_00_dot_60) + (openable Cabinet_bar__minus_02_dot_90_bar__plus_02_dot_05_bar__plus_01_dot_01) + (openable Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_27) + + (atLocation agent1 loc_bar__minus_6_bar_2_bar_0_bar_30) + + (cleanable SoapBar_bar__minus_02_dot_84_bar__plus_00_dot_11_bar__plus_00_dot_29) + (cleanable SoapBar_bar__minus_00_dot_33_bar__plus_00_dot_03_bar__plus_00_dot_35) + (cleanable SoapBar_bar__minus_03_dot_02_bar__plus_00_dot_88_bar__plus_00_dot_08) + (cleanable Cloth_bar__minus_03_dot_10_bar__plus_00_dot_11_bar__minus_00_dot_07) + (cleanable Cloth_bar__minus_00_dot_40_bar__plus_00_dot_03_bar__plus_00_dot_12) + + + + + + + + + + + (inReceptacle SoapBar_bar__minus_02_dot_84_bar__plus_00_dot_11_bar__plus_00_dot_29 Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_45_bar__plus_00_dot_60) + (inReceptacle SoapBottle_bar__minus_03_dot_23_bar__plus_00_dot_11_bar__plus_00_dot_29 Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_45_bar__plus_00_dot_60) + (inReceptacle ToiletPaper_bar__minus_03_dot_05_bar__plus_01_dot_87_bar__plus_01_dot_78 Cabinet_bar__minus_02_dot_91_bar__plus_02_dot_10_bar__plus_01_dot_88) + (inReceptacle SoapBar_bar__minus_03_dot_02_bar__plus_00_dot_88_bar__plus_00_dot_08 Sink_bar__minus_03_dot_02_bar__plus_00_dot_87_bar__plus_00_dot_21_bar_SinkBasin) + (inReceptacle Cloth_bar__minus_03_dot_10_bar__plus_00_dot_11_bar__minus_00_dot_07 Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_27) + (inReceptacle Cloth_bar__minus_00_dot_40_bar__plus_00_dot_03_bar__plus_00_dot_12 Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83_bar_BathtubBasin) + (inReceptacle SoapBar_bar__minus_00_dot_33_bar__plus_00_dot_03_bar__plus_00_dot_35 Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83_bar_BathtubBasin) + (inReceptacle ToiletPaper_bar__minus_03_dot_11_bar__plus_01_dot_00_bar__minus_00_dot_60 CounterTop_bar__minus_03_dot_05_bar__plus_01_dot_04_bar__minus_00_dot_44) + (inReceptacle SprayBottle_bar__minus_03_dot_04_bar__plus_01_dot_00_bar__minus_00_dot_52 CounterTop_bar__minus_03_dot_05_bar__plus_01_dot_04_bar__minus_00_dot_44) + (inReceptacle Towel_bar__minus_01_dot_62_bar__plus_01_dot_40_bar__plus_01_dot_80 TowelHolder_bar__minus_01_dot_62_bar__plus_01_dot_38_bar__plus_01_dot_91) + (inReceptacle SprayBottle_bar__minus_03_dot_04_bar__plus_00_dot_05_bar__plus_00_dot_82 GarbageCan_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_00_dot_85) + (inReceptacle HandTowel_bar__minus_03_dot_32_bar__plus_01_dot_46_bar__plus_00_dot_76 HandTowelHolder_bar__minus_03_dot_36_bar__plus_01_dot_57_bar__plus_00_dot_76) + (inReceptacle Candle_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_01_dot_13 Toilet_bar__minus_02_dot_93_bar__plus_00_dot_00_bar__plus_01_dot_27) + + + (receptacleAtLocation Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83_bar_BathtubBasin loc_bar__minus_6_bar_3_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_27 loc_bar__minus_7_bar_2_bar_3_bar_45) + (receptacleAtLocation Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_76 loc_bar__minus_7_bar_0_bar_3_bar_45) + (receptacleAtLocation Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_45_bar__plus_00_dot_60 loc_bar__minus_7_bar_0_bar_3_bar_45) + (receptacleAtLocation Cabinet_bar__minus_02_dot_90_bar__plus_02_dot_05_bar__plus_01_dot_01 loc_bar__minus_8_bar_4_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_02_dot_91_bar__plus_02_dot_10_bar__plus_01_dot_88 loc_bar__minus_8_bar_5_bar_3_bar__minus_30) + (receptacleAtLocation CounterTop_bar__minus_03_dot_05_bar__plus_01_dot_04_bar__minus_00_dot_44 loc_bar__minus_10_bar__minus_1_bar_3_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_00_dot_85 loc_bar__minus_10_bar_3_bar_3_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_96_bar__plus_01_dot_70_bar__minus_00_dot_77 loc_bar__minus_10_bar__minus_1_bar_2_bar_0) + (receptacleAtLocation HandTowelHolder_bar__minus_03_dot_36_bar__plus_01_dot_57_bar__plus_00_dot_76 loc_bar__minus_10_bar_3_bar_3_bar_0) + (receptacleAtLocation Sink_bar__minus_03_dot_02_bar__plus_00_dot_87_bar__plus_00_dot_21_bar_SinkBasin loc_bar__minus_10_bar_1_bar_3_bar_60) + (receptacleAtLocation ToiletPaperHanger_bar__minus_03_dot_11_bar__plus_00_dot_83_bar__plus_00_dot_63 loc_bar__minus_10_bar_3_bar_3_bar_60) + (receptacleAtLocation Toilet_bar__minus_02_dot_93_bar__plus_00_dot_00_bar__plus_01_dot_27 loc_bar__minus_8_bar_3_bar_3_bar_60) + (receptacleAtLocation TowelHolder_bar__minus_01_dot_62_bar__plus_01_dot_38_bar__plus_01_dot_91 loc_bar__minus_6_bar_5_bar_0_bar_15) + (objectAtLocation SprayBottle_bar__minus_03_dot_04_bar__plus_00_dot_05_bar__plus_00_dot_82 loc_bar__minus_10_bar_3_bar_3_bar_60) + (objectAtLocation Cloth_bar__minus_00_dot_40_bar__plus_00_dot_03_bar__plus_00_dot_12 loc_bar__minus_6_bar_3_bar_1_bar_60) + (objectAtLocation SoapBar_bar__minus_00_dot_33_bar__plus_00_dot_03_bar__plus_00_dot_35 loc_bar__minus_6_bar_3_bar_1_bar_60) + (objectAtLocation SoapBar_bar__minus_03_dot_02_bar__plus_00_dot_88_bar__plus_00_dot_08 loc_bar__minus_10_bar_1_bar_3_bar_60) + (objectAtLocation Towel_bar__minus_01_dot_62_bar__plus_01_dot_40_bar__plus_01_dot_80 loc_bar__minus_6_bar_5_bar_0_bar_15) + (objectAtLocation Sink_bar__minus_03_dot_02_bar__plus_00_dot_87_bar__plus_00_dot_21 loc_bar__minus_10_bar_1_bar_3_bar_60) + (objectAtLocation Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83 loc_bar__minus_6_bar_3_bar_1_bar_60) + (objectAtLocation Mirror_bar__minus_03_dot_35_bar__plus_01_dot_48_bar__plus_00_dot_02 loc_bar__minus_10_bar_0_bar_3_bar_15) + (objectAtLocation HandTowel_bar__minus_03_dot_32_bar__plus_01_dot_46_bar__plus_00_dot_76 loc_bar__minus_10_bar_3_bar_3_bar_0) + (objectAtLocation SoapBar_bar__minus_02_dot_84_bar__plus_00_dot_11_bar__plus_00_dot_29 loc_bar__minus_7_bar_0_bar_3_bar_45) + (objectAtLocation ToiletPaper_bar__minus_03_dot_05_bar__plus_01_dot_87_bar__plus_01_dot_78 loc_bar__minus_8_bar_5_bar_3_bar__minus_30) + (objectAtLocation ToiletPaper_bar__minus_03_dot_11_bar__plus_01_dot_00_bar__minus_00_dot_60 loc_bar__minus_10_bar__minus_1_bar_3_bar_45) + (objectAtLocation LightSwitch_bar__minus_02_dot_31_bar__plus_01_dot_43_bar__minus_00_dot_77 loc_bar__minus_9_bar__minus_1_bar_2_bar_30) + (objectAtLocation Candle_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_01_dot_13 loc_bar__minus_8_bar_3_bar_3_bar_60) + (objectAtLocation ScrubBrush_bar__minus_03_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_79 loc_bar__minus_10_bar_3_bar_0_bar_60) + (objectAtLocation Plunger_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_01_dot_68 loc_bar__minus_10_bar_3_bar_0_bar_60) + (objectAtLocation SoapBottle_bar__minus_03_dot_23_bar__plus_00_dot_11_bar__plus_00_dot_29 loc_bar__minus_7_bar_0_bar_3_bar_45) + (objectAtLocation Cloth_bar__minus_03_dot_10_bar__plus_00_dot_11_bar__minus_00_dot_07 loc_bar__minus_7_bar_2_bar_3_bar_45) + (objectAtLocation SprayBottle_bar__minus_03_dot_04_bar__plus_01_dot_00_bar__minus_00_dot_52 loc_bar__minus_10_bar__minus_1_bar_3_bar_45) + ) + + + (: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/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Toilet-405/trial_T20190909_070123_655113/traj_data.json b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Toilet-405/trial_T20190909_070123_655113/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..5534f1d866e4420f4328dad80f4f4ee1028d5a6d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Toilet-405/trial_T20190909_070123_655113/traj_data.json @@ -0,0 +1,6149 @@ +{ + "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 + }, + { + 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+ "task_desc": "Place a toilet paper roll from the cabinet along with a cardboard roll on the toilet tank.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A20FCMWP43CVIU_3RRCEFRB7P3FN3ZL1UFVGX3NGFXB4C", + "high_descs": [ + "walk to face cabinet above toilet", + "pick up toilet paper from cabinet", + "gaze down to face toilet", + "put paper on toilet tank", + "move left to face counter left of sink", + "pick up toilet roll from counter", + "move to face toilet", + "put toilet roll on toilet tank top" + ], + "task_desc": "put toilet paper and roll on toilet tank", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1OWHPMKE7YAGL_3RU7GD8VPRK0TI26A0TE9KOIBZYPS1", + "high_descs": [ + "Turn to the left, go to the sink, turn to the right and go to the cabinet above the toilet.", + "Take the roll of toilet paper out of the cabinet that is above the sink.", + "Turn around and face the garbage can.", + "Put the roll of toilet paper on the back of the toilet.", + "Turn to the left 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